TWI772620B - Article transport facility - Google Patents

Article transport facility Download PDF

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Publication number
TWI772620B
TWI772620B TW108107626A TW108107626A TWI772620B TW I772620 B TWI772620 B TW I772620B TW 108107626 A TW108107626 A TW 108107626A TW 108107626 A TW108107626 A TW 108107626A TW I772620 B TWI772620 B TW I772620B
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Taiwan
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article
posture
area
change control
posture change
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TW108107626A
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Chinese (zh)
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TW201941345A (en
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富田大地
田中芳孝
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日商大福股份有限公司
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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
    • H01L21/67724—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations by means of a cart or a vehicule
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/67005—Apparatus not specifically provided for elsewhere
    • H01L21/67242—Apparatus for monitoring, sorting or marking
    • H01L21/67259—Position monitoring, e.g. misposition detection or presence detection
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
    • H01L21/6773—Conveying cassettes, containers or carriers
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
    • H01L21/67733—Overhead conveying

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Physics & Mathematics (AREA)
  • Condensed Matter Physics & Semiconductors (AREA)
  • General Physics & Mathematics (AREA)
  • Power Engineering (AREA)
  • Computer Hardware Design (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
  • Control Of Conveyors (AREA)
  • Sewing Machines And Sewing (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

[課題]實現一種物品搬送設備，前述物品搬送設備可在物品的姿勢變更中抑制該物品與干涉對象物相干涉的情形。 [解決手段]物品搬送設備具備有物品搬送車、及控制該物品搬送車的控制裝置。控制裝置在執行藉由姿勢變更機構來變更物品的姿勢之姿勢變更控制的情況下，在物品搬送車位於左側容許區間內的狀態下，是執行使物品於左方區域突出的第1姿勢變更控制，在物品搬送車位於右側容許區間內的狀態下，是執行使物品於右方區域突出的第2姿勢變更控制，在物品搬送車位於兩側容許區間內的狀態下，是執行第1姿勢變更控制、第2姿勢變更控制、或使物品於左方區域及右方區域之雙方突出的第3姿勢變更控制。[Problem] Realization of an article conveying device that can suppress the interference of the article with the interference object when the posture of the article is changed. [Solution] The article conveyance facility includes an article conveyance vehicle and a control device for controlling the article conveyance vehicle. When the control device executes the posture change control for changing the posture of the article by the posture changing mechanism, the control device executes the first posture change control for protruding the article in the left area in a state where the article transport vehicle is located in the left side tolerance zone , in the state where the article transport vehicle is located in the right side tolerance zone, executes the second posture change control to make the article protrude in the right area, and executes the first posture change control when the article transport vehicle is located in the both side tolerance zone A control, a second posture change control, or a third posture change control for protruding the item in both the left and right regions.

Description

物品搬送設備Item handling equipment

發明領域 本發明是有關於一種具備有物品搬送車的物品搬送設備，前述物品搬送車是在複數個搬送對象場所之間沿著移動路徑移動來搬送物品。Field of Invention The present invention relates to an article conveyance facility including an article conveyance vehicle that moves along a moving path between a plurality of conveyance target locations to convey articles.

發明背景 例如，在下述之專利文獻1(日本專利特開2012-253070號公報)所揭示的設備中，是在複數個搬送對象場所[1]之間進行物品[4]的搬送。在專利文獻1的設備中設為搬送對象的物品[4]，在其一側面上具有使內容物出入用的開口部。並且，專利文獻1的設備是在物品搬送車[3]之外另具備姿勢變更裝置[31]，前述姿勢變更裝置[31]是在從搬送起點之搬送對象場所[1]往搬送目的地之搬送對象場所[1]搬送物品[4]的途中進行該物品[4]的姿勢變更，以便在各搬送對象場所[1]中可以從物品[4]的開口部適當地進行內容物的出入。藉由此姿勢變更裝置[31]，進行該物品[4]的姿勢變更，使得物品[4]的姿勢在搬送目的地之搬送對象場所[1]中成為適當的姿勢，亦即，成為開口部相向於搬送目的地之物品處理裝置[1]的姿勢。 先前技術文獻 專利文獻Background of the Invention For example, in the apparatus disclosed in the following Patent Document 1 (Japanese Patent Laid-Open No. 2012-253070), articles [4] are conveyed between a plurality of conveyance target locations [1]. In the equipment of Patent Document 1, the article [4] that is to be conveyed has an opening for entering and exiting the contents on one side of the article [4]. In addition, the equipment of Patent Document 1 is provided with a posture changing device [31] in addition to the article transport vehicle [3], and the posture changing device [31] is used to move from the transport target place [1] at the transport origin to the transport destination. The posture of the article [4] is changed in the conveyance target place [1] while the article [4] is being conveyed, so that the contents can be properly taken in and out from the opening of the article [4] in each conveyance target place [1]. By the posture changing device [31], the posture of the article [4] is changed so that the posture of the article [4] becomes an appropriate posture in the conveying object place [1] of the conveying destination, that is, an opening portion The posture of the article processing device [1] facing the transfer destination. prior art literature Patent Literature

專利文獻1：日本專利特開2012-253070號公報Patent Document 1: Japanese Patent Laid-Open No. 2012-253070

發明概要 發明欲解決之課題 在此，從減少設備內的姿勢變更裝置的配置空間之觀點來看，可考慮到的是將變更物品的姿勢之姿勢變更組件和物品搬送車一體地設置。但是，在物品搬送車所進行之物品的搬送中要進行其姿勢變更的情況下，會有下述可能性：在物品搬送車的收納部中姿勢變更中的物品和從收納部突出於外側而存在於移動路徑的周圍之物體(例如，壁、柱、其他物品搬送車等，以下將有與物品相干涉的可能性之物體稱為干涉對象物)相干涉。雖然亦可考慮下述作法：為了避免姿勢變更中的物品與干涉對象物的干涉，而將設備整體設計成將移動路徑的周圍的空間確保得較寬廣，但是會成為導致設備的大型化或空間效率的降低之情形。Summary of Invention The problem to be solved by the invention Here, from the viewpoint of reducing the arrangement space of the posture changing device in the facility, it is conceivable that the posture changing unit for changing the posture of the article and the article transport vehicle are integrally provided. However, when the posture of the article is to be changed while the article is being transported by the article transport vehicle, there is a possibility that the article whose posture is being changed in the accommodating portion of the article transport vehicle may protrude outward from the accommodating portion. Objects existing around the moving path (for example, walls, pillars, and other article transport vehicles, etc., hereinafter, objects that may interfere with articles are referred to as interference objects) interfere with each other. Although it is possible to design the entire device to ensure a wide space around the moving path in order to avoid the interference between the object in the posture change and the object to be interfered with, this may lead to an increase in the size of the device or a larger space. A reduction in efficiency.

有鑒於上述實際情形，所期望的是一種可在物品的姿勢變更中抑制該物品與干涉對象物相干涉的情形之物品搬送設備的實現。 用以解決課題之手段In view of the above-mentioned actual situation, it is desired to realize the realization of an article conveying apparatus which can suppress the interference of the article with the interference object when the posture of the article is changed. means of solving problems

本揭示之物品搬送設備，是具備物品搬送車與控制裝置的物品搬送設備，前述物品搬送車是在複數個搬送對象場所之間沿著移動路徑移動來搬送物品，前述控制裝置是控制該物品搬送車，前述物品搬送車具有容置前述物品的容置部、及變更前述物品的姿勢之姿勢變更機構，將前述移動路徑中的前述物品搬送車的行進方向設為基準，並相對於前述容置部將左側的區域設為左方區域，相對於前述容置部將右側的區域設為右方區域，前述容置部及前述姿勢變更機構是構成為：在由前述姿勢變更機構所進行之前述物品的姿勢變更中前述物品會從前述容置部突出於外側，在前述移動路徑中，設定有容許前述物品從前述容置部往外側突出的以下區間：在前述左方區域中容許的左側容許區間、在前述右方區域中容許的右側容許區間、以及在前述左方區域及前述右方區域之雙方中容許的兩側容許區間，前述控制裝置在執行藉由前述姿勢變更機構來變更前述物品的姿勢之姿勢變更控制的情況下，在前述物品搬送車位於前述左側容許區間內的狀態下，是執行第1姿勢變更控制，使前述物品於前述左方區域及前述右方區域當中的前述左方區域突出，在前述物品搬送車位於前述右側容許區間內的狀態下，是執行第2姿勢變更控制，使前述物品於前述左方區域及前述右方區域當中的前述右方區域突出，在前述物品搬送車位於前述兩側容許區間內的狀態下，是執行前述第1姿勢變更控制、前述第2姿勢變更控制、或使前述物品於前述左方區域及前述右方區域之雙方突出的第3姿勢變更控制。The article conveying facility disclosed in the present disclosure is an article conveying facility including an article conveying vehicle that moves along a moving path between a plurality of conveying object locations and a control device that controls the conveying of the article. The article transport vehicle has an accommodating portion for accommodating the article, and a posture changing mechanism for changing the posture of the article, and the travel direction of the article transport vehicle in the moving path is set as a reference, and relative to the accommodating The area on the left side is set as the left area, and the area on the right side is set as the right area with respect to the accommodating part, and the accommodating part and the posture changing mechanism are configured such that the accommodating part and the posture changing mechanism are configured such that the When the posture of the article is changed, the article protrudes from the accommodating portion to the outside, and in the moving path, the following section is set for allowing the article to protrude from the accommodating portion to the outside: the left side allowance allowed in the left area a section, a right-side allowable section allowed in the right-side area, and a two-side allowable section allowed in both the left-side area and the right-side area, and the control device is executing the change of the article by the posture changing mechanism In the case of the posture change control of the posture of , the first posture change control is executed so that the article is placed in the left area of the left area and the right area in a state where the article transport vehicle is located in the left side tolerance zone. In the state where the article transport vehicle is located in the right side tolerance zone, the second posture change control is executed so that the article protrudes in the right area among the left area and the right area. In a state where the article transport vehicle is located within the allowable sections on both sides, the first posture change control, the second posture change control, or the third project for protruding the article from both the left area and the right area is executed. Posture change control.

