JP2019189392A - Article carrying vehicle - Google Patents

Abstract

To provide an article carrying vehicle adapted such that when an arm is retracted after an article is moved from an article carrying vehicle to an article loading unit with the arm projected, the arm does not contact the article.SOLUTION: An article carrying vehicle, when transferring an article W from a truck body 2A to an article loading unit P, loads the article W onto the article loading unit P by changing two arms 20 from a retraction state to a protrusion state in a state that the article W is clamped from both sides of a traveling direction X by the two arms 20, moves a slide arm 20a that is one of the two arms 20 by a first movement amount A1 toward a traveling-directional first side X1 that is a side distant from the other arm 20b in the traveling direction X with the protrusion state maintained, moves the truck body 2A by a second movement amount A2 smaller than the first movement amount A1 toward a traveling-directional second side X2 opposite to the traveling-directional first side X1 with the protrusion state maintained, and then changes the two arms 20 into the retraction state.SELECTED DRAWING: Figure 8

Description

  The present invention relates to an article transport vehicle including a carriage main body that travels along a traveling path along an article placement section, and an article transfer device that transfers articles between the article placement section and the carriage main body.

  Japanese Patent Application Laid-Open No. 2017-7786 discloses a projecting and mounting device mounted on an article transport vehicle (150) between a mounting table (130) of the article transport vehicle (150) and an external article mounting portion (300). A transfer device (100) for transferring an article (200) using a pair of retreating arms (110, 120) is disclosed (in the background art, the reference numerals in parentheses are those of the references to be referred to). The article transport vehicle (150) transports the article (200) in a state where the article (200) is sandwiched between the pair of arms (110, 120) withdrawn from the transfer device (100). When the article transport vehicle (150) arrives at the place where the article (200) is to be lowered, the pair of arms (110, 120) is projected to drop the article (200) onto the external article placement section (300). At this time, if the pair of arms (110, 120) protrudes with the article (200) sandwiched therebetween, the article (200) may be damaged by the pair of arms (110, 120).

  Therefore, when the article transport vehicle (150) arrives at the place where the article (200) is unloaded, the transfer device (100) moves both of the pair of arms (110, 120) away from each other (see FIG. 6B, [0063] etc.). The transfer device (100) projects the pair of arms (110, 120) in a state where there is a gap between both the pair of arms (110, 120) and the article (200). The article (200) is pushed out to the external article placement section (300) by the hook (103) provided on the arm (110, 120) (see FIG. 6C, [0064], etc.). Thereafter, the transfer device (100) retracts the pair of arms (110, 120) (FIG. 6D, [0066]).

  According to this method, when the article (200) is lowered, the pair of arms (110, 120) is protruded and retracted with a gap between the pair of arms (110, 120) and the article (200). The possibility that the pair of arms (110, 120) and the article (200) come into contact with each other and damage the article (200) can be reduced. However, when the article (200) is pushed out by the hook (103), since the article (200) is not supported in the direction orthogonal to the pushing direction, the posture of the article (200) may change. For this reason, there is a possibility that the pair of arms (110, 120) may contact the article (200) when the pair of arms (110, 120) is retracted after the extrusion is completed.

Japanese Unexamined Patent Publication No. 2017-7786

  In view of the above background, it is desired to provide a technique in which an arm does not contact an article when the arm is retreated after the arm is protruded and the article is moved from the article transporting vehicle to the article placement unit.

