JP6593287B2 - Goods transport equipment - Google Patents

Description

  The present invention includes: a first transport device that transports articles in a first direction along a horizontal plane; a second transport device that transports articles in a second direction along a vertical direction; and a first transport device and a second transport device. The present invention relates to an article transport facility including a fixed load receiving table disposed at a delivery position for delivering an article, and a lifting device that lifts and lowers the article in a region overlapping with the delivery position in plan view.

  For example, Patent Document 1 discloses such an article conveyance facility (hereinafter, reference numerals in parentheses in the background art are those of Patent Document 1). The facility of Patent Document 1 is configured such that an article (6) is exchanged between the first transport device (200), the second transport device (100), and the lifting device (300). In the facility of Patent Document 1, the article (6) carried in by the first transport device (200) is transported to each storage unit by the second transport device (100). The first transport device (200) transports the article (6) along the first direction along the horizontal plane on the traveling frame, and the article is sent to a delivery position where the second transport device (100) sends and receives the article. (6) is arranged. The article (6) disposed at the delivery position is a position where the flange portion provided on the upper surface of the article (6) is gripped by the chuck-type gripping part of the lifting device (300) and is spaced upward from the delivery position. Lifted to. Then, the next article (7) is transported by the first transport device (200) to the delivery position that has become empty due to the article (6) being lifted. At this time, the article (6) and the next article (7) are separated in the vertical direction. From this state, the lower transfer unit and the upper transfer unit of the second transport device (100) are protruded in the transfer direction (the direction in which the article exists), and the article (6) and the next article (7) are transferred simultaneously. Included. Since the equipment of Patent Document 1 can transfer the article (6) and the next article (7) simultaneously, that is, the two articles can be transferred together (in a lump), the article is conveyed to each storage unit. The operation amount of the two transport device (100) can be reduced, and as a result, the transport efficiency is improved as compared with the case where two articles are transferred one by one.

  Here, in order to appropriately transfer the article (6) lifted by the lifting / lowering device (300) by the second transfer device (100), the upper transfer portion is projected to be positioned below the article (6). Then, the upper transfer part is raised to bring the upper transfer part into contact with the bottom surface of the article (6), and the upper transfer part supports the entire load of the article (6). There is a need to. However, since the article (6) cannot be transferred when the gripping portion is in the closed state, the gripping portion needs to be changed from the closed state to the open state. In order to change the gripping portion from the closed state to the open state, when the load of the article (6) received by the gripping portion of the lifting device (300) is transferred to the upper transfer portion and becomes zero, the gripping portion is closed. Must be controlled. Therefore, it is necessary to coordinate the raising of the upper transfer part and the opening / closing of the grip part of the lifting device at an appropriate timing, and complicated control is required to realize this.

Korean Published Patent No. 2006-0015493

  The present invention has been made in view of the above circumstances, and the object thereof is to easily give and receive an article arranged apart from the fixed load receiving portion without requiring complicated control. An object of the present invention is to provide an article conveyance facility that can be used.

  In order to solve the above-described problems, the feature configuration of the article transport facility according to the present invention includes a first transport device that transports an article in a first direction along a horizontal plane and a second transport that transports the article in a second direction along the vertical direction. An article conveyance facility comprising: a conveyance device; and a fixed load receiving base disposed at a delivery position where the first delivery device and the second delivery device deliver and receive an article, and overlaps with the delivery position in plan view A lifting device that lifts and lowers the article in a region to be moved, wherein the second transport device includes a transfer unit that supports the article so as to be able to move in and out along a transfer direction, and the second transport device includes the transfer device As a part, it comprises a lower transfer part and an upper transfer part arranged above the lower transfer part, the lifting device has a lifting load receiving base for supporting the article from below, and can be raised and lowered, Lifting platform is higher than the fixed height at which the fixed platform is placed Between the fixed reference height and the lift standby height, the difference between the fixed height and the lift standby height is configured to be movable up and down. It is in the point set equal to the installation space | interval of the up-down direction of a part and the said downward transfer part.

  According to this configuration, among the two articles that are collectively transported by the second transport apparatus, the article that is transported first by the first transport apparatus (hereinafter referred to as the first article) is transported by the first transport apparatus. After being lifted, it is lifted while being supported from below by the lifting load receiving base of the lifting device, and is placed at the lifting standby height. Thereafter, the second article conveyed by the first conveyance device (hereinafter referred to as the second article) of the two articles is conveyed by the first conveyance device and placed on the fixed load receiving platform at the delivery position. As a result, the first article is arranged at the elevation standby height, and the second article is arranged at the fixed height. In this configuration, the difference between the fixed height at which the second article is placed and the elevation standby height at which the first article is placed is the vertical installation interval between the upper transfer section and the lower transfer section for transferring the article. Is equal to. Therefore, the upper transfer unit and the lower transfer unit can simultaneously transfer the first article and the second article that are separated from each other in the vertical direction. Moreover, the 1st article is maintaining the state arrange | positioned at the raising / lowering stand-by height by being supported from the downward direction by the raising / lowering load receiving stand. For this reason, the first article on the lifting load receiving platform can be supported only by the operation of the upper transfer portion without operating the lifting load receiving platform while the first article is positioned at the lifting standby height. Therefore, according to this configuration, when the upper transfer unit transfers the first article from the lifting load receiving table, the upper transfer unit does not need to coordinate the operation with the lifting device, and thus requires complicated control. You can transfer the goods without.

  The upper transfer unit is configured to support an article from below, and the lifting load receiving table has a length in a width direction perpendicular to the transfer direction along a horizontal plane. The elevating passage portion formed longer than the length in the width direction of the article, the length in the width direction of the article is formed longer than the length in the width direction of the elevating passage portion, the second transport device In the state where the upper transfer portion and the lift load receiving table overlap in plan view, the upper transfer portion is passed through the up / down passing portion in the vertical direction, and an article is exchanged with the lift load receiving stand. It is preferable to be configured as described above.

  According to this configuration, the upper transfer unit can support the article from below and can pass through the lifting / lowering passage formed on the lifting / lowering load receiving base in the vertical direction. For this reason, when the lifting / lowering carriage is passed from the lower side to the upper side in the state where the lifting / lowering cradle supports the article from below, the article supported by the lifting / lowering cradle is moved to the upper transfer part. And all the loads of the article are supported by the upper transfer part. That is, according to this configuration, the load of the article can be transferred from the lifting load receiving table to the upper transfer portion only by the ascending operation of the upper transfer portion passing through the lifting passage portion from below to above. Therefore, according to this structure, the operation | movement required for transfer of the goods between an upper transfer part and a raising / lowering load receiving stand can be achieved.

  The first transport device includes a transport support unit that supports an article from below and is movable in the first direction. The transport support unit is above the lift reference height and the lift standby height. And a transfer height positioned below the fixed height. The fixed load receiving platform has a length in the width direction that supports the transfer. A fixed passage part formed longer than the length in the width direction of the part, and the length in the width direction of the transport support part is shorter than the length in the width direction of the lift passage part, The length in the width direction is longer than the length in the width direction of the fixed passage portion, and the second transfer device is in a state where the lower transfer portion and the fixed load receiving table overlap in plan view. Pass the fixed passage part up and down through the lower transfer part. , It is preferable to be configured to transfer an article between said stationary receiving platform.

  According to this configuration, since the conveyance support unit supports the article from below and is movable in the first direction, the first conveyance device holds the article in the first direction while supporting the article by the conveyance support unit. Can be transported. And the length of the width direction of a conveyance support part is formed shorter than the length of the width direction of the fixed passage part formed in the fixed load receiving stand, and the length of the width direction of a raising / lowering load receiving stand. In addition, the transport support unit extends from a transport reference height above the lift reference height at which the lift receiving platform is disposed for receiving and receiving articles to a transfer height below the fixed height at which the fixed load receiving platform is disposed. Can be moved up and down. Furthermore, since the length in the width direction of the article is longer than the length in the width direction of the lifting and lowering passage part and the length in the width direction of the fixed passage part, the lifting and lowering passage part and the fixed part are supported in a state where the conveyance support part supports the article. By passing the passage portion in the vertical direction, it is possible to exchange articles with each other. Therefore, according to this structure, goods can be exchanged between a conveyance support part and a raising / lowering load receiving stand, and between a conveyance support part and a fixed load receiving stand by raising / lowering of a conveyance support part which is simple operation | movement.

