JP7243678B2 - Goods transport equipment - Google Patents

Description

TECHNICAL FIELD The present invention relates to an article conveying facility for conveying articles between a first building and a second building arranged side by side.

In such an article conveying facility, the first conveying device provided in the first building and the second building may be slightly deformed due to fluctuations in the outside air temperature or the like. There is a possibility that the relative positional relationship with the second conveying device provided in the second conveying device will change, making it difficult to properly transfer the article between the conveying devices.

Patent Document 1 below discloses a rail device for guiding a carriage (1) that conveys articles between a first building (M) and a second building (N). This rail device includes a first rail section (3) provided on a first building (M), a second rail section (4) provided on a second building (N), and a rail section of these rail sections. and a third rail portion (7) provided between and movable along the extending direction of the rail portions (article conveying direction). Predetermined gaps (D2 , D3) are formed. Thus, in the rail device of Patent Document 1, even if the gap between the first rail portion (3) and the second rail portion (4) changes due to fluctuations in the outside air temperature, the third rail portion (7) ) and the gaps (D2, D3) between the rail portions reduce the influence on the travel of the carriage (1). In addition, the reference numerals shown in parentheses in the description of the “Background Art” are those of Patent Document 1.

Japanese Patent Application Laid-Open No. 2004-84259 (Fig. 2)

According to the technique disclosed in Patent Document 1, even if the distance between the first transport device and the second transport device changes due to fluctuations in the outside air temperature or the like, the articles can be properly transported between the transport devices. can pass. However, depending on the structures of the first building and the second building, etc., there is a possibility that the vertical positions of the first transporting device and the second transporting device may shift due to fluctuations in the outside air temperature. In such a case, since a step is formed between the first conveying device and the second conveying device, it becomes difficult to properly transfer the articles between the conveying devices.

Therefore, even if the vertical positions of the first conveying device and the second conveying device deviate due to fluctuations in the outside air temperature, etc., the articles can be properly transported between the first conveying device and the second conveying device. It is desired to realize an article transport facility that can be delivered.

In view of the above, the characteristic configuration of the article transport equipment is
An article conveying facility for conveying articles between a first building and a second building arranged side by side,
a first conveying device provided in the first building for conveying the article;
a second conveying device provided in the second building for conveying the article and delivering the article to and from the first conveying device;
a lifting mechanism that lifts and lowers the first transport device with respect to the second transport device;
a position detection device that detects the relative positional relationship of the first transport device with respect to the second transport device;
a lifting control device that controls the lifting mechanism;
a detection control device that controls the position detection device,
The position detection device detects a target object supported with a fixed relative position to the second transport device and a target object supported with a fixed relative position to the first transport device. a detector;
The detection control device calculates a vertical deviation amount, which is a vertical deviation amount of the first transport device with respect to the second transport device, based on the detection result of the detector,
The elevation control device controls the elevation mechanism so that the vertical positions of the conveying surface of the first conveying device and the conveying surface of the second conveying device match based on the amount of vertical deviation. 1 is to perform the first elevation control for raising and lowering the conveying device.

According to this characteristic configuration, the detector supported in a state where the relative position with respect to the first transport device is fixed detects the target object supported in a state where the relative position with respect to the second transport device is fixed. Based on this, the detection control device calculates the amount of vertical displacement of the first conveying device with respect to the second conveying device. Based on the amount of vertical deviation calculated by the detection control device, the elevation control device controls the elevation mechanism so that the vertical positions of the conveying surface of the first conveying device and the conveying surface of the second conveying device match each other. A first lift control is performed to lift and lower the first conveying device. As a result, even if the vertical positions of the first and second conveying devices deviate due to fluctuations in the outside air temperature, etc., the conveying surface of the first conveying device and the conveying surface of the second conveying device are kept in good contact. can be aligned in the vertical direction, the articles can be appropriately transferred between the first conveying device and the second conveying device. Further, since the detector is supported in a state where the position relative to the first transport device is fixed, the signal for performing the first lifting control of the lifting mechanism based on the detection result of the detector can be transmitted and received by the wireless transmitter/receiver. can be done without going through Therefore, it is easy to simplify the configuration of the article conveying equipment.