  The article transport vehicle in view of the above, as one aspect, includes a cart body that travels along a travel path along the article placement unit, and a transfer direction that intersects the travel direction of the cart body in plan view. An article transport vehicle including an article transfer device for transferring an article between the article placement portion and the carriage main body, wherein the article transfer device is disposed at an interval in the traveling direction. The two arms, and a retracting device that changes the two arms into a protruding state in which the arms are protruded toward the article placement portion in the transfer direction and a retracted state in which the arms are retracted toward the cart body. And a slide device that slides one of the two arms in the traveling direction, and when the article is transferred from the carriage body to the article placement portion, The object from both sides in the traveling direction by the arm In a state where the two arms are sandwiched, the two arms are changed from the retracted state to the protruding state, the article is placed on the article mounting portion, and the slide arm is moved in the traveling direction while remaining in the protruding state. The first movement amount is moved by the slide device to the first side in the running direction, which is the side away from the other arm, and the carriage main body is opposite to the first side in the running direction in the protruding state. The second movement amount smaller than the first movement amount is moved to the second side in the traveling direction, and then the two arms are changed to the retracted state.

  In the present application, “a state in which an article is sandwiched between two arms” refers to a state in which the arm is located on both sides of the article, and not only a state in which the article and the two arms are in contact, This includes a state where there is a gap between at least one of the arms of the book.

  According to this configuration, since the article is placed on the article placement section by changing the two arms to the protruding state with the article sandwiched between the two arms, the carriage is in a state where the attitude of the article is regulated. The article can be moved from the main body to the article placement section. Then, the gap between the protruding slide arm and the article corresponds to the first movement amount by moving the slide arm to the first side in the traveling direction while the two arms are in the protruding state. Can be widened by an interval. Furthermore, by moving the carriage main body to the second side in the traveling direction with a second movement amount smaller than the first movement amount while the two arms remain in the projecting state, the slide arm is the one of the two arms. The gap between the different arm and the article can also be widened by an interval corresponding to the second movement amount. The distance between the slide arm and the article is reduced by an amount corresponding to the second movement amount. However, since the second movement amount is smaller than the first movement amount, the first movement amount is between the slide arm and the article. And an interval corresponding to the difference between the second movement amount and the second movement amount are secured. That is, an interval is provided between both of the two arms in the protruding state and the article. Thereby, when changing the two arms of a protrusion state to a retraction state, it can suppress appropriately that two arms and articles | goods contact. As described above, according to this configuration, after the arm is protruded and the article is moved from the article transport vehicle to the article placement portion, the arm can be prevented from contacting the article when the arm is retracted.

  Further features and advantages of the article transport vehicle will become apparent from the following description of embodiments described with reference to the drawings.

Perspective view of article transport equipment to which the article transport vehicle is applied Perspective view of article transport vehicle with arm retracted Perspective view of article transport vehicle with arms protruding The perspective view which shows the goods conveyance vehicle at the time of transferring the goods by the goods transfer apparatus Functional block diagram of goods transport vehicle The figure explaining the 1st process at the time of delivering goods to an article mounting part The figure explaining the 2nd process at the time of delivering goods to an article mounting part The figure explaining the 3rd process at the time of delivering goods to an article mounting part The figure explaining the 4th process at the time of delivering goods to an article mounting part

  Hereinafter, preferred embodiments of the article transport vehicle will be described with reference to the drawings. FIG. 1 is a perspective view of an article transport facility 100 to which the article transport vehicle 2 is applied. The article transport facility 100 is configured to transport an article placement unit P (a shelf plate 7 and a relay conveyor 3 of an article storage shelf 1 described later) and a travel path (a travel rail 8 described later) on which an article W is placed. A car 2 is provided. The article transport vehicle 2 includes a carriage main body 2A that travels along a travel path along the article placement section P, and an article placement section along a transfer direction Y that intersects the traveling direction X of the carriage main body 2A in plan view. An article transfer device 2B for transferring an article W between P and the carriage main body 2A is provided. The article transport vehicle 2 passes the article W to the article placement unit P by moving the article W along the transfer direction Y by the article transfer device 2B at a predetermined position in the travel route, and the article placement The article W can be received from the placement part P.