  In addition, the article transporting facility includes a control unit that controls the operation of the first transporting device, and the control unit is provided in any case where the lifting load receiving table is at the lifting reference height and the lifting standby height. It is preferable that the first transport device is controlled to raise and lower the transport support portion between the transport reference height and the transfer height.

  In the state where the lifting / lowering cradle is at the lifting / lowering reference height, when the transporting support unit exchanges articles with the lifting / lowering load cradle, the transporting reference height that is the upper limit height of the lifting / lowering range of the transporting support portion is: Since it is located above the lift reference height of the lift load receiving table, it is possible to exchange articles between the lift load receiving stand and the conveyance support portion. In addition, when the transport support unit exchanges articles with the fixed load receiving stage while the lifting load receiving stage is at the lifting standby height, it is possible to lift and lower in a narrow lifting range that matches the fixed height of the fixed load receiving base. Also, it is possible to exchange articles between the conveyance support portion and the fixed load receiving table. However, according to this configuration, the conveyance support unit is controlled to move up and down between the conveyance reference height and the receiving / receiving height without matching the elevation range of the conveyance support unit to the fixed height of the fixed load receiving table. Therefore, according to the present configuration, it is not necessary to change the lifting range of the transport support portion one by one between when the article is exchanged with the fixed load receiving platform and when the article is transferred with the lifting load receiving platform. In either case, the same control can be executed. Therefore, the control configuration can be simplified.

  In addition, the control unit is configured to move the transport support unit up and down between the transport reference height and the transfer height, and above the fixed height and below the lift reference height. It is preferable that the second elevating and lowering mode for elevating and lowering between the transport reference second height positioned and the transfer height is executable.

The transfer of articles between the transport support portion and the fixed load receiving table can be performed in either the first lift mode or the second lift mode, but the lift range when the transport support portion is lifted or lowered in the second lift mode is: Since it is narrower than the lift range when the transport support portion is lifted and lowered in the first lift mode, the time required for receiving and receiving articles can be shortened by lifting and lowering the transport support portion in the second lift mode.
For example, when one of the lower transfer unit and the upper transfer unit cannot be used but only the other can be used due to a failure of the second transfer device, etc., only the fixed load receiving table among the lifting load receiving table and the fixed load receiving table is used. It is conceivable to operate the equipment by using it, but in such a case, by raising and lowering the conveyance support part in the second elevating mode, unnecessary raising and lowering operations of the conveyance support part can be suppressed, and goods can be exchanged quickly. Can be done.
On the other hand, when there is no failure or the like of the second transport device and the transport support unit exchanges articles between the lift load receiving platform and the fixed load receiving platform, the control configuration is performed by executing only the first lift mode. It can be simplified. Therefore, according to this structure, the raising / lowering mode suitable for various situations can be selected suitably among 1st raising / lowering mode and 2nd raising / lowering mode, and the advantageous operation according to the condition can be performed.

  Further features and advantages of the technology according to the present disclosure will become more apparent from the following description of exemplary and non-limiting embodiments described with reference to the drawings.

It is a side view of the article conveyance equipment concerning this embodiment. It is a principal part top view of the goods conveyance equipment. It is a side view of the conveying apparatus which concerns on this embodiment. It is a front view of the raising / lowering apparatus which concerns on this embodiment. It is VV sectional drawing in FIG. It is VI-VI sectional drawing in FIG. It is a schematic diagram which shows the relationship of the height of each structure which concerns on this embodiment. It is a control block diagram of the article conveyance equipment concerning this embodiment. It is a flowchart which shows the procedure at the time of performing 1st raising / lowering mode. It is a flowchart which shows the procedure at the time of performing 2nd raising / lowering mode. It is a flowchart which shows the procedure which conveys articles | goods to a lifting load receiving stand. It is a flowchart which shows the procedure which conveys articles | goods to a fixed load receiving stand. It is a figure which shows the motion which conveys articles | goods to a raising / lowering load receiving stand. It is a figure which shows the next movement of FIG. It is a figure which shows the next movement of FIG. It is a figure which shows the motion which conveys articles | goods to a fixed load receiving stand. It is a figure which shows the next movement of FIG. It is a figure which shows the movement of delivery of the article | item by the transfer part of a 2nd conveying apparatus. It is a figure which shows the other movement of transfer of the articles | goods by the transfer part of a 2nd conveying apparatus. It is a flowchart which shows the procedure at the time of performing a mode switching process. It is a figure which shows the motion which conveys articles | goods by 2nd raising / lowering mode.

  Hereinafter, an embodiment of an article conveyance facility will be described based on the drawings. The article conveyance facility 1 according to the present embodiment conveys a FOUP (Front Opening Unified Pod) that accommodates a semiconductor substrate across floors.

[Outline of goods transport equipment]
As shown in FIG. 1, the article transport facility 1 includes a first transport device 2 that transports an article W in a first direction X along the horizontal plane, and a second transport that transports the article W in a second direction Z along the vertical direction. The apparatus 3, and a fixed load receiving platform 4 disposed at a transfer position EP where the first transfer device 2 and the second transfer device 3 deliver the article W are provided. Moreover, as shown in FIG.1 and FIG.2, the article conveyance equipment 1 is further provided with the raising / lowering apparatus 5 which raises / lowers the article W in the area | region which overlaps with the delivery position EP by planar view. The article transporting facility 1 includes a control unit 6 that controls the operations of the first transporting device 2, the second transporting device 3, and the lifting device 5 (see also FIG. 8), and various types based on information obtained from various sensors. The actuator can be controlled.

  As shown in FIGS. 1 and 2, a transport space partitioned by a partition ST extending in the second direction Z is formed, and the FOUP as the article W is temporarily stored in the transport space. A plurality of storage portions 99 are provided. The 1st conveying apparatus 2 is installed in the state which penetrates the division body ST, and conveys the articles | goods W along the 1st direction X over the inside and outside of conveyance space. The second transport device 3 is installed in the transport space, and transports the article W along the second direction Z in the transport space.

  As shown in FIGS. 3-7, the 1st conveying apparatus 2 has the conveyance support part 2T which is movable to the 1st direction X while supporting the articles | goods W from the downward direction. As shown in FIG.1 and FIG.2, the 2nd conveying apparatus 3 is equipped with the transfer part 34 which supports the articles | goods W so that withdrawal / retraction is possible along a transfer direction. Moreover, the 2nd conveying apparatus 3 is provided with the lower transfer part 34a and the upper transfer part 34b arrange | positioned above the said lower transfer part 34a as the transfer part 34. As shown in FIG. The lower transfer unit 34a and the upper transfer unit 34b have the same configuration. The lower transfer unit 34a and the upper transfer unit 34b are configured to support the article W from below. In the present specification, the transfer direction refers to the extending direction of a straight line connecting the transfer unit 34 and the article W in a state where the transfer unit 34 faces the article W to be transferred. To do.

  As shown in FIGS. 4 and 7, the fixed load receiving platform 4 is formed such that the length in the width direction Y orthogonal to the transfer direction along the horizontal plane is longer than the length in the width direction Y of the transport support portion 2T. The fixed passage portion 41 is provided.

  As shown in FIGS. 4, 6, and 7, the lifting device 5 has a lifting load receiving platform 5 </ b> T that supports the article W from below so as to be lifted and lowered. The lifting load receiving platform 5T has a lifting / lowering passage portion 55 formed so that the length in the width direction Y is longer than the length in the width direction Y of the upper transfer portion 34b. Further, the length in the width direction Y of the elevating passage 55 is formed longer than the length in the width direction Y of the lower transfer portion 34a. In addition, the length in the width direction Y of the transport support portion 2 </ b> T of the first transport device 2 is shorter than the length in the width direction Y of the elevating passage portion 55. Further, the length in the width direction Y of the article W is formed longer than the length in the width direction Y of the elevating / lowering passage portion 55. Furthermore, the length of the article W in the width direction Y is formed longer than the length of the fixed passage portion 41 in the width direction Y.