Side cross-sectional view of article transport equipment according to the embodiment Side cross-sectional view showing a main part of the article conveying equipment according to the embodiment FIG. 2 is a plan view showing a main part of the article transport equipment according to the embodiment; A plan view showing the structure of the object and the detector VV sectional view in FIG. VI-VI sectional view in FIG. VII-VII cross-sectional view in FIG. 1 is a block diagram showing the configuration of an article transport facility according to an embodiment; FIG. A diagram showing the relationship between the target surface distance and the amount of vertical deviation

Below, article conveying equipment 100 concerning an embodiment is explained with reference to drawings. As shown in FIG. 1, the article conveying facility 100 is a facility for conveying articles W between a first building S1 and a second building S2 arranged side by side.

In the following description, the direction in which the article W is transported is referred to as "transporting direction X". A direction perpendicular to the transport direction X in a plan view is defined as a “width direction Y (see FIG. 3)”. Also, the direction along the vertical direction is defined as "vertical direction Z".

In this embodiment, a connecting corridor C corresponding to the first building S1 is arranged between a pair of buildings B each corresponding to the second building S2. The connecting corridor C is supported by a plurality of pedestals S. The connecting corridor C is formed in a tubular shape extending along the transport direction X across the pair of buildings B. As shown in FIG. An opening Ba through which articles W can pass is formed in each of the pair of buildings B so as to face the connecting corridor C. As shown in FIG. Each of the pair of buildings B communicates with the corridor C through the opening Ba.

As shown in FIG. 1, an article transport facility 100 is provided in a first building S1 to transport an article W, and is provided in a second building S2 to transport an article W and a first transport apparatus 1 to transport an article W. 1 a second conveying device 2 that delivers articles W to and from the conveying device 1; and a position detection device 4 for detecting the relative positional relationship of the conveying device 1 .

In this embodiment, a pair of first conveying devices 1 are provided in the connecting corridor C so as to be separated from each other in the conveying direction X. As shown in FIG. Further, in the present embodiment, the pair of buildings B is provided with the second conveying device 2 . One first transport device 1 and one second transport device 2 face each other through one opening Ba, and the other first transport device 1 and the other second transport device 2 They are arranged so as to face each other via the other opening Ba.

As shown in FIG. 2, the first conveying device 1 is configured to support an article W from below and convey the article W. As shown in FIG. In this embodiment, the first conveying device 1 includes a plurality of first rollers 11 having an axis along the width direction Y, and a first frame supporting the plurality of first rollers 11 rotatably about the axis. 12 and a roller conveyor. The plurality of first rollers 11 supported by the first frame 12 are rotationally driven about the axis along the width direction Y by the first roller drive section 11a (see FIG. 8), thereby The article W placed on is conveyed in the conveying direction X.

The second conveying device 2 is configured to support the article W from below and convey the article W. As shown in FIG. In this embodiment, the second conveying device 2 includes a plurality of second rollers 21 having an axis along the width direction Y, and a second frame supporting the plurality of second rollers 21 rotatably about the axis. 22 and a roller conveyor. The plurality of second rollers 21 supported by the second frame 22 are rotationally driven about the axis along the width direction Y by the second roller drive section 21a (see FIG. 8), thereby The article W placed on is conveyed in the conveying direction X. In this embodiment, the second frame 22 is supported from below by a support member 23 fixed to the building floor surface F2, which is the floor surface of the building B. As shown in FIG.

As shown in FIG. 3, in this embodiment, in each of the pair of first conveying devices 1, one first frame 12 and a plurality of first rollers 11 supported by the first frame 12 are arranged in a width direction. Two sets are provided spaced apart in the Y direction. Furthermore, in this embodiment, in each of the pair of second conveying devices 2, one second frame 22 and a plurality of second rollers 21 supported by the second frame 22 are spaced apart in the width direction Y. Two sets are provided with an opening.

