TW201910234A - Item transport equipment - Google Patents

Abstract

The traveling rail has a first traveling rail, a second traveling rail, a detour traveling rail, a first branch rail, a second branch rail, a first merging rail, and a second merging rail. The first branch rail branches from the first traveling rail and merges to the detour traveling rail. The second branch rail branches from the second traveling rail and merges to the detour traveling rail. The first merging rail branches from the detour traveling rail and merges to the first traveling rail. The second merging rail branches from the detour traveling rail and merges to the second traveling rail. The article transport vehicle can travel toward both first and second directions on the detour traveling rail.

Description

Goods handling equipment

FIELD OF THE INVENTION The present invention relates to an article transporting apparatus including an article transporting vehicle that travels along a traveling track.

BACKGROUND OF THE INVENTION A conventional example of the article transfer device is described in Japanese Patent Laid-Open No. 2016-196359 (Patent Document 1). In the article transfer device of Patent Document 1, a walking rail is provided in a state along each of the first main path 4A, the second main path 4B, the first connection path 21, and the second connection path 22. The first connection path 21 is provided in a state branched from the first main path and merged with the second main path, and the second connection path 22 is provided in a state branched from the second main path and merged with the first main path. In addition, in this article transport facility, the article transport vehicle is configured to walk on the first main path. When another article transport vehicle stops in front of the article transport vehicle, the article transport equipment can be used in the first connection path, the first The method of walking and detouring on the two main paths and the second connection path exceeds the other article transport vehicles. The article transport vehicle is traveling in the same direction on the first main path and the second main path.

Summary of the Invention Problems and Means for Solving the Problems In such an article transport facility, it is considered to be provided with the following two groups: the article transport vehicle is on the first main path 4A, the second main path 4B, and the first connection The group on the path 21 and the second connection path 22 that travels in the first direction, and the group on which the article transport vehicle travels in the second direction opposite to the first direction, and the article transport vehicle faces the first direction and the second The two directions of travel can be detoured, and both the article transport vehicle traveling in the first direction and the article transport vehicle traveling in the second direction can be bypassed. However, since the path is increased by having two sets of the first main path 4A, the second main path 4B, the first connection path 21, and the second connection path 22, there may be a walking track provided along the path. The problem of large installation space. Therefore, it is desirable to realize an article transporting device that allows both the article transporting vehicle that travels in the first direction and the article transporting vehicle that travels in the second direction to bypass, and can set the installation space of the walking track to a small size.

In view of the above, the article transportation equipment has a characteristic configuration including an article transportation vehicle that travels along a traveling track, and the traveling track includes a first traveling track, a second traveling track, a detouring traveling track, a first branching track, The second branched track, the first merged track, and the second merged track. The second walking track is provided in parallel with the first walking track. The travel direction is a first direction, and the travel direction of the article transport vehicle walking on the second travel track is a second direction, the first direction and the second direction are opposite to each other, and the detour travel track Is located between the first traveling track and the second traveling track, and has a first branching and merging section and a second branching and merging section, wherein the second branching and merging section is located more than the first branching and merging section; On one direction side, the first divergent trajectory diverges from the first divergent part of the first traveling trajectory and merges with the circuit. The state of the first branching and merging portion of the recirculation running track is set, and the second branching and merging portion diverges from the second branching portion of the second running track and merges with the second branching and merging portion of the bypass running track. The first merged track is installed in a state where the second merged track is diverged from the second divergent merged part of the bypass travel track and merges with the first merged part of the first travel track. The second merged track is It is installed in a state of being diverged from the first diverging and converging part of the detour for the detour, and converging at the second confluence part of the second detour, and the article transport vehicle can be directed to the first direction on the detour for the detour. And walking in both directions of the aforementioned second direction.

According to these characteristic structures, the article transport vehicle traveling on the first traveling track can travel on the first diverging track or the detour if there are other article transport vehicles between the first diverging section and the first confluence section. The rails and the first confluence track travel in this order, thereby surpassing other article transport vehicles existing between the first branching portion and the first confluence portion. In addition, the article transport vehicle traveling on the second traveling track may use the second diverging track and detour if there is another article transporting vehicle between the second diverging portion and the second confluence portion of the second traveling track. By traveling in the order of the traveling track and the second confluence track, the vehicle can surpass other article transport vehicles existing between the second branching section and the second confluence section. By moving the article transport vehicle in this way, the article transport vehicle can walk in both directions of the first direction and the second direction on the detour traveling track, and can be used as an article traveling in the first direction on the first traveling track. It can be used as a circuitous circuit of a transport vehicle, and can also be used as a circuitous circuit of an article transport vehicle traveling on the second traveling track in the second direction. In addition, the article transport vehicle traveling in the first direction on the first traveling track and the article transport vehicle traveling in the second direction on the second traveling track are combined to use the detouring traveling track. It is not necessary to separately provide a detouring track in correspondence with each of the first traveling track and the second traveling track, so the number of detouring traveling tracks can be reduced. Therefore, both the article transport vehicle traveling in the first direction and the article transport vehicle traveling in the second direction can be detoured, and the installation space of the traveling track can be made small.

Embodiments for Carrying Out the Invention 1. Embodiment Embodiments of the article transporting equipment will be described with reference to the drawings. As shown in FIG. 1, the article transport facility includes a traveling track 2 provided along the traveling path 1 and an article transport vehicle 3 traveling along the traveling track 2. As shown in FIG. 2, the running rail 2 includes a pair of left and right rail portions 2A. The article transport vehicle 3 travels along the traveling path 1 on the traveling track 2 to transport articles. Furthermore, in this embodiment, a FOUP (Front Opening Unified Pod) that houses a semiconductor substrate is used as the article, and the article transport vehicle 3 is on the running track 2 suspended and supported from the ceiling. Walk along walking path 1 to transport the FOUP.

[Article Transport Vehicle] Next, the article transport vehicle 3 will be described. In describing the article transport vehicle 3, the front-back direction of the article transport vehicle 3 will be referred to as a walking direction, and the lateral width direction (left-right direction) of the article transport vehicle 3 will be referred to as a vehicle body lateral width direction. In addition, the description will be made by specifying the left and right directions in a state of looking forward from the rear of the article transport vehicle 3.

