JP6919610B2 - Goods transport equipment - Google Patents

Goods transport equipment Download PDF

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Publication number
JP6919610B2
JP6919610B2 JP2018055282A JP2018055282A JP6919610B2 JP 6919610 B2 JP6919610 B2 JP 6919610B2 JP 2018055282 A JP2018055282 A JP 2018055282A JP 2018055282 A JP2018055282 A JP 2018055282A JP 6919610 B2 JP6919610 B2 JP 6919610B2
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Prior art keywords
article
posture
change control
transport
posture change
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JP2019169566A (en
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大地 冨田
大地 冨田
芳孝 田中
芳孝 田中
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Daifuku Co Ltd
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Daifuku Co Ltd
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Priority to JP2018055282A priority Critical patent/JP6919610B2/en
Priority to TW108107626A priority patent/TWI772620B/en
Priority to KR1020190030045A priority patent/KR102525864B1/en
Priority to CN201910221879.5A priority patent/CN110294415B/en
Publication of JP2019169566A publication Critical patent/JP2019169566A/en
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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
    • H01L21/67724—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations by means of a cart or a vehicule
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/67005—Apparatus not specifically provided for elsewhere
    • H01L21/67242—Apparatus for monitoring, sorting or marking
    • H01L21/67259—Position monitoring, e.g. misposition detection or presence detection
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
    • H01L21/6773—Conveying cassettes, containers or carriers
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
    • H01L21/67733—Overhead conveying

Description

本発明は、複数の搬送対象場所の間で移動経路に沿って移動して物品を搬送する物品搬送車を備えた物品搬送設備に関する。 The present invention relates to an article transport facility including an article transport vehicle that moves along a movement path and transports articles between a plurality of transport target locations.

例えば、下記の特許文献１（特開２０１２−２５３０７０号公報）に開示された設備では、複数の搬送対象場所〔１〕の間で物品〔４〕の搬送が行われている。特許文献１の設備において搬送対象とされる物品〔４〕は、その一側面に、内容物を出し入れするための開口部を有している。そして、特許文献１の設備は、各搬送対象場所〔１〕において物品〔４〕の開口部から内容物の出し入れを適切に行うことができるように、搬送元の搬送対象場所〔１〕から搬送先の搬送対象場所〔１〕へ物品〔４〕が搬送される途中において当該物品〔４〕の姿勢変更を行う姿勢変更装置〔３１〕を、物品搬送車〔３〕とは別に備えている。この姿勢変更装置〔３１〕によって、物品〔４〕の姿勢が搬送先の搬送対象場所〔１〕において適切な姿勢となるように、すなわち、搬送先の物品処理装置〔１〕に対して開口部が対向する姿勢となるように、当該物品〔４〕の姿勢変更が行われている。 For example, in the equipment disclosed in the following Patent Document 1 (Japanese Unexamined Patent Publication No. 2012-253070), the article [4] is transported between a plurality of transport target locations [1]. The article [4] to be transported in the equipment of Patent Document 1 has an opening on one side thereof for taking in and out the contents. Then, the equipment of Patent Document 1 is transported from the transport target location [1] of the transport source so that the contents can be appropriately taken in and out from the opening of the article [4] at each transport target location [1]. A posture changing device [31] for changing the posture of the article [4] while the article [4] is being transported to the destination destination [1] is provided separately from the article transport vehicle [3]. By this posture changing device [31], the posture of the article [4] is set to an appropriate posture at the transport target location [1] of the transport destination, that is, the opening with respect to the article processing device [1] of the transport destination. The posture of the article [4] is changed so that the article [4] is in the opposite posture.

特開２０１２−２５３０７０号公報Japanese Unexamined Patent Publication No. 2012-253070

ここで、設備内における姿勢変更装置の配置スペースを削減する観点から、物品の姿勢を変更する姿勢変更機構を物品搬送車と一体的に設けることが考えられる。しかしながら、物品搬送車による物品の搬送中にその姿勢変更が行われる場合には、物品搬送車の収納部において姿勢変更中の物品が、収納部から外側に突出して移動経路の周囲に存在する物（例えば、壁、柱、他の物品搬送車など、以下、物品と干渉する可能性がある物を干渉対象物と言う。）に干渉する可能性がある。姿勢変更中の物品と干渉対象物との干渉を回避するために、移動経路の周囲のスペースを広く確保するように設備全体を設計することも考えられるが、設備の大型化や空間効率の低下を招くことになる。 Here, from the viewpoint of reducing the space for arranging the posture changing device in the equipment, it is conceivable to provide a posture changing mechanism for changing the posture of the article integrally with the article transport vehicle. However, when the posture is changed during the transportation of the article by the article transport vehicle, the article whose posture is being changed in the storage portion of the article transport vehicle protrudes outward from the storage portion and exists around the movement path. (For example, an object that may interfere with an article, such as a wall, a pillar, or another article carrier, is referred to as an interference object). In order to avoid interference between the article being changed in posture and the object to be interfered with, it is conceivable to design the entire equipment so as to secure a large space around the movement path, but the equipment becomes larger and the space efficiency decreases. Will be invited.

上記実状に鑑みて、物品の姿勢変更中に当該物品と干渉対象物とが干渉することを抑制可能な物品搬送設備の実現が望まれている。 In view of the above situation, it is desired to realize an article transporting facility capable of suppressing interference between the article and the object to be interfered with while changing the posture of the article.

本開示に係る物品搬送設備は、複数の搬送対象場所の間で移動経路に沿って移動して物品を搬送する物品搬送車と、当該物品搬送車を制御する制御装置と、を備えた物品搬送設備であって、前記物品搬送車は、前記物品を収容する収容部と、前記物品の姿勢を変更する姿勢変更機構と、を有し、前記移動経路における前記物品搬送車の進行方向を基準として、前記収容部に対して左側の領域を左方領域、前記収容部に対して右側の領域を右方領域とし、前記姿勢変更機構による前記物品の姿勢変更中に前記物品が前記収容部から外側に突出するように、前記収容部及び前記姿勢変更機構が構成され、前記収容部から外側への前記物品の突出を、前記左方領域で許容する左側許容区間と、前記右方領域で許容する右側許容区間と、前記左方領域及び前記右方領域の両方で許容する両側許容区間とが、前記移動経路中に設定され、前記制御装置は、前記姿勢変更機構により前記物品の姿勢を変更する姿勢変更制御を実行する場合に、前記物品搬送車が前記左側許容区間内にいる状態では、前記左方領域及び前記右方領域のうちの前記左方領域に前記物品を突出させる第１姿勢変更制御を実行し、前記物品搬送車が前記右側許容区間内にいる状態では、前記左方領域及び前記右方領域のうちの前記右方領域に前記物品を突出させる第２姿勢変更制御を実行し、前記物品搬送車が前記両側許容区間内にいる状態では、前記第１姿勢変更制御、前記第２姿勢変更制御、又は、前記左方領域及び前記右方領域の両方に前記物品を突出させる第３姿勢変更制御を実行し、前記制御装置は、搬送先の前記搬送対象場所へ向かう前記移動経路の途中で、前記第１姿勢変更制御、前記第２姿勢変更制御、又は前記第３姿勢変更制御を実行する。 The article transport facility according to the present disclosure includes an article transport vehicle that moves along a movement route between a plurality of transport target locations to transport the article, and a control device that controls the article transport vehicle. The equipment, the article transport vehicle, has a storage unit for accommodating the article and a posture changing mechanism for changing the posture of the article, and is based on the traveling direction of the article transport vehicle in the movement route. The area on the left side with respect to the accommodating portion is defined as the left region, and the region on the right side with respect to the accommodating portion is defined as the right region. The accommodating portion and the posture changing mechanism are configured so as to project to the left side, and the left side allowable section and the right side region allow the article to project outward from the accommodating portion. A right-side allowable section and a two-sided allowable section allowed in both the left region and the right region are set in the movement path, and the control device changes the posture of the article by the posture change mechanism. When the posture change control is executed, when the article carrier is within the left allowable section, the first attitude change for projecting the article into the left region of the left region and the right region. Control is executed, and in a state where the article carrier is within the right allowable section, a second posture change control for projecting the article into the right region of the left region and the right region is executed. When the article carrier is within the allowable section on both sides, the article is projected into the first attitude change control, the second attitude change control, or both the left region and the right region. 3 The posture change control is executed, and the control device executes the first posture change control, the second posture change control, or the third posture change control in the middle of the movement path toward the transport target location of the transport destination. To execute .

本構成によれば、姿勢変更機構により物品の姿勢を変更する場合に、移動経路中に設定された左側許容区間、右側許容区間、及び両側許容区間に応じて、各許容区間における物品の突出が許容されている側の領域に物品を突出させて、物品の姿勢変更を行うようにすることができる。これにより、物品の突出が許容されている領域以外の領域への物品の突出をなくし、或いは物品の突出量を少なくすることができる。その結果、姿勢変更中の物品が干渉対象物に干渉することを抑制できる。また、このような許容区間を移動経路中に設けることで、例えば、物品と干渉対象物との干渉を回避するために設備全体において移動経路の周囲のスペースを広く確保する必要もなく、設備の大型化の抑制も図ることができる。 According to this configuration, when the posture of the article is changed by the posture changing mechanism, the protrusion of the article in each allowable section depends on the left allowable section, the right allowable section, and the double-sided allowable section set in the movement path. The article can be projected into the allowed area to change the posture of the article. As a result, it is possible to eliminate the protrusion of the article to a region other than the region where the protrusion of the article is permitted, or to reduce the amount of protrusion of the article. As a result, it is possible to prevent the article whose posture is being changed from interfering with the object of interference. Further, by providing such an allowable section in the movement path, for example, it is not necessary to secure a wide space around the movement path in the entire equipment in order to avoid interference between the article and the object of interference, and the equipment can be installed. It is also possible to suppress the increase in size.

本開示に係る技術のさらなる特徴と利点は、図面を参照して記述する以下の例示的かつ非限定的な実施形態の説明によってより明確になるであろう。 Further features and advantages of the techniques according to the present disclosure will be further clarified by the following illustration of exemplary and non-limiting embodiments described with reference to the drawings.

物品搬送設備の一部を示す平面図Top view showing a part of the goods transportation equipment 物品の移載の様子を示す図Diagram showing the transfer of goods 物品搬送車の移動方向視図View of moving direction of goods carrier 物品搬送設備の制御ブロック図Control block diagram of goods transportation equipment 姿勢変更制御の説明図Explanatory drawing of posture change control 制御種類を決定する際の手順を示すフローチャートFlowchart showing the procedure for determining the control type 許容区間の説明図Explanatory drawing of allowable section 姿勢変更制御の説明図Explanatory drawing of posture change control

１．第１実施形態
物品搬送設備の第１実施形態について図面を参照して説明する。図１に示すように、物品搬送設備１は、複数の搬送対象場所６の間で移動経路Ｒに沿って移動して物品Ｗを搬送する物品搬送車２と、当該物品搬送車２を制御する制御装置Ｈ（図４参照）と、を備えている。そして、この物品搬送設備１は、複数の搬送対象場所６のうち搬送元となる搬送対象場所６から搬送先となる他の搬送対象場所６まで物品Ｗを搬送する途中に当該物品Ｗの姿勢を変更することができるようになっている。 1. 1. First Embodiment The first embodiment of the article transport facility will be described with reference to the drawings. As shown in FIG. 1, the article transport facility 1 controls an article transport vehicle 2 that moves along a movement path R between a plurality of transport target locations 6 to transport the article W, and the article transport vehicle 2. It includes a control device H (see FIG. 4). Then, the article transport facility 1 changes the posture of the article W while transporting the article W from the transport target location 6 which is the transport source to the other transport target location 6 which is the transport destination among the plurality of transport target locations 6. It can be changed.

以下の説明では、物品搬送車２が移動経路Ｒに沿って走行する方向を「進行方向Ｘ」とし、平面視で進行方向Ｘに直交する方向を「幅方向Ｙ」とする。また、進行方向Ｘを基準として左右を定義するものとし、具体的には、進行方向Ｘに向かって幅方向Ｙにおける左側を「左側Ｙ１」とし、右側を「右側Ｙ２」とする。 In the following description, the direction in which the article transport vehicle 2 travels along the movement path R is defined as the “traveling direction X”, and the direction orthogonal to the traveling direction X in a plan view is defined as the “width direction Y”. Further, the left and right sides are defined with reference to the traveling direction X. Specifically, the left side in the width direction Y toward the traveling direction X is defined as "left side Y1" and the right side is defined as "right side Y2".

１−１．物品搬送設備の機械構成
物品Ｗは、物品搬送車２によって搬送される対象である。ここで、物品Ｗは、平面視で非円形状に形成されている。物品Ｗは、例えば、平面視で多角形状、より具体的には、四角形状に形成されている。なお、四角形状には、厳密には四角形でなくても、全体としてみれば四角形とみなせる形状も含む。また、多角形状の一部の辺が円弧等の曲線で形成された平面視の形状を有していても良い。例えば、物品Ｗの平面視の形状はＤ形であっても良い。以下、「状」という表現を用いて物等の形状を説明する場合は、これと同様の趣旨である。また、物品Ｗの立体的形状に関しては、ここでは、柱状体とされている。物品Ｗは、例えば、内容物が収納される容器である。本実施形態では、物品Ｗは、半導体基板が収納される容器である。本例では、物品Ｗは、直方体状に形成されており、複数枚の半導体基板を複数段に分けて収納可能である。本実施形態では、物品Ｗの上面及び底面は、塞がった状態である。また、物品Ｗの上面には、物品Ｗの搬送の際に物品搬送車２によって把持されるためのフランジ部Ｗａが設けられている。また、物品Ｗの４つの側面のうち一面には、半導体基板を出し入れするための開口部Ｗｂが設けられている（図２等参照）。物品Ｗの残りの３つの側面は塞がった状態である。 1-1. Mechanical configuration of the article transport facility The article W is a target to be transported by the article transport vehicle 2. Here, the article W is formed in a non-circular shape in a plan view. The article W is formed, for example, in a polygonal shape in a plan view, more specifically, in a quadrangular shape. The quadrangular shape includes a shape that can be regarded as a quadrangle as a whole, even if it is not strictly a quadrangle. Further, it may have a plan view shape in which some sides of the polygonal shape are formed by a curved line such as an arc. For example, the shape of the article W in a plan view may be D-shaped. Hereinafter, when the shape of an object or the like is described using the expression "shape", the same meaning applies. Further, regarding the three-dimensional shape of the article W, here, it is a columnar body. The article W is, for example, a container in which the contents are stored. In the present embodiment, the article W is a container in which a semiconductor substrate is stored. In this example, the article W is formed in a rectangular parallelepiped shape, and a plurality of semiconductor substrates can be stored in a plurality of stages. In the present embodiment, the upper surface and the bottom surface of the article W are in a closed state. Further, on the upper surface of the article W, a flange portion Wa for being gripped by the article transport vehicle 2 when the article W is transported is provided. Further, an opening Wb for inserting and removing the semiconductor substrate is provided on one of the four side surfaces of the article W (see FIG. 2 and the like). The remaining three sides of the article W are in a closed state.

