JP6841262B2 - Goods carrier - Google Patents

Description

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

According to Japanese Patent Application Laid-Open No. 2017-7786, it is mounted on an article transport vehicle (150), and is projected between a mounting table (130) of the article transport vehicle (150) and an external article loading portion (300). A transfer device (100) for transferring an article (200) using a pair of retired arms (110, 120) is disclosed (reference numerals in parentheses in the background art are those of the references). The article transport vehicle (150) transports the article (200) with the article (200) sandwiched by a pair of retracted arms (110, 120) of the transfer device (100). When the article carrier (150) arrives at the place where the article (200) is unloaded, the pair of arms (110, 120) are projected to unload the article (200) on the external article loading portion (300). At this time, if the pair of arms (110, 120) protrudes while sandwiching the article (200), the pair of arms (110, 120) may damage the article (200).

Therefore, when the article carrier (150) arrives at the place where the article (200) is unloaded, the transfer device (100) moves both of the pair of arms (110, 120) in a direction away from each other (FIG. FIG. 6B, see [0063], etc.). Then, the transfer device (100) projects the pair of arms (110, 120) in a state where both of the pair of arms (110, 120) and the article (200) are spaced apart from each other, and the pair of arms (110, 120) are projected. The article (200) is pushed out to the external article placing portion (300) by the hook (103) provided on the arms (110, 120) (see FIG. 6C, [0064], etc.). The transfer device (100) then retires 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) are projected 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), the posture of the article (200) may change because the article (200) is not supported in the direction orthogonal to the pushing direction. Therefore, when the extrusion is completed and the pair of arms (110, 120) is retired, the pair of arms (110, 120) may come into contact with the article (200).

JP-A-2017-7786

In view of the above background, it is desired to provide a technique in which the arm does not come into contact with the article when the arm is retracted after the arm is projected to move the article from the article carrier to the article placing portion.

In view of the above, the article transport vehicle has, as one aspect, a carriage main body traveling along a traveling path along an article loading portion and a transfer direction intersecting the traveling direction of the carriage body in a plan view. An article transport vehicle including an article transfer device for transferring articles between the article placing portion and the trolley body, wherein the article transfer devices are arranged at intervals in the traveling direction. The two arms and the retracting device that changes the two arms into a protruding state in which the two arms are projected toward the article mounting portion in the transfer direction and a retracted state in which the two arms are retracted toward the carriage body. And a slide device that slides one of the two arms in the traveling direction, and two when the article is transferred from the carriage body to the article mounting portion. In a state where the article is sandwiched from both sides in the traveling direction by the arms, the two arms are changed from the retired state to the protruding state, and the article is placed on the article mounting portion, and the projecting is performed. In this state, the slide arm is moved by the slide device to the first side in the traveling direction, which is the side away from the other arm in the traveling direction, and the dolly body is moved in the protruding state. A second movement amount smaller than the first movement amount is moved to the second side in the traveling direction opposite to the first side in the traveling direction, and then the two arms are changed to the retired state.

In the present application, the "state in which the article is sandwiched between the two arms" refers to a state in which the arms are located on both sides of the article, and not only the state in which the article and the two arms are in contact with each other, but also the article and 2 It also includes a state where there is a gap between the arm of the book and at least one of them.

According to this configuration, the article is placed on the article placing portion by changing the two arms to the protruding state while the article is sandwiched between the two arms, so that the trolley is in a state where the posture of the article is regulated. The article can be moved from the main body to the article placing portion. Then, while the two arms are in the protruding state, the slide arm is moved by the first movement amount to the first side in the traveling direction, so that the gap between the slide arm in the protruding state and the article corresponds to the first movement amount. It can be expanded by the interval. Further, by moving the bogie body to the second side in the traveling direction by a second movement amount smaller than the first movement amount while the two arms are in the protruding state, the slide arm among the two arms is 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 narrowed by the amount corresponding to the second movement amount, but since the second movement amount is smaller than the first movement amount, the first movement amount is between the slide arm and the article. An interval corresponding to the difference between the second movement amount and the second movement amount is secured. That is, a gap is provided between both of the two protruding arms and the article. Thereby, when the two arms in the protruding state are changed to the retired state, it is possible to appropriately suppress the contact between the two arms and the article. As described above, according to this configuration, it is possible to prevent the arm from coming into contact with the article when the arm is retracted after the arm is projected to move the article from the article carrier to the article loading portion.

