JP7238733B2 - Goods transport equipment - Google Patents

Description

The present invention includes an article transport vehicle that travels along a movable route to transport target articles from a transport source to a transport destination, and a control device that controls the article transport vehicle, and a plurality of transport destinations. The present invention relates to an article transport facility in which a place to be transported is installed along the movable route.

As such an article transport facility, for example, one described in Japanese Patent Laying-Open No. 2018-049943 (Patent Document 1) is known. In the following description of the background art, the symbols or names in parentheses are the symbols or names in the prior art documents. In the article transport vehicle (2) of the article transport facility described in Patent Document 1, at least a part of the target article (article W) stored in the storage section (22a) protrudes from the storage section. A posture changing mechanism (4) for changing the posture of the article is provided. In the movable route, a destination station is set at a position corresponding to the place to be transported, and an attitude change station (posture change permission area Tp) is set at a position not corresponding to the place to be transported on the movable path. It is The attitude change station has a space for attitude change by the attitude change mechanism. Therefore, even if the orientation of the target article at the transportation source and the orientation of the target article at the transportation destination are different, the transportation route, which is the route on which the article transport vehicle travels when the target article is transported from the transportation source to the transportation destination. By changing the attitude of the target article at an attitude changing station on the way, the target article can be transported from the transport source to the transport destination.

In other words, in the case of transporting target articles from the transport source to the transport destination, if it is necessary to change the posture of the target articles, the article transport vehicle transfers the target articles from the transport source to the storage unit and transfers the target articles from the transport source to the storage unit. After the article is accommodated in the storage section, it travels from the current position to the attitude change station, changes the attitude of the target article at the attitude change station, travels from the attitude change station to the destination station corresponding to the destination, and moves the target article. is transferred to the destination, and the target article is transported from the source to the destination.

JP 2018-049943 A

Japanese Patent Laid-Open No. 2004-100000 does not specifically describe the setting of a transport route for efficient transport in such an article transport facility. Therefore, there was a possibility that the target article could not be efficiently transported.

Therefore, it is desired to realize an article conveying facility capable of efficiently conveying a target article whose posture needs to be changed from the conveying source to the conveying destination.

In view of the above, the characteristic configuration of the article conveying equipment is as follows: the article conveying equipment travels along the movable route to convey the target article from the conveying source to the conveying destination; and the article conveying vehicle is controlled. a control device, wherein a plurality of transfer target locations to be the transfer destinations are installed along the movable route;
A transfer destination station is set at a position corresponding to each of the plurality of transfer target locations on the movable route, and an attitude change station is set at a position not corresponding to the transfer target location on the movable route, The article transport vehicle includes a storage unit that stores the target article, a transfer mechanism, and an attitude change mechanism. and transferring the target article from the storage section to the transport target location, and the attitude changing mechanism moves the target article in a state in which at least a part of the target article stored in the storage section protrudes from the storage section. A mechanism for changing the posture of a target article, wherein the plurality of destination stations include a first destination station having a space for changing the posture and a second destination station having no space for changing the posture. and , wherein the attitude change station has a space for the attitude change, and the control device is required to change the attitude of the target article, and the transport destination is the When the location to be transferred corresponds to the first destination station, the posture is changed at the first destination station corresponding to the destination, and the destination corresponds to the second destination station. In the case of the location to be transported, the attitude change station is included in the transport route of the article transport vehicle from the current position of the article transport vehicle to the second transport destination station in the movable route, The object conveying vehicle is controlled such that the setting control of the conveying route is performed and the posture is changed at the posture changing station.

According to this characteristic configuration, when the destination is the target transport location corresponding to the first transport target station, and the attitude can be changed at the transport destination station corresponding to the target transport location, the control device causes the article transport vehicle to move. After the target article is moved to the first transfer destination station, the posture of the target article is changed by the posture changing mechanism at the first transfer destination station, and then the target article is transferred to the transfer target location by the transfer mechanism. Further, if the destination is a destination location corresponding to the second destination station and the attitude cannot be changed at the destination station corresponding to the destination location, the control device includes the attitude change station through setting control. Then, the article transport vehicle is caused to travel to the attitude change station, and after the attitude of the target article is changed by the attitude change mechanism at the attitude change station, the article transport vehicle is caused to travel to the second destination station. , the target article is transferred to the transport target location by the transfer mechanism.

As described above, according to this configuration, when the destination is a location to be transported corresponding to the first destination station, the orientation can be changed at the first destination station. It is possible to set the transport route of the article transport vehicle without considering whether or not the For this reason, it is possible to efficiently transport the target articles from the source to the destination by, for example, setting a route that has the shortest travel distance or a route that is less likely to cause traffic jams of the article transport vehicle. It is easy to set a possible transport route. On the other hand, if the destination is a location to be transported corresponding to the second destination station, the transport path is set so that the attitude change station is included in the transport path, so the attitude can be changed at the destination station. Even if it is not possible, the target article can be transported to the transport destination after appropriately changing the posture of the target article. Therefore, according to this configuration, it is possible to efficiently transport a target article whose posture needs to be changed from the transport source to the transport destination.
In addition, a first characteristic configuration of the article transport equipment is that, when there are a plurality of attitude change stations, the control device needs to change the attitude of the target article, and the transport destination is the When the location to be transported corresponds to a second destination station, the article transport vehicle performs the attitude change at the attitude change station closest to the second destination station corresponding to the destination. is the point of controlling
According to this first characteristic configuration, by changing the attitude at the attitude change station closest to the second destination station corresponding to the destination, another attitude change station upstream of the transport path from this attitude change station The timing for changing the attitude can be delayed compared to the case of changing the attitude at the station. For this reason, for example, it is possible to avoid a situation in which the destination is changed after the orientation of the target article is changed, and the orientation of the target article needs to be returned to its original orientation, resulting in the orientation being changed twice. Easier to avoid.
A second characteristic configuration of the article transport equipment is that the article transport vehicle reaches the second destination station at the earliest among a plurality of routes from the current position of the article transport vehicle to the second destination station. is the shortest route, the control device sets the shortest route as the transport route when the attitude changing station is included in the shortest route in the setting control, and sets the shortest route as the shortest route. If the attitude change station is not included, a route other than the shortest path that includes at least one attitude change station from the current position of the article transport vehicle to the second destination station 3, the transport route is set as the route through which the article transport vehicle can reach the second transport destination station at the earliest.
According to this second characteristic configuration, when the attitude change station is included in the shortest path, by setting the shortest path as the transport path, the attitude of the target article is changed at the attitude change station, and the transport origin It is possible to shorten the time required to transport the target article from the transport destination to the transport destination. In addition, even if the shortest route does not include the attitude changing station, by setting a route other than the shortest route that allows the article transport vehicle to reach the second destination station earliest, as the transport route, It is possible to prevent an increase in the time required to transport the target article from the source to the destination while changing the posture of the target article at the posture change station.

Plan view of article transport equipment Front view showing an article transport vehicle and a place to be transported Front view of goods transport vehicle A plan view showing an article transport vehicle and a fence Control block diagram Conveyance control flow chart Wholesale control flow chart Diagram showing transport route Diagram showing transport route Diagram showing transport route A diagram showing an example of an article transport vehicle according to another embodiment

1. Embodiment An embodiment of an article transport facility will be described with reference to the drawings.
As shown in FIG. 1, an article transport facility 1 includes an article transport vehicle 2 that travels along a movable route R to transport target articles W (see FIGS. 2 and 3) from a transport source to a transport destination; and a control device H (see FIG. 5) that controls the transport vehicle 2 . A plurality of transport target locations 6 serving as transport destinations are set along the movable route R. As shown in FIG. In the following description, the direction along the movable route R is defined as the conveying direction X when viewed in the vertical direction Z, and the direction perpendicular to the movable route R is defined as the width direction Y when viewed vertically. . Also, one side in the width direction Y is defined as a width direction first side Y1, and the opposite side is defined as a width direction second side Y2.