搬送対象場所６は、物品Ｗの搬送元となる場所であり、又は、物品Ｗの搬送先となる場所である。図１に示すように、搬送対象場所６は、物品搬送設備１の中の複数箇所に設けられている（図１では物品搬送設備１の一部を示している。）。搬送対象場所６では、例えば、物品Ｗの処理が行われる。本実施形態では、図１及び２に示すように、搬送対象場所６には、半導体基板に対する処理を行う処理装置６ａと物品搬送車２との間での物品Ｗの授受のための授受部６ｂとが含まれている。本実施形態では、授受部６ｂには、処理装置６ａに対して開口部Ｗｂを対向させた状態の物品Ｗが搬送される。また、物品Ｗに収納された半導体基板が、処理装置６ａが備える取出装置等によって開口部Ｗｂから取り出される。そして、半導体基板は、処理装置６ａによって処理される。このように処理装置６ａによって半導体基板を処理するために、物品Ｗは、開口部Ｗｂが処理装置６ａに対して対向する適切な姿勢にされた上で、物品搬送車２によって授受部６ｂに搬送される。 The transport target location 6 is a location where the article W is transported, or a location where the article W is transported. As shown in FIG. 1, the transport target locations 6 are provided at a plurality of locations in the article transport facility 1 (FIG. 1 shows a part of the article transport facility 1). At the transport target location 6, for example, the article W is processed. In the present embodiment, as shown in FIGS. 1 and 2, in the transport target location 6, the transfer unit 6b for transferring the article W between the processing device 6a for processing the semiconductor substrate and the article transport vehicle 2 And are included. In the present embodiment, the article W in a state where the opening Wb faces the processing device 6a is conveyed to the transfer unit 6b. Further, the semiconductor substrate housed in the article W is taken out from the opening Wb by a take-out device or the like included in the processing device 6a. Then, the semiconductor substrate is processed by the processing device 6a. In order to process the semiconductor substrate by the processing device 6a in this way, the article W is transported to the transfer unit 6b by the article transport vehicle 2 after the opening Wb is in an appropriate posture facing the processing device 6a. Will be done.

移動経路Ｒは、物品搬送設備１において物品搬送車２が移動する経路である。図１に示すように、移動経路Ｒは、複数の搬送対象場所６を経由している。移動経路Ｒは、例えば、床面上に設けられるか、又は、床面から上方に距離を置いた位置に設けられる。本実施形態では、移動経路Ｒは、天井９９から吊り下げ支持されたレール９８により定まっている（図２及び図３参照）。図１に示すように、本実施形態では、レール９８は、複数の授受部６ｂを経由する経路に沿って設けられており、複数の授受部６ｂのそれぞれと平面視で重複するように配置されている。 The movement route R is a route through which the article transport vehicle 2 moves in the article transport facility 1. As shown in FIG. 1, the movement route R passes through a plurality of transport target locations 6. The movement path R is provided, for example, on the floor surface or at a position at a distance upward from the floor surface. In the present embodiment, the movement path R is determined by the rail 98 suspended and supported from the ceiling 99 (see FIGS. 2 and 3). As shown in FIG. 1, in the present embodiment, the rail 98 is provided along a path passing through the plurality of transfer portions 6b, and is arranged so as to overlap each of the plurality of transfer portions 6b in a plan view. ing.

本実施形態では、物品搬送車２は、移動経路Ｒ内における当該物品搬送車２の現在位置を検出する位置検出センサ（図示省略）を備えている。本実施形態では、移動経路Ｒには、複数の位置情報記憶部（図示省略）が分散して配置されている。そして、位置情報記憶部は、移動経路Ｒを区画した複数の領域のそれぞれに割り当てられている。また、複数の位置情報記憶部のそれぞれは、移動経路Ｒ内においてそれぞれが配置されている位置の情報を記憶している。本実施形態では、位置検出センサは、移動経路Ｒ内に配置された複数の位置情報記憶部のそれぞれに記憶された位置情報を読み取ることで、移動経路Ｒ内における物品搬送車２の現在位置を検出可能に構成されている。例えば、位置情報記憶部としてはバーコードが表示されたプレート等であっても良く、その場合の位置検出センサはバーコードリーダとなる。 In the present embodiment, the article transport vehicle 2 includes a position detection sensor (not shown) that detects the current position of the article transport vehicle 2 in the movement path R. In the present embodiment, a plurality of position information storage units (not shown) are dispersedly arranged on the movement path R. Then, the position information storage unit is assigned to each of the plurality of areas in which the movement path R is partitioned. Further, each of the plurality of position information storage units stores information on the position where each is arranged in the movement path R. In the present embodiment, the position detection sensor reads the position information stored in each of the plurality of position information storage units arranged in the movement path R to determine the current position of the article carrier 2 in the movement path R. It is configured to be detectable. For example, the position information storage unit may be a plate or the like on which a barcode is displayed, and the position detection sensor in that case is a barcode reader.

図２及び３に示すように、物品搬送車２は、移動経路Ｒを走行するための走行部２１と、物品Ｗを収容する収容部２２ａと、を有している。本実施形態では、走行部２１は、レール９８の上側に位置している。走行部２１は、モータ等の駆動手段により駆動されて移動経路Ｒに沿って走行する。ここでは、走行部２１は、走行用モータ２１Ｍによって駆動されて水平軸周りに回転すると共にレール９８の上面を進行方向Ｘに沿って転動する走行輪２１ａを有している。走行輪２１ａがレール９８の上面を転動することにより、走行部２１が移動経路Ｒに沿って走行可能となっている。 As shown in FIGS. 2 and 3, the article transport vehicle 2 has a traveling portion 21 for traveling on the movement path R and an accommodating portion 22a for accommodating the article W. In the present embodiment, the traveling portion 21 is located above the rail 98. The traveling unit 21 is driven by a driving means such as a motor and travels along the moving path R. Here, the traveling unit 21 has traveling wheels 21a that are driven by a traveling motor 21M to rotate around a horizontal axis and roll on the upper surface of the rail 98 along the traveling direction X. By rolling the traveling wheel 21a on the upper surface of the rail 98, the traveling portion 21 can travel along the moving path R.

本実施形態では、収容部２２ａは、走行部２１に吊り下げ支持されてレール９８の下側に位置する本体部２２に設けられている。図示の例では、本体部２２は、収容部２２ａを進行方向Ｘの両側で覆うカバー部２２ｂを有しており（図２及び３ではカバー部２２ｂの一部を切り欠いて示している。）、収容部２２ａは、カバー部２２ｂに覆われた空間とされている。より詳細には、図５に示すように、カバー部２２ｂは、進行方向Ｘにおいて互いに対向する一対の対向面２２ｆを有しており、収容部２２ａは、一対の対向面２２ｆの間の空間とされている。本実施形態では、カバー部２２ｂは、幅方向Ｙの両側及び下方が開放された形状となっている。具体的には、カバー部２２ｂは、幅方向Ｙから見て角ばった逆Ｕ字状に形成されている。そのため、収容部２２ａは、幅方向Ｙの両側及び下側において、当該収容部２２ａの外側と連通している。 In the present embodiment, the accommodating portion 22a is provided on the main body portion 22 which is suspended and supported by the traveling portion 21 and is located below the rail 98. In the illustrated example, the main body portion 22 has a cover portion 22b that covers the accommodating portion 22a on both sides in the traveling direction X (in FIGS. 2 and 3, a part of the cover portion 22b is cut out and shown). The accommodating portion 22a is a space covered by the cover portion 22b. More specifically, as shown in FIG. 5, the cover portion 22b has a pair of facing surfaces 22f facing each other in the traveling direction X, and the accommodating portion 22a has a space between the pair of facing surfaces 22f. Has been done. In the present embodiment, the cover portion 22b has a shape in which both sides and the lower side in the width direction Y are open. Specifically, the cover portion 22b is formed in an inverted U shape that is angular when viewed from the width direction Y. Therefore, the accommodating portion 22a communicates with the outside of the accommodating portion 22a on both sides and the lower side in the width direction Y.

図２及び３に示すように、本実施形態では、物品搬送車２は、搬送対象場所６との間で物品Ｗを移載する移載機構３を有している。図示の例では、移載機構３は、処理装置６ａに隣接して設けられた授受部６ｂと収容部２２ａとの間で物品Ｗを移載可能に構成されている。本例では、移載機構３は、物品Ｗを把持する把持機構３Ｇと物品Ｗを昇降させる昇降機構３Ｈとを備えている。 As shown in FIGS. 2 and 3, in the present embodiment, the article transport vehicle 2 has a transfer mechanism 3 for transferring the article W to and from the transport target location 6. In the illustrated example, the transfer mechanism 3 is configured so that the article W can be transferred between the transfer unit 6b and the accommodating unit 22a provided adjacent to the processing device 6a. In this example, the transfer mechanism 3 includes a gripping mechanism 3G for gripping the article W and an elevating mechanism 3H for raising and lowering the article W.

本実施形態では、把持機構３Ｇは、物品Ｗを上方から把持するように構成されている。ここでは、把持機構３Ｇは、把持部３Ｇａに設けられた把持用モータ３ＧＭ（図４参照）と、把持用モータ３ＧＭにより駆動されて把持姿勢と解除姿勢との間で切り替わり自在な一対の把持爪３Ｇｂと、を有している。そして、一対の把持爪３Ｇｂは、互いに接近する方向に移動することで把持姿勢となり、互いに離間する方向に移動することで解除姿勢となる。一対の把持爪３Ｇｂは、把持姿勢にて物品Ｗのフランジ部Ｗａを把持し、フランジ部Ｗａを把持した状態から解除姿勢となることで、フランジ部Ｗａの把持を解除する。 In the present embodiment, the gripping mechanism 3G is configured to grip the article W from above. Here, the gripping mechanism 3G is a pair of gripping claws that are driven by a gripping motor 3GM (see FIG. 4) provided in the gripping portion 3Ga and a gripping motor 3GM and can be switched between a gripping posture and a releasing posture. It has 3 Gb and. Then, the pair of gripping claws 3Gb move in a direction approaching each other to be in a gripping posture, and move in a direction away from each other to be in a releasing posture. The pair of gripping claws 3Gb grip the flange portion Wa of the article W in the gripping posture, and the flange portion Wa is released from the gripped state when the flange portion Wa is released.

本実施形態では、昇降機構３Ｈは、把持部３Ｇａを昇降させることで当該把持部３Ｇａに把持された物品Ｗを昇降させるように構成されている。ここでは、昇降機構３Ｈは、収容部２２ａ（カバー部２２ｂ）が配置される高さから、少なくとも、授受部６ｂが配置される高さまでの間で、物品Ｗを昇降させる。本実施形態では、昇降機構３Ｈは、昇降用モータ３ＨＭによって駆動される昇降用プーリ３Ｈｃと、昇降用ドラム３Ｈｄと、把持部３Ｇａに連結されると共に昇降用ドラム３Ｈｄに巻回される昇降用ベルト３Ｈｂと、昇降用モータ３ＨＭと昇降用プーリ３Ｈｃと昇降用ドラム３Ｈｄと昇降用ベルト３Ｈｂとを備える昇降部３Ｈａと、を有している。そして、昇降機構３Ｈは、昇降用モータ３ＨＭによって昇降用プーリ３Ｈｃを駆動させることで、昇降用ベルト３Ｈｂを昇降用ドラム３Ｈｄに巻き取り又は繰出して、把持部３Ｇａと共に物品Ｗを昇降させる。 In the present embodiment, the elevating mechanism 3H is configured to raise and lower the article W gripped by the grip portion 3Ga by raising and lowering the grip portion 3Ga. Here, the elevating mechanism 3H raises and lowers the article W from the height at which the accommodating portion 22a (cover portion 22b) is arranged to at least the height at which the transfer portion 6b is arranged. In the present embodiment, the elevating mechanism 3H is an elevating pulley 3Hc driven by an elevating motor 3HM, an elevating drum 3Hd, and an elevating belt connected to a grip portion 3Ga and wound around the elevating drum 3Hd. It has 3Hb, an elevating part 3Ha including an elevating motor 3HM, an elevating pulley 3Hc, an elevating drum 3Hd, and an elevating belt 3Hb. Then, the elevating mechanism 3H winds up or unwinds the elevating belt 3Hb on the elevating drum 3Hd by driving the elevating pulley 3Hc by the elevating motor 3HM, and elevates the article W together with the grip portion 3Ga.

以上説明した構成により、本実施形態に係る物品搬送車２は、搬送対象場所６において物品Ｗを移載可能であると共に、搬送元となる搬送対象場所６から搬送先となる搬送対象場所６まで物品Ｗを搬送可能となっている。 According to the configuration described above, the article transport vehicle 2 according to the present embodiment can transfer the article W at the transport target location 6, and from the transport target location 6 which is the transport source to the transport target location 6 which is the transport destination. The article W can be transported.