Further features and advantages of the goods carrier will be clarified from the following description of embodiments described with reference to the drawings.

Perspective view of the goods transport equipment to which the goods transport vehicle is applied Perspective view of an article carrier with the arm retired Perspective view of the goods carrier with the arm protruding A perspective view showing an article transport vehicle when an article is being transferred by an article transfer device. Functional block diagram of the goods carrier The figure explaining the 1st process at the time of delivering an article to an article placing part The figure explaining the 2nd process at the time of delivering an article to an article placing part The figure explaining the 3rd process at the time of delivering an article to an article placing part The figure explaining the 4th process at the time of delivering an article to an article placing part

Hereinafter, a preferred embodiment 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 transports articles that can move the article loading section P (the shelf plate 7 and the relay conveyor 3 of the article storage shelf 1 described later) on which the article W is placed and the traveling path (traveling rail 8 described later). It is equipped with a car 2. The article carrier 2 has an article loading section along a transfer direction Y that intersects the traveling direction X of the trolley body 2A with the trolley body 2A traveling along the traveling path along the article loading section P. An article transfer device 2B for transferring the article W between the P and the carriage body 2A is provided. The article transport vehicle 2 delivers the article W to the article loading portion P by moving the article W along the transfer direction Y by the article transfer device 2B at a predetermined position in the traveling path, and loads the article. It is configured so that the article W can be received from the placement portion P.

The article storage shelf 1 has a shelf board 7 and a relay conveyor 3 as an article placing portion P. The traveling rail 8 as a traveling path is arranged linearly along the traveling direction X between both ends, and the article storage shelf 1 is arranged linearly along the traveling rail 8. The shelf board 7 is used for storing the article W. As will be described later, the relay conveyor 3 is used when the article W is stored in the article storage shelf 1 and when the article W is delivered from the article storage shelf 1 by using the lift device 4 and the warehousing / delivery conveyor 5. Here, a mode in which the relay conveyor 3 is composed of a roller conveyor and the lift device 4 is composed of a belt conveyor is illustrated. The relay conveyor 3, the lift device 4, and the warehousing / delivery conveyor 5 may be composed of any of a roller conveyor and a belt conveyor.

Here, a pair of article storage shelves 1 are installed along the traveling rail 8 in a state of being spaced apart in the transfer direction Y so as to sandwich the traveling rail 8. The shelf boards 7 on which the articles W are placed are provided in a plurality of stages (6 stages in this example) in a state of being arranged in the vertical direction in each of the article storage shelves 1. The traveling rail 8 is formed with a plurality of routes (6 routes in the present embodiment) in the vertical direction according to the number of stages of the shelf plates 7 in the article storage shelf 1. The traveling rail 8 is supported by each of a pair of goods storage shelves 1 in the same stage. It should be noted that only one article storage shelf 1 may be provided on one side of 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 article W is taken in and out of the article storage shelf 1. Therefore, the relay conveyor 3 has a warehousing relay conveyor 3a used when the article W is stored in the article storage shelf 1 and a warehousing relay conveyor 3b used when the article W is discharged 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 at intervals in the transfer direction Y, and are moved up and down according to the number of stages of the shelf plates 7 in the article storage shelf 1. A plurality of sets (6 sets in this embodiment) are provided in a state of being lined up in a direction.