  As shown in FIG. 7, in this embodiment, the lifting load receiving platform 5T includes a lifting reference height Hb2 positioned above the fixed height Hb1 where the fixed load receiving table 4 is disposed, and the lifting reference height Hb2. Also, it is configured to be movable up and down with the elevation standby height Hb3 located above. Further, the transport support portion 2T has a transport reference height Ha3 located above the lift reference height Hb2 and below the lift standby height Hb3, and a transfer height located below the fixed height Hb1. It is configured to be movable up and down with Ha1.

  As shown in FIG. 18, the second transfer device 3 allows the upper transfer portion 34 b and the lift load receiving platform 5 T to overlap the upper transfer portion 34 b in the vertical direction with the upper transfer portion 34 b overlapping in a plan view. Thus, the article W is exchanged with the lifting / lowering load receiving platform 5T. As described above, in the present embodiment, since the upper transfer unit 34b and the lower transfer unit 34a are configured in the same manner, the second transfer device 3 moves the lifting / lowering passage unit 55 to the lower transfer unit 34a in the vertical direction. The article W can be exchanged with the lifting / lowering load receiving platform 5T by passing it through.

  Further, the second transport device 3 allows the fixed transfer part 41 to pass through the lower transfer part 34a in the vertical direction in a state where the lower transfer part 34a and the fixed load receiving base 4 overlap in plan view. 4 is configured to send and receive articles W to and from 4. Furthermore, the 2nd conveying apparatus 3 is comprised so that the articles | goods W can be exchanged between the fixed load receiving stand 4 also by passing the fixed passage part 41 to an up-down direction through the upper transfer part 34b.

  In this embodiment, the difference between the fixed height Hb1 and the elevation standby height Hb3 is set equal to the vertical installation interval between the upper transfer portion 34b and the lower transfer portion 34a. Therefore, the article transport facility 1 according to the present embodiment includes an article W that is supported by the fixed load receiver 4 and is at a fixed height Hb1, and an article W that is supported by the elevator load receiver 5T and is at an elevation standby height Hb3. Transfer can be performed simultaneously by the lower transfer unit 34a and the upper transfer unit 34b.

[Detailed Configuration of the Embodiment]
Next, a detailed configuration of the present embodiment will be described.
As shown in FIG.1 and FIG.2, the 1st conveying apparatus 2 is comprised so that conveyance of the articles | goods W between the inside of the division body ST and the exterior is possible. The first transport device 2 is configured to be able to travel in the first direction X along the travel frame 21. 3 to 6 and the like, the first transport device 2 includes a transport support portion 2T that supports the article W from below and is movable in the first direction X. The traveling frame 21 is formed in a long cylindrical shape and is provided so as to penetrate the partition body ST in the first direction X through the entrance / exit 98. As shown in FIG. 1, the traveling frame 21 is provided at the upper ends of a plurality of leg members erected from the floor surface, and is disposed at a position spaced upward from the floor surface. For example, the traveling frame 21 is arranged near the height of the operator's waist. Of the both ends of the traveling frame 21 in the first direction X, the article W between the worker and the first transport device 2 at the end opposite to the end where the fixed load receiving platform 4 is disposed. Will be given and received.

  As shown in FIG. 3, the interior of the traveling frame 21 is a traveling space 2S in which the self-propelled vehicle 23 can travel. The self-propelled vehicle 23 includes a first transport belt 2BE that pulls the self-propelled vehicle 23, a drive pulley 2Pa that is driven by the first transport travel motor 2Ma, a tension pulley 2Pb that adjusts looseness of the first transport belt 2BE, And a guide pulley 2Pc that guides the one conveyor belt 2BE in the longitudinal direction (first direction X) of the traveling frame 21. The first transport belt 2BE is integrally wound around these pulleys, and is configured to be able to flow along the first direction X by driving the drive pulley 2Pa. The self-propelled vehicle 23 has driven wheels 2 </ b> W that rotate around the horizontal axis in a state of contacting the lower surface of the traveling frame 21 in the traveling space 2 </ b> S. The self-propelled vehicle 23 is in contact with the first conveyance guide rail 24 extending in the first direction X and the vertical surface of the first conveyance guide rail 24 in the traveling space 2S and rotates around the vertical axis. 1 conveyance guide roller 25. Since the self-propelled vehicle 23 is configured as described above, while being guided in the first direction X by the first conveyance guide roller 25, the first conveyance belt 2BE is pulled by the first conveyance belt 2BE, The traveling space 2S can travel by rolling of the driven wheel 2W.

  As shown in FIG. 3, the self-propelled vehicle 23 includes a first transport lifting body 26 that is lifted and lowered by a first transport lifting motor 2Mb. The lower end portion of the first transport elevating body 26 is connected to the first transport elevating motor 2Mb and the traveling space 2S. Moreover, the 1st conveyance raising / lowering body 26 is comprised so that it may protrude above the traveling frame 21 from the traveling slit 22 formed in the upper surface of the traveling frame 21 (refer also FIGS. 4-6). A transport support 2T that is driven by a first transport swivel motor 2Mc and rotates about a vertical axis along the second direction Z is connected to the upper end of the first transport lift 26. The transport support portion 2T is configured to be movable up and down by being connected to the upper end portion of the first transport lift body 26 that can be lifted and lowered. The transport support portion 2T is mainly configured to move in the first direction X at the transport reference height Ha3. In the present embodiment, the transport support portion 2T is configured to rotate integrally with the first transport lift body 26 that rotates about the vertical axis by the first transport turning motor 2Mc.

  The conveyance support unit 2T is configured to be able to support the article W on its upper surface. A first transport positioning pin 27 protruding upward is provided on the upper surface of the transport support portion 2T. A total of three first transport positioning pins 27 are provided on the upper surface of the transport support portion 2T, and the lines connecting these three pins are arranged so as to form a triangle in plan view (FIGS. 5 and 6). reference). The first transport positioning pins 27 are positioned in the engagement grooves formed on the bottom surface of the article W, thereby positioning the article W supported on the top surface of the transport support portion 2T.

  The self-propelled vehicle 23 configured as described above can raise and lower the article W supported by the conveyance support part 2T by the first conveyance elevating body 26, and can rotate the conveyance support part 2T to rotate the article. The article W is configured to be able to be switched between a reference attitude and a turning attitude by turning W. In the present embodiment, the reference posture of the article W is maintained while the article W supported by the transport support portion 2T is traveling on the traveling frame 21 by the self-propelled vehicle 23. When the article W is disposed at the delivery position EP, the conveyance support portion 2T is turned so that the article W is in a turning posture. In the present embodiment, the posture suitable for transfer by the second transport device 3 is the turning posture of the article W. The turning posture is a posture suitable for transferring an article, and may be any posture as long as the transfer unit can easily support the article. For example, when the article is a pallet and an engagement hole with which the transfer part is engaged is formed on one side surface, the engagement is performed so that the transfer part can be engaged with the engagement hole. An attitude in which the hole and the transfer part face each other. The self-propelled vehicle 23 may be configured to move the traveling frame 21 while the article W maintains the turning posture. Further, the self-propelled vehicle 23 may be configured such that the article W is always in a posture suitable for transfer by the second transport device 3. In this case, the posture switching function of the article W is not necessary.

  As shown in FIG.1 and FIG.2, the fixed load receiving stand 4 is provided in the edge part of the traveling frame 21 inside the division body ST. The fixed load receiving stand 4 is configured in a form in which a pair of long plates along the transfer direction are arranged separately in the width direction Y. The fixed load receiving platform 4 is configured such that a traveling slit 22 is disposed between a pair of long plates in a plan view. Therefore, the first transport elevating body 26 and the transport support portion 2T of the self-propelled vehicle 23 can pass in the first direction X between the pair of long plates of the fixed load receiving platform 4 in a state of protruding upward from the travel slit 22. Yes.