ここで、上述のように、物品搬送車２は、搬送対象場所６において適切な姿勢となるように、物品Ｗを搬送する。詳細には、物品Ｗの内容物である半導体基板を処理装置６ａによって適切に処理できるようにするために、物品Ｗは、搬送される過程において、開口部Ｗｂが搬送先の処理装置６ａに対して対向する適切な姿勢にされる。そのため、図２及び３に示すように、物品搬送車２は、物品Ｗの姿勢を変更する姿勢変更機構４を有している。本実施形態では、姿勢変更機構４は、開口部Ｗｂが搬送先の処理装置６ａに対して対向する適切な姿勢となるように、物品Ｗの姿勢変更を行う。なお、搬送元の搬送対象場所６において移載が完了した後の物品Ｗの姿勢が、既に、搬送先の搬送対象場所６における適切な姿勢となっている場合には、物品搬送車２は、姿勢変更機構４による物品Ｗの姿勢変更は行わず、そのままの姿勢で搬送先の搬送対象場所６に物品Ｗを搬送する。 Here, as described above, the article transport vehicle 2 transports the article W so as to be in an appropriate posture at the transport target location 6. Specifically, in order to enable the semiconductor substrate, which is the content of the article W, to be appropriately processed by the processing device 6a, the article W has an opening Wb with respect to the processing device 6a at the destination in the process of being conveyed. To be in an appropriate posture facing each other. Therefore, as shown in FIGS. 2 and 3, the article transport vehicle 2 has a posture changing mechanism 4 for changing the attitude of the article W. In the present embodiment, the posture changing mechanism 4 changes the posture of the article W so that the opening Wb is in an appropriate posture facing the processing device 6a at the transport destination. If the posture of the article W after the transfer is completed at the transport target location 6 of the transport source is already an appropriate posture at the transport target location 6 of the transport destination, the article transport vehicle 2 may perform the article transport vehicle 2. The posture change mechanism 4 does not change the posture of the article W, and the article W is transported to the transport target location 6 at the transport destination in the same posture.

姿勢変更機構４は、物品Ｗを特定の軸周りに旋回させることにより、当該物品Ｗの姿勢を変更する。本実施形態では、姿勢変更機構４は、鉛直方向Ｚに沿う旋回軸４ｂ周りに物品Ｗを旋回させて当該物品Ｗの姿勢を変更するように構成されている。ここでは、姿勢変更機構４は、把持部３Ｇａを鉛直方向Ｚに沿う旋回軸４ｂ周りに旋回させる旋回部４ａを有している。本例では、旋回部４ａは、昇降部３Ｈａを介して把持部３Ｇａを旋回させる。旋回部４ａの内部には、鉛直方向Ｚに沿う旋回軸４ｂと、当該旋回軸４ｂを駆動する旋回用モータ４Ｍと、が設けられている。旋回軸４ｂは、昇降部３Ｈａを介して把持部３Ｇａと連結しており、旋回用モータ４Ｍに駆動されて把持部３Ｇａと共に回転する。これにより、把持部３Ｇａに把持された物品Ｗを、旋回軸４ｂ周りに旋回させることができる。 The posture change mechanism 4 changes the posture of the article W by turning the article W around a specific axis. In the present embodiment, the posture changing mechanism 4 is configured to change the posture of the article W by turning the article W around the swivel shaft 4b along the vertical direction Z. Here, the posture changing mechanism 4 has a swivel portion 4a that swivels the grip portion 3Ga around a swivel shaft 4b along the vertical direction Z. In this example, the swivel portion 4a swivels the grip portion 3Ga via the elevating portion 3Ha. Inside the swivel portion 4a, a swivel shaft 4b along the vertical direction Z and a swivel motor 4M for driving the swivel shaft 4b are provided. The swivel shaft 4b is connected to the grip portion 3Ga via the elevating portion 3Ha, and is driven by the swivel motor 4M to rotate together with the grip portion 3Ga. As a result, the article W gripped by the grip portion 3Ga can be swiveled around the swivel shaft 4b.

そして、この物品搬送車２では、姿勢変更機構４による物品Ｗの姿勢変更中に物品Ｗが収容部２２ａから外側に突出するように、収容部２２ａ及び姿勢変更機構４が構成されている。説明を加えると、旋回軸４ｂ周りに物品Ｗが旋回した場合における旋回軌跡の外縁Ｗｃ（図５参照）が、収容部２２ａから外側にはみ出すように収容部２２ａ及び姿勢変更機構４が構成されている。ここで、物品Ｗの旋回軌跡の外縁Ｗｃは、平面視における物品Ｗの最大幅（本例では平面視四角形状の物品Ｗの対角線）を直径とする円形となる。従って、ここでは、平面視における物品Ｗの最大幅が、収容部２２ａの幅方向Ｙの長さよりも大きくなるように構成されている。 Then, in the article transport vehicle 2, the accommodating portion 22a and the posture changing mechanism 4 are configured so that the article W projects outward from the accommodating portion 22a while the attitude of the article W is changed by the posture changing mechanism 4. To add an explanation, the accommodating portion 22a and the posture changing mechanism 4 are configured so that the outer edge Wc (see FIG. 5) of the turning locus when the article W swivels around the swivel shaft 4b protrudes outward from the accommodating portion 22a. There is. Here, the outer edge Wc of the turning locus of the article W is a circle whose diameter is the maximum width of the article W in a plan view (in this example, the diagonal line of the article W having a rectangular shape in a plan view). Therefore, here, the maximum width of the article W in a plan view is configured to be larger than the length of the accommodating portion 22a in the width direction Y.

図５の上図は、物品Ｗの姿勢変更を行っていない状態を示し、図５の下図は、物品Ｗの姿勢変更を行っている状態（後述する第１姿勢変更制御又は第２姿勢変更制御を実行している状態）を示している。ここでは、収容部２２ａに対して左側Ｙ１の領域を左方領域Ａ１とし、収容部２２ａに対して右側Ｙ２の領域を右方領域Ａ２としている。そして、本実施形態では、旋回軸４ｂ周りの第１方向Ｃ１に物品Ｗを旋回させた場合に物品Ｗが左方領域Ａ１に突出し、旋回軸４ｂ周りの第１方向Ｃ１とは逆方向である第２方向Ｃ２に物品Ｗを旋回させた場合に物品Ｗが右方領域Ａ２に突出するように、収容部２２ａ及び姿勢変更機構４が構成されている。ここで、「第１方向Ｃ１」は、旋回軸４ｂを中心とする回転方向における一方の方向（図示の例では反時計回り方向）を指し、「第２方向Ｃ２」は、他方の方向（図示の例では時計回り方向）を指す。なお、本実施形態において、「物品Ｗが左方領域Ａ１に突出」とは、物品Ｗが主に左方領域Ａ１に突出することを指し、物品Ｗが右方領域Ａ２に全く突出しない態様の他、図５に示すように、物品Ｗが左方領域Ａ１よりも少ない突出量で右方領域Ａ２にも突出する態様も含む。同様に、本実施形態において、「物品Ｗが右方領域Ａ２に突出」とは、物品Ｗが主に右方領域Ａ２に突出することを指し、物品Ｗが左方領域Ａ１に全く突出しない態様の他、物品Ｗが右方領域Ａ２よりも少ない突出量で左方領域Ａ１にも突出する態様も含む。 The upper figure of FIG. 5 shows a state in which the posture of the article W is not changed, and the lower figure of FIG. 5 shows a state in which the posture of the article W is changed (first posture change control or second posture change control described later). Is being executed). Here, the region of the left side Y1 with respect to the accommodating portion 22a is referred to as the left region A1, and the region of the right side Y2 with respect to the accommodating portion 22a is referred to as the right region A2. Then, in the present embodiment, when the article W is swiveled in the first direction C1 around the swivel shaft 4b, the article W protrudes into the left region A1 and is in the opposite direction to the first direction C1 around the swivel shaft 4b. The accommodating portion 22a and the posture changing mechanism 4 are configured so that the article W projects into the right region A2 when the article W is swiveled in the second direction C2. Here, the "first direction C1" refers to one direction (counterclockwise in the illustrated example) in the rotation direction centered on the swivel shaft 4b, and the "second direction C2" is the other direction (not shown). In the example of, it points in the clockwise direction). In the present embodiment, "article W protrudes to the left region A1" means that the article W mainly protrudes to the left region A1, and the article W does not protrude to the right region A2 at all. In addition, as shown in FIG. 5, the aspect in which the article W protrudes into the right region A2 with a smaller protrusion amount than the left region A1 is also included. Similarly, in the present embodiment, "article W projects to the right region A2" means that the article W mainly projects to the right region A2, and the article W does not project to the left region A1 at all. In addition, the aspect in which the article W protrudes into the left region A1 with a smaller protrusion amount than the right region A2 is also included.

図２及び３に示すように、本実施形態では、物品搬送車２は、物品Ｗを幅方向Ｙに移動させる幅方向移動機構を更に有している。ここでは、幅方向移動機構は、物品Ｗを幅方向Ｙに沿ってスライドさせるスライド機構５として構成されている。本実施形態では、スライド機構５は、カバー部２２ｂに取り付けられており、スライド用モータ５Ｍによって駆動又は従動される一対のスライド用プーリ５ｃと、一対のスライド用プーリ５ｃのそれぞれに巻回されるスライド用ベルト５ｂと、スライド用ベルト５ｂに連結されて幅方向Ｙにスライド自在なスライド部５ａと、を有している。スライド部５ａは、旋回部４ａと連結しており、幅方向Ｙに沿ってスライドすることによって、旋回部４ａ及び昇降部３Ｈａを介して、把持部３Ｇａ並びに把持部３Ｇａに把持された物品Ｗを幅方向Ｙに沿って移動させることが可能に構成されている。このスライド機構５により物品Ｗを幅方向Ｙに移動させることで、物品Ｗの移載時において、授受部６ｂ（搬送対象場所６）に対する位置ずれを、幅方向Ｙにおいて調整可能となっている。 As shown in FIGS. 2 and 3, in the present embodiment, the article transport vehicle 2 further has a width direction moving mechanism for moving the article W in the width direction Y. Here, the width direction moving mechanism is configured as a slide mechanism 5 that slides the article W along the width direction Y. In the present embodiment, the slide mechanism 5 is attached to the cover portion 22b and is wound around each of the pair of slide pulleys 5c driven or driven by the slide motor 5M and the pair of slide pulleys 5c. It has a slide belt 5b and a slide portion 5a that is connected to the slide belt 5b and can slide in the width direction Y. The slide portion 5a is connected to the swivel portion 4a, and by sliding along the width direction Y, the article W gripped by the grip portion 3Ga and the grip portion 3Ga via the swivel portion 4a and the elevating portion 3Ha. It is configured so that it can be moved along the width direction Y. By moving the article W in the width direction Y by the slide mechanism 5, the positional deviation with respect to the transfer unit 6b (transportation target location 6) at the time of transferring the article W can be adjusted in the width direction Y.

１−２．物品搬送設備の制御構成
次に、物品搬送設備１の制御構成について説明する。上述のように、物品搬送設備１は、物品搬送車２を制御する制御装置Ｈを備えている。図４に示すように、制御装置Ｈは、物品搬送設備１全体の制御を行う上位制御装置Ｈｕと、物品搬送車２の制御を行う下位制御装置Ｈｄと、を含んで構成されている。上位制御装置Ｈｕは、物品搬送設備１のいずれかの領域に配置されている。下位制御装置Ｈｄは、物品搬送車２に配置されている。制御装置Ｈは、マイクロコンピュータ等のプロセッサ、メモリ等の周辺回路等を備えている。そして、これらのハードウェアと、コンピュータ等のプロセッサ上で実行されるプログラムと、の協働により、制御装置Ｈの各機能が実現される。 1-2. Control configuration of the article transport facility Next, the control configuration of the article transport facility 1 will be described. As described above, the article transport facility 1 includes a control device H that controls the article transport vehicle 2. As shown in FIG. 4, the control device H includes an upper control device Hu that controls the entire article transport facility 1 and a lower control device Hd that controls the article transport vehicle 2. The upper control device Hu is arranged in any area of the article transport facility 1. The lower control device Hd is arranged in the article transport vehicle 2. The control device H includes a processor such as a microcomputer, peripheral circuits such as a memory, and the like. Then, each function of the control device H is realized by the cooperation between these hardware and the program executed on the processor such as a computer.

上位制御装置Ｈｕは、下位制御装置Ｈｄに対して、搬送元の搬送対象場所６から搬送先の搬送対象場所６に物品Ｗを搬送させる搬送指令を出力する。搬送指令を受けた下位制御装置Ｈｄは、搬送先の搬送対象場所６に向けて物品Ｗを搬送するように物品搬送車２を制御する。 The upper control device Hu outputs a transport command for transporting the article W from the transport target location 6 of the transport source to the transport target location 6 of the transport destination to the lower control device Hd. The lower control device Hd that receives the transport command controls the article transport vehicle 2 so as to transport the article W toward the transport target location 6 of the transport destination.

本実施形態では、上位制御装置Ｈｕは、複数の搬送対象場所６のそれぞれについての物品Ｗの適正な姿勢を適正姿勢情報Ｊａとして記憶している。そして、上位制御装置Ｈｕは、下位制御装置Ｈｄに対して、搬送指令を出力すると共に適正姿勢情報Ｊａを送信する。適正姿勢情報Ｊａを受信した下位制御装置Ｈｄは、搬送元の搬送対象場所６における物品Ｗの姿勢と、適正姿勢情報Ｊａに基づく搬送先の搬送対象場所６における物品Ｗの姿勢と、を比較して、物品Ｗの姿勢変更が必要であるか否かを判断する。下位制御装置Ｈｄは、物品Ｗの姿勢変更が必要であると判断した場合には、物品Ｗの搬送途中において物品Ｗの姿勢を変更する姿勢変更制御を実行する。 In the present embodiment, the upper control device Hu stores the proper posture of the article W for each of the plurality of transport target locations 6 as the proper posture information Ja. Then, the upper control device Hu outputs a transport command and transmits proper attitude information Ja to the lower control device Hd. The lower control device Hd that has received the proper posture information Ja compares the posture of the article W at the transport target location 6 of the transport source with the posture of the article W at the transport target location 6 of the transport destination based on the proper posture information Ja. Therefore, it is determined whether or not the posture of the article W needs to be changed. When the lower control device Hd determines that it is necessary to change the posture of the article W, the lower control device Hd executes the attitude change control for changing the attitude of the article W during the transportation of the article W.