As shown in FIGS. 2 and 3, the article transport vehicle 3 includes a running section 11 that runs along the running track 2 on the running track 2, and a main body section 12 that is positioned below the pair of left and right running tracks 2 and holds the article. And a connecting portion 13 located between the pair of left and right rail portions 2A and connecting the walking portion 11 and the main body portion 12. The main body portion 12 is provided with a support portion 14 for supporting an article in a suspended state, and a cover body 15 covering both sides and above of the walking direction of the support portion 14 and the article supported by the support portion 14.

As shown in FIG. 2, the walking portion 11 includes a first walking portion 11A and a second walking portion 11B in a state of being aligned in the walking direction. Each of the first running portion 11A and the second running portion 11B is connected to the connecting portion 13 so as to rotate integrally around the longitudinal axis in the vertical direction Z. In addition, each of the front-to-back pair of connecting portions 13 is rotatably connected to the main body portion 12 about a longitudinal axis center in the vertical direction Z. The connecting portion 13 is rotated around the vertical axis center with respect to the main body portion 12, whereby the first walking portion 11A and the second running portion 11B are rotated about the vertical axis center with respect to the main body portion 12. As shown in FIG. 3, the connection portion 13 of the front and back pair is located between the rail portions 2A of the left and right pair.

As shown in FIG. 2, the first traveling portion 11A includes a first motor 16 and a pair of left and right traveling wheels 17 that are rotationally driven by the first motor 16. Each of the left and right pair of traveling wheels 17 is provided on the first traveling portion 11A so as to travel on the upper surface of each of the left and right pair of rail portions 2A. In addition, the first traveling portion 11A is provided with a pair of left and right guide wheels 18 rotatable around a longitudinal axis center in the vertical direction Z. The left and right pair of guide wheels 18 are provided on the first traveling portion 11A so as to roll between the left and right pair of track portions 2A and roll on the inner side surfaces of the left and right pair of track portions 2A. The left and right pair of guide wheels 18 are equipped with two sets on the first running portion 11A in a state of being aligned in the running direction. Like the first traveling portion 11A, the second traveling portion 11B includes one first motor 16, one pair of left and right pair of travel wheels 17, and two sets of left and right pair of guide wheels 18.

The article transport vehicle 3 is guided by a pair of traveling rails 2 by the guide wheels 18 of the first traveling portion 11A and the guide wheels 18 of the second traveling portion 11B, thereby restricting the position in the path width direction Y, and by The traveling wheels 17 of the first traveling section 11A and the traveling wheels 17 of the second traveling section 11B are rotationally driven to travel along the traveling path 1. In addition, the article transport vehicle 3 rotates the first traveling portion 11A and the second traveling portion 11B relative to the main body portion 12 about the longitudinal axis with respect to the main body portion 12 so that even if the traveling path 1 is arc-shaped, You can also walk along the walking path 1.

As shown in FIG. 2, the first traveling portion 11A is provided with a pair of front and rear guide assist wheels 19 that rotate around a longitudinal axis in the up-and-down direction Z, and a pair of front and rear guide assist wheels 19 that are integrated across the vehicle body. The second motor 20 is a driving unit that moves in the wide direction. The front and rear guide assist wheels 19 and the second motor 40 are provided on the first running portion 11A so as to be positioned above the running wheels 17. The second running portion 11B is provided with a pair of front and rear guide assist wheels 19 and a second motor 20 similarly to the first running portion 11A.

As shown in FIG. 4, a guide rail 21 is provided to guide the guide assist wheel 19. As shown in FIG. 3, the guide rail 21 is provided above the walking rail 2 and above the walking wheels 17 rolling on the walking rail 2, and is located on the left and right pair of walking rails in a vertical Z perspective. The central part of 2. As shown in FIG. 3, the first walking portion 11A is configured to move the position of the front and rear guide assist wheels 19 to the right guide position (equivalent to the first position in FIG. 3) by the drive of the second motor 20. The position indicated by an imaginary line in the middle) and the left guide position (corresponding to the second position, a position indicated by a solid line in FIG. 3). The right guide position is a position where the pair of front and rear guide assist wheels 19 are located on the right side of the center of the vehicle body in the widthwise direction of the first traveling portion 11A and abut against the guide rail 21 from the right side. The left guide position is a position where the pair of front and rear guide assist wheels 19 is located more to the left than the center in the widthwise direction of the vehicle body of the first traveling portion 11A and abut against the guide rail 21 from the left. The guide assist wheel 19 corresponds to a guided body, and the second motor 20 corresponds to a driving unit that moves the guide assist wheel 19 in the left-right direction and moves to the first position and the second position.

The pair of front and rear guide assist wheels 19 provided in the first traveling portion 11A and the pair of front and rear guide assist wheels 19 provided in the second traveling portion 11B are moved to the same guide position in a synchronized state. In addition, the left and right pair of guide assist wheels 19 are restricted from moving to the right side of the right guide position or to the left side of the left guide position by the restricting parts not shown in the figure. Therefore, for example, even if the pair of front and rear guide assist wheels 19 is pressed to the right by the guide rail 21 in the right guide position, the forward and backward guide assist wheels 19 can be maintained by the restriction portion. Lead right position. However, when the guide auxiliary wheels 19 of the front and rear pair are pressed to the left side while being located at the right guide position, the guide auxiliary wheels 19 of the left and right pair move toward the left guide position.

As shown in FIG. 3, the article transport vehicle 3 includes a subject 23 at a position shifted to one side with respect to the center in the vehicle width direction. In the present embodiment, the object to be detected 23 is provided on the upper surface of the cover 15 at a position shifted to the right from the center in the vehicle width direction. The object 23 to be installed in this manner is located directly below the right rail portion 2A among the left and right pair of rail portions 2A. In this embodiment, a magnet is used as the subject 23.