Like the relay conveyor 3, the lift device 4 also has a warehousing lift device 4a and a warehousing lift device 4b. Further, the warehousing / delivery conveyor 5 also has a warehousing conveyor 5a and a warehousing / delivery conveyor 5b. The article W carried by the warehousing conveyor 5a is passed to the warehousing lift device 4a, passed to the warehousing relay conveyor 3a of a predetermined stage by the warehousing lift device 4a, and is passed to the warehousing relay conveyor 3a of the predetermined stage by the warehousing vehicle 2. It is transported and placed on the plate 7. Further, the article W taken out from the shelf board 7 by the article carrier 2 and placed on the delivery relay conveyor 3b is passed from the delivery relay conveyor 3b to the delivery lift device 4b, and is delivered by the delivery lift device 4b. It is passed to the conveyor 5b for delivery, and is delivered from the article transport facility 100 by the conveyor 5b for delivery.

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

The bogie body 2A rolls on a pair of driving wheels 10 that roll on a pair of traveling rails 8 set in advance as a traveling path, a traveling motor 11 that rotationally drives the pair of driving wheels 10, and a traveling rail 8. It includes a pair of movable, rotatable driven wheels 12. The traveling motor 11, the driving wheel 10, and the driven wheel 12 constitute a traveling device 16 that moves the carriage body 2A along the traveling direction X. The pair of drive wheels 10 are interlocked and connected by a traveling drive shaft (not shown). The drive shaft and the pair of drive wheels 10 are rotated by the drive of the travel motor 11, so that the bogie body 2A can reciprocate along the travel path.

The article W has a rectangular shape when viewed from above, such as a rectangular parallelepiped. The article W is not limited to a closed shape such as a corrugated cardboard box, and may be, for example, a container such as a container having an opening open upward. Such a container may contain an amorphous object (such as a beverage bottle). Further, the article W is, for example, one in which a plurality of loads are stacked one above the other or the loads are placed on a pallet so that they are simultaneously transported as one unit, or a plurality of loads are arranged side by side in the transport direction. By arranging them, they may be transported as one at the same time. Further, the article W may be an aggregate of a plurality of loads stacked one above the other and arranged along the transport direction.

The article transfer device 2B is supported by the carriage body 2A. Further, the article transfer device 2B includes an article support 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, an exit device 17 for moving the two arms 20 in and out along the transfer direction Y, and two arms. A slide device 13 for sliding the slide arm 20a, which is one of the arms 20, in the traveling direction X is provided. When distinguishing the other arm 20 that is not the slide arm 20a from the two arms 20, it is referred to as a non-slide arm 20b. At the tip of the arm 20, a hook 29a (contact member) is provided which abuts the article W and moves the article W by moving together with the arm 20 along the transfer direction Y. The exit / exit device 17 changes the two arms 20 into a protruding state in which the two arms 20 are projected toward the article placing portion P in the transfer direction Y and a retired state in which the two arms 20 are retired toward the carriage body 2A.

The exit / exit device 17 includes an exit / exit motor 22 for moving the arm 20 along the transfer direction Y, and an exit / exit mechanism 15. The exit / exit mechanism 15 includes an exit / exit drive shaft 25 that is rotationally driven in the forward and reverse directions by the exit / exit motor 22, and a toothed belt 26 that is driven by the rotational drive of the exit / exit drive shaft 25. The provided entry / exit unit 24, 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 exit / exit 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 inside the arm 20, the relay member 19 is located 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 in.

Each exit / exit mechanism 15 corresponding to the pair of arms 20 is provided with an exit / exit unit 24 provided with a toothed belt 26. When the exit / exit drive shaft 25 is rotationally driven by the exit / exit motor 22, the toothed belts 26 of the exit / exit units 24 are moved in the longitudinal direction (transferred) as the exit / exit drive shaft 25 rotates. Rotate along the 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 with respect to the relay member 19 along the transfer direction Y by the action of the interlocking member 21. In this way, the arm 20 moves in and out along the transfer direction Y.

In this way, the exit / exit device 17 is in a retired state in which the relay member 19 and the arm 20 are slid and moved along the transfer direction Y, and the pair of arms 20 are retired to the carriage body 2A side in the transfer direction Y (FIG. 2) and the pair of arms 20 are changed to a protruding state (see FIGS. 3 and 4) in which the pair of arms 20 are projected from the carriage body 2A side to the article mounting portion P side in the transfer direction Y. In this protruding state, the retracted end of the arm 20 (the portion where the hook 29a is provided) is located on the protruding side of the base member 18 on the protruding side. Although not shown, in the present embodiment, the arms 20 can be projected on both sides of the carriage body 2A along the transfer direction Y.