この物品搬送車２では、上述のように、物品Ｗの姿勢変更を行う場合に、物品Ｗが収容部２２ａから外側に突出する（図５参照）。そのため、移動経路Ｒに沿って物品Ｗを搬送している途中で物品Ｗの姿勢変更を行う場合は、移動経路Ｒの周囲に存在する干渉対象物９７（図７参照）に物品Ｗが干渉する可能性がある。本実施形態において干渉対象物９７とは、例えば、物品搬送設備１が設置された施設内に設けられた壁や柱などの構造物、搬送対象場所６となる処理装置６ａ、或いは、他の物品搬送車２などである。図７に示すように、このような干渉対象物９７は、移動経路Ｒの周囲における複数箇所に分散して存在する可能性があり、物品搬送車２の位置を基準とすると、左方領域Ａ１及び右方領域Ａ２のいずれか、或いは、それらの双方に存在する可能性がある。そこで、下位制御装置Ｈｄは、物品Ｗの姿勢を変更する姿勢変更制御として、第１姿勢変更制御と第２姿勢変更制御と第３姿勢変更制御とを実行可能に構成されている。 In the article transport vehicle 2, as described above, when the posture of the article W is changed, the article W projects outward from the accommodating portion 22a (see FIG. 5). Therefore, when the posture of the article W is changed while the article W is being conveyed along the movement path R, the article W interferes with the interference object 97 (see FIG. 7) existing around the movement path R. there is a possibility. In the present embodiment, the interference target 97 is, for example, a structure such as a wall or a pillar provided in the facility where the article transport facility 1 is installed, a processing device 6a serving as a transport target location 6, or another article. Such as a transport vehicle 2. As shown in FIG. 7, such interference objects 97 may be dispersed at a plurality of locations around the movement path R, and based on the position of the article carrier 2, the left region A1 And may be present in either or both of the right region A2. Therefore, the lower control device Hd is configured to be able to execute the first posture change control, the second posture change control, and the third posture change control as the posture change control for changing the posture of the article W.

第１姿勢変更制御では、下位制御装置Ｈｄは、左方領域Ａ１及び右方領域Ａ２のうちの左方領域Ａ１に物品Ｗを突出させて物品Ｗの姿勢を変更する。ここで、第１姿勢変更制御の実行中に、右方領域Ａ２にも物品Ｗが突出する構成であっても良い。この場合においても、左方領域Ａ１への物品Ｗの突出量が右方領域Ａ２への物品Ｗの突出量よりも大きくなるように、第１姿勢変更制御が実行される。第１姿勢変更制御の実行により、姿勢変更中の物品Ｗを主に左方領域Ａ１に突出させることができ、その結果、右方領域Ａ２への物品Ｗの突出をなくし或いは物品Ｗの突出量を少なくすることができる。これにより、右方領域Ａ２に干渉対象物９７が存在する場合であっても（図７参照）、当該干渉対象物９７と姿勢変更中の物品Ｗとが干渉することを抑制できる。 In the first posture change control, the lower control device Hd changes the posture of the article W by projecting the article W into the left region A1 of the left region A1 and the right region A2. Here, the article W may also protrude into the right region A2 during the execution of the first posture change control. Also in this case, the first posture change control is executed so that the amount of the article W protruding into the left region A1 is larger than the amount of the article W protruding into the right region A2. By executing the first posture change control, the article W being changed in posture can be projected mainly to the left region A1, and as a result, the protrusion of the article W to the right region A2 is eliminated or the amount of protrusion of the article W is eliminated. Can be reduced. As a result, even when the interference object 97 exists in the right region A2 (see FIG. 7), it is possible to prevent the interference object 97 from interfering with the article W whose posture is being changed.

図５に示すように、本実施形態では、下位制御装置Ｈｄは、第１姿勢変更制御として物品Ｗを第１方向Ｃ１に旋回させることで、物品Ｗを左方領域Ａ１に突出させつつ姿勢変更を行う。説明を加えると、図５の上図に示すように、本実施形態では、物品Ｗは、姿勢変更が行われていない基本姿勢において、開口部Ｗｂが進行方向Ｘの後方側を向くようになっている。そして、把持機構３Ｇによって把持されるフランジ部Ｗａは、物品Ｗの上面における進行方向Ｘに沿う方向の中心位置よりも開口部Ｗｂに近い位置に配置されている。そして、物品Ｗは、旋回軸４ｂの回転によりこのフランジ部Ｗａを中心に旋回する。そのため本実施形態では、図５の下図に示すように、第１姿勢変更制御によって物品Ｗを第１方向Ｃ１に旋回させる場合、物品Ｗは、主に左方領域Ａ１に突出する（図示の例では右方領域Ａ２にも僅かに突出する。）。 As shown in FIG. 5, in the present embodiment, the lower control device Hd changes the posture while projecting the article W into the left region A1 by turning the article W in the first direction C1 as the first attitude change control. I do. To add an explanation, as shown in the upper figure of FIG. 5, in the present embodiment, the opening Wb of the article W faces the rear side in the traveling direction X in the basic posture in which the posture is not changed. ing. The flange portion Wa gripped by the gripping mechanism 3G is arranged at a position closer to the opening Wb than the center position in the direction along the traveling direction X on the upper surface of the article W. Then, the article W swivels around the flange portion Wa by the rotation of the swivel shaft 4b. Therefore, in the present embodiment, as shown in the lower figure of FIG. 5, when the article W is swiveled in the first direction C1 by the first attitude change control, the article W mainly projects to the left region A1 (illustration example). Then, it slightly protrudes into the right region A2.)

また、第２姿勢変更制御では、下位制御装置Ｈｄは、左方領域Ａ１及び右方領域Ａ２のうちの右方領域Ａ２に物品Ｗを突出させて物品Ｗの姿勢を変更する。ここで、第２姿勢変更制御の実行中に、左方領域Ａ１にも物品Ｗが突出する構成であっても良い。この場合においても、右方領域Ａ２への物品Ｗの突出量が左方領域Ａ１への物品Ｗの突出量よりも大きくなるように、第２姿勢変更制御が実行される。第２姿勢変更制御の実行により、姿勢変更中の物品Ｗを主に右方領域Ａ２に突出させることができ、その結果、左方領域Ａ１への物品Ｗの突出をなくし或いは物品Ｗの突出量を少なくすることができる。これにより、左方領域Ａ１に干渉対象物９７が存在する場合であっても（図７参照）、当該干渉対象物９７と姿勢変更中の物品Ｗとが干渉することを抑制できる。 Further, in the second posture change control, the lower control device Hd changes the posture of the article W by projecting the article W into the right region A2 of the left region A1 and the right region A2. Here, the article W may also protrude into the left region A1 during the execution of the second posture change control. Also in this case, the second posture change control is executed so that the amount of the article W protruding into the right region A2 is larger than the amount of the article W protruding into the left region A1. By executing the second posture change control, the article W being changed in posture can be projected mainly to the right region A2, and as a result, the protrusion of the article W to the left region A1 is eliminated or the amount of protrusion of the article W is eliminated. Can be reduced. As a result, even when the interference object 97 exists in the left region A1 (see FIG. 7), it is possible to prevent the interference object 97 from interfering with the article W whose posture is being changed.

図５に示すように、本実施形態では、下位制御装置Ｈｄは、第２姿勢変更制御として物品Ｗを第２方向Ｃ２に旋回させることで、物品Ｗを右方領域Ａ２に突出させつつ姿勢変更を行う。説明を加えると、上述のように、把持機構３Ｇによって把持されるフランジ部Ｗａは、物品Ｗの上面における進行方向Ｘに沿う方向の中心位置よりも開口部Ｗｂに近い位置に配置されている。そして、物品Ｗは、姿勢変更が行われていない基本姿勢において、開口部Ｗｂが進行方向Ｘの反対側を向くようになっている（図５の上図参照）。そのため本実施形態では、図５の下図に示すように、第２姿勢変更制御によって物品Ｗを第２方向Ｃ２に旋回させる場合、物品Ｗは、主に右方領域Ａ２に突出する（図示の例では左方領域Ａ１にも僅かに突出する。）。 As shown in FIG. 5, in the present embodiment, the lower control device Hd changes the posture while projecting the article W into the right region A2 by turning the article W in the second direction C2 as the second attitude change control. I do. As described above, the flange portion Wa gripped by the gripping mechanism 3G is arranged at a position closer to the opening Wb than the central position in the direction along the traveling direction X on the upper surface of the article W. Then, in the basic posture in which the posture of the article W is not changed, the opening Wb faces the opposite side of the traveling direction X (see the upper view of FIG. 5). Therefore, in the present embodiment, as shown in the lower figure of FIG. 5, when the article W is swiveled in the second direction C2 by the second posture change control, the article W mainly projects to the right region A2 (illustration example). Then, it slightly protrudes into the left region A1.)

また、第３姿勢変更制御では、下位制御装置Ｈｄは、左方領域Ａ１及び右方領域Ａ２の両方に物品Ｗを突出させて物品Ｗの姿勢を変更する。第３姿勢変更制御で、第１方向Ｃ１及び第２方向Ｃ２のいずれの方向に物品Ｗを旋回させても良い。また、第３姿勢変更制御を実行する場合における、左方領域Ａ１への物品Ｗの突出量と右方領域Ａ２への物品Ｗの突出量とが、異なっていても良いし、同じであっても良い。例えば、物品Ｗを第１方向Ｃ１及び第２方向Ｃ２のいずれかの方向に２７０°旋回させる場合等、物品Ｗを旋回軸４ｂ周りに１８０°以上旋回させる場合には、姿勢変更中に物品Ｗが左方領域Ａ１と右方領域Ａ２との双方に突出する場合がある。旋回部４ａの旋回可能な方向が一方向のみである場合等には、このように物品Ｗを旋回軸４ｂ周りに１８０°以上旋回させる構成となる場合がある。本実施形態では、このような姿勢変更制御が、第３姿勢変更制御に該当する。 Further, in the third posture change control, the lower control device Hd changes the posture of the article W by projecting the article W into both the left region A1 and the right region A2. The article W may be swiveled in either the first direction C1 or the second direction C2 by the third posture change control. Further, when the third posture change control is executed, the amount of the article W protruding into the left region A1 and the amount of the article W protruding into the right region A2 may be different or the same. Is also good. For example, when the article W is swiveled by 270 ° in either the first direction C1 or the second direction C2, or when the article W is swiveled by 180 ° or more around the swivel shaft 4b, the article W is being swiveled during the posture change. May project into both the left region A1 and the right region A2. When the swivel portion 4a can swivel in only one direction, the article W may be swiveled around the swivel shaft 4b by 180 ° or more in this way. In the present embodiment, such posture change control corresponds to the third posture change control.

下位制御装置Ｈｄは、姿勢変更制御を実行する前に、実行する制御種類を決定する。図４に示すように、本実施形態では、下位制御装置Ｈｄは、第１姿勢変更制御、第２姿勢変更制御、及び第３姿勢変更制御の３つの制御種類の中から、実行する制御種類を決定する制御種類決定部Ｈｄ１を有している。 The lower control device Hd determines the type of control to be executed before executing the attitude change control. As shown in FIG. 4, in the present embodiment, the lower control device Hd selects the control type to be executed from the three control types of the first attitude change control, the second attitude change control, and the third attitude change control. It has a control type determination unit Hd1 for determining.

制御種類決定部Ｈｄ１によって制御種類を決定する手順について、図６のフローチャートを参照して説明する。まず、制御種類決定部Ｈｄ１は、上位制御装置Ｈｕから搬送指令及び適正姿勢情報Ｊａを取得する（Ｓ１１、Ｓ１２）。これにより、搬送先の搬送対象場所６と、当該搬送対象場所６における物品Ｗの適正姿勢とを把握する。そして、搬送先の搬送対象場所６における物品Ｗの適正姿勢に基づいて、物品Ｗを旋回させるべき旋回方向を第１方向Ｃ１及び第２方向Ｃ２の中から決定する（Ｓ１３）。具体的には、搬送先の搬送対象場所６における物品Ｗの適正姿勢が、開口部Ｗｂが右側Ｙ２を向く姿勢である場合には、物品Ｗの旋回方向を第１方向Ｃ１に決定し、開口部Ｗｂが左側Ｙ１を向く姿勢である場合には、第２方向Ｃ２に決定する（図５も参照）。換言すれば、図５の上図に示す基本姿勢から搬送先の搬送対象場所６における適正姿勢に物品Ｗの姿勢を変更するための最小の旋回量となる旋回方向を、第１方向Ｃ１及び第２方向Ｃ２の中から決定する。そして、制御種類決定部Ｈｄ１は、決定した旋回方向に基づいて姿勢変更制御の種類を決定する（Ｓ１４）。本実施形態では、物品Ｗの旋回方向を第１方向Ｃ１と決定した場合には、制御種類として第１姿勢変更制御を行うことを決定する。そして、物品Ｗの旋回方向を第２方向Ｃ２と決定した場合には、制御種類として第２姿勢変更制御を行うことを決定する。 The procedure for determining the control type by the control type determination unit Hd1 will be described with reference to the flowchart of FIG. First, the control type determination unit Hd1 acquires the transfer command and the proper attitude information Ja from the host control device Hu (S11, S12). As a result, the transport target location 6 of the transport destination and the proper posture of the article W at the transport target location 6 are grasped. Then, the turning direction in which the article W should be swiveled is determined from the first direction C1 and the second direction C2 based on the proper posture of the article W at the transport target place 6 of the transport destination (S13). Specifically, when the proper posture of the article W at the transport target location 6 of the transport destination is the posture in which the opening Wb faces the right side Y2, the turning direction of the article W is determined to be the first direction C1 and the opening is opened. When the portion Wb is in a posture facing the left side Y1, the second direction C2 is determined (see also FIG. 5). In other words, the first direction C1 and the first direction C1 and the first direction are the turning directions which are the minimum turning amount for changing the posture of the article W from the basic posture shown in the upper figure of FIG. Determined from the two directions C2. Then, the control type determination unit Hd1 determines the type of attitude change control based on the determined turning direction (S14). In the present embodiment, when the turning direction of the article W is determined to be the first direction C1, it is determined to perform the first attitude change control as the control type. Then, when the turning direction of the article W is determined to be the second direction C2, it is determined to perform the second posture change control as the control type.