1-1. Mechanical Configuration of Article Conveying Equipment As shown in FIGS. Here, the target article W is formed in a non-circular shape when viewed in the vertical direction. The target article W is formed, for example, in a polygonal shape, more specifically, in a quadrangular shape when viewed from above (see FIG. 4). It should be noted that the quadrilateral shape includes a shape that can be regarded as a quadrilateral as a whole, even if it is not strictly a quadrilateral. In addition, it may have a shape in a vertical view in which some sides of the polygonal shape are formed by curved lines such as circular arcs. For example, the shape of the target article W when viewed in the vertical direction may be D-shaped. Hereinafter, when the shape of an object or the like is described using the expression "shape", it has the same meaning as this. Further, regarding the three-dimensional shape of the target article W, here, it is assumed to be a columnar body. The target article W is, for example, a container in which contents are stored. In this embodiment, the target article W is a container in which a semiconductor substrate is stored. Here, the target article W is formed in a rectangular parallelepiped shape, and can accommodate a plurality of semiconductor substrates divided into a plurality of stages. In this embodiment, the top and bottom surfaces of the target article W are always closed. A flange portion WA is provided on the upper surface of the target article W so that the article transport vehicle 2 grips the target article W when the target article W is transported. One of the four side surfaces of the object W is provided with an opening WB for inserting and removing the semiconductor substrate.

The transport target location 6 is a location from which the target article W is transported or a location to which the target article W is transported. Places 6 to be transported are provided at a plurality of locations on the article transport facility 1 . At the transport target location 6, for example, the target article W is processed. In the present embodiment, as shown in FIG. 1, the transfer target location 6 includes a transfer section 6B for transfer of target articles W between a processing apparatus 6A for processing semiconductor substrates and an article transport vehicle 2. It is included. In the present embodiment, the target article W is transported to the transfer section 6B with the opening WB facing the processing apparatus 6A. Also, the semiconductor substrate stored in the target article W is taken out from the opening WB by an arm or the like provided in the processing apparatus 6A. The semiconductor substrate is then processed by the processing apparatus 6A. Since the semiconductor substrates are processed by the processing apparatus 6A in this manner, in the present embodiment, the target article W is placed in an appropriate posture with the opening WB facing the processing apparatus 6A, and then transported by the article transport vehicle 2. It is conveyed to the transfer section 6B.

The movable route R is a route along which the article transport vehicle 2 can move in the article transport facility 1 . As shown in FIG. 1 , the movable route R passes through a plurality of transfer target locations 6 . The movable path R is, for example, provided on the floor or provided at a position spaced above the floor. In this embodiment, the movable route R is defined by rails 98 suspended from the ceiling 99 (see FIGS. 2 and 3). As shown in FIG. 1, in this embodiment, the rail 98 is provided so as to pass through a plurality of transfer portions 6B. Also, the rail 98 is configured by a pair of elongated members that extend along the movable path R and are spaced apart in the width direction Y (see FIGS. 2 and 3).

When the target article W is conveyed to the transfer section 6B, the processing apparatus 6A is arranged such that the opening WB of the target article W faces the processing apparatus 6A so that the processing apparatus 6A can take out the semiconductor substrate from the target article W. must be. Depending on the processing device 6A, the position of the transfer unit 6B with respect to the processing device 6A differs, and the posture of the target article W in which the opening WB of the target article W faces the processing device 6A differs.

The article transport vehicle 2 travels along a movable route R between a plurality of transport target locations 6 to transport target articles W. As shown in FIG. In this embodiment, the article transport vehicle 2 moves only in one direction on the movable route R and does not move in the opposite direction. In addition, as shown in FIG. 5, the article transport vehicle 2 is provided with a position detection sensor SE6 for detecting the current position of the article transport vehicle 2 within the movable route R. As shown in FIG. In this embodiment, a plurality of detectable objects U are arranged in a dispersed state along the movable path R. As shown in FIG. The object to be detected U is assigned to each of a plurality of regions that partition the movable route R. FIG. In addition, each of the plurality of detectable objects U holds information on the position where each is arranged in the movable route R. FIG. In this embodiment, the position detection sensor SE6 reads the position information held by each of the plurality of objects to be detected U arranged within the movable route R, thereby determining the position of the article transport vehicle 2 within the movable route R. It is configured so that the current position can be detected. For example, the detected object U may be a plate on which a bar code is displayed, and the position detection sensor SE6 in that case is a bar code reader.

As shown in FIGS. 8 to 10, transport stations T1 are set at positions corresponding to the plurality of transport target locations 6 on the movable route R. As shown in FIGS. In addition, an attitude changing station T2 is set at a position that does not correspond to the transfer target location 6 on the movable route R. As shown in FIG. Note that the transport station T1 corresponding to the transport target place 6 when the transport target place 6 is the transport destination corresponds to the transport destination station. In this embodiment, the transport station T1 is a position where the target article W can be transferred to and from the transport target location 6 corresponding to the transport station T1 while the article transport vehicle 2 is stopped at the transport station T1. is set to Specifically, the transfer station T1 is set at the same position as the transfer section 6B in the transfer direction X, such as directly above the transfer section 6B. Further, in the present embodiment, the posture change station T2 is set at a position where the target article W cannot be transferred to and from the transport target location 6 while the article transport vehicle 2 is stopped at the posture change station T2. It is Specifically, the posture changing station T2 is set at a position shifted in the transport direction X with respect to the transfer section 6B. In this embodiment, there are a plurality of posture changing stations T2, and each of these plurality of posture changing stations T2 is set at a position that does not correspond to the transfer target location 6 on the movable route R.

As shown in FIGS. 2 and 3, the article transport vehicle 2 has a traveling portion 21 that can travel on rails 98 and a body portion 22 that is suspended from the traveling portion 21 and supported. In the following description, movement of the article transport vehicle 2 along the movable route R and travel of the article transport vehicle 2 along the movable route R are synonymous. The article transport vehicle 2 includes a storage section 22A that stores target articles W, a cover section 22B that covers the storage section 22A, a transfer mechanism 3, and an attitude change mechanism . In this embodiment, the housing portion 22A and the cover portion 22B are configured as part of the body portion 22 .

The transfer mechanism 3 moves between the storage section 22A and one of a plurality of transport target locations 6 located outside the storage section 22A while the article transport vehicle 2 is stopped at the transport station T1. The article W is moved to transfer the target article W between the transfer target location 6 and the article transport vehicle 2 . In the present embodiment, the transfer mechanism 3 moves between the storage section 22A and the transport target location 6 located on the lower side Z2 with respect to the storage section 22A while the article transport vehicle 2 is stopped at the transport station T1. The target article W is transferred between the transfer target location 6 and the article transport vehicle 2 by moving the target article W between them. Specifically, the transfer mechanism 3 transfers the target article W from the target transport location 6 to the storage section 22A while the article transport vehicle 2 is stopped at the transport station T1 corresponding to the target transport location 6 of the transport source. The target article W is transferred from the container 22A to the target transport location 6 while the article transport vehicle 2 is stopped at the transport station T1 corresponding to the transport target location 6 as the transport destination.