As shown in FIG. 2, in this embodiment, a pair of elevating mechanisms 3 are provided in the connecting corridor C in order to elevate and lower the pair of first transfer devices 1, respectively. In this embodiment, the pair of lifting mechanisms 3 are installed on the corridor floor surface F1, which is the floor surface of the connecting corridor C. As shown in FIG.

Further, in the present embodiment, the lifting mechanism 3 includes a pair of lifting parts 3a for lifting and lowering the first frame 12 of the first conveying device 1 respectively. In this embodiment, each of the pair of elevating units 3a includes a ball screw 31 extending along the transport direction X and formed with a pair of screw ridges oriented in mutually different directions. A pair of moving bodies 32 screwed to the ridges, a link mechanism 33 each connecting the moving bodies 32 and the first frame 12 of the first conveying device 1, and an elevation drive section 34 rotating the ball screw 31. I have. In the elevation unit 3a configured as described above, when the ball screw 31 is rotated by the elevation driving unit 34, the pair of moving bodies 32 move toward or away from each other depending on the rotation direction of the ball screw 31, and the link mechanism moves accordingly. The first frame 12 moves up and down via 33 . In this way, by synchronizing the operations of the pair of lifting units 3a, the first conveying device 1 can be lifted and lowered with respect to the second conveying device 2 while the conveying surface of the first conveying device 1 is kept horizontal. .

As shown in FIG. 1, the article transport facility 100 further includes a third transport device 5 in this embodiment. The third conveying device 5 is provided in the first building S1. The third conveying device 5 conveys the articles W and transfers the articles W to and from the first conveying device 1 at a location different from the second conveying device 2 .

In this embodiment, the third conveying device 5 includes a traveling truck 51 that travels along a traveling path 53 that is provided along the corridor floor F1 of the connecting corridor C along the conveying direction X, and the traveling truck 51 that moves up and down. and a lifting platform 52 for supporting the article W from below.

As shown in FIG. 3, in the present embodiment, the third conveying device 5 is configured to be able to travel between the pair of first frames 12 of the first conveying device 1 in the width direction Y. As shown in FIG. In this embodiment, when the third conveying device 5 receives the article W from the first conveying device 1, the lift table 52 is positioned at a position lower than the conveying surface of the first conveying device 1 supporting the article W. After traveling between the pair of first frames 12 in the width direction Y of the first conveying device 1 in this state, the lift table 52 is raised to a position higher than the conveying surface of the first conveying device 1 . In this way, the third conveying device 5 can receive the articles W from the first conveying device 1 by supporting the articles W on the first conveying device 1 from below. Further, when the third conveying device 5 transfers the article W to the first conveying device 1, the elevator table 52 supporting the article W is set higher than the conveying surface of the first conveying device 1, and the first conveying device 5 is moved to the first conveying device. After traveling between the pair of first frames 12 in the device 1 in the width direction Y, the lift table 52 is lowered to a position lower than the transfer surface of the first transfer device 1 . In this manner, the third conveying device 5 can transfer the articles W to the first conveying device 1 by lowering the supported articles W onto the first conveying device 1 .

As shown in FIGS. 2 and 3 , the position detection device 4 includes a target object 41 and a detector 42 that detects the target object 41 .

The object 41 is supported in a fixed position relative to the second transport device 2 . In this embodiment, the object 41 is fixed to the floor surface F2 of the building B via a bracket 41a. As a result, the influence of vibration caused by the transportation of the article W by the second transportation device 2 can be suppressed, so that the detector 42 can appropriately detect the object 41 .

The detector 42 is supported in a fixed position relative to the first conveying device 1 . In this embodiment, the detector 42 is fixed to the first frame 12 of the first conveying device 1 via a fixing member 42a.

As shown in FIG. 4, in this embodiment, the target object 41 includes a first target object 41A, a second target object 41B, and a third target object 41C. The first target object 41A, the second target object 41B, and the third target object 41C are arranged side by side with an interval in the width direction Y from each other. In the illustrated example, the second object 41B is arranged between the first object 41A and the third object 41C in the width direction Y. As shown in FIG.