根據本構成，可以設成在藉由姿勢變更機構來變更物品的姿勢之情況下，因應於已設定於移動路徑中的左側容許區間、右側容許區間、及兩側容許區間，來使物品於各容許區間中的容許物品的突出之側的區域突出，以進行物品的姿勢變更。藉此，可以消除物品往容許物品的突出之區域以外的區域的突出、或是將物品的突出量變得較少。其結果，可以抑制姿勢變更中的物品與干涉對象物相干涉的情形。又，藉由將像這樣的容許區間設置於移動路徑中，可以做到例如既毋須為了避免物品與干涉對象物的干涉而在設備整體中將移動路徑的周圍的空間確保得較寬廣，亦可謀求設備的大型化之抑制。According to this configuration, when the posture of the article is changed by the posture changing mechanism, the article can be set in each of the left-side allowable sections, right-side allowable sections, and both-side allowable sections already set in the moving path. In the tolerance zone, the area on the protruding side of the allowable item is protruded to change the posture of the item. Thereby, the protrusion of the article to the area other than the area where the protrusion of the article is allowed can be eliminated, or the amount of the protrusion of the article can be reduced. As a result, it is possible to suppress the interference between the article whose posture is being changed and the object to be interfered with. Furthermore, by providing such an allowable section in the movement path, it is possible to ensure a wide space around the movement path in the entire apparatus, for example, in order to avoid interference between the article and the interference object. Seek to suppress the enlargement of equipment.

本揭示之技術的更進一步之特徵與優點，透過參照圖式所記述之以下的例示性且非限定的實施形態之說明應可變得更加明確。Further features and advantages of the technology of the present disclosure will become more apparent from the following description of illustrative and non-limiting embodiments described with reference to the drawings.

用以實施發明之形態 1.第1實施形態 參照圖式來說明物品搬送設備的第1實施形態。如圖1所示，物品搬送設備1具備：物品搬送車2，在複數個搬送對象場所6之間沿著移動路徑R移動來搬送物品W；及控制裝置H，控制該物品搬送車2(參照圖4)。並且，此物品搬送設備1是構成為在將物品W從複數個搬送對象場所6當中成為搬送起點的搬送對象場所6，搬送到成為搬送目的地之其他搬送對象場所6的途中，可以變更該物品W的姿勢。Form for carrying out the invention 1. The first embodiment The first embodiment of the article conveying facility will be described with reference to the drawings. As shown in FIG. 1 , the article conveyance facility 1 includes: an article conveyance vehicle 2 that moves along a moving path R among a plurality of conveyance target places 6 to convey an article W; and a control device H that controls the article conveyance vehicle 2 (refer to Figure 4). In addition, this article conveying facility 1 is configured so that the article W can be changed in the middle of conveying the article W from the conveying target place 6 serving as the conveying origin among the plurality of conveying target places 6 to the other conveying target place 6 serving as the conveying destination. W's pose.

在以下的說明中，是將物品搬送車2沿著移動路徑R行走的方向設為「行進方向X」，並且將平面視角下正交於行進方向X的方向設為「寬度方向Y」。又，設成以行進方向X為基準來定義左右，具體而言，將朝向行進方向X且位於寬度方向Y的左側設為「左側Y1」，並且將右側設為「右側Y2」。In the following description, the direction in which the article transport vehicle 2 travels along the moving path R is referred to as the "travel direction X", and the direction orthogonal to the travel direction X in a plan view is referred to as the "width direction Y". Also, let right and left be defined with the travel direction X as a reference. Specifically, let the left side facing the travel direction X and located in the width direction Y be "left side Y1" and the right side be "right side Y2".

1-1.物品搬送設備的機械構成 物品W是被物品搬送車2所搬送的對象。在此，物品W在平面視角下是形成為非圓形狀。物品W在例如平面視角下是形成為多角形狀，更具體而言，是形成為四角形狀。再者，於四角形狀中也包含嚴格來說即使不是四角形，但整體看起來可視為四角形的形狀。又，亦可具有多角形狀的一部分的邊為圓弧等之曲線所形成之平面視角的形狀。例如，物品W的平面視角的形狀亦可為D形。以下，利用所謂「狀」的表現來說明物體等的形狀之情況下，與此為同樣的意思。又，有關於物品W之立體上的形狀，在此是設為柱狀體。物品W是例如收納內容物的容器。在本實施形態中，物品W是收納半導體基板的容器。在本例中，物品W是形成為長方體狀，且可將複數片半導體基板分為複數層來收納。在本實施形態中，物品W的上表面及底面是已封堵的狀態。又，於物品W的上表面設置有用於在物品W的搬送之時藉由物品搬送車2來把持的凸緣部Wa。又，在物品W的4個側面當中的一面上，設置有用於供半導體基板出入的開口部Wb(參照圖2等)。 物品W的其他3個側面是已封堵的狀態。1-1. Mechanical structure of article conveying equipment The article W is an object to be conveyed by the article conveyance vehicle 2 . Here, the article W is formed in a non-circular shape in a plan view. The article W is formed in a polygonal shape, more specifically, a square shape in a planar view. In addition, even if it is not a square shape, the shape which can be regarded as a square shape as a whole is also included in a square shape. Moreover, you may have the shape of the plane viewing angle formed by the curved line, such as a circular arc, as a part of a polygonal shape. For example, the shape of the plane viewing angle of the article W may also be a D-shape. Hereinafter, when the shape of an object or the like is described using the expression "shape", it has the same meaning. In addition, regarding the three-dimensional shape of the article W, here it is assumed to be a columnar body. The article W is, for example, a container that accommodates the contents. In the present embodiment, the article W is a container for accommodating a semiconductor substrate. In this example, the article W is formed in a rectangular parallelepiped shape, and a plurality of semiconductor substrates can be divided into a plurality of layers for storage. In the present embodiment, the upper surface and the bottom surface of the article W are in a closed state. In addition, the upper surface of the article W is provided with a flange portion Wa for grasping by the article transport vehicle 2 when the article W is conveyed. In addition, on one of the four side surfaces of the article W, an opening portion Wb (refer to FIG. 2 and the like) for allowing the semiconductor substrate to enter and exit is provided. The other 3 sides of item W are blocked.

搬送對象場所6是成為物品W的搬送起點之場所、或者是成為物品W的搬送目的地之場所。如圖1所示，搬送對象場所6是設置在物品搬送設備1中的複數個地點(在圖1中顯示物品搬送設備1的一部分)。在搬送對象場所6中，可進行例如物品W的處理。在本實施形態中，是如圖1及2所示，在搬送對象場所6中包含有交接部6b，前述交接部6b是用於物品W在進行對半導體基板之處理的處理裝置6a與物品搬送車2之間的交接。在本實施形態中，是將使開口部Wb相向於處理裝置6a的狀態之物品W搬送至交接部6b。又，物品W所收納的半導體基板是藉由處理裝置6a所具備的取出裝置等而從開口部Wb中取出。並且，半導體基板可藉由處理裝置6a來處理。為了像這樣藉由處理裝置6a來處理半導體基板，而在將物品W設成開口部Wb相向於處理裝置6a之適當的姿勢之後，藉由物品搬送車2來搬送至交接部6b。The conveyance target place 6 is a place that becomes a conveyance origin of the article W, or a place that becomes a conveyance destination of the article W. As shown in FIG. As shown in FIG. 1 , the conveyance target places 6 are plural places installed in the article conveyance facility 1 (a part of the article conveyance facility 1 is shown in FIG. 1 ). In the conveyance target place 6, for example, the handling of the article W can be performed. In the present embodiment, as shown in FIGS. 1 and 2 , the transfer object place 6 includes a delivery unit 6b, and the delivery unit 6b is used for the processing apparatus 6a for processing the semiconductor substrate of the article W and the article transportation. Handover between cars 2. In the present embodiment, the article W in the state in which the opening portion Wb faces the processing apparatus 6a is conveyed to the delivery portion 6b. In addition, the semiconductor substrate accommodated in the article W is taken out from the opening portion Wb by a take-out device or the like included in the processing apparatus 6a. Also, the semiconductor substrate can be processed by the processing apparatus 6a. In order to process the semiconductor substrate by the processing apparatus 6a in this way, the article W is conveyed to the delivery section 6b by the article conveyance vehicle 2 after the article W is placed in an appropriate posture with the opening Wb facing the processing apparatus 6a.

移動路徑R是物品搬送車2在物品搬送設備1中移動的路徑。如圖1所示，移動路徑R會經由複數個搬送對象場所6。移動路徑R可設置在例如地面上、或者是設置在從地面朝上方間隔有距離的位置。在本實施形態中，移動路徑R是由天花板99懸吊支撐的軌道98所決定的(參照圖2及圖3)。如圖1所示，在本實施形態中，軌道98是沿著經由複數個交接部6b的路徑來設置，並且配置成與複數個交接部6b的每一個在平面視角下重疊。The moving route R is a route in which the article transport vehicle 2 moves in the article transport facility 1 . As shown in FIG. 1 , the moving route R passes through a plurality of conveyance target places 6 . The movement path R may be provided on the ground, for example, or may be provided at a distance spaced upward from the ground. In the present embodiment, the movement path R is determined by the rails 98 suspended and supported by the ceiling 99 (see FIGS. 2 and 3 ). As shown in FIG. 1 , in the present embodiment, the rail 98 is provided along a path passing through the plurality of transfer portions 6b, and is arranged to overlap each of the plurality of transfer portions 6b in a plan view.