As shown in FIG. 3, the transfer mechanism 3 includes a gripper 3GA that grips the target article W, and an elevating mechanism 3H that vertically moves the gripper 3GA up and down. Here, in this specification, "along a certain direction" refers to the case of being completely parallel to the specific direction, and also to the specific direction within the range of manufacturing errors such as installation and assembly. It is a concept that also includes the state of being slightly tilted against. More specifically, it includes a state of being tilted within a range of ±15° or less with respect to the specific direction. The slide mechanism 3S can slide the grip part 3GA along the width direction Y. As shown in FIG. Note that the transfer of the target article W means moving the target article W between the article transport vehicle 2 and the transport target location 6 . That is, the process until the target article W in the state of being accommodated in the accommodation section 22A is placed on the transfer section 6B, or the process until the target article W in the state of being placed in the delivery section 6B is accommodated in the accommodation section 22A. The process is the transfer of the target article W. FIG. Further, transporting the target article W means moving the target article W from the transport target place 6 as the transport source to the other transport target place 6 as the transport destination among the plurality of transfer parts 6B. In other words, transporting the target article W is a concept that also includes transferring the target article W. FIG. Further, as shown in FIGS. 8 to 10, the transport route RT is a route on the movable route R from the transport target place 6 as the transport source to another transport target place 6 as the transport destination. That is, the transport route RT is set in the movable route R according to the transport source and the transport destination.

As shown in FIG. 2, when transferring the target article W from the transfer section 6B to the storage section 22A, the target article W is gripped by the gripping mechanism 3G. , the target article W is lifted by the lifting mechanism 3H. In order to transfer the target article W, when placing the target article W in the storage section 22A on the transfer section 6B, the above steps are performed in reverse order.

As shown in FIG. 3 , the article transport vehicle 2 has a travel section 21 . The traveling unit 21 travels along the movable route R by being driven by a driving device such as a motor. In this embodiment, the running portion 21 runs on rails 98 . As shown in FIG. 3, in the present embodiment, the traveling portion 21 includes traveling wheels 21A that are driven by a traveling motor 21M to rotate about a horizontal axis and roll on the upper surfaces of rails 98 along the conveying direction X. , a guide wheel 21B that rotates about an axis along the vertical direction Z in contact with a surface of the rail 98 along the vertical direction Z and guides the traveling portion 21 along the rail 98 . The travel section 21 also includes a speed detection sensor SE1 (see FIG. 5) that detects the travel speed of the article transport vehicle 2 . In this embodiment, the speed detection sensor SE1 is configured to be able to detect the speed of the article transport vehicle 2 based on the number of revolutions of the running wheels 21A within a predetermined period of time, the relative speed with respect to the rails 98, and the like.

The article transport vehicle 2 has a body portion 22 . The body portion 22 is connected to the traveling portion 21 and moves along the movable route R integrally with the traveling portion 21 as the traveling portion 21 travels. In the present embodiment, the body portion 22 is suspended and supported by the running portion 21 via a gap in the width direction Y between the pair of elongated members forming the rail 98 . In this embodiment, the body portion 22 has a storage portion 22A that stores the target article W, and a cover portion 22B that covers the storage portion 22A. 22 A of accommodating parts are arrange|positioned inside the cover part 22B. In this embodiment, the cover portion 22B is formed in a gate shape with both sides in the width direction Y and a lower side opened. More specifically, the cover portion 22B is formed in an angular inverted U shape when viewed in the width direction Y. As shown in FIG. Therefore, the accommodation portion 22A communicates with the outside of the accommodation portion 22A on both sides in the width direction Y and the lower side Z2. By sliding the target article W accommodated in the accommodation section 22A in the width direction Y by the slide mechanism 3S, the target article W can be positioned outside the accommodation section 22A.

In the present embodiment, the posture changing mechanism 7 includes a slide mechanism 3S as a lateral movement mechanism that laterally moves the gripping portion 3GA along the width direction Y, and a specified posture of the target article W gripped by the gripping portion 3GA. and a turning mechanism 4 for turning around an axis.

The slide mechanism 3S is extendable along the width direction Y. As shown in FIG. For example, the slide mechanism 3S is configured to be accommodated inside the cover portion 22B in a contracted state, and partially protrude outside the cover portion 22B in an extended state. In this embodiment, the slide mechanism 3S is attached to the housing portion 22A. In this embodiment, the slide mechanism 3S includes a pair of slide pulleys 3SC driven or driven by a slide motor 3SM, a slide belt 3SB wound around the pair of slide pulleys 3SC, and a slide and a slide portion 3SA that is connected to the belt 3SB and is slidable in the width direction Y. As shown in FIGS. 3 and 4, in the present embodiment, the slide portion 3SA can move to the accommodating portion 22A and to the outside on one side in the width direction Y with respect to the accommodating portion 22A. Specifically, the slide portion 3SA can move to the outside of the width direction first side Y1 with respect to the housing portion 22A by sliding to the width direction first side Y1, and from this state slide to the width direction second side Y2. By doing so, it can be moved to the housing portion 22A. The slide mechanism 3S includes a slide amount detection sensor SE2 that detects the slide amount of the slide portion 3SA (see also FIG. 5). In this embodiment, the slide amount detection sensor SE2 is configured to be able to detect the slide amount of the slide portion 3SA based on the number of rotations of the slide pulley 3SC when the slide portion 3SA slides.

The turning mechanism 4 changes the posture of the target article W gripped by the gripping part 3GA by rotating the gripping part 3GA around a specific axis. More specifically, the turning mechanism 4 turns the gripping part 3GA around the turning axis along the vertical direction Z, thereby turning the posture of the target article W gripped by the gripping part 3GA around the turning axis. to change. In this embodiment, the turning mechanism 4 is connected with the slide portion 3SA of the slide mechanism 3S. Therefore, the turning mechanism 4 moves along the width direction Y integrally with the slide portion 3SA of the slide mechanism 3S. In this embodiment, the turning mechanism 4 includes a turning portion 4A that turns the grip portion 3GA around a turning shaft 4B extending in the vertical direction Z. As shown in FIG. Here, inside the turning section 4A, the upper portion of the turning shaft 4B is connected to the turning motor 4M. The turning shaft 4B is driven by the turning motor 4M. The turning mechanism 4 also includes a turning amount detection sensor SE5 that detects the turning amount of the gripping portion 3GA (see also FIG. 5). In this embodiment, the turning amount detection sensor SE5 is configured to be able to detect the turning amount of the grip part 3GA based on the rotation angle of the turning shaft 4B, the time during which the turning shaft 4B rotates, and the like.

The elevating mechanism 3H elevates the target article W. As shown in FIG. In this embodiment, the elevating mechanism 3H elevates the target article W from the height at which the cover portion 22B is arranged to at least the height at which the handover portion 6B is arranged. In this embodiment, the lifting mechanism 3H includes a lifting pulley 3HC driven by a lifting motor 3HM, a lifting drum 3HD, a lifting belt 3HB wound around the lifting pulley 3HC and the lifting drum 3HD, It has a lifting section 3HA that internally holds a lifting motor 3HM, a lifting pulley 3HC, a lifting drum 3HD, and a lifting belt 3HB. Then, the lifting mechanism 3H drives the lifting pulley 3HC by the lifting motor 3HM to wind up or unwind the lifting belt 3HB, thereby lifting the gripping portion 3GA as described later. Further, in this embodiment, the lifting section 3HA is connected to the turning shaft 4B of the turning mechanism 4. As shown in FIG. Therefore, the lifting mechanism 3H turns around the turning shaft 4B. Since the lift mechanism 3H is connected to the slide mechanism 3S via the turning mechanism 4, it moves along the width direction Y integrally with the slide mechanism 3S. The lifting mechanism 3H also includes a lifting amount detection sensor SE3 that detects the lifting amount of the grip part 3GA. In this embodiment, the lift amount detection sensor SE3 is configured to be able to detect the lift amount of the gripping section 3GA based on the number of rotations of the lifting pulley 3HC when the gripping section 3GA is lifted and the time during which the lifting pulley 3HC rotates. It is