Moreover, in this embodiment, the detector 42 includes a first detector 42A, a second detector 42B, and a third detector 42C. The first detector 42A, the second detector 42B, and the third detector 42C are arranged side by side with an interval in the width direction Y from each other. In the illustrated example, between the first detector 42A and the third detector 42C in the width direction Y, the second detector 42B is arranged.

In this embodiment, the first object 41A and the first detector 42A are arranged side by side in the transport direction X. As shown in FIG. The second object 41B and the second detector 42B are arranged side by side in the transport direction X. As shown in FIG. Furthermore, the third object 41C and the third detector 42C are arranged side by side in the transport direction X. As shown in FIG. Therefore, in this example, the arrangement interval (pitch) in the width direction Y between the first detector 42A and the second detector 42B and the arrangement interval (pitch) in the width direction Y between the second detector 42B and the third detector 42C ( The pitch) is the arrangement interval (pitch) in the width direction Y between the first object 41A and the second object 41B, and the arrangement interval (pitch) in the width direction Y between the second object 41B and the third object 41C ( pitch).

In this embodiment, the first detector 42A is a device that measures a first object plane distance L1, which is the distance to the first object plane 41Aa formed on the first object 41A. The second detector 42B is a device that measures the second object plane distance L2, which is the distance to the second object plane 41Ba formed on the second object 41B. Furthermore, the third detector 42C is a device that measures a third object plane distance L3, which is the distance to the third object plane 41Ca formed on the third object 41C. In this example, each of the first detector 42A, the second detector 42B, and the third detector 42C detects the object (here, the first object surface 41Aa, the second object surface 41Ba, and the third object surface 41Ca). It is a laser range finder that irradiates a laser beam toward and measures the distance to an object based on the reflected light.

As shown in FIGS. 4 and 5, the first target surface 41Aa is formed to be inclined such that the first target surface distance L1 changes toward one side in the up-down direction Z. As shown in FIGS. In the illustrated example, the first target plane 41Aa is inclined at an angle of 45° with respect to the horizontal plane so that the first target plane distance L1 increases upward.

As shown in FIGS. 4 and 6, the second target surface 41Ba is formed to be inclined such that the second target surface distance L2 changes toward one side in the width direction Y. As shown in FIGS. In the illustrated example, the second target surface 41Ba is positioned in the width direction Y in plan view so that the second target surface distance L2 increases from the first target object 41A side toward the third target object 41C in the width direction Y. is inclined at an angle of 45° to

As shown in FIGS. 4 and 7, the third target surface 41Ca is formed perpendicular to the transport direction X. As shown in FIGS. Therefore, in the third object plane 41Ca, the third object plane distance L3 does not change depending on the location.

As shown in FIG. 8 , the article transport facility 100 includes an elevation control device 6 that controls the elevation mechanism 3 and a detection control device 7 that controls the position detection device 4 . In this embodiment, the article transport facility 100 further includes a transport control device 8 . The transport control device 8 controls the first transport device 1 and the second transport device 2 . In this embodiment, the transport control device 8 also controls the third transport device 5 . The detection control device 7 is configured to be able to transmit and receive signals to and from each of the elevation control device 6 and the transport control device 8 .

In this embodiment, the elevation control device 6 raises and lowers the first conveying device 1 by controlling the elevation drive section 34 of the elevation mechanism 3 . Further, the transport control device 8 changes the transport state of the article W by the first transport device 1 by controlling the first roller drive section 11a for driving the plurality of first rollers 11 . The transport control device 8 changes the transport state of the article W by the second transport device 2 by controlling the second roller drive section 21 a for driving the plurality of second rollers 21 . Further, the transport control device 8 changes the traveling state of the traveling truck 51 by controlling the traveling truck driving unit 51 a for driving the wheels of the traveling truck 51 of the third conveying device 5 . Then, the transport control device 8 moves the lift table 52 up and down with respect to the traveling carriage 51 by controlling the lift drive part 52 a for lifting the lift table 52 of the third transport device 5 .