  The article storage shelf 1 has a shelf board 7 and a relay conveyor 3 as an article placement portion P. The travel rail 8 as a travel path is linearly disposed along the travel direction X between both ends, and the article storage shelf 1 is disposed linearly along the travel rail 8. The shelf board 7 is used for storing the articles W. As will be described later, the relay conveyor 3 is used when the article W is stored in the article storage shelf 1 or is output from the article storage shelf 1 by using the lift device 4 and the storage conveyor 5. Here, the relay conveyor 3 is configured by a roller conveyor, and the lift device 4 is configured by a belt conveyor. The relay conveyor 3, the lifting device 4, and the loading / unloading conveyor 5 may be configured by any of a roller conveyor and a belt conveyor.

  Here, a pair of the article storage shelves 1 are installed along the traveling rails 8 with an interval in the transfer direction Y so as to sandwich the traveling rails 8 therebetween. The shelf boards 7 on which the articles W are placed are provided in a plurality of stages (six stages in this example) in a state of being arranged in the vertical direction in each article storage shelf 1. The traveling rail 8 is formed with a plurality of paths (six paths in the present embodiment) in the vertical direction in accordance with the number of steps of the shelf 7 in the article storage shelf 1. The traveling rail 8 is supported by each of a pair of article storage shelves 1 at the same level. Note that only one article storage shelf 1 may be provided on one side in the transfer direction Y.

  The relay conveyor 3 is arranged so as to be continuous with the shelf board 7 along the traveling direction X. As described above, the relay conveyor 3 is used when the articles W are loaded and unloaded from the article storage rack 1. For this reason, the relay conveyor 3 includes a warehousing relay conveyor 3 a used when the articles W are stored in the article storage shelf 1, and a warehousing relay conveyor 3 b used when the articles W are output from the article storage shelf 1. The pair of relay conveyors 3 of the warehousing relay conveyor 3a and the warehousing relay conveyor 3b are provided in a state of being spaced apart in the transfer direction Y, and depending on the number of shelves 7 in the article storage shelf 1, A plurality of sets (six sets in this embodiment) are provided in a state of being aligned in the direction.

  Similarly to the relay conveyor 3, the lift device 4 includes a warehousing lift device 4a and a warehousing lift device 4b. The loading / unloading conveyor 5 also includes a loading conveyor 5a and a loading conveyor 5b. The article W carried by the warehousing conveyor 5a is transferred to the warehousing lift device 4a, is transferred to the warehousing relay conveyor 3a by the warehousing lift device 4a, and is moved to the shelf at the corresponding stage by the article conveying vehicle 2. It is transported and placed on the plate 7. Also, the article W taken out from the shelf board 7 by the article transporting vehicle 2 and placed on the delivery relay conveyor 3b is transferred from the delivery relay conveyor 3b to the delivery lift device 4b and delivered by the delivery lift device 4b. The product is delivered to the conveyor 5b and delivered from the article transport facility 100 by the delivery conveyor 5b.

  2 and 3 are perspective views of the article transport vehicle 2 having the carriage main body 2A and the article transfer device 2B. FIG. 2 shows the article transport vehicle 2 with the cover 9 removed, and FIG. 3 shows the article transport vehicle 2 with the cover 9 attached. FIG. 4 is a perspective view showing a state where the article transport vehicle 2 is transferring the article W. The cart body 2A travels along the traveling direction X, and the article transfer device 2B is mounted on the cart body 2A and moves together with the cart body 2A. That is, the cart main body 2A and the article transfer device 2B integrally reciprocate on the traveling rail 8.

  The cart body 2A includes a pair of drive wheels 10 that roll on a pair of travel rails 8 set in advance as a travel route, a travel motor 11 that rotates the pair of drive wheels 10, and a travel rail 8 that rolls on the travel rails 8. And a pair of freely rotatable driven wheels 12 that move. The traveling motor 11, the driving wheel 10, and the driven wheel 12 constitute a traveling device 16 that moves the cart body 2 </ b> A along the traveling direction X. The pair of drive wheels 10 are interlocked and connected by a drive shaft for travel (not shown). When the traveling motor 11 is driven to rotate the traveling drive shaft and the pair of drive wheels 10, the cart body 2 </ b> A can reciprocate along the traveling path.