  The fixed load receiving platform 4 is configured to be able to support the article W on the upper surface thereof. As shown in FIGS. 4, 5, and 7, the fixed passage portion 41 formed in the fixed load receiving table 4 is disposed between a pair of long plates of the fixed load receiving table 4. When the conveyance support portion 2T supports the article W from below at the delivery position EP and moves from the conveyance reference height Ha3 to the delivery height Ha1, and passes through the fixed passage portion 41 from above to below, the article W becomes It is deposited in the fixed load receiving stand 4. Thus, the 1st conveying apparatus 2 is comprised so that conveyance of the goods W to the fixed load receiving stand 4 is possible. Fixed positioning pins 42 projecting upward are provided on the upper surfaces of the pair of long plates of the fixed load receiver 4. The fixed positioning pin 42 is positioned in the article W supported on the upper surface of the fixed load receiving base 4 by being fitted into an engagement groove formed on the bottom surface of the article W.

  Around the fixed load receiving stand 4, a fixed load sensor 4Se1 and a fixed reflecting plate 4Re capable of detecting the presence / absence of the article W at the transfer position EP are provided. In a state where the article W does not exist at the delivery position EP, the laser emitted from the fixed load sensor 4Se1 strikes and reflects the fixed reflector 4Re, and the article W does not exist at the delivery position EP by receiving this reflected light. Is detected. On the contrary, in the state where the article W is present at the delivery position EP, the laser projected from the fixed load sensor 4Se1 is blocked by the article W, so that the laser does not reach the fixed reflector 4Re. That is, the state where the article W is present at the delivery position EP is detected by not receiving the reflected light from the fixed reflector 4Re.

  In addition to the fixed load sensor 4Se1, a switch-type fixed seating sensor 4Se2 is provided on the upper surface of the fixed load receiving base 4. The fixed seating sensor 4Se2 is provided on each of the pair of long plates of the fixed load receiving platform 4. When the article W is supported on the fixed load receiving base 4, the switch of the fixed seating sensor 4 Se 2 is pushed by the bottom surface of the article W, and the state where the article W exists on the fixed load receiving base 4 is detected. When the article W is not supported by the fixed load receiving base 4, the fixed seating sensor 4 Se 2 is not pressed, and thus the state where the article W does not exist on the fixed load receiving base 4 is detected. In this way, it is possible to detect whether or not the article W is present in the correct posture at the delivery position EP (fixed load receiving platform 4) by the dual sensors of the fixed load sensor 4Se1 and the fixed seating sensor 4Se2.

  As shown in FIG.1 and FIG.2, the 2nd conveying apparatus 3 is provided in the inside of the division body ST. The 2nd conveyance apparatus 3 is comprised so that raising / lowering is possible, and it is comprised so that the articles | goods W carried in the inside of the division body ST by the 1st conveyance apparatus 2 can be conveyed to the accommodating part 99. FIG. Furthermore, the second transport device 3 is configured to be able to transport the article W from the storage unit 99 to the delivery position EP so that the article W stored in the storage unit 99 is carried out by the first transport device 2.

  The second transport device 3 is driven by a second transport lifting / lowering guide 31 disposed in the second direction Z inside the partition body ST and a second transport lifting / lowering motor (not shown), and the second transport lifting / lowering guide 31. And a second transport lifting / lowering body 32 that moves up and down. As shown in FIG. 2, the 2nd conveyance raising / lowering guide 31 is formed in the cylinder shape which has a rectangular cross section. A second conveyance guide roller 33 that abuts against the front surface 3F is provided on the front surface 3F of the side surface of the second conveyance lift guide 31. The second conveyance guide roller 33 rotates around the horizontal axis and rolls the front surface 3F in the second direction Z. The second transport guide roller 33 guides the second transport lift body 32 along the second direction Z.

  The second transport elevating guide 31 is provided with a second transport belt 3BE disposed along the second direction Z. The second conveyor belt 3BE is wound around rotating bodies (not shown) disposed on the upper and lower ends. One of these rotating bodies is driven by the second transport lifting motor, and this driving force is transmitted to the other rotating body via the second transport belt 3BE, and the other rotating body is driven. The second transport belt 3BE flows by the operation of these rotating bodies, so that the second transport lift body 32 connected to the second transport belt 3BE is moved up and down.

  The 2nd conveyance raising / lowering body 32 is provided in the form which protrudes to the outward of the front 3F side of the 2nd conveyance raising / lowering guide 31. As shown in FIG. The 2nd conveyance raising / lowering body 32 is connected with the balance weight 3BW provided in the rear surface 3R side inside the 2nd conveyance raising / lowering guide 31. As shown in FIG. The 2nd conveyance raising / lowering body 32 has 3 L of link mechanisms comprised so that bending was possible. The rear end portion of the link mechanism 3L is attached to a connecting member that connects the second transport elevating guide 31 and the second transport elevating body 32. The front end portion of the link mechanism 3L is attached to a disc-shaped swivel base 3T that rotates around a vertical axis by a second transport swivel motor (not shown), and a transfer that supports the article W on the upper surface of the swivel base 3T. The mounting part 34 is connected. The link mechanism 3L is configured to bend and stretch by applying a rotational force around the vertical axis to one end of the link mechanism 3L by the swivel base 3T. As described above, since the lower transfer unit 34a and the upper transfer unit 34b have the same configuration, they may be collectively described as the transfer unit 34 below.

  The transfer part 34 is configured to move out and retract by the bending and stretching operation of the link mechanism 3L. That is, the transfer unit 34 moves in a direction approaching the second transport elevating guide 31 by the bending of the link mechanism 3L (retraction operation). Due to the extension of the link mechanism 3L, the transfer unit 34 moves in a direction away from the second transport elevating guide 31 (protruding operation). In the present embodiment, as shown in FIG. 2, there is an example in which there are two traveling frames 21 for one second transport device 3 in a plan view, that is, there are two article delivery locations. Yes. The 2nd conveying apparatus 3 is comprised so that the transfer part 34 may be rotated and the said transfer part 34 may be directly opposed with respect to the articles | goods W of each article delivery location. In this state, the second transfer device 3 transfers the article W by moving the transfer unit 34 in and out of the transfer direction.

  As shown in FIG. 1, a lower positioning pin 35a (35) protruding upward is provided on the upper surface of the lower transfer portion 34a. A total of three lower positioning pins 35a are provided on the upper surface of the lower transfer portion 34a, and the lines connecting these three pins are arranged so as to form a triangle in plan view. Similarly, on the upper surface of the upper transfer portion 34b, three upper positioning pins 35b (35) are arranged such that a line connecting these three pins becomes a triangle in plan view. As shown in FIG. 2, a cable guide 3CB is provided on the outside of the second transport elevating guide 31, and electric power to each actuator is provided by a power supply line, a communication line, etc. supported inside the cable guide 3CB. Supply etc. are done.

  As shown in FIG.1 and FIG.2, the raising / lowering apparatus 5 is provided in the end part vicinity of the traveling frame 21 inside the division body ST. The elevating device 5 can wait for the article W on the traveling frame 21 conveyed to the delivery position EP by the first conveying device 2 at a position spaced upward from the traveling frame 21. As a result, the traveling frame 21 becomes empty without the article W, and the first article 2 can convey the next article W to the delivery position EP.