The gripping mechanism 3G can grip the target article W. As shown in FIG. For example, the gripping mechanism 3G grips the target article W from above. More specifically, the gripping mechanism 3G grips the target article W from above in a state in which it completely overlaps the target article W when viewed in the vertical direction. In this embodiment, the gripping mechanism 3G is driven by a gripping portion 3GA connected to the lifting belt 3HB, a gripping motor 3GM (see FIG. 5) held inside the gripping portion 3GA, and a gripping motor 3GM. and a pair of gripping claws 3GB that can be freely switched between a gripping posture and a releasing posture. The pair of gripping claws 3GB assumes the gripping posture by moving toward each other, and assumes the releasing posture by moving away from each other. In this embodiment, the pair of gripping claws 3GB grips the flange portion WA of the target article W in the gripping posture. Then, the pair of gripping claws 3GB releases the gripping of the flange portion WA by changing from the state of gripping the flange portion WA to the releasing posture. The gripping mechanism 3G also includes a gripping detection sensor SE4 that detects the gripping posture and the release posture of the pair of gripping claws 3GB (see FIG. 5). In this embodiment, the gripping detection sensor SE4 is configured to be able to detect whether the pair of gripping claws 3GB is in the gripping posture or the release posture based on whether or not the pair of gripping claws 3GB block the optical axis. there is Since the gripping portion 3GA is connected to the lifting mechanism 3H via the lifting belt 3HB, the gripping mechanism 3G rotates integrally with the lifting mechanism 3H that rotates due to the rotation of the rotation shaft 4B. Further, since the gripping mechanism 3G is connected to the slide mechanism 3S via the lifting mechanism 3H and the turning mechanism 4, it moves integrally along the width direction Y with the lifting mechanism 3H, the turning mechanism 4 and the sliding mechanism 3S. . Therefore, the lifting, turning, and sliding motions of the target article W held by the holding mechanism 3G are performed by the lifting mechanism 3H, the turning mechanism 4, and the sliding mechanism 3S.

The turning mechanism 4 changes the orientation of the target article W into a first orientation A1 for transfer at the transfer target location 6 that is the transfer source, and a first orientation A1 for transfer at the transfer target location 6 that is the transfer destination. can be changed to a second posture A2, which is the posture of The first posture A1 refers to a posture in which the opening WB of the target article W faces the processing device 6A at the transport target location 6, which is the transport source. The second posture A2 refers to a posture in which the opening WB of the target article W faces the processing apparatus 6A at the transport target location 6, which is the transport destination. Therefore, the first posture A1 changes depending on the orientation of the processing device 6A corresponding to the transfer source. The second posture A2 changes depending on the direction of the processing device 6A corresponding to the destination. However, the first posture A1 is not limited to such a case, and may be the posture at the time when the target article W is carried into the article conveying facility 1, for example. In any case, the posture of the target article W at the time when the transportation of the target article W is started becomes the first posture A1.

In the present embodiment, the posture of the target article W is changed between the first posture A1 and the second posture A2 by turning the target article W around the turning axis 4B. That is, as shown in FIG. 4, when the target article W is viewed from the direction in which the turning shaft 4B extends (vertical direction Z in this example), the angle WC of the target article W forms an arc centered on the turning shaft 4B. The posture of the target article W is changed by turning the target article W as if drawing. In this embodiment, the target article W in the state of the first posture A1 is turned around the turning shaft 4B by the turning mechanism 4 so that the opening WB faces the processing apparatus 6A corresponding to the transport destination. Let As a result, the posture of the target article W is changed from the first posture A1 to the second posture A2.

In the present embodiment, as shown in FIG. 4, the cover portion 22B is configured to cover the target article W when the target article W accommodated in the accommodation section 22A is in the first orientation A1 or in the second orientation A2. It is provided at a position where it does not interfere with the target article W and interferes with the target article W when the posture of the target article W is in the intermediate posture AM, which is the posture in the process of changing between the first posture A1 and the second posture A2. In this embodiment, the cover portion 22B has a pair of inner side surfaces 22F facing each other in the transport direction X. As shown in FIG. In addition, the area of the storage portion 22A in the transport direction X is defined by a pair of inner side surfaces 22F. In the present embodiment, when the posture of the target article W accommodated in the accommodation section 22A is the intermediate posture AM, the position where the target article W interferes with at least one of the inner side surfaces 22F of the pair of inner side surfaces 22F. is provided with a cover portion 22B. More specifically, as shown in FIG. 4, the farthest portion (the corner WC of the target article W in this example) from the center of rotation of the target article W (in this example, the pivot axis 4B) when the target article W is turning is The size of the cover portion 22B is set so that the drawn turning trajectory TR is larger than the accommodation portion 22A. As described above, the target article W has a square shape when viewed in the vertical direction, so the diameter of the turning trajectory TR is determined by the diagonal line connecting the diagonals of the target article W when viewed in the vertical direction. More specifically, the distance between the pair of inner side surfaces 22F in the transport direction X is set to be shorter than the length of the diagonal line of the target article W when viewed in the vertical direction.

The posture changing mechanism 7 is a mechanism for changing the posture of the target article W in a state in which a part of the target article W is protruded from the storage section 22A. As shown in FIGS. 3 and 4, in the present embodiment, the posture changing mechanism 7 changes the posture in a state in which the target article W protrudes from the storage portion 22A in the width direction Y by a specified amount L1. In other words, the posture changing mechanism 7 changes the posture of the target article W in a state in which at least a portion of the target article W protrudes from the accommodation portion 22A toward one side in the width direction Y by the specified amount L1. In this embodiment, the posture changing mechanism 7 moves the turning mechanism 4 to the width direction first side Y1 by the slide mechanism 3S, and positions the target article W gripped by the gripping mechanism 3G at the projecting position P2. It is made to protrude in the width direction Y from the part 22A. Next, the attitude changing mechanism 7 rotates the gripping mechanism 3G by the rotating mechanism 4 while the target article W is at the projecting position P2, thereby changing the attitude of the target article W gripped by the gripping mechanism 3G. During this posture change, the target article W protrudes from the storage portion 22A in the width direction Y by a specified amount L1 at maximum. Then, the posture changing mechanism 7 moves the turning mechanism 4 to the second side Y2 in the width direction by the slide mechanism 3S, and positions the target article W gripped by the gripping mechanism 3G at the retracted position P1 to move it to the storage section 22A. accommodate.

In this example, as shown in FIG. 4, a first fence F1 is installed on the first side Y1 in the width direction with respect to the locus of movement of the article conveying vehicle 2. A second fence F2 is installed on the second side Y2. Each of the first fence F1 and the second fence F2 is provided in a part of the area in the vertical direction Z where at least the target article W gripped by the gripping mechanism 3G exists. In this embodiment, each of the first fence F1 and the second fence F2 is installed from an upper side Z1 of the upper end of the main body 22 to a lower side Z2 of the lower end of the main body 22 . The first fence F1, except for the portion corresponding to the first transport station T11 and the portion corresponding to the posture changing station T2, is located on the first widthwise side of the body portion 22 with respect to the end of the first widthwise side Y1 of the main body portion 22. It is installed at the position of the first set distance L2 on Y1 (the position indicated by the phantom line in FIG. 4). The second fence F<b>2 is installed at a second set distance L<b>3 on the widthwise second side Y<b>2 with respect to the end portion of the body portion 22 on the widthwise second side Y<b>2 . The first set distance L2 and the second set distance L3 are values smaller than the prescribed amount L1 (projection amount of the target article W). In the present embodiment, the first fence F1 and the second fence F2 are provided at positions where the target article W interferes with the target article W when it is assumed that the target article W turns in the retracted position P1. . Note that when the target transport location 6 is the transport destination, the first transport station T11 corresponding to the target transport location 6 corresponds to the first transport destination station, and the second transport station T12 corresponding to the target transport location 6 corresponds to the first transport destination station. corresponds to the second transfer destination station (see FIGS. 8 to 10).