  The article W has a rectangular shape as viewed from above, such as a rectangular parallelepiped. The article W is not limited to a closed shape such as a cardboard box, and may be a container such as a container having an opening opened upward. An amorphous object (such as a beverage bottle) may be accommodated in such a container. In addition, the article W is, for example, one in which a plurality of loads are stacked up and down or the loads are placed on a pallet so that they are simultaneously conveyed together, or a plurality of loads are arranged along the conveyance direction. It may be arranged so that they are transported as a unit at the same time. Further, the article W may be an aggregate of a plurality of loads stacked vertically and arranged along the conveyance direction.

  The article transfer device 2B is supported by the carriage main body 2A. The article transfer device 2B includes an article support base 14 that supports the article W from below. The article transfer device 2B includes two arms 20 arranged at intervals in the traveling direction X, a retracting device 17 for moving the two arms 20 in and out along the transfer direction Y, and two And a slide device 13 that slides one of the arms 20 in the traveling direction X. When the other arm 20 that is not the slide arm 20a is distinguished from the two arms 20, it is referred to as a non-slide arm 20b. At the tip of the arm 20, there is provided a hook 29 a (contact member) that moves along the transfer direction Y together with the arm 20 so as to contact the article W and move the article W. The retracting device 17 changes the two arms 20 between a protruding state in which the two arms 20 are protruded toward the article placement portion P in the transfer direction Y and a retracted state in which the arms 20 are retracted toward the cart body 2A.

  The withdrawal / retreat apparatus 17 includes a withdrawal / retraction motor 22 for moving the arm 20 along the transfer direction Y and a withdrawal / retraction mechanism 15. The advancing / retracting mechanism 15 includes an advancing / retracting drive shaft 25 that is driven to rotate in the forward and reverse directions by a retracting / retracting motor 22, and a toothed belt 26 that is driven in accordance with the rotational drive of the retracting / retreating drive shaft 25. The exit / retreat unit 24 provided, the relay member 19 that moves in and out along the transfer direction Y as the toothed belt 26 rotates, the base member 18 that does not move in and out in the transfer direction Y, and the interlocking member 21 have. The relay member 19 supports the arm 20 so as to be slidable along the transfer direction Y. The base member 18 supports the relay member 19 so as to be slidable along the transfer direction Y. The interlocking member 21 is a member that interlocks the base member 18, the relay member 19, and the arm 20, and is formed of a belt here.

  As shown in FIG. 3, each of the pair of retracting mechanisms 15 includes an arm 20, a relay member 19, a base member 18, and an interlocking member 21. Assuming that the direction in which the pair of arms 20 face each other in the traveling direction X is the inside of the arm 20, the relay member 19 is positioned inside the base member 18 in the traveling direction X, and the arm 20 is inside the relay member 19 in the traveling direction X. Is located.

  Each exit / retreat mechanism 15 corresponding to the pair of arms 20 is provided with a retracting unit 24 having a toothed belt 26. When the exit / retreat drive shaft 25 is rotationally driven by the exit / retreat motor 22, the toothed belts 26 of the respective exit / retreat units 24 move in the longitudinal direction (transfer) as the exit / retreat drive shaft 25 rotates. Rotate along direction Y). A rack 27 formed at the lower end of the relay member 19 meshes with the toothed belt 26, and the relay member 19 moves in the transfer direction Y with respect to the base member 18 by the rotation of the toothed belt 26. Then, the arm 20 moves along the transfer direction Y with respect to the relay member 19 by the action of the interlocking member 21. In this way, the arm 20 moves in and out along the transfer direction Y.