この物品搬送設備１では、例えば図７に示すように、収容部２２ａから外側への物品Ｗの突出を許容する許容区間ＳＡが、移動経路Ｒ中に複数設定されている。詳細には、収容部２２ａから外側への物品Ｗの突出を、左方領域Ａ１で許容する左側許容区間ＳＡ１と、右方領域Ａ２で許容する右側許容区間ＳＡ２と、左方領域Ａ１及び右方領域Ａ２の両方で許容する両側許容区間ＳＡ３とが、移動経路Ｒ中に設定されている。更に、本実施形態では、これらの許容区間ＳＡとは別に、収容部２２ａから外側への物品Ｗの突出を、左方領域Ａ１及び右方領域Ａ２の双方で禁止する禁止区間ＳＲが設定されている。なお、ここでの移動経路Ｒとは、物品搬送設備１の全体における物品搬送車２が移動可能な経路のことであり、各搬送指令に基づく搬送元の搬送対象場所６から搬送先の搬送対象場所６までの経路には限定されない。 In the article transport facility 1, for example, as shown in FIG. 7, a plurality of allowable sections SA that allow the article W to protrude outward from the accommodating portion 22a are set in the movement path R. Specifically, the left allowable section SA1 that allows the article W to protrude outward from the accommodating portion 22a in the left region A1, the right allowable section SA2 that allows it in the right region A2, the left region A1 and the right side. A bilateral permissible section SA3, which is permissible in both regions A2, is set in the movement path R. Further, in the present embodiment, apart from these allowable sections SA, a prohibited section SR is set in which the protrusion of the article W from the accommodating portion 22a to the outside is prohibited in both the left region A1 and the right region A2. There is. The movement route R here is a route through which the article transport vehicle 2 can move in the entire article transport facility 1, and is a transport target from the transport source destination 6 to the transport destination based on each transport command. The route to location 6 is not limited.

当然のことながら、搬送元の搬送対象場所６から搬送先の搬送対象場所６までの経路によっては、途中に許容区間ＳＡが１つだけしか存在しない場合や、全く存在しない場合もあり得る。例えば、第１姿勢変更制御を実行することが決定されているが、搬送元の搬送対象場所６から搬送先の搬送対象場所６までの経路に左側許容区間ＳＡ１が存在しない場合には、下位制御装置Ｈｄは、物品搬送車２の経路を左側許容区間ＳＡ１が存在する経路に変更して左側許容区間ＳＡ１で姿勢変更を行い、或いは、搬送元又は搬送先の搬送対象場所６で姿勢変更が可能である場合には当該搬送対象場所６で姿勢変更を行う。同様に、第２姿勢変更制御を実行することが決定されているが、搬送元の搬送対象場所６から搬送先の搬送対象場所６までの経路に右側許容区間ＳＡ２が存在しない場合には、下位制御装置Ｈｄは、物品搬送車２の経路を右側許容区間ＳＡ２が存在する経路に変更して右側許容区間ＳＡ２で姿勢変更を行い、或いは、搬送元又は搬送先の搬送対象場所６で姿勢変更が可能である場合には当該搬送対象場所６で姿勢変更を行う。 As a matter of course, depending on the route from the transport target location 6 of the transport source to the transport target location 6 of the transport destination, there may be a case where only one allowable section SA exists in the middle or a case where there is no allowable section SA at all. For example, if it is determined to execute the first attitude change control, but the left allowable section SA1 does not exist in the route from the transport target location 6 of the transport source to the transport target location 6 of the transport destination, the lower control is performed. The device Hd can change the route of the article transport vehicle 2 to the route where the left allowable section SA1 exists and change the posture in the left allowable section SA1, or change the posture at the transport target location 6 of the transport source or the transport destination. If this is the case, the posture is changed at the transportation target location 6. Similarly, it is decided to execute the second posture change control, but if the right side allowable section SA2 does not exist in the route from the transport target location 6 of the transport source to the transport target location 6 of the transport destination, it is lower. The control device Hd changes the route of the article transport vehicle 2 to the route where the right side allowable section SA2 exists and changes the posture in the right side allowable section SA2, or changes the posture at the transport target location 6 of the transport source or the transport destination. If possible, the posture is changed at the transportation target location 6.

図７に示すように、左側許容区間ＳＡ１は、左方領域Ａ１に干渉対象物９７が存在せず、且つ、右方領域Ａ２に干渉対象物９７が存在する区間である。右側許容区間ＳＡ２は、右方領域Ａ２に干渉対象物９７が存在せず、且つ、左方領域Ａ１に干渉対象物９７が存在する区間である。両側許容区間ＳＡ３は、左方領域Ａ１及び右方領域Ａ２の双方に干渉対象物９７が存在しない区間である。そして、禁止区間ＳＲは、左方領域Ａ１及び右方領域Ａ２の双方に干渉対象物９７が存在する区間である。 As shown in FIG. 7, the left allowable section SA1 is a section in which the interference target 97 does not exist in the left region A1 and the interference target 97 exists in the right region A2. The right allowable section SA2 is a section in which the interference target 97 does not exist in the right region A2 and the interference target 97 exists in the left region A1. The bilateral allowable section SA3 is a section in which the interference target 97 does not exist in both the left region A1 and the right region A2. The prohibited section SR is a section in which the interference target 97 exists in both the left region A1 and the right region A2.

ここで、上述の「左方領域Ａ１に干渉対象物９７が存在する」とは、本実施形態では、左方領域Ａ１における収容部２２ａから左側Ｙ１に向かって設定距離ＳＤまでの範囲内に、干渉対象物９７が存在することを意味する。従って、左方領域Ａ１に干渉対象物９７が存在していても、収容部２２ａから当該干渉対象物９７までの距離が設定距離ＳＤよりも大きい場合には、許容区間ＳＡを設定する上では、「左方領域Ａ１に干渉対象物９７が存在しない」こととする。 Here, the above-mentioned "interference object 97 exists in the left region A1" means that, in the present embodiment, the above-mentioned "interference target 97 exists" within the range from the accommodating portion 22a in the left region A1 to the set distance SD toward the left Y1. It means that the interference object 97 is present. Therefore, even if the interference target 97 exists in the left region A1, if the distance from the accommodating portion 22a to the interference target 97 is larger than the set distance SD, the allowable section SA can be set. It is assumed that "the interference target 97 does not exist in the left region A1".

また、同様に、上述の「右方領域Ａ２に干渉対象物９７が存在する」とは、本実施形態では、右方領域Ａ２における収容部２２ａから右側Ｙ２に向かって設定距離ＳＤまでの範囲内に、干渉対象物９７が存在することを意味する。従って、右方領域Ａ２に干渉対象物９７が存在していても、収容部２２ａから当該干渉対象物９７までの距離が設定距離ＳＤよりも大きい場合には、許容区間ＳＡを設定する上では、「右方領域Ａ２に干渉対象物９７が存在しない」こととする。 Similarly, the above-mentioned "interference target 97 exists in the right region A2" is within the range from the accommodating portion 22a in the right region A2 to the set distance SD toward the right Y2 in the present embodiment. Means that there is an interference object 97. Therefore, even if the interference target 97 exists in the right region A2, if the distance from the accommodating portion 22a to the interference target 97 is larger than the set distance SD, the allowable section SA can be set. It is assumed that "the interference target 97 does not exist in the right region A2".

なお、本実施形態では、「設定距離ＳＤ」は、収容部２２ａにおける幅方向Ｙの両端部のそれぞれを基準に設定される。但し、これに限定されることなく、「設定距離ＳＤ」は、物品搬送車２の各部分、或いは、移動経路Ｒ（レール９８）を基準に設定されても良い。なお、上記のいずれを基準として設定する場合であっても、「設定距離ＳＤ」は、物品Ｗ、収容部２２ａ、及び姿勢変更機構４の構成に応じて定まる、収容部２２ａから外側への物品Ｗの突出量に応じて、適切な値に設定すると良い。 In the present embodiment, the "set distance SD" is set with reference to each of both ends in the width direction Y of the accommodating portion 22a. However, without being limited to this, the "set distance SD" may be set based on each part of the article transport vehicle 2 or the movement path R (rail 98). Regardless of which of the above is used as a reference, the "set distance SD" is an article from the accommodating portion 22a to the outside, which is determined according to the configurations of the article W, the accommodating portion 22a, and the posture changing mechanism 4. It is preferable to set an appropriate value according to the amount of protrusion of W.

図４に示すように、本実施形態では、下位制御装置Ｈｄは、移動経路Ｒ中に設定された左側許容区間ＳＡ１、右側許容区間ＳＡ２、及び両側許容区間ＳＡ３を記憶した記憶部Ｈｄ２を備えている。また、記憶部Ｈｄ２は、移動経路Ｒ中における禁止区間ＳＲも記憶している。具体的には、記憶部Ｈｄ２には、物品搬送設備１の全体の移動経路Ｒと、当該移動経路Ｒ上の位置に関連付けて設定された、左側許容区間ＳＡ１、右側許容区間ＳＡ２、両側許容区間ＳＡ３、及び禁止区間ＳＲの各区間情報と、を有する区間マップが記憶されている。そして、下位制御装置Ｈｄは、記憶部Ｈｄ２に記憶された各許容区間ＳＡの設定情報に基づいて、姿勢変更制御を実行する。本例では、下位制御装置Ｈｄは、更に、記憶部Ｈｄ２に記憶された禁止区間ＳＲの設定情報にも基づいて、姿勢変更制御を実行する。 As shown in FIG. 4, in the present embodiment, the lower control device Hd includes a storage unit Hd2 that stores a left allowable section SA1, a right allowable section SA2, and a double-sided allowable section SA3 set in the movement path R. There is. The storage unit Hd2 also stores the prohibited section SR in the movement path R. Specifically, in the storage unit Hd2, the left side allowable section SA1, the right side allowable section SA2, and the both side allowable section set in association with the entire movement path R of the article transport facility 1 and the position on the movement path R. A section map having each section information of SA3 and the prohibited section SR is stored. Then, the lower control device Hd executes the attitude change control based on the setting information of each allowable section SA stored in the storage unit Hd2. In this example, the lower control device Hd further executes the attitude change control based on the setting information of the prohibited section SR stored in the storage unit Hd2.

下位制御装置Ｈｄは、姿勢変更制御を実行する場合に、物品搬送車２が左側許容区間ＳＡ１内にいる状態では、左方領域Ａ１及び右方領域Ａ２のうちの左方領域Ａ１に物品Ｗを突出させる第１姿勢変更制御を実行し、物品搬送車２が右側許容区間ＳＡ２内にいる状態では、左方領域Ａ１及び右方領域Ａ２のうちの右方領域Ａ２に物品Ｗを突出させる第２姿勢変更制御を実行し、物品搬送車２が両側許容区間ＳＡ３内にいる状態では、第１姿勢変更制御、第２姿勢変更制御、又は、第３姿勢変更制御を実行する。本実施形態では、下位制御装置Ｈｄは、物品搬送車２が禁止区間ＳＲ内にいる状態では、第１姿勢変更制御、第２姿勢変更制御、及び第３姿勢変更制御のいずれも実行しない。 When the lower control device Hd executes the attitude change control, the article W is placed in the left region A1 of the left region A1 and the right region A2 when the article transport vehicle 2 is in the left allowable section SA1. A second position in which the article W is projected into the right region A2 of the left region A1 and the right region A2 when the article transport vehicle 2 is in the right allowable section SA2 by executing the first attitude change control for projecting. The attitude change control is executed, and the first attitude change control, the second attitude change control, or the third attitude change control is executed in the state where the article transport vehicle 2 is in the bilateral allowable section SA3. In the present embodiment, the lower control device Hd does not execute any of the first attitude change control, the second attitude change control, and the third attitude change control when the article carrier 2 is in the prohibited section SR.

２．第２実施形態
次に、物品搬送設備１の第２実施形態について説明する。上記の第１実施形態では、姿勢変更制御においてスライド機構５による物品Ｗの幅方向Ｙのスライド移動を行わず、物品Ｗを旋回軸４ｂ周りに旋回させるだけで姿勢変更を行う構成の例について説明した。一方、本実施形態では、姿勢変更制御においてスライド機構５による物品Ｗの幅方向Ｙのスライド移動を行う。これにより、本実施形態では、物品Ｗの旋回方向に制約されずに第１姿勢変更制御及び第２姿勢変更制御を実行することができる構成となっている。以下、本実施形態について、上記の第１実施形態とは異なる点を中心に説明する。特に説明しない点については、上記の第１実施形態と同様である。 2. Second Embodiment Next, a second embodiment of the article transport facility 1 will be described. In the above-described first embodiment, an example of a configuration in which the posture change control is performed by simply rotating the article W around the swivel shaft 4b without sliding the article W in the width direction Y by the slide mechanism 5 will be described. bottom. On the other hand, in the present embodiment, the slide mechanism 5 slides the article W in the width direction Y in the posture change control. As a result, in the present embodiment, the first posture change control and the second posture change control can be executed without being restricted by the turning direction of the article W. Hereinafter, the present embodiment will be described focusing on the points different from those of the first embodiment described above. The points not particularly described are the same as those in the first embodiment described above.