A rotating belt 28 is connected to the retracting mechanism 15 of the slide arm 20a. The rotary belt 28 rotates in the longitudinal direction (traveling direction X) by being driven by the slide motor 23. Due to the rotation of the rotating belt 28, the base member 18 to which the slide arm 20a is connected moves along the traveling direction X. As a result, the distance between the pair of arms 20 in the traveling direction X can be changed. A slide device 13 including a slide motor 23 and a rotary belt 28 for sliding the slide arm 20a in the traveling direction X is configured. The sliding device 13 changes the distance between the pair of arms 20 in the traveling direction X.

Further, as shown in FIGS. 3 and 4, hook units 29 are provided at both ends of the arm 20 in the transfer direction Y. The hook unit 29 has a hook 29a that swings around an axis along the transfer direction Y, a contact posture in which the hook 29a is rotated (see FIGS. 3 and 4), and a retracted posture in which the hook 29a is erected (see FIGS. 3 and 4). 2) and a hook motor 29b for changing the posture are provided. When the arm 20 is moved back and forth along the transfer direction Y while the hook 29a is in the contacting posture, the article W is moved along with the movement of the arm 20 that moves back and forth while the hook 29a is in contact with the article W. It can be moved along the mounting 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 / exit motor 22, the slide motor 23, and the hook motor 29b. ..

Hereinafter, the movement of the article transport vehicle 2 when the article W is transferred from the carriage main body 2A to the article loading portion P will be described with reference to FIGS. 6 to 9. As shown in FIG. 6, when the article carrier 2 arrives at the position where the article W is delivered, the article carrier 2 exits the two arms 20 with the article 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 the time when the article W is conveyed. The article W is pushed out from the carriage body 2A to the article placing portion P in a state of being sandwiched from both sides in the traveling direction X by the two arms 20. In the present embodiment, there is only a slight gap between each arm 20 and the article W in a state where the article W is sandwiched between the two arms 20. Therefore, the article W is placed on the article placing portion P in a state where the surface along the transfer direction Y of the article W and the two arms 20 are regulated to be in a substantially parallel posture. Will be. It should be noted that each arm 20 may be brought into contact with the article W while 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 changed 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 first side X1 in the traveling direction, which is the side away from 20b) (second step). As a result, the 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 still in the protruding state, the carriage main body 2A is moved to the second side X2 in the traveling direction opposite to the first side X1 in the traveling direction by the traveling device. The second movement amount A2, which is smaller than the 1 movement amount A1, is moved (third step). As a result, the gap between the arm 20 (non-slide arm 20b), which is different from the slide arm 20a, and the article W among the two arms 20 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 narrower by the amount corresponding to the second movement amount A2, as compared with the distance provided in the second step. 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 done. That is, by the third step, a space is provided between both of the two protruding arms 20 and the article W.

Next, as shown in FIG. 9, the hook 29a is placed in the retracted posture, and the two arms 20 in the protruding state are changed to the retracted state by the exit / exit device 17 (fourth step). A gap is provided between both of the two protruding arms 20 and the article W by the steps up to the third step. Further, as described above, the article W is placed on the article placing portion P in a state of being restricted so as to be substantially parallel to the two arms 20 in the first step. The distance between the W and the arm 20 is almost constant. Therefore, when the two arms 20 in the protruding state are changed to the retired state, the contact between the two arms 20 and the article W can be appropriately suppressed.