Attitude change station T2 has a space for attitude change. Specifically, the attitude change station T2 is a space that is wider than the specified amount L1 in the width direction Y with respect to the movement locus of the article transport vehicle 2 on the movable route R, and It is set in a place where a space extending by the length of the accommodating portion 22A or more in the extending direction) is secured. In the present embodiment, in the region corresponding to the attitude change station T2, the first fence F1 is positioned on the first widthwise side Y1 of the body portion 22 at the third set distance L4 from the end of the main body portion 22 on the first widthwise side Y1. It is installed at the position (the position indicated by the solid line in FIG. 4). The third set distance L4 is a value larger than the prescribed amount L1. A portion of the first fence F1 corresponding to the position changing station T2 is longer than the accommodating portion 22A in the transport direction X. As shown in FIG. By installing the first fence F1 corresponding to the posture changing station T2 in this manner, a space for changing the posture of the target article W by the posture changing mechanism 7 is secured in the posture changing station T2.

As shown in FIGS. 8 to 10, the plurality of transfer stations T1 includes a first transfer station T11 having space for changing the attitude and a second transfer station T12 having no space for changing the attitude. ing. In the region corresponding to the first transport station T11, the first fence F1 is located on the first widthwise side with respect to the end of the main body portion 22 on the first widthwise side Y1, similarly to the portion corresponding to the posture changing station T2. It is installed at the position of the third set distance L4 on Y1 (the position indicated by the solid line in FIG. 4). On the other hand, in the area corresponding to the second transport station T12, the first fence F1 is located on the first widthwise side Y1 from the end portion of the body portion 22 on the first widthwise side Y1 by a first set distance L2. is installed at the position of Therefore, the space for changing the posture of the target article W by the posture changing mechanism 7 is secured in the first transport station T11, but the posture of the target article W by the posture changing mechanism 7 is secured in the second transport station T12. No space reserved for changes.

1-2. Configuration of Control Device As shown in FIG. 5, the control device H includes a high-level control device HU that controls the entire article transportation facility 1 and a low-level control device HD that controls the article transportation vehicle 2. It is The host controller HU is installed somewhere in the article transport facility 1 . The lower control device HD is arranged on the article transport vehicle 2 and moves along the movable route R together with 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. Each function of the control device H is realized through cooperation between these hardware and programs executed on a processor such as a computer.

The control device H stores the proper posture of the target article W for each of the plurality of transfer target locations 6 as proper posture information JA. The proper posture information JA may be stored in the upper controller HU, or may be stored separately by each of the plurality of lower controllers HD. In this embodiment, the host controller HU has a storage unit, and stores the proper posture of the target article W for each of the plurality of transport target locations 6 as proper posture information JA in the storage unit. That is, the host controller HU stores the second orientation A2 of the target article W at each of the plurality of transport target locations 6 in the storage unit.

The controller H stores the positions of the plurality of transfer stations T1 and the positions of the plurality of attitude change stations T2 on the movable route R as station information JB. The controller H also stores target location information JC including information indicating whether the transport station T1 corresponding to the target transport location 6 is the first transport station T11 or the second transport station T12. The station information JB and the target location information JC may be stored in the upper controller HU, or may be stored separately by each of the plurality of lower controllers HD. In this embodiment, the host controller HU stores the station information JB and the target location information JC in the storage unit.

As described above, the article transport vehicle 2 includes the position detection sensor SE6 as a detection device for detecting a plurality of objects to be detected U (see FIG. 3) installed along the movable route R. The article transport vehicle 2 transmits position information read by the position detection sensor SE6 to the host controller HU at any time. The host controller HU acquires the positions of the plurality of article carriers 2 on the movable route R based on the position information transmitted from the plurality of article carriers 2 existing on the movable route R. In this way, the control device H is configured to be able to acquire the positions of each of the article transport vehicles 2 .

The low-order control device HD receives information on the travel speed of the article transport vehicle 2 detected by the speed detection sensor SE1, information on the slide amount of the slide portion 3SA detected by the slide amount detection sensor SE2, and information on the amount of movement detected by the lift amount detection sensor SE3. information on the amount of elevation of the gripping portion 3GA, information on the attitude of the pair of gripping claws 3GB detected by the gripping detection sensor SE4, information on the amount of turning of the gripping portion 3GA detected by the amount of turning detection sensor SE5, and position detection sensor Information on the current position of the article transport vehicle 2 detected by SE6 is obtained. Based on the information detected by each sensor, the low order controller HD controls the operation of the traveling motor 21M, the sliding motor 3SM, the lifting motor 3HM, the gripping motor 3GM, and the turning motor 4M.

As shown in the flow chart of the transport control in FIG. After the article transport vehicle 2 travels to the transport station T1 corresponding to 6, a scooping process is executed (S1) to transfer the target article W from the transport target location 6 as the transport source to the storage section 22A. Next, the control device H causes the article transport vehicle 2 to travel to the transport station T1 corresponding to the transport target place 6 as the transport destination, and then transfers the target article W from the container 22A to the transport target place 6 as the transport destination. Wholesale processing is executed (S2). Then, the control device H determines that the orientation (first orientation A1) of the target article W at the transportation target location 6 as the transportation source and the orientation (second orientation A2) of the target article W at the transportation target location 6 as the transportation destination. If it is necessary to change the posture of the target article W because it is different, after the target article W is transferred from the transportation target location 6 to the storage unit 22A, the target article W is transferred from the storage unit 22A to the transportation target location 6 as the transportation destination. Attitude change control is executed before transferring. In this embodiment, the control device H executes attitude change control in the wholesale process.

In the wholesale processing, the control device H sets a transport route RT along which the article transport vehicle 2 travels from the transport station T1 corresponding to the transport target place 6 of the transport source to the transport station T1 corresponding to the transport target transport place 6 of the transport destination. Perform configuration control. Wholesale processing including setting control will be described below. In the following description, the shortest route is one of a plurality of routes that can travel from the transport station T1 corresponding to the transport target place 6 of the transport source to the transport station T1 corresponding to the transport target place 6 of the transport destination. , the route that allows the article transport vehicle 2 to reach the transport station T1 corresponding to the transport target location 6 at the earliest possible time. For example, when the current position of the article transport vehicle 2 is the transport station T1 corresponding to the transport target place 6 of the transport source, and the transport station T1 corresponding to the transport target transport place 6 of the transport destination is the second transport station T12, the shortest route is the route by which the article transport vehicle 2 can reach the second transport station T12 earliest among a plurality of routes from the current position of the article transport vehicle 2 to the second transport station T12. Here, various criteria can be used as criteria for determining the shortest path. For example, it is possible to use a criterion that, among a plurality of routes, the route on which the article transport vehicle 2 travels the shortest is the shortest route. Alternatively, in addition to the traveling distance of the article transport vehicle 2 on each of the plurality of routes, the time required to arrive at the transport station T1 corresponding to the transport target location 6 of the transport destination, considering the degree of traffic congestion on each route. can be used as the shortest path. Furthermore, for each of the plurality of routes, based on the past track record of travel of the article transport vehicle 2, the time required to reach the transport station T1 corresponding to the transport target place 6 of the transport destination is estimated, and the estimated time is calculated. It is also possible to use the criterion that the path with the shortest time is the shortest path.