[Walking Track] As shown in FIG. 1, the running track 2 includes a first running track 31, a second running track 32, a detour running track 33, a first branching track 34, a first confluence track 35, and a second branching track 36. ， 和 第二 合 联 杆 37。 And, the second confluence track 37. Furthermore, when describing the walking path 1, the direction along the detouring walking track 33 of the walking path 1 is referred to as a path length direction X, and a direction orthogonal to the path length direction X in the vertical direction Z viewing angle is referred to as A description will be given of the path width direction Y. The first traveling track 31 is provided along the first traveling path 41 of the traveling path 1. The second running track 32 is provided along the second running path 42 of the running path 1. The detour track 33 is provided along the detour path 43 of the travel path 1. The first branched track 34 is provided along the first branched path 44 of the walking path 1. The first merging rail 35 is provided along the first merging path 45 of the walking path 1. The second branch track 36 is provided along the second branch path 46 of the walking path 1. The second merging track 37 is provided along the second merging path 47 of the walking path 1.

The first running track 31 is provided in a state parallel to the second running track 32. The first running track 31 is provided on the first side Y1 in the path width direction with respect to the second running track 32. The detour running track 33 is provided between the first running track 31 and the second running track 32 in a vertical viewing angle. That is, the first traveling track 31 is provided on the first side Y1 in the path width direction with respect to the detour running track 33, and the second traveling track 32 is provided on the second side Y2 in the path width direction with respect to the detour running rail 33. The first running track 31, the second running track 32, and the detour running track 33 are provided so as to be parallel to each other.

The traveling direction of the article transport vehicle 3 walking on the first traveling track 31 is set to the first direction X1, and the traveling direction of the article transport vehicle 3 walking on the second traveling track 32 is set to the second direction X2, first direction X1 and the second direction X2 are opposite to each other. That is, the article transport vehicle 3 traveling on the first traveling track 31 and the article transport vehicle 3 traveling on the second traveling track 32 have opposite directions, and the article transport vehicle 3 is on the first traveling track 31 and the second Among the traveling rails 32, the traveling rail 2 is located on the right when viewed from the own vehicle. The first running track 31 includes a first diverging portion 51 and a first merging portion 52. The first merging portion 52 is located on the first direction X1 side than the first diverging portion 51. The second running track 32 includes a second branching portion 53 and a second merging portion 54. The second merging portion 54 is located on the second direction X2 side than the second branching portion 53. The first branching portion 51 and the second merging portion 54 are provided at the same position in the path length direction X, and the second branching portion 53 and the first merging portion 52 are provided at the same position in the path length direction X.

The detour running rail 33 includes a first branching and merging unit 55 and a second branching and merging unit 56. The second branching and merging unit 56 is located on the first direction X1 side than the first branching and merging unit 55. The first diverging and merging portion 55 is located on the first direction X1 side than the first diverging and merging portion 51 or the second merging portion 54, and the second diverging and merging portion 56 is further located on the second direction than the second diverging portion 53 or the first merging portion 52. Direction X2 side.

The first branching track 34 is provided in a state of branching from the first branching section 51 of the first running track 31 and converging at the first branching and joining section 55 of the detouring running track 33. The first merging rail 35 is provided in a state of being diverged from the second branching merging unit 56 of the detouring traveling rail 33 and merging with the first merging unit 52 of the first traveling rail 31. The second branched track 36 is provided in a state where the second branched track 36 branches from the second branched section 53 of the second running track 32 and merges with the second branched and joined section 56 of the detouring running track 33. The second merging track 37 is provided in a state where it diverges from the first branching and merging section 55 of the detour running track 33 and merges with the second merging section 54 of the second walking track 32.

The article transport vehicle 3 traveling along the first traveling track 31 in the first direction X1 will go straight or diverge in the first diverging portion 51. The article transport vehicle 3 that has been traveling straight at the first branching section 51 will travel along the first traveling track 31 as it is. The article transport vehicle 3 that diverges toward the first diverging track 34 on the first diverging section 51. After traveling in the order of the first diverging track 34, the detouring walking track 33, and the first converging track 35, it is at the first converging The portion 52 is transferred to the first walking rail 31 and thereafter travels along the first walking rail 31. When the article transport vehicle 3 is caused to travel on the detour rail 33 as described above, the article transport vehicle 3 travels on the detour rail 33 in the first direction X1. When the article transport vehicle 3 is caused to travel on the first branch rail 34 and the first merged rail 35 as described above, the article transport vehicle 3 is also considered to be traveling in the first direction X1. The article transport vehicle 3 traveling along the second traveling track 32 in the second direction X2 will go straight or diverge in the second diverging portion 53. The article transport vehicle 3 that has been traveling straight at the second branching portion 53 will travel along the second traveling rail 32 as it is. The article transport vehicle 3 which is diverging toward the second branching track 36 on the second branching section 53 and then travels in the order of the second branching track 36, the detouring walking track 33, and the second confluence track 37, and then converges at the second confluence. The portion 54 is transferred to the second walking rail 32 and thereafter travels along the second walking rail 32. When the article transport vehicle 3 is caused to travel on the detour rail 33 as described above, the article transport vehicle 3 travels on the detour rail 33 in the second direction X2. When the article transport vehicle 3 is caused to travel on the second branch rail 36 and the second merged rail 37 in this manner, the article transport vehicle 3 is also considered to be traveling in the second direction X2. That is, the article transport vehicle 3 travels on the detour rail 33 in both directions of the first direction X1 and the second direction X2.

[Guide Track] As shown in FIG. 4, the guide track 21 corresponds to the first branching portion 51, the first merged portion 52, the second branched portion 53, the second merged portion 54, the first branched merged portion 55, and the second Each of the diverging and merging units 56 is provided. As described above, the guide rail 21 is a portion where two paths provided in the travel path 1 are connected. Provided as the guide rail 21 are a first branch guide rail 71 provided corresponding to the first branch portion 51, a first merge guide rail 72 provided corresponding to the first merge portion 52, and a second branch portion 53 provided A second branching guide track 73 provided, a second merged guide track 74 provided corresponding to the second merged section 54, a first branched merge guide track 75 provided corresponding to the first branched merge section 55, and a first A second branching merge guide rail 76 provided at the two branching merge section 56.

The first branching guide track 71 guides the article transport vehicle 3 to the first traveling track 31 or the first branching track 34 in accordance with the position of the guide auxiliary wheel 19. If added, that is, the first diverging guide track 71 is composed of a guide track 21 provided along the first walking path 41 and a guide track 21 provided along the first diverging path 44 and is arranged in the vertical direction Z view Y-shaped. In addition, by letting the article transport vehicle 3 enter the first branching portion 51 with the guide assist wheel 19 positioned at the right guide position, the article transport vehicle 3 is guided by the guide track 21 provided along the first walking path 41. To walk along the first walking track 31. In addition, by letting the article transport vehicle 3 enter the first branching portion 51 with the guide auxiliary wheel 19 at the left guide position, the article transport vehicle 3 is guided by the guide rail 21 provided along the first branching path 44. Cheng walks along the first branched track 34.