在本實施形態中，物品搬送車2具備位置檢測感測器(省略圖示)，前述位置檢測感測器可檢測移動路徑R內之該物品搬送車2的現在位置。在本實施形態中，在移動路徑R中分散地配置有複數個位置資訊儲存部(省略圖示)。並且，位置資訊儲存部是對區劃了移動路徑R的複數個區域的每一個進行分配。又，複數個位置資訊儲存部的每一個儲存有已在移動路徑R內各自配置的位置之資訊。在本實施形態中，位置檢測感測器是構成為可藉由讀取配置在移動路徑R內的複數個位置資訊儲存部的每一個所儲存的位置資訊之作法，以檢測移動路徑R內的物品搬送車2的現在位置。例如，作為位置資訊儲存部亦可為顯示有條碼的板件等，該情況下的位置檢測感測器為條碼讀取器。In the present embodiment, the article transport vehicle 2 is provided with a position detection sensor (not shown) that can detect the current position of the article transport vehicle 2 in the moving route R. In the present embodiment, a plurality of position information storage units (not shown) are distributed in the moving route R and arranged. In addition, the position information storage unit allocates each of a plurality of areas in which the movement route R is divided. In addition, each of the plurality of position information storage units stores information of positions that have been respectively arranged in the movement path R. As shown in FIG. In the present embodiment, the position detection sensor is configured so that it can detect the position information in the movement path R by reading the position information stored in each of the plurality of position information storage units arranged in the movement path R. The current position of the item transfer vehicle 2. For example, the position information storage unit may be a plate or the like that displays a barcode, and the position detection sensor in this case is a barcode reader.

如圖2及3所示，物品搬送車2具有用於行走於移動路徑R的行走部21、以及容置物品W的容置部22a。在本實施形態中，行走部21是位於軌道98的上側。行走部21是受馬達等驅動組件所驅動而沿著移動路徑R行走。在此，行走部21具有行走輪21a，前述行走輪21a是受行走用馬達21M所驅動而繞水平軸旋轉，並且在軌道98的上表面沿著行進方向X滾動。藉由行走輪21a在軌道98的上表面滾動，行走部21即可沿著移動路徑R來行走。As shown in FIGS. 2 and 3 , the article transport vehicle 2 includes a traveling portion 21 for traveling along the movement path R, and an accommodating portion 22 a for accommodating articles W therein. In the present embodiment, the running portion 21 is located on the upper side of the rail 98 . The traveling part 21 is driven along the moving path R by driving means such as a motor. Here, the traveling portion 21 has traveling wheels 21 a that are driven by the traveling motor 21M to rotate around a horizontal axis and roll along the traveling direction X on the upper surface of the rail 98 . The traveling portion 21 can travel along the moving path R by rolling the traveling wheels 21 a on the upper surface of the rail 98 .

在本實施形態中，容置部22a是設置於本體部22，前述本體部22是受行走部21所懸吊支撐，並且位於軌道98的下側。在圖示的例子中，本體部22具有在行進方向X的兩側覆蓋容置部22a的罩蓋部22b(在圖2及3中將罩蓋部22b的一部分切開來顯示)，而將容置部22a設為被罩蓋部22b所覆蓋的空間。更詳細而言，如圖5所示，罩蓋部22b具有在行進方向X上彼此相向的一對相向面22f，而將容置部22a設為一對相向面22f之間的空間。在本實施形態中，罩蓋部22b是形成為將寬度方向Y的兩側及下方開放的形狀。具體而言，罩蓋部22b是形成為從寬度方向Y來看為有邊角的倒U字形。因此，容置部22a是在寬度方向Y的兩側及下側與該容置部22a的外側連通。In the present embodiment, the accommodating portion 22 a is provided on the main body portion 22 , the main body portion 22 is suspended and supported by the traveling portion 21 , and is located on the lower side of the rail 98 . In the illustrated example, the body portion 22 has a cover portion 22b (a part of the cover portion 22b is cut and shown in FIGS. 2 and 3 ) that covers the accommodating portion 22a on both sides in the traveling direction X, and The placement portion 22a is a space covered by the cover portion 22b. More specifically, as shown in FIG. 5 , the cover portion 22b has a pair of opposing surfaces 22f that face each other in the traveling direction X, and the accommodating portion 22a is a space between the pair of opposing surfaces 22f. In this embodiment, the cover part 22b is formed in the shape which opens both sides and the downward direction of the width direction Y. As shown in FIG. Specifically, the cover portion 22b is formed in an inverted U-shape having corners when viewed in the width direction Y. Therefore, the accommodating portion 22a communicates with the outside of the accommodating portion 22a on both sides and the lower side in the width direction Y.

如圖2及3所示，在本實施形態中，物品搬送車2具有移載機構3，前述移載機構3可在與搬送對象場所6之間移載物品W。在圖示的例子中，移載機構3是構成為可以在相鄰於處理裝置6a而設置的交接部6b與容置部22a之間移載物品W。在本例中，移載機構3具備把持物品W的把持機構3G以及使物品W升降的升降機構3H。As shown in FIGS. 2 and 3 , in the present embodiment, the article transport vehicle 2 includes a transfer mechanism 3 that can transfer the article W to and from the transfer target place 6 . In the example of illustration, the transfer mechanism 3 is comprised so that the article|item W can be transferred between the delivery part 6b provided adjacent to the processing apparatus 6a, and the accommodating part 22a. In this example, the transfer mechanism 3 includes a gripping mechanism 3G that grips the article W, and an elevating mechanism 3H that raises and lowers the article W.

在本實施形態中，把持機構3G是構成為從上方把持物品W。在此，把持機構3G具有：把持用馬達3GM(參照圖4)，設置於把持部3Ga；以及一對把持爪3Gb，受把持用馬達3GM所驅動而可在把持姿勢與解除姿勢之間切換自如。並且，一對把持爪3Gb是藉由朝彼此相接近的方向移動而成為把持姿勢，且藉由朝彼此相遠離的方向移動而成為解除姿勢。一對把持爪3Gb是以把持姿勢來把持物品W的凸緣部Wa，並且藉由從已把持凸緣部Wa的狀態變成解除姿勢，以解除凸緣部Wa的把持。In the present embodiment, the gripping mechanism 3G is configured to grip the article W from above. Here, the gripping mechanism 3G includes a gripping motor 3GM (refer to FIG. 4 ) provided in the gripping portion 3Ga, and a pair of gripping claws 3Gb which are driven by the gripping motor 3GM and are switchable between the gripping posture and the releasing posture. . Then, the pair of gripping claws 3Gb are brought into a gripping posture by moving in a direction approaching each other, and are brought into a releasing posture by moving in a direction away from each other. The pair of grip claws 3Gb grip the flange portion Wa of the article W in the grip posture, and release the grip of the flange portion Wa by changing from the state of gripping the flange portion Wa to the release posture.

在本實施形態中，升降機構3H是構成為藉由使把持部3Ga升降，使該把持部3Ga所把持的物品W升降。在此，升降機構3H是從配置容置部22a(罩蓋部22b)的高度，至少到配置交接部6b的高度之間，來使物品W升降。在本實施形態中，升降機構3H具有：升降用滑輪3Hc，藉由升降用馬達3HM來驅動；升降用絞盤3Hd；升降用皮帶3Hb，連結於把持部3Ga並且捲繞於升降用絞盤3Hd；及升降部3Ha，具備升降用馬達3HM、升降用滑輪3Hc、升降用絞盤3Hd、及升降用皮帶3Hb。並且，升降機構3H是藉由升降用馬達3HM來驅動升降用滑輪3Hc，將升降用皮帶3Hb於升降用絞盤3Hd捲取或放出，而使物品W和把持部3Ga一起升降。In the present embodiment, the elevating mechanism 3H is configured to elevate the article W held by the gripping portion 3Ga by elevating the gripping portion 3Ga. Here, the lift mechanism 3H lifts and lowers the article W from the height of the arrangement accommodating portion 22a (cover portion 22b) to at least the height of the arrangement delivery portion 6b. In the present embodiment, the elevating mechanism 3H includes: an elevating pulley 3Hc driven by an elevating motor 3HM; a elevating winch 3Hd; The raising/lowering part 3Ha is provided with the motor 3HM for raising/lowering, the pulley 3Hc for raising/lowering, the winch 3Hd for raising/lowering, and the belt 3Hb for raising/lowering. The elevating mechanism 3H drives the elevating pulley 3Hc by the elevating motor 3HM, winds or unwinds the elevating belt 3Hb on the elevating winch 3Hd, and elevates the article W together with the grip portion 3Ga.

藉由以上所說明的構成，本實施形態之物品搬送車2可以在搬送對象場所6中移載物品W，並且形成為可以將物品W從成為搬送起點之搬送對象場所6搬送到成為搬送目的地之搬送對象場所6。With the configuration described above, the article transport vehicle 2 of the present embodiment can transfer the article W to the transport target place 6, and is configured to transport the article W from the transport target place 6 serving as the transfer origin to the transfer destination. 6.