As shown in FIG. 9, the detection control device 7 calculates a vertical displacement amount D, which is the amount of displacement in the vertical direction Z of the first conveying device 1 with respect to the second conveying device 2, based on the detection result of the detector 42. . In this embodiment, the detection control device 7 calculates the vertical shift amount D based on the first target plane distance L1, which is the detection result of the first detector 42A.

Based on the vertical displacement amount D, the elevation control device 6 controls the vertical direction between the first transport surface 1a, which is the transport surface of the first transport device 1, and the second transport surface 2a, which is the transport surface of the second transport device 2. A first elevation control is performed to raise and lower the first conveying device 1 by the elevation mechanism 3 so that the Z position matches. The first elevation control is performed, for example, immediately before the articles W are transferred between the first conveying device 1 and the second conveying device 2 . In this embodiment, the first conveying surface 1 a is a virtual surface passing through the upper ends of the plurality of first rollers 11 . Also, the second conveying surface 2 a is a virtual surface passing through the upper ends of the plurality of second rollers 21 .

As shown in FIG. 9, the first object surface distance L1 in the state where the positions of the first transport surface 1a and the second transport surface 2a in the vertical direction Z are matched is defined as the "reference distance L1a", and the first transport surface The first object surface distance L1 in the state where the object 1a is displaced from the second conveying surface 2a is defined as "displacement distance L1b". At this time, in the present embodiment, since the first target surface 41Aa is inclined at a certain angle (here, 45°), as the first transport surface 1a shifts from the second transport surface 2a, the The resulting vertical deviation amount D can be calculated based on the difference between the reference distance L1a and the displacement distance L1b. In the illustrated example, the displacement distance L1b is the first target surface distance L1 when the first transport surface 1a is positioned below the second transport surface 2a. Since the first target surface 41Aa is inclined such that the first target surface distance L1 increases upward, the displacement distance L1b is smaller than the reference distance L1a (Lb1<L1a). In this example, since the inclination angle of the first target surface 41Aa with respect to the horizontal plane is 45°, the difference in the first target surface distance L1 between the reference distance L1a and the displacement distance L1b and the vertical deviation amount D are the same value. becomes. Therefore, it is easy to control the amount of elevation by the elevation mechanism 3 .

In the present embodiment, the detection control device 7 calculates the first transport relative to the second transport device 2 based on the second target surface distance L2, which is the detection result of the second detector 42B, similarly to the calculation of the vertical deviation amount D. A width deviation amount, which is a deviation amount in the width direction Y of the device 1, is calculated. Since the second target surface distance L2 changes according to the relative position in the width direction Y of the first transport device 1 with respect to the second transport device 2, the width deviation amount can be calculated based on the second target surface distance L2. ing. In this embodiment, the detection control device 7 outputs an error and the transport control device 8 stops all the transport devices 1, 2, and 5 when the width deviation amount is larger than a prescribed threshold value.

Further, in the present embodiment, the detection control device 7, similarly to the calculation of the vertical deviation amount D, calculates the distance to the second conveying device 2 based on the third target surface distance L3, which is the detection result of the third detector 42C. A front-to-rear shift amount Lx, which is a shift amount in the conveying direction X of one conveying device 1, is calculated. Since the third target surface distance L3 changes according to the relative position of the first transport device 1 with respect to the second transport device 2 in the transport direction X, the front-rear shift amount Lx can be calculated based on the third target surface distance L3. It's becoming In this embodiment, the detection control device 7 corrects the calculation result of the vertical deviation amount D based on the calculation result of the longitudinal deviation amount Lx. That is, the front-rear shift amount Lx is calculated using the third object surface distance L3 as the reference front-rear distance L3a when the ideal reference distance L1ai, which is the ideal reference distance L1a of the first object surface distance L1, is obtained. Here, the difference between the detection result of the third target plane distance L3 and the reference front-back distance L3a is the front-back shift amount Lx (Lx=L3-L3a). Then, the detection control device 7 sets the value obtained by adding the forward/backward shift amount Lx at that time to the ideal reference distance L1ai as the reference distance L1a at that time (L1a=L1ai+Lx). Then, the vertical deviation amount D is calculated using this reference distance L1a. As a result, it is possible to calculate the vertical shift amount D that eliminates the influence of the front-back shift amount Lx. In this example, since the third target surface 41Ca is a plane orthogonal to the transport direction X, the third target surface distance L3 and the front-rear deviation amount have the same value. Therefore, the calculation of the front-rear deviation amount Lx is facilitated. Further, in this embodiment, the detection control device 7 outputs an error and the transport control device 8 stops all the transport devices 1, 2, and 5 when the amount of front-rear deviation is larger than a specified threshold value.