For example, when the first step is performed after the second step and the third step, the article W is not sandwiched by the two arms 20 from both sides in the traveling direction X, and the article placing portion is placed from the carriage body 2A. It is pushed out to P. Therefore, due to the friction between the article support 14 of the article carrier 2 and the article W, and the friction between the upper surface of the article placing portion P such as the shelf plate 7 and the relay conveyor 3 and the article W, the article W is transferred in the transfer direction Y. The article W may be placed on the article placing portion P in an inclined posture. In this case, the distance between the article W and the arm 20 is not constant. Therefore, in the fourth step, when the two arms 20 in the protruding state are changed to the retired state, it may not be possible to sufficiently suppress the contact between the two arms 20 and the article W.

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

Further, the second movement amount A2 in the third step is preferably 1/2 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 the first movement amount A1 and the second. This is the difference from the movement amount A2. That is, when the second movement amount A2 is 1/2 of the first movement amount A1, the difference is 1/2 of the first movement amount A1 and becomes the second movement amount A2. Since the distance between the non-slide arm 20b and the article W after passing through the third step is the second movement amount A2, the distance between the slide arm 20a and the article W and the distance between the non-slide arm 20b and the article W Both become the second movement amount A2 (= first movement amount A1 / 2). That is, the article W is arranged at the center of the two arms 20, and the possibility that both of the two arms 20 come into contact with the article W can be reduced to the same extent.

In the above description, of the two arms 20, the arm 20 that is not the slide arm 20a is a non-slide arm 20b that does not slide in the traveling direction X. 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 of them can move in the traveling direction X. According to this configuration, even in the article transport vehicle 2 provided with the article transfer device 2B having such a simple structure, an appropriate distance is provided between both of the two arms 20 and the article W. The arm 20 can be changed to the retired state after the article W is passed to the article placing portion P.

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

In this case, the direction in which the trolley body 2A moves after the article is transferred from the trolley body 2A to the article loading portion P is set as the moving direction after the transfer, and functions as the slide arm 20a according to the moving direction after the transfer. It is preferable that the arm 20 to be operated is set. Specifically, of the two arms 20, one arm 20 located on the opposite side of the moving direction after transfer is used as the slide arm 20a, and the other arm 20 is not slid in the traveling direction X. Is suitable.

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

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

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

As one embodiment, the dolly body traveling along the traveling path along the article mounting portion, and the article mounting portion and the trolley body along the transfer direction intersecting the traveling direction of the trolley body in a plan view. In the article transport vehicle provided with the article transfer device for transferring the article between the two arms, the article transfer device is arranged with two arms spaced apart from each other in the traveling direction, and the two above-mentioned articles. A retracting device that changes the arm into a protruding state in which the arm is projected toward the article mounting portion in the transfer direction and a retracted state in which the arm is retracted toward the trolley body, and one of the two arms. A slide device for sliding the slide arm in the traveling direction is provided, and when the article is transferred from the trolley body to the article mounting portion, the two arms are used from both sides in the traveling direction. With the article sandwiched, the two arms are changed from the retired state to the protruding state, the article is placed on the article placing portion, and the slide arm is moved while the article is in the protruding state. The slide device moves the first movement amount to the first side in the traveling direction, which is the side away from the other arm in the direction, and the dolly body is moved on the side opposite to the first side in the traveling direction while remaining in the protruding state. A second movement amount smaller than the first movement amount is moved to the second side in a certain traveling direction, and then the two arms are changed to the retired state.

According to this configuration, the article is placed on the article placing portion by changing the two arms to the protruding state while the article is sandwiched between the two arms, so that the trolley is in a state where the posture of the article is regulated. The article can be moved from the main body to the article placing portion. Then, while the two arms are in the protruding state, the slide arm is moved by the first movement amount to the first side in the traveling direction, so that the gap between the slide arm in the protruding state and the article corresponds to the first movement amount. It can be expanded by the interval. Further, by moving the bogie body to the second side in the traveling direction by a second movement amount smaller than the first movement amount while the two arms are in the protruding state, the slide arm among the two arms is 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 narrowed by the amount corresponding to the second movement amount, but since the second movement amount is smaller than the first movement amount, the first movement amount is between the slide arm and the article. An interval corresponding to the difference between the second movement amount and the second movement amount is secured. That is, a gap is provided between both of the two protruding arms and the article. Thereby, when the two arms in the protruding state are changed to the retired state, it is possible to appropriately suppress the contact between the two arms and the article. As described above, according to this configuration, it is possible to prevent the arm from coming into contact with the article when the arm is retracted after the arm is projected to move the article from the article carrier to the article loading portion.