在此，如上所述，物品搬送車2是將物品W搬送成在搬送對象場所6中成為適當的姿勢。詳細而言，為了可以藉由處理裝置6a來適當地處理物品W的內容物即半導體基板，物品W在搬送的過程中是設成開口部Wb相向於搬送目的地之處理裝置6a之適當的姿勢。因此，如圖2及3所示，物品搬送車2具有變更物品W的姿勢之姿勢變更機構4。在本實施形態中，姿勢變更機構4是將物品W的姿勢變更進行成開口部Wb相向於搬送目的地之處理裝置6a之適當的姿勢。再者，在搬送起點之搬送對象場所6中已完成移載後的物品W之姿勢，已經成為在搬送目的地之搬送對象場所6中之適當的姿勢之情況下，物品搬送車2即不進行由姿勢變更機構4所進行的物品W的姿勢變更，而是照原樣的姿勢將物品W搬送至搬送目的地之搬送對象場所6。Here, as described above, the article transport vehicle 2 transports the article W in an appropriate posture in the transport target place 6 . In detail, in order to properly process the semiconductor substrate, which is the content of the article W, by the processing device 6a, the article W is in an appropriate posture such that the opening Wb faces the processing device 6a at the transfer destination during the transportation of the article W. . Therefore, as shown in FIGS. 2 and 3 , the article transport vehicle 2 includes a posture changing mechanism 4 that changes the posture of the article W. In the present embodiment, the posture changing mechanism 4 changes the posture of the article W to an appropriate posture in which the opening Wb faces the processing device 6a of the conveying destination. In addition, when the posture of the article W after the transfer has been completed in the transfer target place 6 of the transfer origin has become an appropriate posture in the transfer target place 6 of the transfer destination, the article transfer vehicle 2 does not proceed. When the posture of the article W is changed by the posture changing mechanism 4, the article W is conveyed to the conveyance target place 6 of the conveyance destination as it is.

姿勢變更機構4是使物品W繞著特定的軸旋繞，藉此變更該物品W的姿勢。在本實施形態中，姿勢變更機構4是構成為繞著沿鉛直方向Z的旋繞軸4b使物品W旋繞，以變更該物品W的姿勢。在此，姿勢變更機構4具有旋繞部4a，前述旋繞部4a可使把持部3Ga繞著沿鉛直方向Z的旋繞軸4b來旋繞。在本例中，旋繞部4a是透過升降部3Ha而使把持部3Ga旋繞。在旋繞部4a的內部設置有沿著鉛直方向Z的旋繞軸4b、以及驅動該旋繞軸4b的旋繞用馬達4M。旋繞軸4b是透過升降部3Ha而與把持部3Ga相連結，並且受旋繞用馬達4M所驅動而和把持部3Ga一起旋轉。藉此，可以使把持部3Ga所把持的物品W繞著旋繞軸4b來旋繞。The posture changing mechanism 4 changes the posture of the article W by revolving the article W around a specific axis. In the present embodiment, the posture changing mechanism 4 is configured to change the posture of the article W by winding the article W around the winding shaft 4b along the vertical direction Z. As shown in FIG. Here, the posture changing mechanism 4 has a revolving portion 4a that can revolve the grip portion 3Ga around a revolving axis 4b along the vertical direction Z. As shown in FIG. In this example, the winding portion 4a is configured to wind the gripping portion 3Ga through the lifting and lowering portion 3Ha. Inside the winding portion 4a, a winding shaft 4b along the vertical direction Z, and a winding motor 4M that drives the winding shaft 4b are provided. The winding shaft 4b is connected to the gripping portion 3Ga through the elevating portion 3Ha, and is driven by the winding motor 4M to rotate together with the gripping portion 3Ga. Thereby, the article W held by the holding portion 3Ga can be wound around the winding shaft 4b.

並且，在此物品搬送車2中，容置部22a及姿勢變更機構4是構成為：在由姿勢變更機構4所進行的物品W的姿勢變更中，物品W會從容置部22a突出於外側。進一步說明，容置部22a及姿勢變更機構4是構成為：物品W繞著旋繞軸4b旋繞時的旋繞軌跡之外緣Wc(參照圖5)，從容置部22a超出至外側。在此，物品W的旋繞軌跡之外緣Wc是成為將在平面視角下之物品W的最大寬度(在本例中為在平面視角下四角形狀的物品W之對角線)作為直徑的圓形。從而，在此，平面視角下之物品W的最大寬度是構成為比容置部22a的寬度方向Y的長度更大。In addition, in this article transport vehicle 2, the accommodating portion 22a and the posture changing mechanism 4 are configured so that the article W protrudes from the accommodating portion 22a when the posture of the article W is changed by the posture changing mechanism 4. Further, the accommodating portion 22a and the posture changing mechanism 4 are configured such that the outer edge Wc (refer to FIG. 5 ) of the revolving trajectory when the article W revolves around the revolving axis 4b extends from the accommodating portion 22a to the outside. Here, the outer edge Wc of the revolving locus of the article W is a circle whose diameter is the maximum width of the article W in a plan view (in this example, the diagonal line of the quadrangular article W in a plan view). . Therefore, here, the maximum width of the article W in the planar view is configured to be larger than the length in the width direction Y of the accommodating portion 22a.

圖5的上圖是顯示尚未進行物品W的姿勢變更之狀態，圖5的下圖是顯示正在進行物品W的姿勢變更之狀態(正在執行後述之第1姿勢變更控制或第2姿勢變更控制的狀態)。在此，相對於容置部22a而將左側Y1的區域設為左方區域A1，相對於容置部22a而將右側Y2的區域設為右方區域A2。並且，在本實施形態中，容置部22a及姿勢變更機構4是構成為：在朝繞著旋繞軸4b的第1方向C1使物品W旋繞的情況下，物品W於左方區域A1突出，在朝和繞著旋繞軸4b的第1方向C1相反的反方向即第2方向C2使物品W旋繞的情況下，物品W於右方區域A2突出。在此，「第1方向C1」是指以旋繞軸4b為中心之旋轉方向中的一邊的方向(在圖示的例子中為逆時針方向)，「第2方向C2」是指另一邊的方向(在圖示的例子中為順時針方向)。再者，在本實施形態中，「物品W於左方區域A1突出」是指物品W主要突出於左方區域A1的情形，除了物品W完全未突出於右方區域A2的態樣之外，也包含如圖5所示，物品W以比左方區域A1更少的突出量而突出於右方區域A2的態樣。同樣地，在本實施形態中，「物品W於右方區域A2突出」是指物品W主要突出於右方區域A2的情形，除了物品W完全未突出於左方區域A1的態樣之外，也包含物品W以比右方區域A2更少的突出量而突出於左方區域A1的態樣。The upper diagram of FIG. 5 shows the state in which the posture change of the article W has not been performed, and the lower diagram of FIG. 5 shows the state in which the posture change of the article W is being performed (the first posture change control or the second posture change control described later is being executed). state). Here, the area on the left side Y1 with respect to the accommodating portion 22a is referred to as the left side area A1, and the area on the right side Y2 with respect to the accommodating portion 22a is referred to as the right side area A2. In addition, in the present embodiment, the accommodating portion 22a and the posture changing mechanism 4 are configured such that when the article W is revolved in the first direction C1 around the reeling shaft 4b, the article W protrudes from the left area A1, When the article W is wound in the second direction C2, which is the opposite direction to the first direction C1 around the reeling axis 4b, the article W protrudes from the right area A2. Here, the "first direction C1" refers to the direction of one side (counterclockwise in the example shown in the figure) among the rotation directions centering on the revolving axis 4b, and the "second direction C2" refers to the direction of the other side (Clockwise in the illustrated example). Furthermore, in the present embodiment, “the article W protrudes from the left area A1” refers to the case where the article W mainly protrudes from the left area A1, except for the aspect in which the article W does not protrude from the right area A2 at all, As shown in FIG. 5 , the aspect in which the article W protrudes from the right area A2 by a smaller protruding amount than the left area A1 is also included. Similarly, in the present embodiment, "the article W protrudes from the right area A2" refers to the case where the article W mainly protrudes from the right area A2, except for the aspect in which the article W does not protrude from the left area A1 at all, The aspect in which the article W protrudes from the left area A1 by a smaller protruding amount than the right area A2 is also included.

如圖2及3所示，在本實施形態中，物品搬送車2更具有使物品W在寬度方向Y上移動的寬度方向移動機構。在此，寬度方向移動機構是作為使物品W沿著寬度方向Y滑動的滑動機構5而構成。在本實施形態中，滑動機構5具有：一對滑動用滑輪5c，安裝於罩蓋部22b，並且藉由滑動用馬達5M而被驅動或從動；滑動用皮帶5b，捲繞於一對滑動用滑輪5c的每一個；及滑動部5a，連結於滑動用皮帶5b並且可在寬度方向Y上滑動自如。滑動部5a是構成為：與旋繞部4a連結，並且可以沿著寬度方向Y滑動，藉此透過旋繞部4a及升降部3Ha，使把持部3Ga以及把持部3Ga所把持的物品W沿著寬度方向Y來移動。藉由此滑動機構5使物品W在寬度方向Y上移動，在物品W的移載時，即可以在寬度方向Y上調整相對於交接部6b(搬送對象場所6)的位置偏移。As shown in FIGS. 2 and 3 , in the present embodiment, the article transport vehicle 2 further includes a width direction moving mechanism that moves the article W in the width direction Y. As shown in FIG. Here, the width direction moving mechanism is configured as a sliding mechanism 5 that slides the article W in the width direction Y. As shown in FIG. In the present embodiment, the sliding mechanism 5 includes a pair of sliding pulleys 5c attached to the cover portion 22b and driven or driven by a sliding motor 5M, and a sliding belt 5b wound around the pair of sliding pulleys 5b. Each of the pulleys 5c; and the sliding portion 5a is connected to the belt 5b for sliding and is slidable in the width direction Y. The sliding portion 5a is connected to the winding portion 4a and is configured to be slidable in the width direction Y, thereby allowing the grip portion 3Ga and the article W held by the grip portion 3Ga to follow the width direction through the winding portion 4a and the lifting portion 3Ha. Y to move. By moving the article W in the width direction Y by the sliding mechanism 5, the positional deviation with respect to the delivery portion 6b (transfer object place 6) can be adjusted in the width direction Y when the article W is transferred.