The guide rail 21 provided along the first branch path 44, the first merge path 45, the second branch path 46, and the second merge path 47 is provided with a switching portion 59 midway in the length direction, and the switching portion 59 can switch and guide Position of the auxiliary wheel 19. As shown in FIG. 5, if the switching portion 59 is a switching portion 59 of the guide rail 21 provided along the first branching path 44 (see FIG. 1), the guide assisting wheel 19 is brought into contact with the guide assisting wheel 19 from the left side. The position moves from the left guide position to the right guide position.

An entry prevention body 60 is provided on an end portion on the first direction X1 side of the first divergence merge guide rail 75. This entry preventing body 60 is an article transport vehicle 3 that prevents the vehicle from moving in the second direction X2 on the roundabout travelling rail 33 and enters the path width direction of the first divergent converging guide rail 75 with the guide auxiliary wheel 19 in the left guide position. The situation on the first side Y1. In addition, the entry prevention body 60 is a first direction in which the end portion on the second direction X2 side of the entry prevention body 60 is swingably connected to the first branch merge guide rail 75 around the axis in the vertical direction Z. X1 side end. In addition, the entry prevention body 60 is given potential energy by the potential imparting ability of the potential imparting member outside the figure, and swings toward the first side Y1 in the width direction of the path, and is restricted by the restriction member outside the figure: A posture that is inclined toward the first direction X1 side toward the path width direction first side Y1 (such as the imaginary line in FIG. 6 or the posture shown in FIG. 7) is further swung toward the path width direction first side Y1. As shown in FIG. 6, the article transport vehicle 3 traveling on the first branching and merging unit 55 in the first direction X1 is pushed by the guide auxiliary wheel 19 to enter the prevention body 60 to exit the first branching and merging unit. In addition, as shown in FIG. 7, when the guide assist wheel 19 of the article transport vehicle 3 configured to enter the first diverging and merging unit 55 is located at the left guide position, the guide assist wheel 19 can be removed from the entry prevention body 60. The left guide position is guided to the right guide position. In addition, an entry prevention body 60 is similarly provided at an end portion on the second direction X2 side of the second branch merge guide rail 76.

[Direction Sensor] As shown in FIGS. 1, 3, and 4, an article conveying device is provided with a direction sensor 66, which is used to detect a person walking on a roundabout walking track 33. The traveling direction of the article transport vehicle 3. The direction sensor 66 is provided along the detour rail 33. The direction sensor 66 includes a first sensor 66A and a second sensor 66B. The first sensor 66A is mounted on the first rail portion 2A, which is a left-right pair of left-right rail portions 2A with respect to the first direction X1 (left side with respect to the second direction X2). Of the track section 2A. The second sensor 66B is mounted on the second rail portion 2A, which is the left side of the pair of left and right rail portions 2A with respect to the first direction X1 (right side with respect to the second direction X2). Of the track section 2A.

The first sensor 66A is mounted on the lower surface of the first rail portion 2A, and allows the article transport vehicle 3 to be detected when the article transport vehicle 3 is traveling on the detour rail 33 in the first direction X1. 23 passes directly under the first sensor 66A. Therefore, the object 23 of the article transport vehicle 3 can be detected by the first sensor 66A. As described above, the first sensor 66A is installed on one side of the pair of left and right rail portions 2A (first rail portion 2A) to detect the object transport vehicle 3 traveling on the detour rail 33 in the first direction. Detector 23.

The second sensor 66B is attached to the lower surface of the second rail portion 2A and allows the article transport vehicle 3 to be detected when the article transport vehicle 3 is traveling on the detour rail 33 toward the second direction X2. 23 passes directly below the second sensor 66B. Therefore, the object 23 of the article transport vehicle 3 can be detected by the second sensor 66B. In this way, the second sensor 66B is mounted on the other side of the left and right pair of rail portions 2A to detect the object 23 of the article transport vehicle 3 traveling on the detour rail 33 in the second direction X2.

In addition, in this embodiment, the direction sensor 66 is provided along the first branching track 34, the first confluent track 35, and the second branching track in addition to the portion provided along the detour running track 33. 36, and a portion provided for each of the second confluence rails 37. A portion provided along the first branch rail 34 or the first merged rail 35 is provided with only the first sensor 66A among the first sensor 66A and the second sensor 66B. A portion provided along the second branch rail 36 or the second merged rail 37 is provided with only the second sensor 66B among the first sensor 66A and the second sensor 66B.

[Control Configuration] As shown in FIG. 12, the article transport vehicle 3 includes a detection device 61, a transmission and reception device 62, a reception device 63, and a third control unit H3. The detection device 61 can detect a display body 65 (see FIG. 4 and the like) provided along the walking path 1. Address information is displayed on the display body 65. The address information indicates the position where the display body 65 is provided. The detection device 61 is configured to detect the display body 65 and read the address information shown on the display body 65. A plurality of display bodies 65 are provided along the walking path 1, and are provided on the upstream side of each of the first branching portion 51 and the second branching portion 53, and each of the first merged portion 52 and the second merged portion 54. The downstream side of one. The transmitting / receiving device 62 receives information transmitted from the transmitting / receiving section 64 of the first control section H1 described later, and transmits the address information read by the detection device 61 to the transmitting / receiving section 64 of the first control section H1. The receiving device 63 receives information transmitted from a communication device 67 of a second control unit H2 described later. The third control unit H3 is based on the information received by the transmitting and receiving device 62 (information received from the first control unit H1) and the information received by the receiving device 63 (received from the second control unit H2). Information) to control the goods transfer vehicle 3.