  As shown in FIG. 4, the lifting load receiving platform 5 </ b> T included in the lifting device 5 has a pair of lifting support portions 5 </ b> Ta. A pair of raising / lowering support part 5Ta is mutually spaced apart and arrange | positioned in the width direction Y. The pair of elevating support portions 5Ta is integrally formed by a gate-shaped frame portion 5Tb that is erected on each upper surface. The lifting device 5 has a lifting mast 51 erected on the floor surface at a position aligned with the lifting load receiving platform 5T in the width direction Y. A cylindrical body 52 is attached to the outer surface of the elevating mast 51 facing the frame portion 5Tb along the extending direction of the elevating mast 51. Inside the cylindrical body 52, a ball screw shaft 53 that is rotated around a vertical axis by an elevating motor 5M is provided. A nut 5N is attached to the ball screw shaft 53 via a large number of balls. A moving bracket 54 is attached to the nut 5N via a connecting member. The moving bracket 54 is configured to move up and down via a nut 5N that moves up and down by a ball screw shaft 53 that is rotated by a lifting motor 5M. The moving bracket 54 is connected to the frame portion 5Tb of the lifting load receiving platform 5T. That is, as the moving bracket 54 moves up and down, the lifting load receiving platform 5T connected to the moving bracket 54 via the frame portion 5Tb is also moved up and down.

  As shown in FIG.4 and FIG.6, a pair of raising / lowering support part 5Ta is comprised so that the driving | running | working slit 22 may be arrange | positioned between these pair of raising / lowering support part 5Ta by planar view. Between the width direction Y of a pair of raising / lowering support part 5Ta is the raising / lowering passage part 55 (refer also FIG. 7). As described above, the length in the width direction Y of the elevating / lowering passage portion 55 is formed longer than the length in the width direction Y of the transport support portion 2T. For this reason, the conveyance support part 2T can pass the up-and-down passage part 55 in the up-down direction in a state overlapping with the up-and-down load receiving platform 5T in a plan view. Furthermore, as described above, the length in the width direction Y of the article W is formed longer than the length in the width direction Y of the lifting / lowering passage portion 55. For this reason, when the transport support portion 2T moves from the transport reference height Ha3 to the transfer height Ha1 while supporting the article W from below and passes through the lift passage portion 55 from above to below, the article W is lifted and lowered. It is supported by the lifting load receiving platform 5T located at the height Hb2. Thus, the 1st conveying apparatus 2 is comprised so that the goods W can be conveyed to the raising / lowering load receiving stand 5T.

  As shown in FIG.4 and FIG.6, the raising / lowering positioning pin 56 which protrudes upward is provided in each upper surface of a pair of raising / lowering support part 5Ta. The lifting / lowering positioning pins 56 are positioned in the engaging grooves formed on the bottom surface of the article W, thereby positioning the article W supported on the upper surface of the lifting / lowering load receiving platform 5T.

  One of the pair of lifting support portions 5Ta is provided with a lifting / lowering load sensor 5Se1 capable of detecting the presence / absence of the article W in the lifting load receiving platform 5T. On the other of the pair of lift support portions 5Ta, a lift reflection plate 5Re that reflects a laser beam projected from the lift presence sensor 5Se1 is provided. In a state where the article W is not present on the lift platform 5T, the laser emitted from the lift sensor 5Se1 strikes and reflects the lift reflector 5Re, and the reflected light is received to receive the article W on the lift platform 5T. A state of not being detected is detected. On the contrary, in the state where the article W is present on the lifting / lowering load receiving platform 5T, the laser emitted from the lifting / lowering load sensor 5Se1 is blocked by the article W and does not reach the lifting / lowering reflecting plate 5Re. That is, the state where the article W is present at the delivery position EP is detected by not receiving the reflected light from the elevating reflector 5Re.

  In addition to the lifting / lowering load sensor 5Se1, a switch-type lifting / lowering seating sensor 5Se2 is provided on the upper surface of the lifting / lowering load receiving platform 5T. The lift seat sensor 5Se2 is provided in each of the pair of lift support portions 5Ta. When the article W is supported by the lifting / lowering cradle 5T, a switch of the lifting / lowering seating sensor 5Se2 is pushed by the bottom surface of the article W, and a state where the article W exists on the lifting / lowering cradle 5T is detected. When the article W is not supported by the lifting / lowering cradle 5T, since the lifting / lowering seating sensor 5Se2 is not pushed, a state in which the article W is not present on the lifting / lowering cradle 5T is detected. In this way, it is possible to detect whether or not the article W is present in the correct posture in the lift load receiving platform 5T by using the double sensors of the lift presence sensor 5Se1 and the lift seat sensor 5Se2.

[Control configuration]
As shown in FIG. 8, the control unit 6 includes a first control device C1 that controls the operation of the second transport device 3, a second control device C2 that controls the operations of the first transport device 2 and the lifting device 5, And a host control device C that comprehensively controls them.

  The 1st control apparatus C1 is comprised so that the 2nd conveying apparatus 3 may perform transfer of the articles | goods W by controlling operation | movement of the upper transfer part 34b and the lower transfer part 34a. The second control device C2 operates the first transfer device 2 and the lifting device 5 based on information detected by various sensors, that is, the fixed load sensor 4Se1, the fixed seating sensor 4Se2, the lifting and lowering load sensor 5Se1 and the lifting and lowering seating sensor 5Se2. Is configured to control. In other words, the second control device C2 is configured to control the traveling and stopping of the self-propelled vehicle 23 in the first direction X by controlling the first transport traveling motor 2Ma. In addition, the second control device C2 is configured to control the first transport raising / lowering motor 2Mb to control the lifting and lowering of the transport support portion 2T. Further, the second control device C2 is configured to control the rotation of the conveyance support portion 2T by controlling the first conveyance rotation motor 2Mc. As a result, the reference posture and the turning posture of the article W can be switched.

  The control unit 6 is configured to be able to execute a first transport process that causes the first transport device 2 to transport the article W to the lifting / lowering cradle 5T or the fixed load cradle 4. In this embodiment, the 1st conveyance process is provided with the 1st raising / lowering mode and the 2nd raising / lowering mode. That is, the controller 6 raises and lowers the transport support portion 2T between the transport reference height Ha3 and the transfer height Ha1, and the lift reference height Hb2 above the fixed height Hb1. The second elevating and lowering mode in which the elevating and lowering is performed between the conveyance reference second height Ha2 and the transfer height Ha1 positioned below the position is configured to be executable.

  FIG. 9 shows a flowchart when the first transport process is executed in the first lifting / lowering mode. The first lifting / lowering mode is a mode configured such that the lifting / lowering range of the transport support portion 2T of the first transport device 2 is wider than that of the second lifting / lowering mode. Although not shown, the opposite side of the transfer position EP in the first direction X of the traveling frame 21 is a loading position where the operator places the article W on the transport support portion 2T of the first transport device 2. After the worker places the article W on the transport support unit 2T at the loading position, the first lifting mode of the first transport process is executed. As shown in FIG. 9, in the first lifting / lowering mode, first, it is determined whether or not the transport support portion 2T is at the transport reference height Ha3 (step # 11). When it is determined that the transport support portion 2T is at the transport reference height Ha3 (step # 11: Yes), the self-propelled vehicle 23 starts to travel toward the delivery position EP (step # 12). If it is determined that the transport support portion 2T is not at the transport reference height Ha3 (step # 11: No), after the height adjustment is performed to position the transport support portion 2T at the transport reference height Ha3 ( Step # 13), the traveling of the self-propelled vehicle 23 is started (step # 12).

  Next, it is determined whether or not the self-propelled vehicle 23 has reached a delivery stop position corresponding to the delivery position EP (step # 14). When it is determined that the self-propelled vehicle 23 has reached the transfer stop position (step # 14: Yes), the traveling of the self-propelled vehicle 23 is stopped (step # 15). When it is determined that the self-propelled vehicle 23 has not reached the transfer stop position (step # 14: No), step # 14 is repeated. After the traveling of the self-propelled vehicle 23 is stopped, the transport support portion 2T starts to descend (step # 16). Next, it is determined whether or not the transport support portion 2T has reached the transfer height Ha1 (step # 17). When it is determined that the transport support unit 2T has reached the transfer height Ha1 (step # 17: Yes), the lowering of the transport support unit 2T is stopped (step # 18). If it is determined that the transport support portion 2T has not reached the transfer height Ha1 (step # 17: No), step # 17 is repeated.