  As described above, the retracting device 17 slides the relay member 19 and the arm 20 along the transfer direction Y to retract the pair of arms 20 toward the cart body 2A in the transfer direction Y (see FIG. 2) and a protruding state (see FIGS. 3 and 4) in which the pair of arms 20 are protruded from the carriage main body 2A side to the article placement portion P side in the transfer direction Y. In this projecting state, the end of the arm 20 on the retracting side (the portion where the hook 29 a is provided) is located on the projecting side of the projecting end of the base member 18. In addition, although illustration is abbreviate | omitted, in this embodiment, the arm 20 can be protruded on the both sides along the transfer direction Y with respect to 2 A of cart bodies.

  A rotating belt 28 is connected to the retracting mechanism 15 of the slide arm 20a. The rotating belt 28 rotates in the longitudinal direction (traveling direction X) by driving the slide motor 23. The base member 18 to which the slide arm 20 a is coupled moves along the traveling direction X by the rotation of the rotating belt 28. Thereby, the space | interval in the running direction X of a pair of arm 20 can be changed. A slide device 13 that includes a slide motor 23 and a rotary belt 28 and slides the slide arm 20a in the running direction X is configured. The distance between the pair of arms 20 in the traveling direction X is changed by the slide device 13.

  As shown in FIGS. 3 and 4, hook units 29 are provided at both ends in the transfer direction Y of the arm 20. The hook unit 29 includes a hook 29a that swings around an axis along the transfer direction Y, a contact posture (see FIGS. 3 and 4) in which the hook 29a is rotated, and a retracted posture (see FIG. 3). 2)), and a hook motor 29b whose posture is changed. When the arm 20 is withdrawn / retracted along the transfer direction Y while the hook 29a is in the contact posture, the article W is moved along with the movement of the arm 20 with the hook 29a remaining in contact with the article W. It can be moved along the loading direction Y.

  FIG. 5 is a functional block diagram of the article transport vehicle 2. The operation of the article transport vehicle 2 is controlled by the control unit C included in the article transport vehicle 2 controlling the operations of the traveling motor 11, the exit / retreat motor 22, the slide motor 23, and the hook motor 29b. .

  Hereinafter, with reference to FIGS. 6 to 9, the movement of the article transport vehicle 2 when the article W is transferred from the carriage main body 2 </ b> A to the article placing portion P will be described. As shown in FIG. 6, when the article transport vehicle 2 arrives at the position where the article W is delivered, the article carriage 2 exits the two arms 20 with the articles W sandwiched from both sides in the traveling direction X by the two arms 20. The retracting device 17 changes the retracted state to the protruding state and places the article W on the article placing portion P (first step). The hook 29a is controlled to a contact posture from when the article W is conveyed. The article W is pushed out from the carriage main body 2A to the article placement portion P in a state where the article W is sandwiched by the two arms 20 from both sides in the traveling direction X. In the present embodiment, only a slight gap exists between each arm 20 and the article W in a state where the article W is sandwiched between the two arms 20. Accordingly, the article W is placed on the article placement portion P in a state where the surface along the transfer direction Y of the article W and the two arms 20 are regulated so as to be in a substantially parallel posture. Will be. Note that each arm 20 may be in contact with the article W in a state where the article W is sandwiched between the two arms 20.

  Next, as shown in FIG. 7, with the two arms 20 protruding, the slide arm 20a, which is one of the two arms 20, is moved to the other arm 20 (non-slide arm) in the traveling direction X. The first movement amount A1 is moved by the slide device 13 to the traveling direction first side X1 which is the side away from 20b) (second step). Thereby, the clearance gap between the protruding slide arm 20a and the article W can be widened by an interval corresponding to the first movement amount A1.