1-2.物品搬送設備的控制構成 接著，說明物品搬送設備1的控制構成。如上所述，物品搬送設備1具備控制物品搬送車2的控制裝置H。如圖4所示，控制裝置H是構成為包含：上位控制裝置Hu，進行物品搬送設備1整體的控制；及下位控制裝置Hd，進行物品搬送車2的控制。上位控制裝置Hu是配置於物品搬送設備1的任一個區域。下位控制裝置Hd是配置於物品搬送車2。控制裝置H具備微電腦等之處理器、記憶體等之周邊電路等。並且，可藉由可在這些硬體、及電腦等的處理器上執行的程式之協同合作，來實現控制裝置H的各個功能。1-2. Control structure of article conveying equipment Next, the control structure of the article conveyance apparatus 1 is demonstrated. As described above, the article transport facility 1 includes the control device H that controls the article transport vehicle 2 . As shown in FIG. 4, the control apparatus H is comprised so that the upper control apparatus Hu controls the whole article conveyance facility 1, and the lower control apparatus Hd controls the article conveyance vehicle 2, and is comprised. The host controller Hu is arranged in any area of the article conveyance facility 1 . The lower control device Hd is arranged in the article transport vehicle 2 . The control device H includes a processor such as a microcomputer, peripheral circuits such as a memory, and the like. In addition, each function of the control device H can be realized by cooperation of programs executable on these hardwares and processors of a computer or the like.

上位控制裝置Hu是對下位控制裝置Hd輸出搬送指令，前述搬送指令是將物品W從搬送起點之搬送對象場所6搬送至搬送目的地之搬送對象場所6。已接收搬送指令的下位控制裝置Hd是將物品搬送車2控制成朝向搬送目的地之搬送對象場所6來搬送物品W。The upper control device Hu outputs, to the lower control device Hd, a conveyance command for conveying the article W from the conveyance target place 6 of the conveyance origin to the conveyance target place 6 of the conveyance destination. The lower control device Hd which has received the conveyance command controls the article conveyance vehicle 2 to convey the article W toward the conveyance target place 6 of the conveyance destination.

在本實施形態中，上位控制裝置Hu是將針對複數個搬送對象場所6的每一個之物品W的適當姿勢作為適當姿勢資訊Ja來儲存。並且，上位控制裝置Hu是對下位控制裝置Hd輸出搬送指令並且發送適當姿勢資訊Ja。 已接收適當姿勢資訊Ja的下位控制裝置Hd是比較搬送起點之搬送對象場所6中之物品W的姿勢、以及依據適當姿勢資訊Ja之搬送目的地之搬送對象場所6中之物品W的姿勢，來判斷物品W的姿勢變更是否為必要。下位控制裝置Hd在已判斷物品W的姿勢變更為必要的情況下，是執行姿勢變更控制，並在物品W的搬送途中變更物品W的姿勢。In the present embodiment, the upper control device Hu stores the proper posture of the article W for each of the plurality of conveyance target places 6 as proper posture information Ja. Then, the upper control device Hu outputs a conveyance command to the lower control device Hd and transmits appropriate posture information Ja. The lower control device Hd that has received the appropriate posture information Ja compares the posture of the article W in the transfer target place 6 of the transfer origin with the posture of the article W in the transfer target place 6 of the transfer destination based on the appropriate posture information Ja, It is determined whether it is necessary to change the posture of the article W. When the lower control device Hd has determined that it is necessary to change the posture of the article W, it executes posture change control and changes the posture of the article W while the article W is being conveyed.

在此物品搬送車2中，如上所述，在進行物品W的姿勢變更的情況下，物品W會從容置部22a突出於外側(參照圖5)。因此，在沿著移動路徑R搬送物品W的途中進行物品W的姿勢變更之情況下，會有物品W干涉到存在於移動路徑R的周圍之干涉對象物97(參照圖7)的可能性。在本實施形態中，干涉對象物97為例如設置有物品搬送設備1的設施內所設的壁或柱等之構造物、成為搬送對象場所6的處理裝置6a、或其他物品搬送車2等。如圖7所示，像這樣的干涉對象物97會有分散地存在於移動路徑R的周圍之複數個地點的可能性，若以物品搬送車2的位置作為基準，則會有存在於左方區域A1及右方區域A2之其中一者、或者該等區域之雙方的可能性。於是，下位控制裝置Hd是構成為可執行第1姿勢變更控制、第2姿勢變更控制、及第3姿勢變更控制，來作為變更物品W的姿勢之姿勢變更控制。In this article transport vehicle 2, as described above, when the posture of the article W is changed, the article W protrudes to the outside from the accommodating portion 22a (see FIG. 5). Therefore, when the posture of the article W is changed while the article W is being conveyed along the moving route R, there is a possibility that the article W interferes with the interference object 97 (see FIG. 7 ) existing around the moving route R. In the present embodiment, the interference object 97 is, for example, a structure such as a wall or a column installed in a facility where the article conveyance facility 1 is installed, the processing device 6a serving as the conveyance target place 6, or another article conveyance vehicle 2, or the like. As shown in FIG. 7 , such interference objects 97 may be scattered at a plurality of locations around the moving path R, and may be present at the left when the position of the article transport vehicle 2 is used as a reference. The possibility of one of the area A1 and the right area A2, or both of these areas. Therefore, the lower control device Hd is configured to execute the first posture change control, the second posture change control, and the third posture change control as posture change control for changing the posture of the article W.

在第1姿勢變更控制中，下位控制裝置Hd是使物品W於左方區域A1及右方區域A2當中的左方區域A1突出，以變更物品W的姿勢。在此，在第1姿勢變更控制的執行中，亦可為物品W也於右方區域A2突出的構成。在此情況下，也是將第1姿勢變更控制執行成：使物品W往左方區域A1的突出量變得比物品W往右方區域A2的突出量更大。藉由第1姿勢變更控制的執行，可以使姿勢變更中的物品W主要於左方區域A1突出，其結果，可以將物品W往右方區域A2的突出消除，或者讓物品W的突出量變得較少。藉此，即使在右方區域A2中存在有干涉對象物97的情況下(參照圖7)，仍然可以抑制該干涉對象物97與姿勢變更中的物品W相干涉的情形。In the first posture change control, the lower control device Hd changes the posture of the article W by protruding the article W in the left area A1 of the left area A1 and the right area A2. Here, in the execution of the first posture change control, the article W may also protrude from the right area A2. Also in this case, the first posture change control is executed so that the protruding amount of the article W to the left area A1 becomes larger than the protruding amount of the article W to the right area A2. By executing the first posture change control, the article W whose posture is being changed can be caused to protrude mainly from the left area A1, and as a result, the projecting of the article W to the right area A2 can be eliminated, or the amount of the article W can be reduced. less. Thereby, even when the interference object 97 exists in the right area A2 (see FIG. 7 ), it is possible to suppress the interference object 97 with the article W whose posture is being changed.

如圖5所示，在本實施形態中，下位控制裝置Hd是使物品W朝第1方向C1旋繞來作為第1姿勢變更控制，藉此使物品W於左方區域A1突出並且進行姿勢變更。若進一步說明，即如圖5的上圖所示，在本實施形態中，物品W在尚未進行姿勢變更的基本姿勢下，是形成為開口部Wb朝向行進方向X的後方側。並且，把持機構3G所把持的凸緣部Wa是配置在物品W的上表面之沿著行進方向X的方向之比中心位置更接近於開口部Wb的位置。並且，物品W是藉由旋繞軸4b的旋轉而以此凸緣部Wa為中心來旋繞。因此，在本實施形態中，如圖5的下圖所示，藉由第1姿勢變更控制使物品W朝第1方向C1旋繞的情況下，物品W主要是於左方區域A1突出(在圖示的例子中也些微地於右方區域A2突出)。As shown in FIG. 5 , in the present embodiment, the lower control device Hd makes the article W protrude in the left area A1 and changes the posture by rotating the article W in the first direction C1 as the first posture change control. 5, in the present embodiment, the article W is formed so that the opening Wb faces the rear side in the traveling direction X in the basic posture in which the posture has not been changed. In addition, the flange portion Wa held by the holding mechanism 3G is arranged on the upper surface of the article W at a position closer to the opening portion Wb than the center position in the direction along the traveling direction X. And the article|item W is revolved centering on this flange part Wa by the rotation of the reeling shaft 4b. Therefore, in the present embodiment, as shown in the lower diagram of FIG. 5 , when the article W is wound in the first direction C1 by the first posture change control, the article W mainly protrudes from the left area A1 (in the figure In the example shown, it also protrudes slightly in the right area A2).

又，在第2姿勢變更控制中，下位控制裝置Hd是使物品W於左方區域A1及右方區域A2當中的右方區域A2突出，以變更物品W的姿勢。在此，在第2姿勢變更控制的執行中，亦可為物品W也於左方區域A1突出的構成。在此情況下，也是將第2姿勢變更控制執行成：使物品W往右方區域A2的突出量變得比物品W往左方區域A1的突出量更大。藉由第2姿勢變更控制的執行，可以使姿勢變更中的物品W主要於右方區域A2突出，其結果，可以將物品W往左方區域A1的突出消除，或者讓物品W的突出量變得較少。藉此，即使在左方區域A1中存在有干涉對象物97的情況下(參照圖7)，仍然可以抑制該干涉對象物97與姿勢變更中的物品W相干涉的情形。In the second posture change control, the lower control device Hd changes the posture of the article W by protruding the article W in the right area A2 of the left area A1 and the right area A2. Here, in the execution of the second posture change control, the article W may also protrude from the left area A1. Also in this case, the second posture change control is executed so that the protruding amount of the article W to the right area A2 becomes larger than the protruding amount of the article W to the left area A1. By executing the second posture change control, the article W whose posture is being changed can be made to protrude mainly from the right area A2. As a result, the protruding of the article W to the left area A1 can be eliminated, or the amount of the article W can be reduced. less. Thereby, even when the interference object 97 exists in the left area A1 (refer to FIG. 7 ), it is possible to suppress the interference of the interference object 97 with the article W whose posture is being changed.