本実施形態では、下位制御装置Ｈｄは、第１姿勢変更制御を実行する場合に、スライド機構５により左方領域Ａ１側（左側Ｙ１）に物品Ｗを移動させ、第２姿勢変更制御を実行する場合に、スライド機構５により右方領域Ａ２側（右側Ｙ２）に物品Ｗを移動させる。すなわち、第１姿勢変更制御では、収容部２２ａの幅方向Ｙにおける中央位置よりも左方領域Ａ１側（左側Ｙ１）に物品Ｗを移動させた状態で、物品Ｗを旋回軸４ｂ周りに旋回させる。これにより、第１姿勢変更制御を実行する場合には、姿勢変更中の物品Ｗを収容部２２ａから左方領域Ａ１の側に突出させ、収容部２２ａから右方領域Ａ２の側に物品Ｗが突出せず、或いは突出する場合であってもその突出量を少なくすることができる。また、第２姿勢変更制御では、収容部２２ａの幅方向Ｙにおける中央位置よりも右方領域Ａ２側（右側Ｙ２）に物品Ｗを移動させた状態で、物品Ｗを旋回軸４ｂ周りに旋回させる。これにより、第２姿勢変更制御を実行する場合には、姿勢変更中の物品Ｗを収容部２２ａから右方領域Ａ２の側に突出させ、収容部２２ａから左方領域Ａ１の側に物品Ｗが突出せず、或いは突出する場合であってもその突出量を少なくすることができる。第１姿勢変更制御及び第２姿勢変更制御における物品Ｗの旋回方向は、第１方向Ｃ１及び第２方向Ｃ２のいずれであっても良い。そして、下位制御装置Ｈｄは、物品搬送車２が左側許容区間ＳＡ１内にいる状態では、物品Ｗの旋回方向に関わらず、第１姿勢変更制御を実行し、物品搬送車２が右側許容区間ＳＡ２内にいる状態では、物品Ｗの旋回方向に関わらず、第２姿勢変更制御を実行する。 In the present embodiment, when the lower control device Hd executes the first attitude change control, the slide mechanism 5 moves the article W to the left region A1 side (left side Y1) and executes the second attitude change control. In this case, the slide mechanism 5 moves the article W to the right region A2 side (right side Y2). That is, in the first posture change control, the article W is swiveled around the swivel shaft 4b while the article W is moved to the left region A1 side (left side Y1) from the central position in the width direction Y of the accommodating portion 22a. .. As a result, when the first posture change control is executed, the article W whose posture is being changed is projected from the accommodating portion 22a toward the left region A1, and the article W is moved from the accommodating portion 22a to the right region A2 side. The amount of protrusion can be reduced even if it does not protrude or even if it protrudes. Further, in the second posture change control, the article W is swiveled around the swivel shaft 4b in a state where the article W is moved to the right region A2 side (right side Y2) from the central position in the width direction Y of the accommodating portion 22a. .. As a result, when the second posture change control is executed, the article W whose posture is being changed is projected from the accommodating portion 22a toward the right region A2, and the article W is moved from the accommodating portion 22a to the left region A1 side. The amount of protrusion can be reduced even if it does not protrude or even if it protrudes. The turning direction of the article W in the first posture change control and the second posture change control may be either the first direction C1 or the second direction C2. Then, the lower control device Hd executes the first posture change control regardless of the turning direction of the article W in the state where the article transport vehicle 2 is in the left allowable section SA1, and the article transport vehicle 2 executes the first posture change control, and the article transport vehicle 2 is on the right side allowable section SA2. In the inside state, the second posture change control is executed regardless of the turning direction of the article W.

本実施形態では、第１姿勢変更制御を実行する場合に、姿勢変更中に物品Ｗが収容部２２ａから右方領域Ａ２に突出しないように（突出量がゼロとなるように）、スライド機構５による幅方向Ｙの移動量を制御する。そして、第２姿勢変更制御を実行する場合に、姿勢変更中に物品Ｗが収容部２２ａから左方領域Ａ１に突出しないように（突出量がゼロとなるように）、スライド機構５によるスライド量を制御する。なお、本実施形態では、旋回軸４ｂが収容部２２ａの幅方向Ｙにおける中央位置にある状態を基準状態とし、当該中央位置を基準位置として説明する。具体的には、図８に示すように、下位制御装置Ｈｄは、第１姿勢変更制御を実行する場合に、旋回軸４ｂ周りの物品Ｗの旋回軌跡の外縁Ｗｃが収容部２２ａと右方領域Ａ２との境界部Ｂを通る位置となるように、スライド機構５（図３等参照）により物品Ｗを幅方向Ｙに移動させる。これにより、第１姿勢変更制御の実行に、物品Ｗが収容部２２ａから右方領域Ａ２の側に突出しないようにできる。よって、右方領域Ａ２に存在する干渉対象物９７と物品Ｗとが干渉することを確実性高く防止できる。図示の例では、下位制御装置Ｈｄは、第１姿勢変更制御を実行する場合に、スライド機構５により、幅方向Ｙにおける左側Ｙ１に旋回軸４ｂを移動させる。具体的には、旋回軸４ｂが基準位置にある状態で物品Ｗを旋回させたと仮定した場合における右方領域Ａ２への物品Ｗの最大突出量に相当する距離だけ、旋回軸４ｂを基準位置に対して左側Ｙ１に移動させる。この際の旋回軸４ｂの移動量は、物品Ｗの大きさや形状、物品Ｗの旋回方向、収容部２２ａの大きさや形状、及び姿勢変更機構４の構成等の関係で、適宜設定されると良い。なお、上記のような構成に限定されることなく、第１姿勢変更制御を実行する場合に、物品Ｗの旋回軌跡の外縁Ｗｃが境界部Ｂよりも左側Ｙ１を通る位置となるように、スライド機構５による幅方向Ｙの移動量を設定しても良い。この場合、物品Ｗの旋回方向に関わらず、旋回軸４ｂを幅方向Ｙに移動させる移動量を一定にすることができる。或いは、大きさや形状の異なる複数種類の物品Ｗを搬送する場合においても、旋回軸４ｂを幅方向Ｙに移動させる移動量を一定にすることができる。 In the present embodiment, when the first posture change control is executed, the slide mechanism 5 is prevented so that the article W does not protrude from the accommodating portion 22a into the right region A2 (so that the protrusion amount becomes zero) during the posture change. Controls the amount of movement in the width direction Y according to. Then, when the second posture change control is executed, the slide amount by the slide mechanism 5 is prevented so that the article W does not protrude from the accommodating portion 22a to the left region A1 during the posture change (so that the protrusion amount becomes zero). To control. In the present embodiment, a state in which the swivel shaft 4b is located at the center position of the accommodating portion 22a in the width direction Y will be used as a reference state, and the center position will be used as a reference position. Specifically, as shown in FIG. 8, in the lower control device Hd, when the first posture change control is executed, the outer edge Wc of the turning locus of the article W around the turning shaft 4b is the accommodating portion 22a and the right region. The article W is moved in the width direction Y by the slide mechanism 5 (see FIG. 3 and the like) so as to pass through the boundary portion B with A2. As a result, the article W can be prevented from protruding from the accommodating portion 22a toward the right region A2 when the first posture change control is executed. Therefore, it is possible to prevent the interference object 97 existing in the right region A2 from interfering with the article W with high certainty. In the illustrated example, the lower control device Hd moves the swivel shaft 4b to the left side Y1 in the width direction Y by the slide mechanism 5 when executing the first attitude change control. Specifically, assuming that the article W is swiveled while the swivel shaft 4b is in the reference position, the swivel shaft 4b is set to the reference position by a distance corresponding to the maximum protrusion amount of the article W to the right region A2. On the other hand, move it to Y1 on the left side. The amount of movement of the swivel shaft 4b at this time may be appropriately set in relation to the size and shape of the article W, the swivel direction of the article W, the size and shape of the accommodating portion 22a, the configuration of the posture changing mechanism 4, and the like. .. It should be noted that, without being limited to the above configuration, when the first posture change control is executed, the slide is made so that the outer edge Wc of the turning locus of the article W passes through the left side Y1 of the boundary portion B. The amount of movement in the width direction Y by the mechanism 5 may be set. In this case, the amount of movement of the swivel shaft 4b in the width direction Y can be made constant regardless of the swivel direction of the article W. Alternatively, even when transporting a plurality of types of articles W having different sizes and shapes, the amount of movement of the swivel shaft 4b in the width direction Y can be made constant.

また、下位制御装置Ｈｄは、第２姿勢変更制御を実行する場合に、旋回軸４ｂ周りの物品Ｗの旋回軌跡の外縁Ｗｃが収容部２２ａと左方領域Ａ１との境界部Ｂを通る位置となるように、スライド機構５により物品Ｗを幅方向Ｙに移動させる。これにより、第２姿勢変更制御の実行に、物品Ｗが収容部２２ａから左方領域Ａ１の側に突出しないようにできる。よって、左方領域Ａ１に存在する干渉対象物９７と物品Ｗとが干渉することを確実性高く防止できる。図示の例では、下位制御装置Ｈｄは、第２姿勢変更制御を実行する場合に、スライド機構５により、幅方向Ｙにおける右側Ｙ２に旋回軸４ｂを移動させる。具体的には、旋回軸４ｂが基準位置にある状態で物品Ｗを旋回させたと仮定した場合における左方領域Ａ１への物品Ｗの最大突出量に相当する距離だけ、旋回軸４ｂを基準位置に対して右側Ｙ２に移動させる。この第２姿勢変更制御での旋回軸４ｂの移動量の設定方法は、上記第１姿勢変更制御と同様とすることができる。 Further, when the lower control device Hd executes the second posture change control, the position where the outer edge Wc of the turning locus of the article W around the turning shaft 4b passes through the boundary portion B between the accommodating portion 22a and the left region A1. The slide mechanism 5 moves the article W in the width direction Y so as to be. As a result, the article W can be prevented from protruding from the accommodating portion 22a toward the left region A1 when the second posture change control is executed. Therefore, it is possible to prevent the interference object 97 existing in the left region A1 from interfering with the article W with high certainty. In the illustrated example, the lower control device Hd moves the swivel shaft 4b to the right side Y2 in the width direction Y by the slide mechanism 5 when executing the second attitude change control. Specifically, assuming that the article W is swiveled while the swivel shaft 4b is in the reference position, the swivel shaft 4b is set to the reference position by a distance corresponding to the maximum protrusion amount of the article W to the left region A1. On the other hand, move it to Y2 on the right side. The method of setting the movement amount of the turning shaft 4b in the second posture change control can be the same as that in the first posture change control.

また、本実施形態では、下位制御装置Ｈｄは、第３姿勢変更制御を実行する場合に、物品Ｗを、幅方向Ｙに移動させることなく旋回軸４ｂ周りに旋回させて、左方領域Ａ１及び右方領域Ａ２の双方に突出させる。第３姿勢変更制御を実行する場合にも、第１姿勢変更制御及び第２姿勢変更制御を実行する場合と同様に、物品Ｗを旋回させる旋回方向は、第１方向Ｃ１及び第２方向Ｃ２のいずれであっても良い。また、本実施形態では、物品Ｗの旋回角度とは無関係に第３姿勢変更制御を実行する。すなわち、下位制御装置Ｈｄは、物品搬送車２が両側許容区間ＳＡ３内にいる状態では、物品Ｗの旋回方向に関わらず、第３姿勢変更制御を実行する。これにより、スライド機構５による物品Ｗの幅方向Ｙへの移動動作を省略することができるため、物品Ｗの姿勢変更の開始から完了までの時間を短縮することができる。なお、本実施形態においても、物品搬送車２が両側許容区間ＳＡ３内にいる状態で、第３姿勢変更制御ではなく、第１姿勢変更制御又は第２姿勢変更制御を実行する構成としてもよい。 Further, in the present embodiment, when the lower control device Hd executes the third attitude change control, the article W is swiveled around the swivel shaft 4b without moving in the width direction Y, and the left region A1 and the left region A1 and It is projected to both sides of the right region A2. Even when the third posture change control is executed, the turning direction for turning the article W is the first direction C1 and the second direction C2, as in the case of executing the first posture change control and the second posture change control. It may be either. Further, in the present embodiment, the third posture change control is executed regardless of the turning angle of the article W. That is, the lower control device Hd executes the third attitude change control regardless of the turning direction of the article W when the article carrier 2 is in the bilateral allowable section SA3. As a result, the movement operation of the article W in the width direction Y by the slide mechanism 5 can be omitted, so that the time from the start to the completion of the posture change of the article W can be shortened. In this embodiment as well, the article transport vehicle 2 may be configured to execute the first attitude change control or the second attitude change control instead of the third attitude change control while the article transport vehicle 2 is in the bilateral allowable section SA3.

上記のとおり、本実施形態の構成によれば、第１姿勢変更制御及び第２姿勢変更制御のいずれであっても、物品Ｗの旋回方向に関係なく実行することが可能である。従って、搬送元の搬送対象場所６から搬送先の搬送対象場所６までの経路中に、左側許容区間ＳＡ１のみが存在する場合には、下位制御装置Ｈｄは所望の旋回方向で第１姿勢変更制御を実行し、右側許容区間ＳＡ２のみが存在する場合には、下位制御装置Ｈｄは所望の旋回方向で第２姿勢変更制御を実行する。なお、搬送元の搬送対象場所６から搬送先の搬送対象場所６までの経路によっては、途中に許容区間ＳＡが全く存在しない場合もあり得る。この場合には、下位制御装置Ｈｄは、物品搬送車２の経路を許容区間ＳＡが存在する経路に変更して当該許容区間ＳＡで姿勢変更を行い、或いは、搬送元又は搬送先の搬送対象場所６で姿勢変更が可能である場合には当該搬送対象場所６で姿勢変更を行う。 As described above, according to the configuration of the present embodiment, it is possible to execute either the first posture change control or the second posture change control regardless of the turning direction of the article W. Therefore, when only the left allowable section SA1 exists in the route from the transport target location 6 of the transport source to the transport target location 6 of the transport destination, the lower control device Hd controls the first attitude change in the desired turning direction. Is executed, and when only the right side allowable section SA2 exists, the lower control device Hd executes the second attitude change control in the desired turning direction. Depending on the route from the transport target location 6 of the transport source to the transport target location 6 of the transport destination, there may be a case where the allowable section SA does not exist at all in the middle. In this case, the lower control device Hd changes the route of the article transport vehicle 2 to the route where the permissible section SA exists and changes the posture in the permissible section SA, or the transport target location of the transport source or the transport destination. If the posture can be changed in 6, the posture is changed at the transport target location 6.

３．その他の実施形態
次に、物品搬送設備のその他の実施形態について説明する。 3. 3. Other Embodiments Next, other embodiments of the article transporting equipment will be described.