  Next, as shown in FIG. 8, with the two arms 20 in the protruding state, the carriage main body 2A is moved to the traveling direction second side X2 opposite to the traveling direction first side X1 by the traveling device. The second movement amount A2 that is smaller than the first movement amount A1 is moved (third step). As a result, the gap between the article W and the arm 20 (non-sliding arm 20b) that is different from the slide arm 20a out of the two arms 20 and the article W can be widened by an interval corresponding to the second movement amount A2. . The distance between the slide arm 20a and the article W is smaller than the distance provided in the second step by an amount corresponding to the second movement amount A2. However, since the second movement amount A2 is smaller than the first movement amount A1, an interval corresponding to the difference between the first movement amount A1 and the second movement amount A2 is secured between the slide arm 20a and the article W. Has been. That is, a space is provided between the two arms 20 in the protruding state and the article W by the third step.

  Next, as shown in FIG. 9, the hook 29a is set in the retracted posture, and the two arms 20 in the protruding state are changed to the retracted state by the retracting device 17 (fourth step). A space is provided between both the projecting two arms 20 and the article W through the steps up to the third step. In addition, as described above, the article W is placed on the article placement portion P in a state of being regulated so as to be substantially parallel to the two arms 20 in the first step. The distance between W and the arm 20 is substantially constant. Therefore, when the two arms 20 in the protruding state are changed to the retracted state, the contact between the two arms 20 and the article W can be appropriately suppressed.

  For example, when the first process is performed after the second process and the third process, the article W is placed from the cart body 2A in a state where the article W is not sandwiched by the two arms 20 from both sides in the traveling direction X. Extruded by P. Accordingly, the friction between the article support 14 of the article transporting vehicle 2 and the article W, the friction between the upper surface of the article placing portion P such as the shelf board 7 and the relay conveyor 3, and the article W with respect to the transfer direction Y of the article W. There is a possibility that the article W is placed on the article placement portion P in an inclined posture. In this case, the distance between the article W and the arm 20 is not constant. For this reason, in the 4th process, when changing the two arms 20 of a projection state to a retraction state, it may not be able to fully control that two arms 20 and article W contact.

  7 and 8 exemplify a form in which the hook 29a is in the contact posture, but the hook 29a may be changed to the retracted posture in the second step and the third step.

  In addition, the second movement amount A2 in the third step is preferably ½ of the first movement amount A1 in the second step. If the gap between the article W and the two arms 20 at the completion of the first step is not taken into consideration, the distance between the slide arm 20a and the article W after the third step is equal to the first movement amount A1 and the second amount. This is the difference from the movement amount A2. That is, when the second movement amount A2 is ½ of the first movement amount A1, the difference is ½ of the first movement amount A1 and becomes the second movement amount A2. Since the distance between the non-sliding arm 20b and the article W after the third step is the second movement amount A2, the distance between the sliding arm 20a and the article W and the distance between the non-sliding arm 20b and the article W are as follows. Both are the second movement amount A2 (= first movement amount A1 / 2). That is, the article W is arranged in the center of the two arms 20, and the possibility that both the two arms 20 come into contact with the article W can be reduced to the same extent.

  In the above description, the embodiment in which the arm 20 that is not the slide arm 20a of the two arms 20 is a non-slide arm 20b that does not slide in the traveling direction X has been described as an example. The structure in which only one of the two arms 20 moves in the traveling direction X is simpler than the structure in which both move in the traveling direction X. According to this configuration, even in the article transport vehicle 2 including the article transfer device 2B having such a simple structure, an appropriate interval is provided between both the two arms 20 and the article W. After handing the article W to the article placement portion P, the arm 20 can be changed to the retracted state.

  When both of the two arms 20 are movable in the traveling direction X, for example, in the second step, both the arms 20 and the article W are moved by moving both the arms 20 in a direction opposite to the direction facing each other. An interval can be provided between the two. However, even when both of the two arms 20 are movable in the traveling direction X, one arm 20 functions as the slide arm 20a and the other arm 20 functions as the non-slide arm 20b. Two steps and a third step may be performed.