如圖5所示，在本實施形態中，下位控制裝置Hd是使物品W朝第2方向C2旋繞來作為第2姿勢變更控制，藉此使物品W於右方區域A2突出並且進行姿勢變更。進一步說明，如上所述，把持機構3G所把持的凸緣部Wa是配置在物品W的上表面之沿著行進方向X的方向之比中心位置更接近於開口部Wb的位置。並且，物品W在尚未進行姿勢變更的基本姿勢下，是形成為開口部Wb朝向行進方向X的相反側(參照圖5的上圖)。因此，在本實施形態中，如圖5的下圖所示，藉由第2姿勢變更控制使物品W朝第2方向C2旋繞的情況下，物品W主要是於右方區域A2突出(在圖示的例子中也些微地於左方區域A1突出)。As shown in FIG. 5 , in the present embodiment, the lower control device Hd makes the article W protrude in the right area A2 and changes the posture by rotating the article W in the second direction C2 as the second posture change control. Further, as described above, the flange portion Wa gripped by the gripping mechanism 3G is disposed at a position on the upper surface of the article W along the traveling direction X, which is closer to the opening portion Wb than the center position. In addition, the article W is formed so that the opening portion Wb faces the opposite side of the traveling direction X in the basic posture in which the posture change has not been performed (refer to the upper diagram of FIG. 5 ). Therefore, in the present embodiment, as shown in the lower diagram of FIG. 5 , when the article W is rotated in the second direction C2 by the second posture change control, the article W mainly protrudes from the right area A2 (in the figure In the example shown, it also protrudes slightly from the left area A1).

又，在第3姿勢變更控制中，下位控制裝置Hd是使物品W於左方區域A1及右方區域A2之雙方突出，以變更物品W的姿勢。在第3姿勢變更控制中，使物品W朝第1方向C1及第2方向C2之任一方向旋繞皆可。又，在執行第3姿勢變更控制的情況下，物品W往左方區域A1的突出量與物品W往右方區域A2的突出量，可為不同，亦可為相同。例如，在使物品W朝第1方向C1及第2方向C2之任一方向旋繞270°的情況等，而使物品W繞著旋繞軸4b旋繞180°以上的情況下，會有在變更姿勢中使物品W於左方區域A1與右方區域A2之雙方突出的情況。在旋繞部4a的可旋繞方向只有單方向的情況等，有時會成為像這樣地使物品W繞著旋繞軸4b旋繞180°以上之構成。在本實施形態中，像這樣的姿勢變更控制即相當於第3姿勢變更控制。Further, in the third posture change control, the lower control device Hd changes the posture of the article W by protruding the article W in both the left area A1 and the right area A2. In the third posture change control, the article W may be wound in any one of the first direction C1 and the second direction C2. Furthermore, when the third posture change control is executed, the amount of protrusion of the article W to the left area A1 and the amount of protrusion of the article W to the right area A2 may be different or the same. For example, when the article W is revolved by 270° in either the first direction C1 or the second direction C2, and the article W is revolved around the revolving axis 4b by 180° or more, there may be cases in which the posture is changed. When the article W is made to protrude from both the left area A1 and the right area A2. In the case where the winding direction of the winding portion 4a is only in one direction, etc., the article W may be wound by 180° or more around the winding axis 4b as described above. In the present embodiment, such posture change control corresponds to the third posture change control.

下位控制裝置Hd在執行姿勢變更控制之前，會決定要執行的控制種類。如圖4所示，在本實施形態中，下位控制裝置Hd具有控制種類決定部Hd1，前述控制種類決定部Hd1是從第1姿勢變更控制、第2姿勢變更控制、及第3姿勢變更控制之3個控制種類之中，決定要執行的控制種類。The lower control device Hd determines the type of control to be executed before executing the posture change control. As shown in FIG. 4, in the present embodiment, the lower control device Hd has a control type determination unit Hd1, which is one of the first posture change control, the second posture change control, and the third posture change control. Among the three control types, the control type to be executed is determined.

參照圖6的流程圖來說明藉由控制種類決定部Hd1而決定控制種類的順序。首先，控制種類決定部Hd1是從上位控制裝置Hu取得搬送指令及適當姿勢資訊Ja(S11、S12)。藉此，即可掌握搬送目的地之搬送對象場所6、以及該搬送對象場所6中之物品W的適當姿勢。並且，依據搬送目的地之搬送對象場所6中之物品W的適當姿勢，從第1方向C1及第2方向C2之中來決定用來使物品W旋繞的旋繞方向(S13)。具體而言，搬送目的地之搬送對象場所6中之物品W的適當姿勢，為開口部Wb朝向右側Y2的姿勢之情況下，則將物品W的旋繞方向決定為第1方向C1，為開口部Wb朝向左側Y1的姿勢之情況下，則決定為第2方向C2(也參照圖5)。換句話說，從第1方向C1及第2方向C2之中來決定成為最小的旋繞量之旋繞方向，前述最小的旋繞量是用於將物品W的姿勢從圖5的上圖所示的基本姿勢變更成搬送目的地之搬送對象場所6中之適當姿勢的最小的旋繞量。並且，控制種類決定部Hd1是根據已決定的旋繞方向來決定姿勢變更控制的種類(S14)。在本實施形態中，在將物品W的旋繞方向決定為第1方向C1的情況下，是將進行第1姿勢變更控制之作法決定作為控制種類。並且，在將物品W的旋繞方向決定為第2方向C2的情況下，是將進行第2姿勢變更控制之作法決定作為控制種類。The procedure for determining the control type by the control type determination unit Hd1 will be described with reference to the flowchart of FIG. 6 . First, the control type determination unit Hd1 acquires the conveyance command and the appropriate posture information Ja from the upper control device Hu (S11, S12). In this way, it is possible to grasp the transfer target place 6 of the transfer destination and the appropriate posture of the article W in the transfer target place 6 . Then, a winding direction for winding the article W is determined from among the first direction C1 and the second direction C2 in accordance with the appropriate posture of the article W in the transfer target place 6 of the transfer destination ( S13 ). Specifically, when the proper posture of the article W in the transport destination place 6 of the transport destination is the posture with the opening Wb facing the right side Y2, the winding direction of the article W is determined as the first direction C1, which is the opening. In the case of the posture in which Wb faces the left side Y1, the second direction C2 is determined (see also FIG. 5). In other words, from among the first direction C1 and the second direction C2, the winding direction that becomes the minimum winding amount is determined. The posture is changed to the minimum amount of winding that is an appropriate posture in the transfer object place 6 of the transfer destination. Then, the control type determination unit Hd1 determines the type of posture change control based on the determined revolving direction ( S14 ). In this embodiment, when the winding direction of the article W is determined as the first direction C1, the method of performing the first posture change control is determined as the control type. In addition, when the winding direction of the article W is determined as the second direction C2, the method of performing the second posture change control is determined as the control type.

在此物品搬送設備1中，例如圖7所示，在移動路徑R中設定有複數個容許區間SA，容許物品W從容置部22a往外側的突出。詳細而言，在移動路徑R中，設定有容許物品W從容置部22a往外側突出的以下區間：在左方區域A1中容許的左側容許區間SA1、在右方區域A2中容許的右側容許區間SA2、以及在左方區域A1及右方區域A2之雙方中容許的兩側容許區間SA3。此外，在本實施形態中，除了這些容許區間SA之外，還設定有禁止區間SR，前述禁止區間SR是在左方區域A1及右方區域A2之雙方中禁止物品W從容置部22a往外側的突出。再者，這裡的移動路徑R是指在物品搬送設備1的整體中物品搬送車2可移動的路徑，並非限定於依據各搬送指令而從搬送起點之搬送對象場所6到搬送目的地之搬送對象場所6的路徑。In this article conveying facility 1, as shown in FIG. 7, for example, a plurality of allowable sections SA are set in the movement path R, and the articles W are allowed to protrude outward from the accommodating portion 22a. Specifically, in the moving route R, the following sections are set that allow the article W to protrude outward from the accommodating portion 22a: a left-side allowable section SA1 allowed in the left area A1, and a right-side allowable section allowed in the right area A2 SA2, and both sides allowable area SA3 which are allowed in both of the left area A1 and the right area A2. In addition, in the present embodiment, in addition to these allowable sections SA, a prohibited section SR is set which prohibits the articles W from the accommodating portion 22a to the outside in both the left area A1 and the right area A2 of prominence. In addition, the movement path R here refers to the path in which the article conveyance vehicle 2 can move in the entire article conveyance facility 1, and is not limited to the conveyance object from the conveyance target place 6 of the conveyance origin to the conveyance destination of the conveyance destination in accordance with each conveyance command. Path to location 6.