（１）上記の実施形態では、物品Ｗのフランジ部Ｗａが、物品Ｗの上面における中心位置よりも開口部Ｗｂに近い位置に配置されている例について説明した。しかし、このような例に限定されることなく、フランジ部Ｗａは、物品Ｗの上面におけるいずれの位置に配置されていても良い。例えば、フランジ部Ｗａは、物品Ｗの上面における中心位置に配置されていても良いし、当該中心位置よりも開口部Ｗｂから遠い位置に配置されていても良い。 (1) In the above embodiment, an example in which the flange portion Wa of the article W is arranged at a position closer to the opening Wb than the center position on the upper surface of the article W has been described. However, the flange portion Wa may be arranged at any position on the upper surface of the article W without being limited to such an example. For example, the flange portion Wa may be arranged at the center position on the upper surface of the article W, or may be arranged at a position farther from the opening Wb than the center position.

（２）上記の第１実施形態では、制御装置Ｈは、第１姿勢変更制御として物品Ｗを第１方向Ｃ１に旋回させ、第２姿勢変更制御として物品Ｗを第２方向Ｃ２に旋回させる例について説明した。しかし、このような例に限定されることなく、物品Ｗ、収容部２２ａ、及び姿勢変更機構４等の各条件に応じて、姿勢変更制御を実行する際の物品Ｗの旋回方向を設定することができる。例えば、図５では、把持機構３Ｇによって把持されるフランジ部Ｗａが、物品Ｗの上面における中心位置よりも開口部Ｗｂに近い位置に配置されている構成を示した。しかし、フランジ部Ｗａが物品Ｗの上面における中心位置よりも開口部Ｗｂから遠い位置に配置されている場合、第１姿勢変更制御は、物品Ｗを第２方向Ｃ２に旋回させて左方領域Ａ１に突出させるように実行される。反対に、第２姿勢変更制御は、物品Ｗを第１方向Ｃ１に旋回させて右方領域Ａ２に突出させるように実行される。 (2) In the above first embodiment, the control device H turns the article W in the first direction C1 as the first attitude change control, and turns the article W in the second direction C2 as the second attitude change control. Was explained. However, the present invention is not limited to such an example, and the turning direction of the article W when executing the attitude change control is set according to each condition of the article W, the accommodating portion 22a, the attitude change mechanism 4, and the like. Can be done. For example, FIG. 5 shows a configuration in which the flange portion Wa gripped by the gripping mechanism 3G is arranged at a position closer to the opening Wb than the center position on the upper surface of the article W. However, when the flange portion Wa is arranged at a position farther from the opening Wb than the center position on the upper surface of the article W, the first posture change control causes the article W to turn in the second direction C2 and the left region A1. It is executed so as to protrude to. On the contrary, the second posture change control is executed so that the article W is swiveled in the first direction C1 and protrudes into the right region A2.

（３）上記の実施形態では、制御装置Ｈは、記憶部Ｈｄ２に記憶された各許容区間ＳＡの設定情報に基づいて、姿勢変更制御を実行する例について説明した。しかし、このような例に限定されることなく、制御装置Ｈは、物品搬送車２が移動経路Ｒを走行している際に、障害物センサの検出情報等に基づいて許容区間ＳＡの判定を行い、その判定結果に基づいていずれかの姿勢変更制御を実行する構成であっても良い。 (3) In the above embodiment, an example in which the control device H executes the posture change control based on the setting information of each allowable section SA stored in the storage unit Hd2 has been described. However, without being limited to such an example, the control device H determines the allowable section SA based on the detection information of the obstacle sensor or the like when the article transport vehicle 2 is traveling on the movement path R. It may be configured to perform and execute any posture change control based on the determination result.

（４）上記の実施形態では、レール９８（移動経路Ｒ）に対して平面視で重複する位置に授受部６ｂ（搬送対象場所６）が配置され、物品搬送車２はこの授受部６ｂとの間で物品Ｗを移載するように構成されている例について説明した。しかし、このような例に限定されることなく、授受部６ｂは、レール９８に対して幅方向Ｙにずれた位置に配置されていても良い。この場合、移載機構３は、物品Ｗを幅方向Ｙに沿って移動させてレール９８に対して幅方向Ｙに突出するように把持機構３Ｇ及び昇降機構３Ｈを移動させる移載用スライド機構を有して構成される。移載用スライド機構によって、平面視で授受部６ｂと重複する位置に把持機構３Ｇ及び昇降機構３Ｈを配置することにより、レール９８に対して幅方向Ｙにずれた位置に配置された授受部６ｂとの間で物品Ｗを移載することが可能となる。そしてこの場合、移載用スライド機構は、上記第２実施形態における姿勢変更制御の際に物品Ｗを幅方向Ｙに移動させる幅方向移動機構（スライド機構５）と兼用されていると好適である。 (4) In the above embodiment, the transfer unit 6b (transportation target location 6) is arranged at a position overlapping the rail 98 (movement path R) in a plan view, and the article transport vehicle 2 is connected to the transfer unit 6b. An example configured to transfer the article W between them has been described. However, without being limited to such an example, the transfer unit 6b may be arranged at a position deviated from the rail 98 in the width direction Y. In this case, the transfer mechanism 3 is a transfer slide mechanism that moves the article W along the width direction Y and moves the gripping mechanism 3G and the elevating mechanism 3H so as to project in the width direction Y with respect to the rail 98. Consists of having. By arranging the gripping mechanism 3G and the elevating mechanism 3H at positions overlapping the transfer unit 6b in a plan view by the transfer slide mechanism, the transfer unit 6b is arranged at a position deviated from the rail 98 in the width direction Y. It is possible to transfer the article W between and. In this case, it is preferable that the transfer slide mechanism is also used as the width direction movement mechanism (slide mechanism 5) for moving the article W in the width direction Y during the posture change control in the second embodiment. ..

（５）上記の各実施形態では、下位制御装置Ｈｄが、第１姿勢変更制御及び第２姿勢変更制御に加えて、第３姿勢変更制御を実行する例について説明した。しかし、このような例に限定されることなく、下位制御装置Ｈｄは、第３姿勢変更制御を実行せず、姿勢変更制御として、第１姿勢変更制御及び第２姿勢変更制御のいずれかを選択して実行するように構成されていても良い。例えば、上記の第１実施形態と同様に姿勢変更制御において物品Ｗの幅方向Ｙのスライド移動を行わない構成であって、物品Ｗが、旋回軸４ｂ周りの旋回中に収容部２２ａに対して幅方向Ｙのいずれか一方のみしか突出せず、且つ、物品Ｗの旋回角度が１８０°以下である場合等には、第３姿勢変更制御は存在しない。また、上記の第２実施形態において、両側許容区間ＳＡ３においても第３姿勢変更制御ではなく、第１姿勢変更制御及び第２姿勢変更制御のいずれかを実行するように構成してもよい。 (5) In each of the above embodiments, an example in which the lower control device Hd executes the third attitude change control in addition to the first attitude change control and the second attitude change control has been described. However, without being limited to such an example, the lower control device Hd does not execute the third attitude change control, and selects either the first attitude change control or the second attitude change control as the attitude change control. It may be configured to execute. For example, as in the first embodiment described above, in the posture change control, the article W is not slid in the width direction Y, and the article W is swiveling around the swivel shaft 4b with respect to the accommodating portion 22a. When only one of the width directions Y protrudes and the turning angle of the article W is 180 ° or less, the third posture change control does not exist. Further, in the second embodiment described above, it may be configured to execute either the first posture change control or the second posture change control instead of the third posture change control even in the bilateral allowable section SA3.

（６）なお、上述した各実施形態で開示された構成は、矛盾が生じない限り、他の実施形態で開示された構成と組み合わせて適用することも可能である。その他の構成に関しても、本明細書において開示された実施形態は全ての点で単なる例示に過ぎない。従って、本開示の趣旨を逸脱しない範囲内で、適宜、種々の改変を行うことが可能である。 (6) The configurations disclosed in each of the above-described embodiments can be applied in combination with the configurations disclosed in other embodiments as long as there is no contradiction. With respect to other configurations, the embodiments disclosed herein are merely exemplary in all respects. Therefore, various modifications can be made as appropriate without departing from the gist of the present disclosure.

４．上記実施形態の概要
以下、上記において説明した物品搬送設備の概要について説明する。 4. Outline of the above-described embodiment The outline of the article transporting equipment described above will be described below.

複数の搬送対象場所の間で移動経路に沿って移動して物品を搬送する物品搬送車と、当該物品搬送車を制御する制御装置と、を備えた物品搬送設備であって、前記物品搬送車は、前記物品を収容する収容部と、前記物品の姿勢を変更する姿勢変更機構と、を有し、前記移動経路における前記物品搬送車の進行方向を基準として、前記収容部に対して左側の領域を左方領域、前記収容部に対して右側の領域を右方領域とし、前記姿勢変更機構による前記物品の姿勢変更中に前記物品が前記収容部から外側に突出するように、前記収容部及び前記姿勢変更機構が構成され、前記収容部から外側への前記物品の突出を、前記左方領域で許容する左側許容区間と、前記右方領域で許容する右側許容区間と、前記左方領域及び前記右方領域の両方で許容する両側許容区間とが、前記移動経路中に設定され、前記制御装置は、前記姿勢変更機構により前記物品の姿勢を変更する姿勢変更制御を実行する場合に、前記物品搬送車が前記左側許容区間内にいる状態では、前記左方領域及び前記右方領域のうちの前記左方領域に前記物品を突出させる第１姿勢変更制御を実行し、前記物品搬送車が前記右側許容区間内にいる状態では、前記左方領域及び前記右方領域のうちの前記右方領域に前記物品を突出させる第２姿勢変更制御を実行し、前記物品搬送車が前記両側許容区間内にいる状態では、前記第１姿勢変更制御、前記第２姿勢変更制御、又は、前記左方領域及び前記右方領域の両方に前記物品を突出させる第３姿勢変更制御を実行し、前記制御装置は、搬送先の前記搬送対象場所へ向かう前記移動経路の途中で、前記第１姿勢変更制御、前記第２姿勢変更制御、又は前記第３姿勢変更制御を実行する。 An article transport facility including an article transport vehicle that moves along a movement path between a plurality of transport target locations to transport articles and a control device that controls the article transport vehicle. Has an accommodating portion for accommodating the article and a posture changing mechanism for changing the posture of the article, and is on the left side with respect to the accommodating portion with reference to the traveling direction of the article transport vehicle in the moving route. The region is the left region, the region on the right side with respect to the housing portion is the right region, and the housing portion is such that the article protrudes outward from the housing portion while the posture of the article is changed by the posture changing mechanism. And the posture change mechanism is configured, the left allowable section which allows the protrusion of the article from the accommodating portion to the outside in the left region, the right allowable section which allows the right side region, and the left region. And the two-sided permissible section allowed in both the right region is set in the movement path, and the control device executes the posture change control for changing the posture of the article by the posture change mechanism. In a state where the article transport vehicle is within the left allowable section, the first posture change control for projecting the article into the left region of the left region and the right region is executed, and the article transport vehicle is executed. Is within the right side allowable section, the second posture change control for projecting the article into the right area of the left area and the right area is executed, and the article carrier is allowed on both sides. In the state of being in the section, the first posture change control, the second posture change control, or the third posture change control for projecting the article into both the left region and the right region is executed, and the above-mentioned The control device executes the first posture change control, the second posture change control, or the third posture change control in the middle of the movement path toward the transport target location of the transport destination .

本構成によれば、姿勢変更機構により物品の姿勢を変更する場合に、移動経路中に設定された左側許容区間、右側許容区間、及び両側許容区間に応じて、各許容区間における物品の突出が許容されている側の領域に物品を突出させて、物品の姿勢変更を行うようにすることができる。これにより、物品の突出が許容されている領域以外の領域への物品の突出をなくし、或いは物品の突出量を少なくすることができる。その結果、姿勢変更中の物品が干渉対象物に干渉することを抑制できる。また、このような許容区間を移動経路中に設けることで、例えば、物品と干渉対象物との干渉を回避するために設備全体において移動経路の周囲のスペースを広く確保する必要もなく、設備の大型化の抑制も図ることができる。
また、前記制御装置は、前記物品搬送車が前記移動経路を走行中に、前記第１姿勢変更制御、前記第２姿勢変更制御、又は前記第３姿勢変更制御を実行する、と好適である。 According to this configuration, when the posture of the article is changed by the posture changing mechanism, the protrusion of the article in each allowable section depends on the left allowable section, the right allowable section, and the double-sided allowable section set in the movement path. The article can be projected into the allowed area to change the posture of the article. As a result, it is possible to eliminate the protrusion of the article to a region other than the region where the protrusion of the article is permitted, or to reduce the amount of protrusion of the article. As a result, it is possible to prevent the article whose posture is being changed from interfering with the object of interference. Further, by providing such an allowable section in the movement path, for example, it is not necessary to secure a wide space around the movement path in the entire equipment in order to avoid interference between the article and the object of interference, and the equipment can be installed. It is also possible to suppress the increase in size.
Further, it is preferable that the control device executes the first posture change control, the second posture change control, or the third posture change control while the article transport vehicle is traveling on the movement path.

ここで、前記姿勢変更機構は、鉛直方向に沿う旋回軸周りに前記物品を旋回させて当該物品の姿勢を変更するように構成され、前記旋回軸周りの第１方向に前記物品を旋回させた場合に前記物品が前記左方領域に突出し、前記旋回軸周りの前記第１方向とは逆方向である第２方向に前記物品を旋回させた場合に前記物品が前記右方領域に突出するように、前記収容部及び前記姿勢変更機構が構成され、前記制御装置は、前記第１姿勢変更制御として前記物品を前記第１方向に旋回させ、前記第２姿勢変更制御として前記物品を前記第２方向に旋回させると好適である。 Here, the posture changing mechanism is configured to change the posture of the article by swirling the article around a swivel axis along the vertical direction, and swivels the article in the first direction around the swivel axis. In this case, the article protrudes into the left region, and when the article is swiveled in a second direction opposite to the first direction around the swivel axis, the article protrudes into the right region. 2. It is preferable to turn in the direction.