As described above, the detector 42 is supported in a fixed position relative to the first conveying device 1 . Therefore, a signal for performing the first lifting control of the lifting mechanism 3 based on the detection result by the detector 42 can be transferred without using the wireless transmitter/receiver. Specifically, the detector 42, the lifting mechanism 3, the detection control device 7, and the lifting control device 6 are all arranged in the first building S1 (here, the connecting corridor C). A wired connection with the control device 6 is possible. Therefore, it is easy to simplify the configuration of the article transport equipment 100 .

In this embodiment, the elevation control device 6 performs the second elevation control in addition to the first elevation control. In the second lifting control, the lifting mechanism 3 is controlled so that the position of the first conveying device 1 in the vertical direction Z becomes a position where the articles W can be transferred between the first conveying device 1 and the third conveying device 5. This control is for raising and lowering the first conveying device 1 . In this example, in the second elevating control, the first transporting device 1 is lifted and lowered so that the transport surface of the first transporting device 1 is located at the center position of the lifting range of the platform 52 of the third transporting device 5 . In addition, when the third conveying device 5 is not a conveying vehicle provided with the traveling carriage 51 and the lifting platform 52 as in the present embodiment, but a conveyor like the first conveying device 1 and the second conveying device 2, As a second elevation control, the elevation control device 6 controls the elevation mechanism 3 so that the positions of the first transfer surface 1a of the first transfer device 1 and the transfer surface of the third transfer device 5 in the vertical direction Z match. A control for raising and lowering the first conveying device 1 is performed.

In this embodiment, the detection control device 7 causes the detector 42 to perform detection while the transport control device 8 stops the first transport device 1 and the second transport device 2 . Specifically, when the article W is being conveyed on the first conveying device 1 toward the second conveying device 2, once the article W is on the first conveying device 1, the first conveying device 1 and the second conveying device 2 are stopped, detection is performed by the detector 42, and then conveying by the first conveying device 1 is restarted. Further, when the article W is conveyed toward the first conveying apparatus 1 on the second conveying apparatus 2, once the article W is on the second conveying apparatus 2, the first conveying apparatus 1 and the first conveying apparatus 1 2 Stop the conveying device 2 , perform detection by the detector 42 , and then restart the conveying by the first conveying device 1 . Here, the detection control device 7 causes the first detector 42A to measure the first target surface distance L1 while the transport control device 8 is stopping the first transport device 1 and the second transport device 2, and The second detector 42B is caused to measure the second object plane distance L2, and the third detector 42C is caused to measure the third object plane distance L3.

[Other embodiments]
(1) In the above embodiment, the first object plane distance L1, which is the distance to the first object plane 41Aa formed on the first object 41A, is measured by the first detector 42A. The configuration for calculating the amount of vertical deviation D based on L1 has been described as an example. However, without being limited to such a configuration, for example, the detector 42 detects the position of the target object 41 in the vertical direction Z by image recognition processing, and calculates the vertical shift amount D based on the image recognition result. It is good also as a structure to carry out.

(2) In the above embodiment, the configuration in which the target object 41 includes the first target object 41A, the second target object 41B, and the third target object 41C has been described as an example. However, it is sufficient that at least the first target object 41A is provided without being limited to such a configuration. That is, in addition to the first target object 41A, either one of the second target object 41B and the third target object 41C may be provided, or only the first target object 41A may be provided.