  In this case, the direction in which the carriage main body 2A moves after the article is transferred from the carriage main body 2A to the article placement portion P is defined as the movement direction after transfer, and functions as the slide arm 20a according to the movement direction after the transfer. It is preferable that the arm 20 to be set is set. Specifically, of the two arms 20, one arm 20 located on the opposite side to the moving direction after transfer is set as a slide arm 20 a, and the other arm 20 is not slid in the running direction X, and the non-sliding arm 20 b. This is preferable.

  In the form illustrated in FIGS. 6 to 9, the moving direction after transfer is the traveling direction second side X2. One arm 20 located on the opposite side (traveling direction first side X1) to the moving direction (traveling direction second side X2) after transfer is a slide arm 20a. In the third step, the carriage main body 2A moves in the movement direction (second direction X2 in the traveling direction) after transfer. After the fourth step, the article transport vehicle 2 moves in the movement direction after movement (second direction X2 in the traveling direction). Therefore, the movement in the third step becomes part of the travel after the transfer, and unnecessary movement is suppressed.

  In the above description, the article transport vehicle 2 in the form in which the carriage main body 2A, the article transfer device 2B, and the article W all move on the traveling rail 8 is illustrated. However, the article transportation vehicle may be an overhead transportation vehicle in which the article transfer device is supported by being suspended from the traveling rail, and the article W moves below the traveling rail.

[Outline of Embodiment]
The outline of the article transport vehicle 2 described above will be briefly described below.

  As one aspect, a cart body that travels along a travel route along the article placement unit, and the article placement unit and the cart body along a transfer direction that intersects the travel direction of the cart body in plan view. An article transfer vehicle including an article transfer device for transferring an article between the two arms, the article transfer device having two arms arranged at intervals in the traveling direction, and the two An exit / retreat device that changes between a protruding state in which the arm protrudes toward the article placement portion in the transfer direction and a retracted state in which the arm is retracted toward the cart body, and one of the two arms A slide device that slides the slide arm in the travel direction, and when the article is transferred from the carriage body to the article placement portion, the two arms provide the slide direction from both sides of the travel direction. With the article in between, the two above-mentioned arms Is changed from the retracted state to the projecting state, the article is placed on the article placing portion, and the slide arm is in the projecting state, and the slide arm is on the side away from the other arm in the running direction. The first movement amount is moved to the first direction by the slide device, and the main body is moved to the second direction in the traveling direction opposite to the first direction in the traveling direction while remaining in the protruding state. The second movement amount less than the second movement amount is moved, and then, the two arms are changed to the retracted state.

  According to this configuration, since the article is placed on the article placement section by changing the two arms to the protruding state with the article sandwiched between the two arms, the cart is in a state where the posture of the article is regulated. The article can be moved from the main body to the article placement section. Then, the gap between the protruding slide arm and the article corresponds to the first movement amount by moving the slide arm to the first direction in the traveling direction while the two arms remain in the protruding state. Can be widened by an interval. Furthermore, by moving the carriage main body to the second side in the traveling direction with a second movement amount that is smaller than the first movement amount while the two arms remain in a protruding state, The gap between the different arm and the article can also be widened by an interval corresponding to the second movement amount. The distance between the slide arm and the article is reduced by an amount corresponding to the second movement amount. However, since the second movement amount is smaller than the first movement amount, the first movement amount is between the slide arm and the article. And an interval corresponding to the difference between the second movement amount and the second movement amount are secured. That is, an interval is provided between both of the two protruding arms and the article. Thereby, when changing the two arms of a protrusion state to a retraction state, it can suppress appropriately that two arms and articles | goods contact. As described above, according to the present configuration, the arm can be prevented from coming into contact with the article when the arm is retracted after the arm is protruded and the article is moved from the article transport vehicle to the article placement unit.

  Here, it is preferable that the second movement amount is ½ of the first movement amount.