本構成によれば、簡易な構成で物品の姿勢変更を行うことができる。そして、第１姿勢変更制御では、物品を第１方向に旋回させることによって、当該物品を左方領域に突出させて姿勢変更させることができ、その結果、右方領域への物品の突出をなくし或いは物品の突出量を少なくすることができる。また、第２姿勢変更制御では、物品を第２方向に旋回させることによって、当該物品を右方領域に突出させて姿勢変更させることができ、その結果、左方領域への物品の突出をなくし或いは物品の突出量を少なくすることができる。 According to this configuration, the posture of the article can be changed with a simple configuration. Then, in the first posture change control, by turning the article in the first direction, the article can be projected to the left region to change the posture, and as a result, the article is not projected to the right region. Alternatively, the amount of protrusion of the article can be reduced. Further, in the second posture change control, by turning the article in the second direction, the article can be projected to the right region to change the posture, and as a result, the article is not projected to the left region. Alternatively, the amount of protrusion of the article can be reduced.

また、前記物品搬送車の進行方向に直交する方向を幅方向として、前記物品搬送車は、前記物品を前記幅方向に移動させる幅方向移動機構を更に有し、前記制御装置は、前記第１姿勢変更制御を実行する場合に、前記幅方向移動機構により前記幅方向における前記左方領域側に前記物品を移動させ、前記第２姿勢変更制御を実行する場合に、前記幅方向移動機構により前記幅方向における前記右方領域側に前記物品を移動させると好適である。 Further, the article transport vehicle further has a width direction moving mechanism for moving the article in the width direction, with the direction orthogonal to the traveling direction of the article transport vehicle as the width direction, and the control device is the first. When the posture change control is executed, the article is moved to the left region side in the width direction by the width direction movement mechanism, and when the second posture change control is executed, the width direction movement mechanism is used. It is preferable to move the article to the right region side in the width direction.

本構成によれば、第１姿勢変更制御を行う場合に、物品の突出が許容されている左方領域の側へ当該物品を移動させるため、右方領域へ物品が突出する可能性を更に少なくすることができる。同様に、第２姿勢変更制御を行う場合に、物品の突出が許容されている右方領域の側へ当該物品を移動させるため、左方領域へ物品が突出する可能性を更に少なくすることができる。 According to this configuration, when the first posture change control is performed, the article is moved to the side of the left region where the article is allowed to protrude, so that the possibility that the article protrudes to the right region is further reduced. can do. Similarly, when the second posture change control is performed, the article is moved to the side of the right region where the article is allowed to protrude, so that the possibility that the article protrudes to the left region can be further reduced. can.

また、前記姿勢変更機構は、鉛直方向に沿う旋回軸周りに前記物品を旋回させて当該物品の姿勢を変更するように構成され、前記制御装置は、前記第１姿勢変更制御を実行する場合に、前記旋回軸周りの前記物品の旋回軌跡の外縁が前記収容部と前記右方領域との境界部を通る位置となるように、前記幅方向移動機構により前記物品を前記幅方向に移動させ、前記第２姿勢変更制御を実行する場合に、前記旋回軸周りの前記物品の旋回軌跡の外縁が前記収容部と前記左方領域との境界部を通る位置となるように、前記幅方向移動機構により前記物品を前記幅方向に移動させると好適である。 Further, the posture changing mechanism is configured to change the posture of the article by turning the article around a turning axis along the vertical direction, and when the control device executes the first attitude changing control. The article is moved in the width direction by the width direction moving mechanism so that the outer edge of the turning locus of the article around the turning axis passes through the boundary portion between the accommodating portion and the right region. When the second posture change control is executed, the width direction moving mechanism is such that the outer edge of the turning locus of the article around the turning axis passes through the boundary between the accommodating portion and the left region. It is preferable to move the article in the width direction.

本構成によれば、第１姿勢変更制御では、物品の旋回軌跡の外縁が右方領域に突出しないようにしつつ、物品の幅方向の移動距離を最小限に抑えることができる。また、第２姿勢変更制御では、物品の旋回軌跡の外縁が左方領域に突出しないようにしつつ、物品の幅方向の移動距離を最小限に抑えることができる。これにより、効率的な姿勢変更制御の実行を図ることが可能となる。 According to this configuration, in the first posture change control, the moving distance in the width direction of the article can be minimized while preventing the outer edge of the turning locus of the article from protruding to the right region. Further, in the second posture change control, the moving distance in the width direction of the article can be minimized while preventing the outer edge of the turning locus of the article from protruding to the left region. This makes it possible to efficiently execute the posture change control.

また、前記制御装置は、前記移動経路中に設定された前記左側許容区間、前記右側許容区間、及び前記両側許容区間を記憶した記憶部を更に備え、前記制御装置は、前記記憶部に記憶された各許容区間の設定情報に基づいて、前記姿勢変更制御を実行すると好適である。 Further, the control device further includes a storage unit that stores the left side allowable section, the right side allowable section, and the both side allowable sections set in the movement path, and the control device is stored in the storage unit. It is preferable to execute the posture change control based on the setting information of each allowable section.

本構成によれば、簡易な制御構成によって各許容区間に応じた姿勢変更制御を適切に実行することが可能となる。 According to this configuration, it is possible to appropriately execute the posture change control according to each allowable section by a simple control configuration.

本開示に係る技術は、複数の搬送対象場所の間で移動経路に沿って移動して物品を搬送する物品搬送車を備えた物品搬送設備に利用することができる。 The technique according to the present disclosure can be used for an article transport facility including an article transport vehicle that moves along a movement route and transports articles between a plurality of transport target locations.

１ ：物品搬送設備
２ ：物品搬送車
４ ：姿勢変更機構
４ｂ ：旋回軸
５ ：スライド機構（幅方向移動機構）
６ ：搬送対象場所
２２ａ ：収容部
９７ ：干渉対象物
Ａ１ ：左方領域
Ａ２ ：右方領域
Ｂ ：境界部
Ｃ１ ：第１方向
Ｃ２ ：第２方向
Ｈ ：制御装置
Ｈｕ ：上位制御装置
Ｈｄ ：下位制御装置
Ｈｄ２ ：記憶部
Ｒ ：移動経路
ＳＡ ：許容区間
ＳＡ１ ：左側許容区間
ＳＡ２ ：右側許容区間
ＳＡ３ ：両側許容区間
Ｗ ：物品
Ｗｂ ：開口部
Ｗｃ ：物品の旋回軌跡の外縁
Ｘ ：進行方向
Ｙ ：幅方向
Ｙ１ ：左側
Ｙ２ ：右側
Ｚ ：鉛直方向 1: Goods transport equipment 2: Goods transport vehicle 4: Posture change mechanism 4b: Swivel shaft 5: Slide mechanism (width direction movement mechanism)
6: Transport target location 22a: Containment unit 97: Interference target A1: Left area A2: Right area B: Boundary C1: First direction C2: Second direction H: Control device Hu: Upper control device Hd: Lower Control device Hd2: Storage unit R: Movement path SA: Allowable section SA1: Left allowable section SA2: Right side allowable section SA3: Both sides allowable section W: Article Wb: Opening Wc: Outer edge of the turning locus of the article X: Travel direction Y: Width direction Y1: Left side Y2: Right side Z: Vertical direction

Claims (6)

複数の搬送対象場所の間で移動経路に沿って移動して物品を搬送する物品搬送車と、当該物品搬送車を制御する制御装置と、を備えた物品搬送設備であって、
前記物品搬送車は、前記物品を収容する収容部と、前記物品の姿勢を変更する姿勢変更機構と、を有し、
前記移動経路における前記物品搬送車の進行方向を基準として、前記収容部に対して左側の領域を左方領域、前記収容部に対して右側の領域を右方領域とし、
前記姿勢変更機構による前記物品の姿勢変更中に前記物品が前記収容部から外側に突出するように、前記収容部及び前記姿勢変更機構が構成され、
前記収容部から外側への前記物品の突出を、前記左方領域で許容する左側許容区間と、前記右方領域で許容する右側許容区間と、前記左方領域及び前記右方領域の両方で許容する両側許容区間とが、前記移動経路中に設定され、
前記制御装置は、前記姿勢変更機構により前記物品の姿勢を変更する姿勢変更制御を実行する場合に、前記物品搬送車が前記左側許容区間内にいる状態では、前記左方領域及び前記右方領域のうちの前記左方領域に前記物品を突出させる第１姿勢変更制御を実行し、前記物品搬送車が前記右側許容区間内にいる状態では、前記左方領域及び前記右方領域のうちの前記右方領域に前記物品を突出させる第２姿勢変更制御を実行し、前記物品搬送車が前記両側許容区間内にいる状態では、前記第１姿勢変更制御、前記第２姿勢変更制御、又は、前記左方領域及び前記右方領域の両方に前記物品を突出させる第３姿勢変更制御を実行し、
前記制御装置は、搬送先の前記搬送対象場所へ向かう前記移動経路の途中で、前記第１姿勢変更制御、前記第２姿勢変更制御、又は前記第３姿勢変更制御を実行する、物品搬送設備。 An article transport facility including an article transport vehicle that moves along a movement path between a plurality of transport target locations to transport articles, and a control device that controls the article transport vehicle.
The article transport vehicle has an accommodating portion for accommodating the article and a posture changing mechanism for changing the posture of the article.
With reference to the traveling direction of the article transport vehicle in the movement route, the area on the left side with respect to the accommodating portion is defined as the left region, and the region on the right side with respect to the accommodating portion is defined as the right region.
The housing portion and the posture changing mechanism are configured so that the article protrudes outward from the housing portion while the posture of the article is changed by the posture changing mechanism.
The protrusion of the article from the accommodating portion to the outside is permitted in both the left allowable section, the right allowable section allowed in the right region, and the left region and the right region. A two-sided permissible section is set in the movement path.
When the control device executes posture change control for changing the posture of the article by the attitude change mechanism, the left region and the right region are in a state where the article carrier is within the left allowable section. When the first posture change control for projecting the article to the left region of the article is executed and the article carrier is within the right allowable section, the left region and the right region of the article carrier are in the right region. The first posture change control, the second posture change control, or the said A third posture change control for projecting the article into both the left region and the right region is executed .
The control device is an article transport facility that executes the first posture change control, the second posture change control, or the third posture change control in the middle of the movement path toward the transport target location of the transport destination. 前記制御装置は、前記物品搬送車が前記移動経路を走行中に、前記第１姿勢変更制御、前記第２姿勢変更制御、又は前記第３姿勢変更制御を実行する、請求項１に記載の物品搬送設備。 The article according to claim 1, wherein the control device executes the first posture change control, the second posture change control, or the third posture change control while the article transport vehicle is traveling on the movement path. Transport equipment. 前記姿勢変更機構は、鉛直方向に沿う旋回軸周りに前記物品を旋回させて当該物品の姿勢を変更するように構成され、
前記旋回軸周りの第１方向に前記物品を旋回させた場合に前記物品が前記左方領域に突出し、前記旋回軸周りの前記第１方向とは逆方向である第２方向に前記物品を旋回させた場合に前記物品が前記右方領域に突出するように、前記収容部及び前記姿勢変更機構が構成され、
前記制御装置は、前記第１姿勢変更制御として前記物品を前記第１方向に旋回させ、前記第２姿勢変更制御として前記物品を前記第２方向に旋回させる、請求項１又は２に記載の物品搬送設備。 The posture change mechanism is configured to change the posture of the article by turning the article around a swivel axis along the vertical direction.
When the article is swiveled in the first direction around the swivel axis, the article projects into the left region and swivels the article in a second direction around the swivel axis, which is opposite to the first direction. The accommodating portion and the posture changing mechanism are configured so that the article projects into the right region when the article is moved.
The article according to claim 1 or 2 , wherein the control device turns the article in the first direction as the first posture change control, and turns the article in the second direction as the second posture change control. Transport equipment. 前記物品搬送車の進行方向に直交する方向を幅方向として、
前記物品搬送車は、前記物品を前記幅方向に移動させる幅方向移動機構を更に有し、
前記制御装置は、前記第１姿勢変更制御を実行する場合に、前記幅方向移動機構により前記幅方向における前記左方領域側に前記物品を移動させ、前記第２姿勢変更制御を実行する場合に、前記幅方向移動機構により前記幅方向における前記右方領域側に前記物品を移動させる、請求項１から３のいずれか一項に記載の物品搬送設備。 The width direction is the direction orthogonal to the traveling direction of the article carrier.
The article transport vehicle further has a width direction moving mechanism for moving the article in the width direction.
When the control device executes the first attitude change control, the article is moved to the left region side in the width direction by the width direction movement mechanism, and the second attitude change control is executed. The article transporting equipment according to any one of claims 1 to 3, wherein the article is moved to the right region side in the width direction by the width direction moving mechanism. 前記姿勢変更機構は、鉛直方向に沿う旋回軸周りに前記物品を旋回させて当該物品の姿勢を変更するように構成され、
前記制御装置は、前記第１姿勢変更制御を実行する場合に、前記旋回軸周りの前記物品の旋回軌跡の外縁が前記収容部と前記右方領域との境界部を通る位置となるように、前記幅方向移動機構により前記物品を前記幅方向に移動させ、前記第２姿勢変更制御を実行する場合に、前記旋回軸周りの前記物品の旋回軌跡の外縁が前記収容部と前記左方領域との境界部を通る位置となるように、前記幅方向移動機構により前記物品を前記幅方向に移動させる、請求項４に記載の物品搬送設備。 The posture change mechanism is configured to change the posture of the article by turning the article around a swivel axis along the vertical direction.
When the first posture change control is executed, the control device is positioned so that the outer edge of the swivel locus of the article around the swivel axis passes through the boundary portion between the accommodating portion and the right region. When the article is moved in the width direction by the width direction moving mechanism and the second posture change control is executed, the outer edge of the turning locus of the article around the turning axis becomes the accommodating portion and the left region. The article transporting equipment according to claim 4 , wherein the article is moved in the width direction by the width direction moving mechanism so as to pass through the boundary portion of the above. 前記制御装置は、前記移動経路中に設定された前記左側許容区間、前記右側許容区間、及び前記両側許容区間を記憶した記憶部を更に備え、
前記制御装置は、前記記憶部に記憶された各許容区間の設定情報に基づいて、前記姿勢変更制御を実行する、請求項１から５のいずれか一項に記載の物品搬送設備。 The control device further includes a storage unit that stores the left allowable section, the right allowable section, and the double-sided allowable section set in the movement path.
The article transporting equipment according to any one of claims 1 to 5 , wherein the control device executes the posture change control based on the setting information of each allowable section stored in the storage unit.
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