(3) In the above embodiment, the configuration in which the target object 41 is fixed to the floor surface F2 of the building B has been described as an example. However, without being limited to such a configuration, for example, a configuration in which the target object 41 is fixed to the second frame 22 of the second transport device 2 may be employed.

(4) In the above embodiment, the detection control device 7 is configured to perform detection by the detector 42 while the transport control device 8 is stopping the first transport device 1 and the second transport device 2. explained as. However, without being limited to such a configuration, the detection control device 7 may be configured to perform detection by the detector 42 while the first conveying device 1 and the second conveying device 2 are operating. .

(5) 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.

[Overview of the above embodiment]
An outline of the article transport facility described above will be described below.

Goods transport equipment
An article conveying facility for conveying articles between a first building and a second building arranged side by side,
a first conveying device provided in the first building for conveying the article;
a second conveying device provided in the second building for conveying the article and delivering the article to and from the first conveying device;
a lifting mechanism that lifts and lowers the first transport device with respect to the second transport device;
a position detection device that detects the relative positional relationship of the first transport device with respect to the second transport device;
a lifting control device that controls the lifting mechanism;
a detection control device that controls the position detection device,
The position detection device detects a target object supported with a fixed relative position to the second transport device and a target object supported with a fixed relative position to the first transport device. a detector;
The detection control device calculates a vertical deviation amount, which is a vertical deviation amount of the first transport device with respect to the second transport device, based on the detection result of the detector,
The elevation control device controls the elevation mechanism so that the vertical positions of the conveying surface of the first conveying device and the conveying surface of the second conveying device match based on the amount of vertical deviation. 1. A first elevation control is performed to raise and lower the conveying device.

According to this configuration, the detector supported with a fixed relative position with respect to the first transport device detects the object supported with a fixed relative position with respect to the second transport device. Then, the detection control device calculates the amount of vertical deviation of the first conveying device with respect to the second conveying device. Based on the amount of vertical deviation calculated by the detection control device, the elevation control device controls the elevation mechanism so that the vertical positions of the conveying surface of the first conveying device and the conveying surface of the second conveying device match each other. A first lift control is performed to lift and lower the first conveying device. As a result, even if the vertical positions of the first and second conveying devices deviate due to fluctuations in the outside air temperature, etc., the conveying surface of the first conveying device and the conveying surface of the second conveying device are kept in good contact. can be aligned in the vertical direction, the articles can be appropriately transferred between the first conveying device and the second conveying device. Further, since the detector is supported in a state where the position relative to the first transport device is fixed, the signal for performing the first lifting control of the lifting mechanism based on the detection result of the detector can be transmitted and received by the wireless transmitter/receiver. can be done without going through Therefore, it is easy to simplify the configuration of the article conveying equipment.

Here, assuming that the direction in which the article is conveyed is the conveying direction,
The object and the detector are arranged side by side in the transport direction,
The detector measures a target plane distance, which is a distance to a target plane formed on the target, and
It is preferable that the target plane is inclined so that the target plane distance changes toward one side in the vertical direction.

According to this configuration, the target object is formed with an inclined target surface so that the distance from the detector in the conveying direction changes toward one side in the vertical direction, and the distance to the target surface is measured by the detector. measures. Therefore, the detection control device can calculate the vertical shift amount based on the target plane distance measured by the detector. That is, by measuring the distance in the transport direction from the detector to the target surface, the amount of vertical deviation can be calculated. Therefore, according to this configuration, it is possible to match the vertical positions of the transport surface of the first transport device and the transport surface of the second transport device with a simple configuration.

Further, the apparatus further comprises a third conveying device provided in the first building for conveying the article and delivering the article to and from the first conveying device at a location different from the second conveying device. ,
In addition to the first elevation control, the elevation control device adjusts the vertical position of the first conveying device to a position at which the article can be transferred between the first conveying device and the third conveying device. It is preferable to perform a second elevation control for raising and lowering the first conveying device to the elevation mechanism so as to be .