If there is no need to change the orientation of the target article W because the first orientation A1 and the second orientation A2 are the same, the control device H determines whether the orientation changing station T2 is included in the shortest route in setting control. The shortest route is set as the transport route RT regardless of whether or not. Then, the control device H executes travel control to cause the article transport vehicle 2 to travel along the transport route RT from the current position to the transport station T1 corresponding to the transport target place 6 as the transport destination. transfer control for transferring the target article W to the transfer target location 6 of .

In the case where it is necessary to change the posture of the target article W because the first posture A1 and the second posture A2 are different postures, the control device H detects the transport target whose transport destination corresponds to the first transport station T11. If it is the place 6, the article transport vehicle 2 is controlled so that the posture is changed at the first transport station T11 corresponding to the transport destination. Specifically, in the case where it is necessary to change the posture of the target article W, the control device H determines that the transport station T1 corresponding to the transport target location 6 as the transport destination is the first transport station T11. If the orientation of the target article W can be changed at the station T1, the shortest route is set as the transport route RT regardless of whether or not the orientation changing station T2 is included in the shortest route in the setting control. Then, the control device H executes travel control for causing the article transport vehicle 2 to travel along the transport route RT from the current position to the transport station T1 corresponding to the transport target location 6 as the transport destination. After executing the attitude change control to change the attitude of from the first attitude A1 to the second attitude A2, the transfer control of transferring the target article W from the storage section 22A to the transport target place 6 as the transport destination is performed.

Further, the control device H needs to change the orientation of the target article W because the first orientation A1 and the second orientation A2 are different orientations, and the destination corresponds to the second transfer station T12. In the case of the transport target location 6, so that the transport route RT of the article transport vehicle 2 from the current position of the article transport vehicle 2 to the second transport station T12 on the movable route R includes the attitude change station T2. The article conveying vehicle 2 is controlled so that the setting control of the conveying route RT is performed and the attitude is changed at the attitude changing station T2. Specifically, in the setting control, when the posture of the target article W needs to be changed, the control device H sets the transport station T1 corresponding to the target transport location 6 as the transport destination to the second transport station T12. Therefore, if the posture of the target article W cannot be changed at the transport station T1, the transport route RT including the posture changing station T2 is set in the setting control. At this time, in the setting control, the control device H sets the shortest route as the transport route RT if the attitude changing station T2 is included in the shortest route. Further, in the setting control, if the attitude change station T2 is not included in the shortest route, the controller H controls the route other than the shortest route from the current position of the article transport vehicle 2 to the second transport station T12 at least. Among the routes including one posture changing station T2, the route that enables the article transport vehicle 2 to reach the second transport station T12 at the earliest is set as the transport route RT.

In this way, in the setting control, when the transport route RT is set so that the attitude change station T2 is included in the transport route RT, the control device H moves the article transport vehicle 2 from the current position to the attitude change station T2 on the transport route. First travel control is executed to travel along the RT, posture change control is executed to change the posture of the target article W from the first posture A1 to the second posture A2 at the posture change station T2, and the object W is conveyed from the posture change station T2. A second travel control is executed to run the article transport vehicle 2 along the transport route RT to the transport station T1 corresponding to the destination target transport location 6, and the target product W is transported from the container 22A to the target transport location 6 as the transport destination. Execute transfer control to transfer.

Further, when the posture of the target article W needs to be changed and the destination is the destination 6 corresponding to the second transport station T12, the control device H 2. The article conveying vehicle 2 is controlled so as to change its attitude at the attitude changing station T2 closest to the conveying station T12. Specifically, in the setting control, the control device H sets the transport route RT so that the posture changing station T2 is included in the transport route RT, and the plurality of posture changing stations T2 are arranged on the transport route RT. If there is, the first traveling control, attitude change control, and second traveling control are performed as follows. That is, in the first travel control, the article transport vehicle 2 is caused to travel along the transport route RT from the current position to the attitude change station T2 closest to the second transport station T12 among the plurality of attitude change stations T2. Control car 2. In the attitude change control, the article transport vehicle 2 is changed to the second attitude A2 in the state where the article transport vehicle 2 is stopped at the attitude change station T2 closest to the second transport station T12. to control. In the second travel control, the article transport vehicle 2 is caused to travel along the transport route RT from the attitude changing station T2 closest to the second transport station T12 to the second transport station T12 corresponding to the transport destination. Control.

In this embodiment, the upper control device HU in the control device H executes setting control, and transmits transfer command information including information indicating the transfer route RT set by the setting control to the lower control device HD (see FIG. 5). do. Then, the low-order control device HD executes travel control, transfer control, first travel control, and second travel control based on the transport command information received from the high-order control device HU. Next, the wholesale control will be described based on the flowchart of the wholesale control shown in FIG. 7 and FIGS. 8 to 10 showing specific examples of the transport route RT. In describing the wholesale control, the target transfer location 6 as the transfer source will be referred to as the transfer source 6S, and the transfer target location 6 as the transfer destination will be referred to as the transfer destination 6G.

The control device H performs setting control ( S21) is executed. Furthermore, in this embodiment, the control device H executes the setting control (S21) based on the determination criteria for determining the shortest route as described above.

In this setting control, if the first orientation A1 (the orientation of the target article W at the transfer source) and the second orientation A2 (the orientation of the target article W at the transfer destination) are the same, it is necessary to change the orientation of the target article W. Therefore, as indicated by a dashed line in FIG. 8, the control device H determines the shortest route from the transfer source 6S to the transfer destination 6G as the transfer route regardless of whether or not there is an attitude change station T2 on the transfer route RT. Set to RT.

Further, in the setting control, if the first attitude A1 and the second attitude A2 are different and the transport station T1 corresponding to the transport destination 6G is the first transport station T11, it is necessary to change the attitude of the target article W. However, since the attitude of the target article W can be changed at the transport station T1 corresponding to the transport destination 6G, whether or not there is an attitude change station T2 on the transport route RT as indicated by the dashed line in FIG. Regardless, the shortest route from the transfer source 6S to the transfer destination 6G is set as the transfer route RT.

Further, in the setting control, if the first attitude A1 and the second attitude A2 are different and the transport station T1 corresponding to the transport destination 6G is the second transport station T12, it is necessary to change the attitude of the target article W. In addition, since it is impossible to change the posture of the target article W at the transport station T1 corresponding to the transport destination 6G, as shown by the dashed line in FIG. is set as the transport route RT. In other words, if the shortest route from the transfer source 6S to the transfer destination 6G is the transfer route RT (the transfer route RT indicated by the two-dot chain line in FIG. 10), since there is no posture change station T2 on this route, such a Instead of selecting a route that is not suitable as the transport route RT, even if the route takes a longer time to reach the transport destination 6G than the shortest route, a route that has an attitude changing station T2 in the middle is selected as the transport route RT. . Further, when a plurality of posture changing stations T2 are included in the transport route RT set in this way, the posture changing station T2 (in FIG. 10, Of the two attitude change stations T2 on the transport route RT, the attitude change station T2 marked with a white circle is set as the attitude change station T2 used to change the attitude of the target article W. FIG.