當然，也可能根據從搬送起點之搬送對象場所6到搬送目的地之搬送對象場所6的路徑，而有在途中僅存在1個容許區間SA的情況、以及完全不存在的情況。例如，雖然已決定執行第1姿勢變更控制，但是在從搬送起點之搬送對象場所6到搬送目的地之搬送對象場所6的路徑中不存在左側容許區間SA1的情況下，下位控制裝置Hd是將物品搬送車2的路徑變更成存在有左側容許區間SA1的路徑，以在左側容許區間SA1中進行姿勢變更，或者在搬送起點或搬送目的地之搬送對象場所6中可進行姿勢變更的情況下，則在該搬送對象場所6中進行姿勢變更。同樣地，雖然已決定執行第2姿勢變更控制，但是在從搬送起點之搬送對象場所6到搬送目的地之搬送對象場所6的路徑中不存在右側容許區間SA2的情況下，下位控制裝置Hd是將物品搬送車2的路徑變更成存在有右側容許區間SA2的路徑，以在右側容許區間SA2中進行姿勢變更，或者在搬送起點或搬送目的地之搬送對象場所6中可進行姿勢變更的情況下，則在該搬送對象場所6中進行姿勢變更。Of course, depending on the route from the transfer target site 6 of the transfer origin to the transfer target site 6 of the transfer destination, there may be only one allowable section SA on the way, or there may be none at all. For example, although it has been decided to execute the first posture change control, if there is no left side allowance section SA1 in the route from the transfer target place 6 of the transfer origin to the transfer target place 6 of the transfer destination, the lower control device Hd changes the When the path of the article transport vehicle 2 is changed to a path in which the left-side allowable section SA1 exists, and the posture can be changed in the left-side allowable section SA1, or when the posture can be changed at the transfer target location 6 of the transfer origin or transfer destination, Then, the posture is changed in the transfer object place 6 . Similarly, although it has been decided to execute the second posture change control, if there is no right side allowance section SA2 in the route from the transfer target place 6 of the transfer origin to the transfer target place 6 of the transfer destination, the lower control device Hd is set to When the path of the article transport vehicle 2 is changed to a path in which the right side allowance section SA2 exists, the posture can be changed in the right side allowance section SA2, or the attitude change can be performed at the transport target place 6 of the transport origin or transport destination , the posture is changed in the transfer object place 6 .

如圖7所示，左側容許區間SA1是在左方區域A1中不存在有干涉對象物97，並且在右方區域A2存在有干涉對象物97的區間。右側容許區間SA2是在右方區域A2中不存在有干涉對象物97，並且在左方區域A1存在有干涉對象物97的區間。兩側容許區間SA3是在左方區域A1及右方區域A2之雙方中都不存在有干涉對象物97的區間。並且，禁止區間SR是在左方區域A1及右方區域A2之雙方中存在有干涉對象物97的區間。As shown in FIG. 7 , the left allowable section SA1 is a section in which the interference object 97 does not exist in the left area A1, and the interference object 97 exists in the right area A2. The right side allowable section SA2 is a section in which the interference object 97 does not exist in the right area A2 and the interference object 97 exists in the left area A1. The both sides allowable section SA3 is a section in which the interference object 97 does not exist in both the left area A1 and the right area A2. In addition, the prohibited section SR is a section in which the interference object 97 exists in both the left area A1 and the right area A2.

在此，上述之「在左方區域A1中存在有干涉對象物97」，在本實施形態中，是指在左方區域A1中從容置部22a朝向左側Y1到設定距離SD為止的範圍內，存在有干涉對象物97的情形。從而，即使在左方區域A1中存在有干涉對象物97，在從容置部22a到該干涉對象物97的距離比設定距離SD更大的情況下，在設定容許區間SA時，是設成「在左方區域A1中不存在干涉對象物97」。Here, "the interference object 97 exists in the left area A1" mentioned above, in the present embodiment, refers to the range from the accommodating portion 22a toward the left side Y1 to the set distance SD in the left area A1, There is a case where the interference object 97 exists. Therefore, even if there is an interference object 97 in the left area A1, if the distance from the accommodating portion 22a to the interference object 97 is larger than the set distance SD, when setting the allowable section SA, it is set to " There is no interference object 97" in the left area A1.

又，同樣地，上述之「在右方區域A2中存在有干涉對象物97」，在本實施形態中，是指在右方區域A2中從容置部22a朝向右側Y2到設定距離SD為止的範圍內，存在有干涉對象物97的情形。從而，即使在右方區域A2中存在有干涉對象物97，在從容置部22a到該干涉對象物97的距離比設定距離SD更大的情況下，在設定容許區間SA時，是設成「在右方區域A2中不存在干涉對象物97」。Also, similarly, the above-mentioned "the interference object 97 exists in the right area A2" refers to the range from the accommodating portion 22a toward the right side Y2 to the set distance SD in the right area A2 in the present embodiment. Inside, there is a case where the interference object 97 exists. Therefore, even if there is an interference object 97 in the right area A2, when the distance from the accommodating portion 22a to the interference object 97 is greater than the set distance SD, when setting the allowable section SA, it is set to " There is no interference object 97" in the right area A2.

再者，在本實施形態中，「設定距離SD」是以容置部22a之寬度方向Y的兩端部的每一個為基準來設定。但是，並非限定於此，「設定距離SD」亦可是以物品搬送車2的各部分、或移動路徑R(軌道98)為基準來設定。再者，無論是將上述的任一個作為基準來設定的情況下，「設定距離SD」均宜因應於物品W從容置部22a往外側的突出量來設定成適當的值，其中前述突出量是因應於物品W、容置部22a、及姿勢變更機構4的構成而決定。In addition, in this embodiment, "setting distance SD" is set based on each of both ends of the width direction Y of the accommodating part 22a. However, it is not limited to this, and the "set distance SD" may be set based on each part of the article transport vehicle 2 or the moving path R (rail 98 ). Furthermore, in the case of setting any one of the above as a reference, the "set distance SD" should be set to an appropriate value in accordance with the amount of protrusion of the article W from the accommodating portion 22a to the outside, wherein the amount of protrusion is: It is determined according to the configuration of the article W, the accommodating portion 22 a, and the posture changing mechanism 4 .

如圖4所示，在本實施形態中，下位控制裝置Hd具備儲存部Hd2，前述儲存部Hd2儲存有已設定於移動路徑R中的左側容許區間SA1、右側容許區間SA2、及兩側容許區間SA3。又，儲存部Hd2也儲存有移動路徑R中的禁止區間SR。具體而言，在儲存部Hd2中儲存有區間地圖，前述區間地圖具有物品搬送設備1的整體的移動路徑R、及與該移動路徑R上的位置建立關連而設定之左側容許區間SA1、右側容許區間SA2、兩側容許區間SA3、及禁止區間SR之各區間資訊。並且，下位控制裝置Hd是依據儲存部Hd2所儲存的各容許區間SA的設定資訊，來執行姿勢變更控制。在本例中，下位控制裝置Hd也更進一步地依據儲存部Hd2所儲存的禁止區間SR的設定資訊，來執行姿勢變更控制。As shown in FIG. 4 , in the present embodiment, the lower control device Hd includes a storage unit Hd2 that stores the left-side allowable section SA1 , the right-side allowable section SA2 , and the both-side allowable sections already set in the movement path R SA3. In addition, the storage unit Hd2 also stores the prohibited section SR in the movement route R. As shown in FIG. Specifically, the storage unit Hd2 stores an area map including the entire moving route R of the article conveying facility 1 , and the left-side allowable area SA1 and the right-side allowable area SA1 set in relation to the position on the moving route R. Each section information of the section SA2, the allowable section SA3 on both sides, and the forbidden section SR. In addition, the lower control device Hd executes the posture change control based on the setting information of each allowable section SA stored in the storage unit Hd2. In this example, the lower control device Hd further executes the posture change control according to the setting information of the prohibition section SR stored in the storage unit Hd2.

下位控制裝置Hd在執行姿勢變更控制的情況下，當物品搬送車2位於左側容許區間SA1內的狀態下，是執行第1姿勢變更控制，使物品W於左方區域A1及右方區域A2當中的左方區域A1突出，當物品搬送車2位於右側容許區間SA2內的狀態下，是執行第2姿勢變更控制，使物品W於左方區域A1及右方區域A2當中的右方區域A2突出，當物品搬送車2位於兩側容許區間SA3內的狀態下，是執行第1姿勢變更控制、第2姿勢變更控制、或第3姿勢變更控制。在本實施形態中，當物品搬送車2位於禁止區間SR內的狀態下，下位控制裝置Hd是不執行第1姿勢變更控制、第2姿勢變更控制、及第3姿勢變更控制之任一控制。When the lower control device Hd executes the posture change control, when the article transport vehicle 2 is located in the left side allowance area SA1, the first posture change control is executed so that the article W is placed in the left area A1 and the right area A2. The left area A1 of the item W protrudes, and when the article transport vehicle 2 is located in the right side allowance area SA2, the second posture change control is executed to make the article W protrude from the right area A2 among the left area A1 and the right area A2. , when the article transport vehicle 2 is located in the both sides allowable area SA3, the first posture change control, the second posture change control, or the third posture change control is executed. In the present embodiment, the lower control device Hd does not execute any one of the first posture change control, the second posture change control, and the third posture change control when the article transport vehicle 2 is in the prohibited section SR.

2.第2實施形態 接著，說明物品搬送設備1的第2實施形態。在上述之第1實施形態中，是針對下述之例子來說明：在姿勢變更控制中，並不進行由滑動機構5所進行之物品W的寬度方向Y的滑動移動，而是僅藉由使物品W繞著旋繞軸4b旋繞以進行姿勢變更之構成。另一方面，在本實施形態中，是在姿勢變更控制中進行由滑動機構5所進行之物品W的寬度方向Y的滑動移動。藉此，在本實施形態中，是形成為下述之構成：可以在不受物品W的旋繞方向所約束的情形下，執行第1姿勢變更控制及第2姿勢變更控制。以下，針對本實施形態，以和上述之第1實施形態不同的點為中心來說明。關於未特別說明的點，是與上述之第1實施形態同樣。2. Second Embodiment Next, the second embodiment of the article conveying facility 1 will be described. In the above-described first embodiment, an example is described in which, in the posture change control, the sliding movement of the article W in the width direction Y by the sliding mechanism 5 is not performed, but only by The article W is wound around the revolving axis 4b to change its posture. On the other hand, in the present embodiment, the sliding movement of the article W in the width direction Y by the sliding mechanism 5 is performed in the posture change control. Accordingly, in the present embodiment, the configuration is such that the first posture change control and the second posture change control can be executed without being restricted by the winding direction of the article W. Hereinafter, the present embodiment will be described focusing on the points different from the above-mentioned first embodiment. The points not particularly described are the same as those of the first embodiment described above.