As described above, the first transport device is installed in the first building, and the second transport device is installed in the second building. position changes. On the other hand, since the third transport device is installed in the first building in the same manner as the first transport device, the vertical position relative to the first transport device does not change due to fluctuations in outside air temperature or the like. . Therefore, when the vertical positions of the conveying surface of the first conveying device and the conveying surface of the second conveying device are matched by the first elevation control, the appropriate movement between the first conveying device and the third conveying device can be achieved. may not be able to deliver the goods to However, according to this configuration, since the elevation control device performs the second elevation control in addition to the first elevation control, it is possible to appropriately transfer articles between the first conveying device and the second conveying device. In addition, the articles can be properly transferred between the first conveying device and the third conveying device.

In addition, further comprising a transport control device that controls the first transport device and the second transport device,
Preferably, the detection control device causes the detector to perform detection while the transport control device stops the first transport device and the second transport device.

According to this configuration, the detector can appropriately detect the object without being affected by vibration caused by the transportation of the article by the first transportation device and the second transportation device. Therefore, the error in the amount of vertical deviation can be kept small.

The above configuration is preferably a connecting corridor in which the first structure is supported by a frame so as to be positioned between a pair of the second structures arranged apart from each other. In such a configuration, the gantry expands and contracts due to fluctuations in the outside air temperature, etc., and the first building is displaced in the vertical direction along with this, causing the vertical positions of the first transport device and the second transport device to shift. Because it is easy.

INDUSTRIAL APPLICABILITY The technology according to the present disclosure can be used for article transport equipment that transports articles between a first building and a second building that are arranged side by side.

100: Article transport equipment 1: First transport device 1a: First transport surface 2: Second transport device 2a: Second transport surface 3: Lifting mechanism 4: Position detection device 41: Target object 41A: First target object 41Aa: First target plane (target plane)
6: Elevation control device 7: Detection control device L1: First target plane distance (target plane distance)
S1: first building S2: second building W: article

Claims (5)

An article conveying facility for conveying articles between a first building and a second building arranged side by side,
a first conveying device provided in the first building for conveying the article;
a second conveying device provided in the second building for conveying the article and delivering the article to and from the first conveying device;
a lifting mechanism that lifts and lowers the first transport device with respect to the second transport device;
a position detection device that detects the relative positional relationship of the first transport device with respect to the second transport device;
a lifting control device that controls the lifting mechanism;
a detection control device that controls the position detection device,
The position detection device detects a target object supported with a fixed relative position to the second transport device and a target object supported with a fixed relative position to the first transport device. a detector;
The detection control device calculates a vertical deviation amount, which is a vertical deviation amount of the first transport device with respect to the second transport device, based on the detection result of the detector,
The elevation control device controls the elevation mechanism so that the vertical positions of the conveying surface of the first conveying device and the conveying surface of the second conveying device match based on the amount of vertical deviation. Article conveying equipment that performs first elevation control for raising and lowering the 1 conveying device. With the direction in which the article is conveyed as the conveying direction,
The object and the detector are arranged side by side in the transport direction,
The detector measures a target plane distance, which is a distance to a target plane formed on the target, and
2. The article conveying facility according to claim 1, wherein said target surface is inclined so that said target surface distance changes toward one side in said vertical direction. further comprising a third conveying device provided in the first building for conveying the article and delivering the article to and from the first conveying device at a location different from the second conveying device;
In addition to the first elevation control, the elevation control device adjusts the vertical position of the first conveying device to a position at which the article can be transferred between the first conveying device and the third conveying device. 3. The article conveying facility according to claim 1, wherein the lifting mechanism performs a second lifting control for lifting and lowering the first conveying device so that Further comprising a transport control device that controls the first transport device and the second transport device,
4. The detection control device according to any one of claims 1 to 3, wherein the detection control device causes the detector to perform detection while the transport control device stops the first transport device and the second transport device. Equipment for transporting goods as described. 5. The connecting corridor according to any one of claims 1 to 4, wherein the first building is supported by a frame so as to be located between a pair of the second buildings arranged apart from each other. Goods transport equipment.

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