As described above, the control device H executes wholesale control in the following procedure. That is, after setting the transport route RT in the setting control (S21), if the first attitude A1 and the second attitude A2 are the same (S22: Yes), the control device H executes travel control (S23), Next, transfer control is executed (S24), and the target article W is transported to the transport destination 6G. Further, after setting the transport route RT in the setting control (S21), the control device H, when the first attitude A1 and the second attitude A2 are different (S22: No), corresponds to the transport destination 6G. If the transfer station T1 to be transferred is the first transfer station T11 (S25: Yes), travel control is executed (S26), then attitude change control is executed at the first transfer station T11 (S27), and then the transfer station T11 is moved. Loading control is executed (S24), and the target article W is transported to the transport destination 6G. Further, after setting the transport route RT in the setting control (S21), the control device H, when the first attitude A1 and the second attitude A2 are different (S22: No), corresponds to the transport destination 6G. If the transfer station T1 to be transferred is the second transfer station T12 (S25: No), the first travel control is executed (S28), then the posture change control is executed at the posture change station T2 (S29), and the 2 travel control is executed (S30), then transfer control is executed (S24), and the target article W is conveyed to the conveying destination 6G.

2. Other Embodiments Next, other embodiments of the article transport facility will be described.

(1) In the above-described embodiment, as shown in FIG. 4, the posture changing mechanism 7 changes the posture in a state in which the target article W protrudes from the storage portion 22A in the width direction Y by a specified amount L1. explained. However, it is not limited to such a configuration. For example, the posture changing mechanism 7 may be configured to change the posture in a state in which the target article W is protruded downward Z2 from the storage portion 22A. In this case, at least a portion of the target article W may protrude downward Z2 from the storage section 22A, or the entire target article W may protrude downward Z2 from the storage section 22A. In this case, it is preferable that the posture changing mechanism 7 is configured by including an elevating mechanism 3H and a turning mechanism 4. As shown in FIG.

(2) In the above-described embodiment, as shown in FIG. 4, when the posture changing mechanism 7 changes the posture of the target article W, substantially the entire target article W protrudes in the width direction Y from the storage section 22A. was described as an example. However, it is not limited to such a configuration. For example, when the posture changing mechanism 7 changes the posture of the target article W, a configuration in which 1/4 to 1/2 of the target article W protrudes from the storage portion 22A in the width direction Y, or a configuration in which 1/4 of the target article W When the posture changing mechanism 7 changes the posture of the target article W, such as the following protruding from the storage section 22A in the width direction Y, the amount of protrusion of the target article W from the storage section 22A in the width direction Y is appropriate. You can change it. For example, as shown in FIG. 11, even if the target article W is turned by the turning mechanism 4 while the target article W is at the retracted position P1, the cover section 22B is positioned so that the target article W does not come into contact with the cover section 22B. In this configuration, the attitude changing mechanism 7 changes the attitude of the target article W by rotating the target article W with the turning mechanism 4 while the target article W is at the retracted position P1, and during this attitude change, A configuration in which a portion of the target article W protrudes in the width direction Y from the storage portion 22A may be employed.

(3) In the above embodiment, when the attitude changing mechanism 7 changes the attitude of the target article W, the configuration in which the target article W protrudes from the storage portion 22A only to the width direction first side Y1 has been described as an example. However, it is not so limited. For example, the slide mechanism 3S is configured so that the gripping portion 3GA can be slid to both the first side Y1 in the width direction and the second side Y2 in the width direction, and the posture changing mechanism 7 changes the posture of the target article W. , the target article W may be configured to selectively protrude from the storage portion 22A to the first widthwise side Y1 and the second widthwise side Y2.

(4) In the above embodiment, while the article transport vehicle 2 is at the transport station T1, the target article W is transferred to the transport target location 6 only by the lift mechanism 3H out of the slide mechanism 3S and the lift mechanism 3H. The configuration has been described as an example. However, it is not limited to such a configuration. For example, while the article transport vehicle 2 is at the transport station T1, the object W may be transferred to the transport target location 6 by both the slide mechanism 3S and the elevating mechanism 3H.

(5) In the above embodiment, when it is necessary to change the attitude of the target article W and there are a plurality of attitude changing stations T2 on the transport route RT, the second transport station corresponding to the transport destination The configuration in which the posture is changed at the posture change station T2 closest to T12 has been described as an example. However, it is not limited to such a configuration. For example, when it is necessary to change the attitude of the target article W and there are a plurality of attitude changing stations T2 on the transport route RT, the attitude changing station closest to the second transport station T12 corresponding to the transport source The posture may be changed at a posture change station T2 other than the posture change station T2 closest to the second transfer station T12 corresponding to the destination, such as the posture change at T2.

(6) In the above-described embodiment, an example of a configuration was described in which, in the setting control, a route that enables the article transport vehicle 2 to reach the second transport station T12 earliest is set as the transport route RT. However, it is not limited to such a configuration. For example, a route other than the route that allows the article transport vehicle 2 to reach the second transport station T12 at the earliest, such as setting a route preset as a route from the current position to the second transport station T12 as the transport route RT. It may be configured to be set as the transport route RT.

(7) It should be noted that the configurations disclosed in the respective embodiments described above can be applied in combination with configurations disclosed in other embodiments as long as there is no contradiction. Regarding other configurations, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications can be made as appropriate without departing from the scope of the present disclosure.

3. Outline of the above-described embodiment An outline of the article transport equipment described above will be described below.

The article transport equipment includes an article transport vehicle that travels along a movable route to transport target articles from a transport source to a transport destination, and a control device that controls the article transport vehicle. is set along the movable route,
A transfer destination station is set at a position corresponding to each of the plurality of transfer target locations on the movable route, and an attitude change station is set at a position not corresponding to the transfer target location on the movable route, The article transport vehicle includes a storage unit that stores the target article, a transfer mechanism, and an attitude change mechanism. and transferring the target article from the storage section to the transport target location, and the attitude changing mechanism moves the target article in a state in which at least a part of the target article stored in the storage section protrudes from the storage section. A mechanism for changing the posture of a target article, wherein the plurality of destination stations include a first destination station having a space for changing the posture and a second destination station having no space for changing the posture. and , wherein the attitude change station has a space for the attitude change, and the control device is required to change the attitude of the target article, and the transport destination is the When the location to be transferred corresponds to the first destination station, the posture is changed at the first destination station corresponding to the destination, and the destination corresponds to the second destination station. In the case of the location to be transported, the attitude change station is included in the transport route of the article transport vehicle from the current position of the article transport vehicle to the second transport destination station in the movable route, Setting control of the transport path is performed, and the article transport vehicle is controlled so that the attitude change is performed at the attitude change station.

According to this configuration, when the transport destination is the transport target location corresponding to the first transport destination station, and the attitude can be changed at the transport destination station corresponding to the transport target location, the control device causes the article transport vehicle to move to the first position. After the target article is moved to one destination station and the attitude of the target article is changed by the attitude changing mechanism at the first destination station, the target article is transferred to the target location by the transfer mechanism. Further, if the destination is a destination location corresponding to the second destination station and the attitude cannot be changed at the destination station corresponding to the destination location, the control device includes the attitude change station through setting control. Then, the article transport vehicle is caused to travel to the attitude change station, and after the attitude of the target article is changed by the attitude change mechanism at the attitude change station, the article transport vehicle is caused to travel to the second destination station. , the target article is transferred to the transport target location by the transfer mechanism.