As shown in FIG. 4, a communication device 67 that transmits information to the receiving device 63 of the article transport vehicle 3 is provided on the upstream side of each of the first branching portion 51 and the second branching portion 53. The communication device 67 is provided on the second direction X2 side with respect to the first branch portion 51 and is provided on the first direction X1 side with respect to the second branch portion 53. The following range in the travel path 1 of the article transport vehicle 3 is defined as the management area E: from the upstream end of the communication device 67 provided on the upstream side of the first branching portion 51 to the downstream end of the first merge guide rail 72. And the range from the upstream end of the communication device 67 provided on the upstream side of the second branching portion 53 to the downstream end of the second merge guide rail 74. In addition, a range where the communication device 67 is provided on the second direction X2 side of the first branch portion 51 is set as a first stop area E1, and a range where the communication device 67 is provided on the first direction X1 side of the second branch portion 53 is set. The second stop area E2 is set.

As shown in FIG. 12, the article transport facility includes a control device H that controls the article transport vehicle 3. This control device H includes a first control unit H1, a second control unit H2, and a third control unit H3. The first control unit H1 controls the travel of the article transport vehicle 3 in the entire travel path 1 including the management area E. The second control unit H2 controls the travel of the article transport vehicle 3 in the management area E. The first control unit H1 and the second control unit H2 are, for example, provided in a fixed state so as not to move on the floor surface or the like. The third control unit H3 is provided in each of the article transport vehicles 3 traveling on the traveling path 1.

The first control unit H1 displays information such as a target stop position corresponding to a transport destination of a transported article in accordance with a transport instruction from a higher-level controller (not shown). Here, the conveyance information includes route information showing a conveyance route, which is a route for moving the article conveyance vehicle 3 toward the conveyance destination. When the target stop position exists between the first branched portion 51 and the second branched portion 53 in the first path, or the target stop position is located on the downstream side of the first merged portion 52 and the article transport vehicle 3 is assumed In the case where there is no other article transport vehicle 3 between the first branching portion 51 and the first confluence portion 52 in the first path, it is a conveying path set in a form where the first branching portion 51 advances straight. In addition, the target stop position is located on the downstream side of the first confluence unit 52 and the article transport vehicle 3 is assumed to have another article transport vehicle 3 between the first branching portion 51 and the first confluence unit 52 in the first path. Next, a transport path that branches from the first branching section 51 to the first branching track 34 and is detoured on the detour traveling track 33 is set. In addition, the first control unit H1 grasps the position of the article transport vehicle 3 based on the address information (position information), where the address information is sent from the article transport vehicle 3 walking on the walking path 1 and displays the article transport vehicle. 3 walking position information.

The third control unit H3 executes walking control based on the conveyance information. This walking control is a control for moving the article transport vehicle 3 to a target stop position corresponding to the transport destination of the article. In the walking control, the address information read by the detection device 61 while the article transport vehicle 3 is walking is transmitted to the first control unit H1.

The control device H restricts the article transporting vehicle 3 traveling on the first traveling track 31 from entering the first branching track 34 when the article transporting vehicle 3 traveling on the detour traveling track 33 in the second direction X2 exists. When an article transport vehicle 3 traveling in the first direction X1 on the detour rail 33 is present, the article transport vehicle 3 traveling on the second traveling track 32 is restricted from entering the second branching track 36. In detail, when the control device H detects the article transport vehicle 3 traveling on the detour traveling track 33 in the second direction X2 by the direction sensor 66, the control device H The article transporting vehicle 3 in which the branching section 51 enters the first branching track 34 sends a stop signal, and when the article transporting vehicle 3 traveling in the first direction X1 on the detour rail 33 is detected by the direction sensor 66, , A stop signal is sent to the article transport vehicle 3 that intends to enter the second branched track 36 from the second branched section 53 of the second walking track 32.

Specifically, when the article transport vehicle 3 traveling on the detour rail 33 in the second direction X2 exists, the article transport vehicle 3 can be detected by the second sensor 66B. When there is an article transport vehicle 3 on the second branched track 36 and the second merged track 37, the article transport vehicle 3 may be detected by the second sensor 66B. When the second control unit H2 detects the article transport vehicle 3 by the second sensor 66B, it sends a stop signal from the communication device 67 in the first stop area E1. When the article transport vehicle 3 traveling in the first direction X1 on the detour rail 33 exists, the article transport vehicle 3 can be detected by the first sensor 66A. When the article transport vehicle 3 is present on the first branched track 34 and the first merged track 35, the article transport vehicle 3 may be detected by the first sensor 66A. When the second control unit H2 detects the article transport vehicle 3 by the first sensor 66A, it sends a stop signal from the communication device 67 in the second stop area E2.

The third control unit H3 of the article transport vehicle 3 travels on the travel path 1 based on the transport information. The third control unit H3 controls the second motor 20 so that the guide assist wheel 19 is located on the right before entering the first branch 51 when the third control unit H3 is traveling on the first running track 31 and the first branch 51 goes straight. Guide position. When the third control unit H3 enters the first branching portion 51 straight, even if the third control portion H3 receives the stop signal from the communication device 67 in the first stop area E1, it will walk into the first branching portion 51 without stopping. As shown in FIG. 8, when the third control unit H3 is walking on the first traveling track 31 and entering the first diverging track 34 from the first diverging unit 51, the third control unit H3 controls the second motor 20 to enter the first diverging track 34. The section 51 previously positions the guide assist wheel 19 in the left guide position. When the third control unit H3 has received a stop signal from the communication device 67 in the first stop area E1 when it is about to enter the first branch track 34 from the first branch 51, as shown in FIG. 3 stops in the first stop area E1.

When the third control unit H3 is walking on the second running track 32 and is traveling straight on the second branching portion 53, the third control unit H3 controls the second motor 20 so that the guide assist wheel 19 is positioned before entering the second branching portion 53. Right guide position. When the third control unit H3 goes straight on the second branching portion 53, even if it receives a stop signal from the communication device 67 in the second stop area E2, it still walks into the second branching portion 53 without stopping. As shown in FIG. 9, when the third control unit H3 is walking on the second traveling track 32 and enters the second branching track 36 from the second branching unit 53, the third motor 20 controls the second motor 20 to enter the second branching The part 53 previously positioned the guide assist wheel 19 in the left guide position. When the third control unit H3 has received a stop signal from the communication device 67 in the second stop area E2 when it is about to enter the second branch track 36 from the second branch 53, as shown in FIG. 3 stops in the second stop area E2.