  After the lowering of the conveyance support portion 2T is stopped at the transfer stop position, the traveling of the self-propelled vehicle 23 is started toward the closing position (step # 19). Next, it is determined whether or not the self-propelled vehicle 23 has reached a closing position corresponding to the closing position (step # 20). When it is determined that the self-propelled vehicle 23 has reached the stop position for input (step # 20: Yes), the traveling of the self-propelled vehicle 23 is stopped (step # 21). When it is determined that the self-propelled vehicle 23 has not reached the closing position for introduction (step # 20: No), step # 20 is repeated. After the traveling of the self-propelled vehicle 23 is stopped, the transport support portion 2T starts to rise at the stop position for loading (step # 22). Next, it is determined whether or not the transport support portion 2T has reached the transport reference height Ha3 (step # 23). When it is determined that the transport support unit 2T has reached the transport reference height Ha3 (step # 23: Yes), the transport support unit 2T is stopped from being raised (step # 24). When it is determined that the transport support portion 2T has not reached the transport reference height Ha3 (step # 23: No), step # 23 is repeated. Through the above steps, the first elevating mode is executed.

  Next, the 1st conveyance process in 2nd raising / lowering mode is demonstrated. FIG. 10 shows a flowchart when the first transport process in the second lift mode is executed. The second lifting / lowering mode is a mode configured such that the lifting / lowering range of the transport support portion 2T of the first transport device 2 is narrower than that in the first lifting / lowering mode. The second elevating / lowering mode is a mode in which the article W is conveyed to the fixed load receiving platform 4 at least in a state where the lifting load receiving platform 5T is at the elevation standby height Hb3. After the operator places the article W on the transport support unit 2T at the loading position, the second lifting / lowering mode of the first transport process is executed. As shown in FIG. 10, in the second lifting / lowering mode, first, it is determined whether or not the transport support portion 2T is at the transport reference second height Ha2 (step # 31). When it is determined that the transport support portion 2T is at the transport reference second height H2 (step # 31: Yes), the self-propelled vehicle 23 starts to travel toward the delivery position EP (step # 32). . When it is determined that the transport support unit 2T is not at the transport reference second height Ha2 (step # 31: No), the height adjustment is performed so that the transport support unit 2T is positioned at the transport reference second height Ha2. After that (step # 33), the traveling of the self-propelled vehicle 23 is started (step # 32).

  Next, it is determined whether or not the self-propelled vehicle 23 has reached the delivery stop position (step # 34). When it is determined that the self-propelled vehicle 23 has reached the transfer stop position (step # 34: Yes), the traveling of the self-propelled vehicle 23 is stopped (step # 35). When it is determined that the self-propelled vehicle 23 has not reached the transfer stop position (step # 34: No), step # 34 is repeated. After the traveling of the self-propelled vehicle 23 is stopped, the lowering of the conveyance support portion 2T is started (step # 36). Next, it is determined whether or not the transport support portion 2T has reached the transfer height Ha1 (step # 37). If it is determined that the transport support portion 2T has reached the transfer height Ha1 (step # 37: Yes), the lowering of the transport support portion 2T is stopped (step # 38). When it is determined that the transport support portion 2T has not reached the transfer height Ha1 (step # 37: No), step # 37 is repeated.

  After the lowering of the transport support portion 2T is stopped at the transfer stop position, the self-propelled vehicle 23 starts to travel toward the closing position (step # 39). Next, it is determined whether or not the self-propelled vehicle 23 has reached the stop position for loading (step # 40). When it is determined that the self-propelled vehicle 23 has reached the stop position for input (step # 40: Yes), the traveling of the self-propelled vehicle 23 is stopped (step # 41). When it is determined that the self-propelled vehicle 23 has not reached the closing position for input (step # 40: No), step # 40 is repeated. After the traveling of the self-propelled vehicle 23 is stopped, the transport support portion 2T starts to rise at the stop position for loading (step # 42). Next, it is determined whether or not the conveyance support unit 2T has reached the conveyance reference second height Ha2 (step # 43). When it is determined that the transport support unit 2T has reached the transport reference second height Ha2 (step # 43: Yes), the transport support unit 2T is stopped from being lifted (step # 44). If it is determined that the transport support portion 2T has not reached the transport reference second height Ha2 (step # 43: No), step # 43 is repeated. The second lifting / lowering mode is executed through the above steps.

[Operation]
Next, the operation of the article transport facility 1 when transporting the article W will be described with reference to the flowcharts of FIGS. 11 and 12 and FIGS. 13 to 17. In addition, FIG. 11 is a flowchart which shows the process at the time of conveying the articles | goods W to the raising / lowering load receiving stand 5T. FIG. 12 is a flowchart showing a process when the article W is transported to the fixed load receiving table 4.

  The operation of the article transport facility 1 when transporting the article W to the lifting / lowering cradle 5T will be described. First, as shown in FIG. 11, it is determined whether or not the article W is placed on the lifting load receiving platform 5T to which the article W is transported (step # 51). This determination is made based on whether or not the lifting / lowering stock sensor 5Se1 and the lifting / lowering seating sensor 5Se2 are activated. When these sensors are on, it is determined that the article W is placed on the lifting load receiving platform 5T. When these sensors are off, the article W is placed on the lifting platform 5T. It is determined that this is not done. When it is determined that the article W is not placed on the lift platform 5T (step # 51: Yes), the lift platform 5T is arranged to place the lift platform 5T at the lift reference height Hb2. Starts to descend (step # 52). When it is determined that the article W is placed on the lifting / lowering cradle 5T (step # 51: No), an abnormality is notified (step # 53), and the article W is conveyed to the lifting / lowering cradle 5T. Canceled. After the descent of the lift platform 5T is started, it is determined whether or not the lift platform 5T has reached the lift reference height Hb2 (step # 54). When it is determined that the lift load receiving platform 5T has not reached the lift reference height Hb2 (step # 54: No), step # 54 is repeated. When it is determined that the lifting load receiving platform 5T has reached the lifting reference height Hb2 (step # 54: Yes), the lifting of the lifting load receiving platform 5T is stopped (step # 55).

  After stopping the descending of the lifting platform 5T, the first transfer process in the first lifting mode described above is executed (step # 56). That is, as shown in FIG. 13, by supporting the article W at the conveyance reference height Ha3 by the conveyance support unit 2T and stopping the self-propelled vehicle 23 at the delivery stop position, the article W and the lifting load receiving platform 5T Are arranged above the lifting / lowering cradle 5T in a state in which are overlapped in plan view. Then, as shown in FIG. 14, in the process of lowering the conveyance support portion 2T to the transfer height Ha1, the article W is placed on the lifting / lowering load receiving platform 5T, and the article W is placed on the lifting / lowering load receiving platform 5T. It becomes a state. The state where the article W is placed on the lifting / lowering load receiving platform 5T can be confirmed by the lifting / lowering seating sensor 5Se2 being pushed by the bottom surface of the article W, that is, the lifting / lowering seating sensor 5Se2 is turned on. As shown in FIG. 11, after execution of the first lifting / lowering mode (step # 56), the lifting of the lifting load receiving platform 5T is started (step # 57) (see also FIG. 15). Next, it is determined whether the lift load receiving platform 5T has reached the lift standby height Hb3 (step # 58). If it is determined that the lift platform 5T has not reached the lift standby height Hb3 (step # 58: No), step # 58 is repeated. When it is determined that the lifting load receiving platform 5T has reached the lifting standby height Hb3 (step # 58: Yes), the lifting of the lifting load receiving platform 5T is stopped (step # 59). As described above, the conveyance of the article W to the lifting load receiving stand 5T is completed (see FIG. 15).