Here, the second movement amount is preferably 1/2 of the first movement amount.

When the second movement amount is 1/2 of the first movement amount, the distance between the slide arm and the article can be made the same as the distance between the other arm different from the slide arm and the article. 2 Articles are placed near the center of the book arm. Therefore, the possibility of contact with the article can be reduced to the same extent for both of the two arms.

As one embodiment, it is preferable that the arm of the two arms, which is not the slide arm, 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 away from the article in the traveling direction. However, according to this configuration, the distance between the article and the non-slide arm can be widened by moving the carriage 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 constructed at a lower cost. According to this configuration, even in an article transfer device having such a relatively inexpensive configuration, it is possible to prevent the arm from coming into contact with the article during appropriate transfer.

Further, as one embodiment, the slide device is configured so that both of the two arms can be slid in the traveling direction, and the article is transferred from the trolley body to the article placing portion. Later, the direction in which the dolly body moves is set as the moving direction after transfer, and one of the two arms located on the side opposite to the moving direction after transfer is set as the slide arm, and the other arm is used. It is preferable to use a non-sliding arm that does not slide the arm 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. Assuming that one arm located on the opposite side of the moving direction after relocation is a slide arm, the dolly body will move after the slide arm moving to the first side in the traveling direction moves to the opposite side to the moving direction after relocation. After the transfer as the second side in the traveling direction, the vehicle will move in the moving direction. After that, the bogie body with the arm retracted moves in the moving direction after the transfer, so that the movement to the second side in the traveling direction becomes a part of the movement after the transfer. Therefore, it is possible to properly prevent the arm from coming into contact with the article without causing the article carrier to run wastefully.

2: Article transport vehicle 2A: Cart body 2B: Article transfer device 13: Slide device 17: Exit device 20: Arm 20a: Slide arm 20b: Non-slide arm A1: First movement amount A2: Second movement amount P: Article placing part W: Article X: Traveling direction X1: Traveling direction 1st side X2: Traveling direction 2nd side Y: Transfer direction

Claims (4)

An article between the article mounting portion and the trolley body along a transfer direction that intersects the traveling direction of the trolley body in a plan view with the trolley body that travels along the traveling path along the article loading portion. An article transport vehicle equipped with an article transfer device for transferring
The article transfer device includes two arms arranged at intervals in the traveling direction, and a protruding state in which the two arms are projected toward the article placing portion in the transfer direction. It is provided with an exit / exit device that changes to a retired state that is retired to the side of the bogie body, and a slide device that slides a slide arm that is one of the two arms in the traveling direction.
When the article is transferred from the trolley body to the article placing portion,
With the article sandwiched between the two arms from both sides in the traveling direction, the article is placed on the article placing portion by changing the two arms from the retracted state to the protruding state.
In the protruding state, the slide arm is moved by the slide device by the slide device to the first side in the traveling direction, which is the side away from the other arm in the traveling direction.
In the protruding state, the bogie body is moved to the second side in the traveling direction, which is opposite to the first side in the traveling direction, by a second moving amount smaller than the first moving amount.
After that, an article carrier that changes the two arms to the retired state. The article transport vehicle according to claim 1, wherein the second movement amount is 1/2 of the first movement amount. The article carrier according to claim 1 or 2, wherein the arm of the two arms, which is not the slide arm, is a non-slide arm that does not slide in the traveling direction. The slide device is configured so that both of the two arms can be slid in the traveling direction.
The direction in which the trolley body moves after the article is transferred from the trolley body to the article mounting portion is defined as the moving direction after the transfer.
A claim that one of the two arms located on the opposite side of the moving direction after transfer is the slide arm, and the other arm is a non-slide arm that does not slide in the traveling direction. The article carrier according to 1 or 2.

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