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

(1) In the above-mentioned embodiment, although the direction sensor 66 is mounted on the pair of left and right rail portions 2A, the mounting position of the direction sensor 66 may be appropriately changed. Specifically, as shown in FIG. 13, a detour guide rail 78 is provided along the detour guide rail 33. The detour guide rail 78 restricts the guide auxiliary wheel 19 from one of the first position and the second position. In the other position, the first sensor 66A is mounted on one side in the left-right direction (path width direction Y) of the detour guide rail 78, and the first sensor 66A is mounted on the other side in the left-right direction of the detour guide rail 78. Two sensors 66B. The first sensor 66A can detect a subject 23, which is located on the side of the first traveling track 31 in the left-right direction in the article transport vehicle 3 traveling on the detouring traveling track 33 in the first direction X1 ( Path width direction first side Y1). The second sensor 66B is capable of detecting the detection object 23, which is located on the side of the second travel track 32 in the left-right direction in the article transport vehicle 3 traveling in the second direction X2 of the detour travel track 33 ( Path width direction second side Y2).

(2) In the above embodiment, although the subject 23 is provided on the upper surface of the main body portion 12, the subject 23 may be provided on the side of the main body portion 12 or on the main body portion 12 such as the walking portion 11. Other than the upper surface. When the subject 23 is provided on the walking section 11, the detection section 23 may be provided on the walking section 11 so as to be moved in the left-right direction integrally with the guide assist wheel 19 by the second motor 20.

(3) In this embodiment, the direction sensor 66 is provided along the first branched track 34 and the first confluence, in addition to the portion where the direction sensor 66 is provided along the detour running rail 33. The rail 35, the second branch rail 36, and the second confluence rail 37 are each provided. However, the direction sensor 66 may be provided only along the detour rail 33, and may be provided in addition to the detour. In addition to the portion provided by the traveling rail 33, it is provided along a part of the first branch rail 34, the first merge rail 35, the second branch rail 36, and the second merge rail 37.

(4) In the above embodiment, although the subject 23 is a magnet, the subject 23 may be an object other than a magnet such as a reflector, a bar code, or an IC tag.

(5) Furthermore, the structures disclosed in each of the above embodiments can be applied in combination with the structures disclosed in other embodiments as long as no contradiction occurs. Regarding other structures, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various changes can be appropriately made without departing from the spirit of the present invention.

3. Outline of the above embodiment The outline of the article transfer facility described above will be described below.

An article transporting device includes an article transporting vehicle traveling along a traveling track, the traveling track includes a first traveling track, a second traveling track, a detouring traveling track, a first branching track, a second branching track, a first merged track, And the second confluence track, the second running track is provided in a state parallel to the first running track, the running direction of the article transport vehicle running on the first running track is set as a first direction, and The traveling direction of the article transport vehicle traveling on the second traveling track is set as a second direction, the first direction and the second direction are opposite to each other, and the detouring traveling track is provided on the first traveling track and the aforementioned Between the second walking rails, there are a first branching and merging portion and a second branching and merging portion. The second branching and merging portion is located on the first direction side than the first branching and merging portion. Diverge from the first branch of the first traveling track and merge with the first branch of the detouring traveling track The second diverging trajectory is provided in a state where the second diverging trajectory diverges from the second diverging part of the second traveling trajectory and merges with the second diverging converging trajectory of the bypass traveling trajectory. The track is set in a state where it is diverged from the second diverging and converging portion of the detouring track and merges with the first converging portion of the first traveling track. The second converging track is the state from the detouring track of the detour. The first diverging and converging portion is provided in a state of being divergent and converging on the second converging portion of the second traveling track, and the article transport vehicle can walk on the detouring traveling track in both directions of the first direction and the second direction. .

According to this configuration, when an article transport vehicle traveling on the first traveling track exists, if another article transporting vehicle exists between the first branching section and the first confluence section, the article transporting vehicle can follow the first branching track, the detouring traveling track, the first One of the converging rails travels in sequence, thereby surpassing other article transport vehicles existing between the first branching portion and the first converging portion of the first traveling rail. In addition, the article transport vehicle traveling on the second traveling track may use the second diverging track and detour if there is another article transporting vehicle between the second diverging portion and the second confluence portion of the second traveling track. By traveling in the order of the traveling track and the second confluence track, the vehicle can surpass other article transport vehicles existing between the second branching section and the second confluence section. By moving the article transport vehicle in this way, the article transport vehicle can walk in both directions of the first direction and the second direction on the detour traveling track, and can be used as an article traveling in the first direction on the first traveling track. It can be used as a circuitous circuit of a transport vehicle, and can also be used as a circuitous circuit of an article transport vehicle traveling on the second traveling track in the second direction. In addition, since the article transport vehicle traveling in the first direction on the first traveling track and the article transport vehicle traveling in the second direction on the second traveling track both use the detour traveling track, it becomes It is not necessary to separately provide a detouring track in correspondence with each of the first traveling track and the second traveling track, so the number of detouring traveling tracks can be reduced. Therefore, both the article transport vehicle traveling in the first direction and the article transport vehicle traveling in the second direction can be detoured, and the installation space of the traveling track can be made small.

Here, it is more desirable to further include a control device that controls the travel of the article transport vehicle, and the control device may restrict the existence of the article transport vehicle that travels in the second direction on the detour traveling track in the second direction. The article transport vehicle traveling on the first traveling track enters the first branched track. When the article transport vehicle traveling in the first direction on the detour traveling track exists, the article transport vehicle is restricted from traveling on the second walk. The aforementioned article transport vehicle of the track enters the aforementioned second branched track.

According to this configuration, when there is an article transport vehicle traveling in the second direction on the detour traveling track, it is possible to restrict the article transport vehicle traveling in the first direction from entering the detour traveling track. Further, when an article transport vehicle traveling in the first direction exists on the detour traveling track, it is possible to restrict the case where the article transport vehicle traveling in the second direction enters the detour traveling track. Therefore, it is possible to prevent a situation in which the article transport vehicle traveling in the first direction and the article transport vehicle traveling in the second direction face each other on the detour rail.