  Next, the operation of the article conveying facility 1 when conveying the article W to the fixed load receiving table 4 will be described. First, as shown in FIG. 12, it is determined whether or not the article W is placed on the fixed load receiving stand 4 (step # 61). This determination is made based on whether or not the fixed load sensor 4Se1 and the fixed seating sensor 4Se2 are activated. When these sensors are in the on state, it is determined that the article W is placed on the fixed load receiving table 4. When these sensors are in the off state, the article W is placed on the fixed load receiving table 4. It is determined that this is not done. When it is determined that the article W is not placed on the fixed load receiving platform 4 (step # 61: Yes), the vertical movement is performed in order to secure a vertical space in which the article W is placed on the fixed load receiving platform 4. In order to place the load receiving platform 5T at the lifting standby height Hb3, the lifting of the lift receiving platform 5T is started (step # 62). When it is determined that the article W is placed on the fixed load receiving stand 4 (step # 61: No), an abnormality is notified (# 63), and the first transport process in the second lift mode is stopped. Is done. After the lift of the lifting load receiving platform 5T is started, it is determined whether or not the lifting load receiving platform 5T has reached the lifting standby height Hb3 (step # 64). If it is determined that the lift platform 5T has not reached the lift standby height Hb3 (step # 64: No), step # 64 is repeated. When it is determined that the lift load receiving platform 5T has reached the lift standby height Hb3 (step # 64: Yes), the lifting of the lift load receiving platform 5T is stopped (step # 65). After the lifting of the lifting load receiving platform 5T is stopped, the first lifting mode described above is executed (step # 66). That is, as shown in FIG. 16, by supporting the article W at the conveyance reference height Ha3 by the conveyance support portion 2T and stopping the self-propelled vehicle 23 at the delivery stop position, Are arranged above the fixed load receiving stand 4 in a state where the two overlap in plan view. Then, as shown in FIG. 17, in the process of lowering the conveyance support portion 2 </ b> T to the delivery height Ha <b> 1, the article W is placed on the fixed load receiving table 4 by being deposited on the fixed load receiving table 4. It becomes a state. The state in which the article W is placed on the fixed load receiving platform 4 can be confirmed by the fact that the fixed seating sensor 4Se2 is pushed by the bottom surface of the article W, that is, the fixed seating sensor 4Se2 is turned on. Thus, the conveyance of the article W to the fixed load receiving stand 4 is completed (see FIG. 17).

  As shown in FIG. 18, the article W placed on each of the fixed load receiving table 4 and the lifted load receiving table 5 </ b> T is transferred by the second transport device 3. That is, by projecting the lower transfer portion 34a in the transfer direction, the lower transfer portion 34a is disposed below the article W in a state where the lower transfer portion 34a and the article W overlap in plan view. Similarly, by projecting the upper transfer portion 34b in the transfer direction, the upper transfer portion 34b is disposed below the article W in a state where the upper transfer portion 34b and the article W overlap in plan view. . Then, the lower transfer portion 34a is moved upward to pass the fixed passage portion 41, and the article W placed on the fixed load receiving platform 4 is supported from below by the lower transfer portion 34a. At this time, the lower positioning pin 35a formed on the upper surface of the lower transfer portion 34a is fitted into the engaging groove formed on the bottom surface of the article W, and the article W is positioned. Similarly, the upper transfer portion 34b is moved upward to pass the elevating passage portion 55, and the article W placed on the elevating load receiving platform 5T is supported from below by the upper transfer portion 34b. At this time, the upper positioning pin 35b formed on the upper surface of the upper transfer portion 34b fits into the engaging groove formed on the bottom surface of the article W, and the article W is positioned. Here, as described above, in this embodiment, the difference between the fixed height Hb1 and the elevation standby height Hb3 is set equal to the vertical installation interval between the upper transfer portion 34b and the lower transfer portion 34a. ing. Therefore, in the present embodiment, the articles W placed on the fixed load receiving platform 4 and the lifting load receiving platform 5T can be simultaneously received by the lower transfer section 34a and the upper transfer section 34b (see FIG. 18B). ). In addition, in a state where each of the lower transfer unit 34a and the upper transfer unit 34b supports the article W, each of the lower transfer unit 34a and the upper transfer unit 34b includes the fixed passing unit 41 and the lifting / lowering passing unit 55, respectively. Is allowed to pass from above to below, so that the article W can be deposited in each of the fixed load receiving platform 4 and the lifting load receiving platform 5T (see FIG. 18A). Note that the transfer of the article W may not be performed simultaneously in both the lower transfer unit 34a and the upper transfer unit 34b. For example, as illustrated in FIG. The article W may be exchanged between the two. Of course, although not shown, the article W may be exchanged with the fixed load receiving table 4 only by the lower transfer portion 34a.

  The operation of the article transport facility 1 when transporting the article W to the fixed load receiving platform 4 and the lifting load receiving platform 5T has been described above. As described above, in this embodiment, the control unit 6 moves the transport support unit 2T to the transport reference height Ha3 in any case where the lift platform 5T is at the lift reference height Hb2 and the lift standby height Hb3. And the transfer height Ha <b> 1 are configured to control the first transport device 2 so as to move up and down. In other words, in this embodiment, the control unit 6 executes the first lifting / lowering mode of the first transport process regardless of whether the lifting / lowering load receiving platform 5T is at the lifting / lowering reference height Hb2 or the lifting / lowering standby height Hb3. By this, it is comprised so that the goods W may be conveyed to the fixed load receiving stand 4 or the raising / lowering load receiving stand 5T. As described above, when the conveyance of the article W to the lifting load receiving platform 5T and the conveyance of the article W to the fixed loading platform 4 are continuously performed, the conveyance to any place should be performed in the first lifting mode. Therefore, it is not necessary to change the control (change to the second lift mode), and a simple control configuration can be achieved.

  On the other hand, the range in which the transport support part 2T is lifted / lowered in the second lifting / lowering mode is narrower than when the first lifting / lowering mode is used. Therefore, when these two modes are compared, the transport time can be shortened when the article W is transported using the second lift mode. For example, when any one of the lower transfer unit 34 a and the upper transfer unit 34 b of the second transfer device 3 fails and is operated by one transfer unit 34, the lifting load receiving platform 5 is operated by the operation of the lifting device 5. 5T is retracted to the elevation standby height Hb3, and the article W is exchanged using only the fixed load receiving platform 4. In this case, since the lifting load receiving base 5T having the lower limit height as the lifting reference height Hb2 is retracted to the lifting standby height Hb3, the transport reference height Ha3 positioned below the lifting standby height Hb3 is raised and lowered. The 1st raising / lowering mode which makes the upper limit height of a range can be performed. Of course, the second elevating mode having a narrower elevating range than the first elevating mode can also be executed. In this case, in the present embodiment, the transport time of the article W is shortened by selecting the second lifting / lowering mode.

  In this embodiment, the control part 6 is comprised so that execution of the mode switching process which switches a mode between 1st raising / lowering mode and 2nd raising / lowering mode is possible. FIG. 20 shows a flowchart of the mode switching process. First, the presence / absence of a second elevation mode switching command is determined (step # 71). Here, the second lifting / lowering mode switching command is a case where there is a malfunction such as a failure in the second transport device 3, and the transfer of the article W is performed by either the lower transfer unit 34a or the upper transfer unit 34b. This is a command issued from the host control device C so as to execute the second lifting / lowering mode. If it is determined that the second lifting / lowering mode switching command has not been issued (step # 71: No), step # 71 is repeated. If it is determined that the second lifting / lowering mode switching command is issued (step # 71: Yes), it is determined whether or not the article W is placed on the lifting / lowering load receiving platform 5T (step # 72). When it is determined that the article W is placed on the lifting load receiving stand 5T (step # 72: No), step # 72 is repeated. In this case, the article W placed on the lifting / lowering load receiving platform 5T may be transferred by the transfer unit 34 in the operating state so that the lifting / lowering load receiving platform 5T is in an empty state. Moreover, you may make it make the raising / lowering load receiving stand 5T into an empty state by conveying the said article W to a loading position in the state which supported the article W on the conveyance support part 2T. In any case, the process of removing the article W from the lifting load receiving platform 5T may be performed so that the lifting load receiving platform 5T is in an empty state, that is, the article W is not placed on the lifting load receiving platform 5T. When it is determined that the article W is not placed on the lifting load receiving platform 5T (step # 72: Yes), it is determined whether the lifting load receiving platform 5T is at the lifting standby height Hb3 (step # 72: Yes). Step # 73). When it is determined that the lift load receiving platform 5T is at the lift standby height Hb3 (step # 73: Yes), the upper limit height of the transport support portion 2T is set to the transport support portion 2T in the first lift mode. The transport reference height Ha3 that is the upper limit height is changed to the transport reference second height Ha2 that is the upper limit height of the transport support portion 2T in the second lifting / lowering mode (step # 74). If it is determined that the lifting load receiving platform 5T is not at the lifting standby height Hb3 (step # 73: No), the height adjustment is performed so that the lifting load receiving platform 5T is positioned at the lifting standby height Hb3 ( In step # 75), the upper limit height of the transport support portion 2T is changed from the transport reference height Ha3 to the transport reference second height Ha2 (step # 74).