  When the second movement amount is ½ of the first movement amount, the distance between the slide arm and the article and the distance between the other arm different from the slide arm and the article can be approximately the same. The article is placed near the center of the book arm. Therefore, it is possible to reduce the possibility that both the two arms are in contact with the article to the same extent.

  As one aspect, it is preferable that the arm that is not the slide arm of the two arms is a non-slide arm that does not slide in the traveling direction.

  If one of the two arms is a non-sliding arm, the non-sliding arm cannot be slid to the side away from the article in the traveling direction. However, according to this structure, the space | interval of an article | item and a non-sliding arm can be expanded by moving a trolley | bogie main body. A structure in which only one of the two arms can slide in the traveling direction is simpler than a structure in which both of the two arms can slide in the traveling direction, and can be configured at a lower cost. According to this configuration, even in the article transfer device having such a relatively inexpensive configuration, it is possible to suppress the arm from coming into contact with the article during the transfer appropriately.

  Moreover, as one aspect, the slide device is configured to be able to slide both of the two arms in the traveling direction, and the article is transferred from the cart body to the article placement portion. The direction in which the carriage main body moves later is the movement direction after transfer, and one of the two arms, which is located on the opposite side of the movement direction after transfer, is the slide arm, and the other It is preferable that the arm is a non-sliding arm that does not slide in the traveling direction.

  When both of the two arms can move in the traveling direction, either arm can be a slide arm and can be a non-slide arm. If one arm located on the side opposite to the moving direction after transfer is a slide arm, the carriage main body is moved to the side opposite to the moving direction after moving after the slide arm moving to the first direction in the running direction is Then, it moves in the moving direction after transfer as the second side in the traveling direction. Thereafter, the carriage main body with the arm retracted moves in the movement direction after transfer, and therefore the movement toward the second direction in the running direction becomes part of the movement after transfer. Therefore, it is possible to appropriately prevent the arm from coming into contact with the article without causing the article transport vehicle to travel wastefully.

2: article transport vehicle 2A: cart body 2B: article transfer device 13: slide device 17: exit / retreat device 20: arm 20a: slide arm 20b: non-slide arm A1: first movement amount A2: second movement amount P: Article placement unit W: Article X: Travel direction X1: Travel direction first side X2: Travel direction second side Y: Transfer direction

Claims (4)

A carriage body that travels along a travel route along the article placement section, and an article between the article placement section and the carriage body along a transfer direction that intersects the traveling direction of the carriage body in plan view. An article transfer vehicle equipped with an article transfer device for transferring
The article transfer device includes two arms arranged at an interval in the traveling direction, a protruding state in which the two arms protrude toward the article placement portion in the transfer direction, and A retracting device that changes to a retired state that is retired toward the side of the carriage body, and a slide device that slides one of the two arms in the traveling direction.
When transferring the article from the carriage body to the article placement unit,
In a state where the article is sandwiched from both sides in the traveling direction by the two arms, the two arms are changed from the retracted state to the protruding state, and the article is placed on the article placing portion.
In the protruding state, the slide arm is moved by the slide device to the first side in the running direction, which is the side away from the other arm in the running direction,
In the protruding state, the carriage main body is moved to a second direction of travel that is opposite to the first side of the travel direction, by a second movement amount smaller than the first movement amount,
Thereafter, the article transport vehicle that changes the two arms to the retreated state.   The article transport vehicle according to claim 1, wherein the second movement amount is ½ of the first movement amount.   3. The article transport vehicle according to claim 1, wherein the arm that is not the slide arm of the two arms is a non-slide arm that does not slide in the traveling direction. 4. The slide device is configured to be able to slide both of the two arms in the traveling direction,
The direction in which the bogie main body moves after the article is transferred from the bogie main body to the article placing portion is defined as a movement direction after transfer,
The one arm located on the opposite side to the moving direction after the transfer among the two arms is the slide arm, and the other arm is a non-sliding arm that does not slide in the traveling direction. The article transport vehicle according to 1 or 2.

Images