Furthermore, it is more desirable to further include a direction sensor that can detect a traveling direction of the article transport vehicle that is walking on the detour traveling track, and the direction sensor is along the detour traveling track In addition, when the control device detects the article transport vehicle traveling in the second direction on the detour track on the detour by the direction sensor, the control device detects the first When a branch unit enters the first branch track, the article transport vehicle sends a stop signal, and when the direction sensor detects the article transport vehicle traveling in the first direction on the detour track, A stop signal is sent to the article transport vehicle that is going to enter the second branched track from the second branched section of the second traveling track.

According to this configuration, an article transport vehicle that intends to enter the first divided track from the first branching portion of the first traveling track can receive the article transporting vehicle that is traveling in the second direction on the detouring traveling track. Stop signal and stop. The article transport vehicle that intends to enter the second branch track from the second branch of the second traveling track may be stopped by receiving a stop signal when there is an article transport vehicle traveling in the first direction on the bypass traveling track. In this way, the control device can send a stop signal according to the detection information of the direction sensor, thereby stopping the article transport vehicles and preventing the article transport vehicles from facing each other in the detour track.

Further, it is preferable that the detour traveling rail includes a pair of left and right rail portions, the article transport vehicle includes a subject at a position deviated to one side with respect to a center in the left-right direction, and the direction sensor includes a first A sensor and a second sensor, wherein the first sensor is installed on one side of the pair of left and right rail sections to detect the conveyance of the article traveling in the first direction on the detour rail; In the vehicle to-be-detected object, the second sensor is mounted on the other side of the left and right pair of rail portions to detect the bag in the article transport vehicle traveling in the second direction on the detour rail. Detection body.

According to this configuration, by using the left and right pair of rail portions for mounting the first sensor and the second sensor, it is not necessary to separately prepare a member for mounting the first sensor or the second sensor. Therefore, it is possible to simplify the mounting structure of the first sensor or the second sensor. In addition, when the article transport vehicle is traveling in the first direction and when the article transport vehicle is traveling in the second direction, the position of the subject is different in the left-right direction. Therefore, as long as the first sensor and the second sensor are disposed in a staggered manner in the left and right directions, the walking direction of the article transport vehicle can be appropriately detected by the first sensor and the second sensor.

Further, it is preferable that the article transport vehicle includes a guided body, a detected body, and a driving unit. The driving unit moves the guided body and the detected body integrally in a left-right direction, and moves the driven body. The guide body and the subject to be moved to a first position and a second position, wherein the second position is a position on the right side than the first position, and the first branch portion includes a first guide track, the first guide track The article transport vehicle is guided to the first traveling track or the first branching track in accordance with the position of the guided body. The second branching section is provided with a second guiding track. The second guiding track is corresponding to the subject. The position of the guide body guides the article transport vehicle to the second travel track or the second branch track, and a detour guide track is provided along the detour travel track. The detour guide rail restricts the guided body from When one of the first position and the second position moves to the other, the direction sensor includes a first sensor and a second sensor. The first sensor is installed on one of the left and right directions in the detour guide rail to detect the position of the article transport vehicle in the detour vehicle traveling in the first direction on the detour guide rail. In the left-right direction, the subject to be detected on the first traveling track side, and the second sensor is mounted on the other side in the left-right direction in the detour guide rail to detect the position on the detour road toward the aforementioned In the article transport vehicle traveling in the second direction, the subject on the second traveling track side in the left-right direction.

According to this configuration, the guided part can be moved to the first position or the second position by the driving part, whereby the direction in which the article transport vehicle travels can be switched between the first branch part and the second branch part. In addition, since the subject and the guided body are moved integrally in the left-right direction, it is not necessary to include a dedicated driving unit for moving the subject in the left-right direction, so that the configuration of the article transport vehicle can be simplified. In addition, since the first sensor or the second sensor is mounted on the circuitous walking rail that restricts the movement of the guided body, it is not necessary to separately prepare a component for mounting the first sensor or the second sensor. Therefore, it is possible to simplify the mounting structure of the first sensor or the second sensor.

Further, it is preferable that the direction sensor is provided along the first branched track, the first merged track, the second branched track, in addition to a portion provided along the detour running track. And each of the aforementioned second confluence tracks.

According to this configuration, a portion provided along each of the first divergent orbit, the first merged orbit, the second diverged orbit, or the second merged orbit in the direction sensor can detect the first divergence An article transport vehicle traveling on the track, the first merged track, the second branched track, and the second merged track. The control device restricts the situation in which the article transport vehicles enter the first branched track or the situation in which the article transported vehicles enter the second branched track based on the detection information of the direction sensor, thereby easily and appropriately restricting the article transporting vehicles from facing each other on the same track Situation. Industrial availability

The technology of the present disclosure can be used in an article transporting apparatus provided with an article transporting vehicle traveling along a traveling track.

1‧‧‧ walking path

2‧‧‧ walking track

2A‧‧‧Track Department

3‧‧‧ Goods Transfer Vehicle

11‧‧‧ Walking Department

11A‧‧‧First walking department

11B‧‧‧Second walking section

12‧‧‧Body

13‧‧‧Connection Department

14‧‧‧ support

15‧‧‧ cover

16‧‧‧First motor

17‧‧‧ walking wheel

18‧‧‧Guide Wheel

19‧‧‧Guide auxiliary wheel (guided body)

20‧‧‧Second motor (drive unit)

21‧‧‧Guide track

23‧‧‧Subject

31‧‧‧First walking track

32‧‧‧Second walking track

33‧‧‧ Detour walking track

34‧‧‧ First divergence track

35‧‧‧ the first confluence track

36‧‧‧ Second divergence track

37‧‧‧Second Confluence Orbit

41‧‧‧First walking path

42‧‧‧Second walking path

43‧‧‧Circle

44‧‧‧ First divergence path

45‧‧‧ the first confluence path

46‧‧‧ Second divergence path

47‧‧‧Second Confluence Path

51‧‧‧First Division

52‧‧‧First Confluence Department

53‧‧‧Second Division

54‧‧‧Second Confluence Department

55‧‧‧First Convergence Department

56‧‧‧ Second Convergence Department

59‧‧‧Switching Department

60‧‧‧ Entry prevention body

61‧‧‧detection device

62‧‧‧ sending and receiving device

63‧‧‧Receiving device

64‧‧‧ Send and Receive Department

65‧‧‧ Display

66‧‧‧direction sensor

66A‧‧‧first sensor

66B‧‧‧Second sensor

67‧‧‧Communication device

71‧‧‧ First divergence guide track (first guide track)