  After execution of the mode switching process by the control unit 6, a process for conveying the article W to the fixed load receiving table 4 is performed. Specifically, the article W is conveyed to the fixed load receiving stand 4 by executing the process of step # 9 shown in FIG. As shown in FIG. 21, the article W is supported at the conveyance reference second height Ha2 by the conveyance support section 2T in the state where the lifting load receiving stand 5T is arranged at the elevation standby height Hb3, and the article W and the conveyance support section. The transport support portion 2T is disposed at a position where 2T overlaps in plan view. Then, in the process of lowering the transport support portion 2T to the transfer height Ha1, the article W is deposited on the fixed load receiving stand 4 and the article W is placed on the fixed load receiving stand 4. As described above, when the article W is transported to the fixed load receiving table 4 in the second lift mode, the lift range of the transport support portion 2T can be narrowed, and as a result, the transport time of the article W can be shortened. In the above description, the case in which the article W is transported using the second lifting / lowering mode when operating in one of the lower transfer portion 34a and the upper transfer portion 34b due to a failure of the second transport device 3 has been described. However, even when the second transfer device 3 is in a normal state and can be operated by both the lower transfer unit 34a and the upper transfer unit 34b, the second lifting / lowering mode is used when the article W is transferred to the fixed load receiving platform 4. Can be used.

[Other Embodiments]
(1) In the above-described embodiment, the example in which the lower transfer unit 34a and the upper transfer unit 34b are configured to support the bottom surface of the article W from below has been described. However, the present invention is not limited to such a configuration. That is, the lower transfer unit and the upper transfer unit may be configured to be able to support an article. For example, when a flange part or an engagement hole is formed in the article, the lower transfer part and the upper transfer part are supported from below. It may be configured as follows. Furthermore, it may be configured to grip an article using a chuck mechanism.

(2) In the above embodiment, the example in which the lower transfer unit 34a and the upper transfer unit 34b have the same configuration has been described. However, the present invention is not limited to such a configuration. For example, one of the lower transfer unit and the upper transfer unit may be configured to grip an article by a chuck mechanism or the like, and the other may be configured to support the article from below.

(3) In the above-described embodiment, the example in which the lifting device 5 is configured to lift and lower the lifting load receiving platform 5T using a so-called ball screw has been described. However, the present invention is not limited to such a configuration. That is, well-known means such as an electric cylinder and a rotating chain can be used to raise and lower the lifting load receiving platform.

(4) In the above embodiment, the article W has been described using the FOUP as an example. However, the article conveyance facility according to the present invention can be applied to conveyance of various articles of large, small, and shape. However, when the transfer unit is configured to support the bottom surface of the article from below, the length in the width direction of the article is at least longer than the length in the width direction of the transfer unit. Become. When such a thing is an object of application, the article is fixedly received in the process of passing from the upper part to the lower part of the fixed passing part of the fixed load receiving base or the rising and lowering passing part of the lifting load receiving base with the transfer part supporting the article. It can be deposited on a table or a lift receiving platform.

(5) In the above-described embodiment, the first transport device 2 and the article at the end opposite to the end where the fixed load receiving base 4 is disposed, of the both ends of the traveling frame 21 in the first direction X. An example in which the worker who gives and receives W has been described has been described. However, the transfer of articles with the first transfer device is not limited to an operator, and may be an automatic guided vehicle, an overhead transfer vehicle, a carriage, a manned forklift, or the like.

(6) Each of these embodiments is merely illustrative. These embodiments can be combined with each other without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 1: Article conveyance equipment 2: 1st conveyance apparatus 2T: Conveyance support part 3: 2nd conveyance apparatus 4: Fixed load receiving stand 5: Lifting apparatus 5T: Lifting load receiving stand 6: Control part 34: Transfer part 34a: Downward transfer Part 34b: Upper transfer part 41: Fixed passage part 55: Lifting passage part 56: Lifting positioning pin EP: Transfer position H2: Transfer reference second height Ha1: Transfer height Ha2: Transfer reference second height Ha3: Transport reference height Hb1: Fixed height Hb2: Lifting reference height Hb3: Lifting standby height W: Article X: First direction Y: Width direction Z: Second direction

Claims (5)

A first transport device that transports an article in a first direction along a horizontal plane, a second transport device that transports an article in a second direction along the vertical direction, and the first transport device and the second transport device are An article conveying facility comprising a fixed load receiving stand disposed at a delivery position for delivering,
An elevating device that elevates and lowers the article in a region overlapping with the delivery position in plan view;
The second transport device includes a transfer unit that supports an article so that the transfer unit can freely move in and out along the transfer direction.
The second transport device includes, as the transfer unit, a lower transfer unit and an upper transfer unit disposed above the lower transfer unit,
The elevating device has an elevating load receiving table that supports the article from below, and can be raised and lowered,
The lifting load receiving platform is configured to freely move up and down between a lifting reference height positioned above a fixed height at which the fixed load receiving table is disposed and a lifting standby height positioned higher than the lifting reference height. ,
The article conveyance facility, wherein a difference between the fixed height and the elevation standby height is set equal to a vertical installation interval between the upper transfer unit and the lower transfer unit. The upper transfer part is configured to support an article from below,
The lifting load receiving platform has a lifting and lowering passage portion formed so that the length in the width direction orthogonal to the transfer direction along the horizontal plane is longer than the length in the width direction of the upper transfer portion,
The length in the width direction of the article is formed longer than the length in the width direction of the elevating passage part,
The second transfer device allows the upper transfer portion and the lift load receiving table to overlap each other in a plan view so that the upper transfer portion passes the lift transfer portion in the vertical direction. The article conveying facility according to claim 1, wherein the article conveying facility is configured to exchange articles between the two. The first transport device has a transport support unit that supports an article from below and is movable in the first direction,
The transport support portion is movable up and down between a transport reference height located above the lift reference height and below the lift standby height, and a transfer height located below the fixed height. Configured,
The fixed load receiving platform has a fixed passage portion in which the length in the width direction is longer than the length in the width direction of the transport support portion,
The length in the width direction of the transport support portion is formed shorter than the length in the width direction of the lift passage portion,
The length in the width direction of the article is formed longer than the length in the width direction of the fixed passage portion,
The second transfer device allows the lower transfer portion and the fixed load receiving table to overlap with each other in a plan view so that the lower transfer portion passes the fixed passing portion in the vertical direction, and The article transport facility according to claim 2, which is configured to receive and receive articles between the two. A control unit for controlling the operation of the first transfer device;
The control unit is configured to raise and lower the transport support unit between the transport reference height and the transfer height in any case where the lift platform is at the lift reference height and the lift standby height. The article conveyance facility according to claim 3, wherein the article conveyance facility is configured to control the first conveyance device.   The control unit is positioned in a first elevating mode for elevating and lowering the conveyance support unit between the conveyance reference height and the transfer height, and above the fixed height and below the elevation reference height. The article conveyance facility according to claim 4, wherein the article conveyance facility is configured to be capable of executing a second elevating / lowering mode that elevates / lowers between a conveyance reference second height and the transfer height.

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