As described above, according to this configuration, when the destination is a location to be transported corresponding to the first destination station, the orientation can be changed at the first destination station. It is possible to set the transport route of the article transport vehicle without considering whether or not the For this reason, it is possible to efficiently transport the target articles from the source to the destination by, for example, setting a route that has the shortest travel distance or a route that is less likely to cause traffic jams of the article transport vehicle. It is easy to set a possible transport route. On the other hand, if the destination is a location to be transported corresponding to the second destination station, the transport path is set so that the attitude change station is included in the transport path, so the attitude can be changed at the destination station. Even if it is not possible, the target article can be transported to the transport destination after appropriately changing the posture of the target article. Therefore, according to this configuration, it is possible to efficiently transport a target article whose posture needs to be changed from the transport source to the transport destination.

Here, when there are a plurality of attitude change stations, the control device controls the transport object whose transport destination corresponds to the second transport destination station when the posture of the target article needs to be changed. If it is a place, it is preferable to control the article transport vehicle so that the attitude change is performed at the attitude change station closest to the second destination station corresponding to the destination.

According to this configuration, by changing the attitude at the attitude change station closest to the second destination station corresponding to the destination, the attitude is changed at another attitude change station upstream of the transportation path from this attitude change station. The timing of changing the posture can be delayed as compared with the case of changing the posture. For this reason, for example, it is possible to avoid a situation in which the destination is changed after the orientation of the target article is changed, and the orientation of the target article needs to be returned to its original orientation, resulting in the orientation being changed twice. Easier to avoid.

Further, the shortest route among a plurality of routes from the current position of the article transport vehicle to the second destination station is set as the shortest route by which the article transport vehicle can reach the second destination station. In the setting control, the apparatus sets the shortest route as the transport route when the posture changing station is included in the shortest route, and sets the shortest route as the transport route when the posture changing station is not included in the shortest route. In a route other than the shortest route and including at least one attitude changing station from the current position of the article carrier to the second destination station, the article carrier is the earliest in the route to the second destination station. It is preferable to set a route that can reach the transfer destination station as the transfer route.

According to this configuration, when the attitude change station is included in the shortest path, by setting the shortest path as the transport path, the object can be transported from the transport source to the transport destination while changing the attitude of the target article at the attitude change station. The time required to transport the target article can be shortened. In addition, even if the shortest route does not include the attitude changing station, by setting a route other than the shortest route that allows the article transport vehicle to reach the second destination station earliest, as the transport route, It is possible to prevent an increase in the time required to transport the target article from the source to the destination while changing the posture of the target article at the posture change station.

Further, the direction perpendicular to the movable path as viewed in the vertical direction is taken as a width direction, and the posture changing mechanism changes the posture in a state in which the target article protrudes from the accommodating portion in the width direction by a specified amount. and the attitude changing station is a space extending in the width direction of the movement locus of the article transport vehicle in the movable path by the specified amount or more, and extends in the extending direction of the movable path to the accommodating section. It is preferable that it is set in a place where a space extending at least the length of is secured.

According to this configuration, when the posture is changed by the posture changing mechanism, the target article protrudes from the accommodating portion in the width direction by a specified amount. In such a case, the posture changing station has a space that is wider than a specified amount in the width direction with respect to the movement locus of the article transport vehicle and that is wider than the length of the storage unit in the extending direction of the movable path. Since it is set in a secured location, it is possible to reliably change the attitude with the attitude change station.

The technology according to the present disclosure can be used in an article transportation facility that includes an article transportation vehicle that travels along a movable route to transport a target article, and a control device that controls the article transportation vehicle.

2: Article carrier 3: Transfer mechanism 6: Transfer target location 7: Posture change mechanism 22A: Storage unit H: Control device L1: Prescribed amount R: Movable route RT: Transfer route T1: Transfer station (transfer destination station)
T11: First Transfer Station (First Transfer Destination Station)
T12: Second transfer station (second transfer destination station)
T2: Posture change station W: Target article Y: Width direction

Claims (3)

an article transport vehicle that travels along the movable route and transports the target article from the transport source to the transport destination;
a control device that controls the article transport vehicle,
An article transport facility in which a plurality of transport target locations, which are the transport destinations, are installed along the movable route,
A destination station is set at a position corresponding to each of the plurality of transfer target locations on the movable route, and an attitude change station is set at a position not corresponding to the transfer target location on the movable route,
The article transport vehicle includes an accommodation unit that accommodates the target article, a transfer mechanism, and an attitude change mechanism,
The transfer mechanism transfers the target article from the storage section to the transfer target location while the article transport vehicle is stopped at the destination station,
The posture changing mechanism is a mechanism for changing the posture of the target article in a state in which at least part of the target article stored in the storage section protrudes from the storage section,
the plurality of destination stations include a first destination station having space for changing the attitude and a second destination station having no space for changing the attitude;
the attitude change station has a space for the attitude change;
When the control device needs to change the posture of the target article,
if the transport destination is the transport target location corresponding to the first transport destination station, performing the posture change at the first transport destination station corresponding to the transport destination;
When the transport destination is the transport target location corresponding to the second transport destination station, the transport vehicle from the current position of the article transport vehicle to the second transport destination station on the movable route setting and controlling the transport route so that the transport route includes the attitude change station, and controlling the article transport vehicle so that the attitude change is performed at the attitude change station;
When there are a plurality of attitude change stations, the control device is a case where the attitude of the target article needs to be changed, and the destination is the destination to be transported corresponding to the second destination station. In some cases, the article transport facility controls the article transport vehicle so that the attitude change is performed at the attitude change station closest to the second destination station corresponding to the destination. an article transport vehicle that travels along the movable route and transports the target article from the transport source to the transport destination;
a control device that controls the article transport vehicle,
An article transport facility in which a plurality of transport target locations, which are the transport destinations, are installed along the movable route,
A destination station is set at a position corresponding to each of the plurality of transfer target locations on the movable route, and an attitude change station is set at a position not corresponding to the transfer target location on the movable route,
The article transport vehicle includes an accommodation unit that accommodates the target article, a transfer mechanism, and an attitude change mechanism,
The transfer mechanism transfers the target article from the storage section to the transfer target location while the article transport vehicle is stopped at the destination station,
The posture changing mechanism is a mechanism for changing the posture of the target article in a state in which at least part of the target article stored in the storage section protrudes from the storage section,
the plurality of destination stations include a first destination station having space for changing the attitude and a second destination station having no space for changing the attitude;
the attitude change station has a space for the attitude change;
When the control device needs to change the posture of the target article,
if the transport destination is the transport target location corresponding to the first transport destination station, performing the posture change at the first transport destination station corresponding to the transport destination;
When the transport destination is the transport target location corresponding to the second transport destination station, the transport vehicle from the current position of the article transport vehicle to the second transport destination station on the movable route setting and controlling the transport route so that the transport route includes the attitude change station, and controlling the article transport vehicle so that the attitude change is performed at the attitude change station;
setting the shortest route by which the article transport vehicle can reach the second destination station at the earliest among a plurality of routes from the current position of the article transport vehicle to the second destination station,
In the setting control, the control device sets the shortest route as the transport route when the attitude changing station is included in the shortest route, and sets the shortest route as the transport route when the attitude changing station is not included in the shortest route. , a route other than the shortest route, wherein the article carrier is the earliest in a route including at least one attitude change station from the current position of the article carrier to the second destination station. An article transport facility , wherein a route that can reach a second transport destination station is set as the transport route . The direction orthogonal to the movable path in the vertical direction is defined as the width direction,
The posture changing mechanism changes the posture in a state in which the target article protrudes from the accommodating portion in the width direction by a specified amount,
The attitude change station is a space that is wider than the specified amount in the width direction with respect to the movement locus of the article transport vehicle in the movable path, and the length of the storage section is extended in the extending direction of the movable path. 3. An article transport facility according to claim 1 or 2, which is set in a place where a wider space is secured.

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