72‧‧‧ first confluence guide track (second guide track)

73‧‧‧ Second divergence guide track

74‧‧‧ second confluence guide track

75‧‧‧ first divergence confluence guide track

76‧‧‧ Second divergence merge guide track

78‧‧‧ detour guide track

E‧‧‧Management area

E1‧‧‧First stop area

E2‧‧‧Second Stop Zone

H‧‧‧control device

H1‧‧‧First Control Department

H2‧‧‧Second Control Department

H3‧‧‧ Third Control Department

X‧‧‧ Path length direction

X1‧‧‧ first direction

X2‧‧‧ second direction

Y‧‧‧ Path width direction

Y1‧‧‧The first side of the path width direction

Y2‧‧‧The second side of the path width direction

Z‧‧‧ Up and down direction

FIG. 1 is a plan view showing a traveling rail of an article transport facility and an article transport vehicle. FIG. 2 is a side view of the article transport vehicle. Fig. 3 is a front view of the article transport vehicle. FIG. 4 is a plan view showing a running track and a guide track of the article transport facility. FIG. 5 shows a first branching section, a second merging section, and a first branching and merging section. FIG. 6 is a view showing an entry prevention body when the article transport vehicle is traveling in the first direction. FIG. 7 is a view showing an entry prevention body when the article transport vehicle is traveling in the second direction. FIG. 8 is a diagram showing a state in which the article transport vehicle is traveling in the first direction on the detour rail. FIG. 9 is a diagram showing a state in which the article transport vehicle is traveling in the second direction on the detour rail. FIG. 10 is a diagram showing a state in which the article transport vehicle is stopped in the first stop area. FIG. 11 is a diagram showing a state in which the article transport vehicle is stopped in the second stop area. Fig. 12 is a control block diagram. FIG. 13 is a diagram showing a running track and a guide track in another embodiment.

Claims (6)

An article transporting device includes an article transporting vehicle that travels along a traveling track. The article transporting device has the following characteristics: the traveling track includes a first traveling track, a second traveling track, a detouring traveling track, a first branching track, a first A two branch track, a first confluence track, and a second confluence track; the second walking track is provided in a state parallel to the first walking track, and the article transport vehicle walking on the first walking track travels The direction is set to the first direction, and the running direction of the article transport vehicle walking on the second running track is set to the second direction. The first direction and the second direction are opposite to each other. The detour running track is It is disposed between the first traveling track and the second traveling track, and includes a first branching and merging section and a second branching and merging section, wherein the second branching and merging section is located more than the first branching and merging section at the first On the direction side, the first divergent orbit is diverged and merged from a first divergent portion of the first traveling orbit. The second branching track is provided in a state of the first branching and merging unit of the detour, and the second branching track is branched from the second branching portion of the second running track and merges with the second branching of the detouring running track. The first confluence section is provided in a state where the first confluence section diverges from the second branch confluence section of the detour running track and merges with the first confluence section of the first travel track, and the second confluence section. The track is set in a state where it is diverged from the first diverging and merging part of the detouring track and merges with the second merging part of the second traveling track. The article transport vehicle can be moved on the detouring track toward the first Walking in one direction and the above two directions. For example, the article transporting device of claim 1 further includes a control device for controlling the traveling of the article transporting vehicle. When the aforementioned control device exists in the article transporting vehicle traveling in the second direction on the detour traveling track, the control device will The article transport vehicle restricted on the first traveling track from entering the first branched track is restricted. When the article transport vehicle traveling on the detour to the first direction exists, the article transport vehicle is restricted from traveling on the second The article transport vehicle on the traveling track enters the second branching track. For example, the article transporting device of claim 2 further includes a direction sensor that detects a traveling direction of the article transport vehicle walking on the detour traveling track, and the direction sensor is along the detour. The control device is provided by a running track, and the control device detects the object moving vehicle that is going to move from the first running track to the second running direction when the direction sensor is detected by the direction sensor. The article transport vehicle of the first branching portion that has entered the first branch orbit sends a stop signal, and when the direction sensor detects that the article transport vehicle traveling in the first direction on the detour track, the article transport vehicle has stopped. In this case, a stop signal is sent to the article transport vehicle that intends to enter the second branched track from the second branched section of the second traveling track. The article transporting device according to claim 3, wherein the detour rail has a pair of left and right track portions, the article transport vehicle includes a subject at a position deviated to one side with respect to the center of the left and right directions, and the direction sensing The device includes a first sensor and a second sensor, and the first sensor is installed on one side of the left and right pair of track portions to detect that the user has walked in the first direction on the detour track. The object to be detected in the article transport vehicle, and the second sensor is mounted on the other side of the left and right pair of rail portions to detect the article transport vehicle traveling in the second direction on the detour rail. The aforementioned subject. The article transporting device according to claim 3, wherein the article transporting vehicle includes a guided body, a detected body, and a driving unit, and the driving unit moves the guided body and the detected body integrally in a left-right direction, and Moving the guided body and the detected body to a first position and a second position, wherein the second position is a position further to the right than the first position, the first branch portion includes a first guide track, and the first A guide track guides the article transport vehicle to the first traveling track or the first branch track in accordance with the position of the guided body, the second branch section includes a second guide track, and the second guide track corresponds to The article transport vehicle is guided to the second traveling track or the second branching track at the position of the guided body, and a detouring guide track is provided along the detouring walking track. The detouring guide track restricts the detour. The guide moves from one of the first position and the second position to the other, the direction sensor A first sensor and a second sensor are provided, and the first sensor is installed on one side of the left-right direction in the detour guide rail to detect that the first sensor is located on the detour rail toward the first In the article transport vehicle traveling in the direction, the object to be detected on the side of the first traveling track in the left and right direction, and the second sensor is mounted on the other side of the left and right direction in the detour guide rail to detect The subject located on the side of the second traveling track in the left-right direction among the article transport vehicles traveling on the detour traveling track in the second direction. The article transfer device according to any one of claims 3 to 5, wherein the direction sensor is provided along the first branched orbit, the first A portion provided for each of the merging orbit, the second branching orbit, and the second merging orbit.