在本實施形態中，下位控制裝置Hd在執行第1姿勢變更控制的情況下，是藉由滑動機構5使物品W移動至左方區域A1側(左側Y1)，而在執行第2姿勢變更控制的情況下，是藉由滑動機構5使物品W移動至右方區域A2側(右側Y2)。亦即，在第1姿勢變更控制中，是在使物品W移動至比容置部22a的寬度方向Y中的中央位置更朝左方區域A1側(左側Y1)的狀態下，使物品W繞著旋繞軸4b來旋繞。藉此，在執行第1姿勢變更控制的情況下，是使姿勢變更中的物品W從容置部22a突出於左方區域A1之側，並且使物品W不從容置部22a突出於右方區域A2之側，或者即使在突出的情況下仍然可以減少其突出量。又，在第2姿勢變更控制中，是在使物品W移動至比容置部22a的寬度方向Y中的中央位置更朝右方區域A2側(右側Y2)的狀態下，使物品W繞著旋繞軸4b來旋繞。藉此，在執行第2姿勢變更控制的情況下，是使姿勢變更中的物品W從容置部22a突出於右方區域A2之側，並且使物品W不從容置部22a突出於左方區域A1之側，或者即使在突出的情況下仍然可以減少其突出量。第1姿勢變更控制及第2姿勢變更控制中之物品W的旋繞方向可為第1方向C1及第2方向C2之任一方向。並且，下位控制裝置Hd在物品搬送車2位於左側容許區間SA1內的狀態下，是無論物品W的旋繞方向如何，都執行第1姿勢變更控制，在物品搬送車2位於右側容許區間SA2內的狀態下，是無論物品W的旋繞方向如何，都執行第2姿勢變更控制。In the present embodiment, when the lower control device Hd executes the first posture change control, the slide mechanism 5 moves the article W to the left area A1 side (left side Y1 ), and executes the second posture change control In the case of , the article W is moved to the right area A2 side (right side Y2 ) by the slide mechanism 5 . That is, in the first posture change control, the article W is moved around the left area A1 side (left side Y1 ) in a state where the article W is moved to the left side of the area A1 (left side Y1 ) rather than the center position in the width direction Y of the accommodating portion 22a. Revolve around the revolving axis 4b. In this way, when the first posture change control is executed, the article W whose posture is being changed is caused to protrude from the accommodating portion 22a to the side of the left area A1, and the article W is prevented from protruding from the accommodating portion 22a to the right area A2. side, or reduce its protruding amount even if it protrudes. Furthermore, in the second posture change control, the article W is moved around the article W to the right area A2 side (right side Y2 ) from the center position in the width direction Y of the accommodating portion 22a. It is wound around the shaft 4b. Thus, when the second posture change control is executed, the article W whose posture is being changed is caused to protrude from the accommodating portion 22a to the side of the right area A2, and the article W is prevented from protruding from the accommodating portion 22a to the left area A1 side, or reduce its protruding amount even if it protrudes. The winding direction of the article W in the first posture change control and the second posture change control may be any one of the first direction C1 and the second direction C2. In addition, the lower control device Hd executes the first posture change control regardless of the revolving direction of the article W in a state where the article transport vehicle 2 is located within the left side tolerance zone SA1, and when the article transport vehicle 2 is located within the right side tolerance zone SA2. In this state, the second posture change control is executed regardless of the winding direction of the article W.

在本實施形態中，在執行第1姿勢變更控制的情況下，是將滑動機構5的寬度方向Y的移動量控制成：在姿勢變更中物品W不會從容置部22a突出於右方區域A2(使突出量成為零)。並且，在執行第2姿勢變更控制的情況下，是將滑動機構5的滑動量控制成：在姿勢變更中物品W不會從容置部22a突出於左方區域A1(使突出量成為零)。再者，在本實施形態中，是將旋繞軸4b位於容置部22a的寬度方向Y中的中央位置之狀態設為基準狀態，並且將該中央位置作為基準位置來說明。具體而言，如圖8所示，下位控制裝置Hd在執行第1姿勢變更控制的情況下，是藉由滑動機構5(參照圖3等)使物品W在寬度方向Y上移動，以使物品W繞著旋繞軸4b的旋繞軌跡的外緣Wc成為通過容置部22a與右方區域A2之邊界部B的位置。藉此，可以在第1姿勢變更控制的執行中，使物品W不從容置部22a突出於右方區域A2之側。據此，即能夠以確實性較高的方式來防止存在於右方區域A2的干涉對象物97與物品W相干涉的情形。在圖示的例子中，下位控制裝置Hd在執行第1姿勢變更控制的情況下，是藉由滑動機構5使旋繞軸4b移動至寬度方向Y中的左側Y1。具體而言，使旋繞軸4b相對於基準位置朝左側Y1移動相當於最大突出量的距離，其中前述最大突出量是假設在旋繞軸4b位於基準位置的狀態下使物品W旋繞時，物品W往右方區域A2的最大突出量。此時的旋繞軸4b的移動量，宜根據物品W的大小或形狀、物品W的旋繞方向、容置部22a的大小或形狀、及姿勢變更機構4的構成等之關係來適當地設定。再者，並不限定於如上述之構成，在執行第1姿勢變更控制的情況下，亦可將滑動機構5的寬度方向Y的移動量設定成使物品W的旋繞軌跡的外緣Wc成為通過比邊界部B更靠近左側Y1之位置。在此情況下，無論物品W的旋繞方向如何，都可以將旋繞軸4b在寬度方向Y上移動的移動量設為一定。或者，即使在搬送大小或形狀不同的複數個種類的物品W之情況下，仍然可以將旋繞軸4b在寬度方向Y上移動的移動量設為一定。In the present embodiment, when the first posture change control is executed, the amount of movement in the width direction Y of the slide mechanism 5 is controlled so that the article W does not protrude from the accommodating portion 22a to the right area A2 during the posture change. (makes the amount of protrusion zero). When the second posture change control is executed, the sliding amount of the slide mechanism 5 is controlled so that the article W does not protrude from the accommodating portion 22a to the left area A1 during the posture change (the amount of protrusion is set to zero). In addition, in this embodiment, the state where the winding shaft 4b is located in the center position in the width direction Y of the accommodating part 22a is made a reference state, and this center position is demonstrated as a reference position. Specifically, as shown in FIG. 8 , when the lower control device Hd executes the first posture change control, the article W is moved in the width direction Y by the slide mechanism 5 (see FIG. 3 etc.) so that the article The outer edge Wc of the revolving locus of W around the revolving axis 4b becomes a position passing through the boundary portion B of the housing portion 22a and the right region A2. This makes it possible to prevent the article W from protruding to the side of the right area A2 from the accommodating portion 22a during the execution of the first posture change control. Accordingly, it is possible to prevent the interference object 97 existing in the right area A2 from interfering with the article W with high reliability. In the illustrated example, the lower control device Hd moves the revolving shaft 4b to the left side Y1 in the width direction Y by the slide mechanism 5 when executing the first posture change control. Specifically, the revolving shaft 4b is moved to the left side Y1 with respect to the reference position by a distance corresponding to the maximum protrusion amount, which is assumed to be the direction of the article W when the article W is wound with the reel shaft 4b at the reference position. The maximum amount of protrusion of the right area A2. The amount of movement of the revolving shaft 4b at this time should be appropriately set according to the relationship between the size and shape of the article W, the revolving direction of the article W, the size and shape of the accommodating portion 22a, and the configuration of the posture changing mechanism 4. In addition, it is not limited to the above-mentioned configuration, and when the first posture change control is executed, the amount of movement in the width direction Y of the slide mechanism 5 may be set so that the outer edge Wc of the swirling locus of the article W passes through. The position is closer to the left side Y1 than the boundary portion B. In this case, regardless of the winding direction of the article W, the movement amount of the winding shaft 4b in the width direction Y can be made constant. Alternatively, even when conveying a plurality of types of articles W different in size or shape, the movement amount of the revolving shaft 4b in the width direction Y may be made constant.

又，下位控制裝置Hd在執行第2姿勢變更控制的情況下，是藉由滑動機構5使物品W在寬度方向Y上移動，以使物品W繞著旋繞軸4b的旋繞軌跡的外緣Wc成為通過容置部22a與左方區域A1的邊界部B之位置。藉此，可以在第2姿勢變更控制的執行中，使物品W不從容置部22a突出於左方區域A1之側。據此，即能夠以確實性較高的方式來防止存在於左方區域A1的干涉對象物97與物品W相干涉的情形。在圖示的例子中，下位控制裝置Hd在執行第2姿勢變更控制的情況下，是藉由滑動機構5使旋繞軸4b移動至寬度方向Y中的右側Y2。具體而言，使旋繞軸4b相對於基準位置朝右側Y2移動相當於最大突出量的距離，其中前述最大突出量是假設在旋繞軸4b位於基準位置的狀態下使物品W旋繞時，物品W往左方區域A1的最大突出量。此第2姿勢變更控制下的旋繞軸4b的移動量的設定方法可以設成和上述第1姿勢變更控制同樣。Further, when the lower control device Hd executes the second posture change control, the article W is moved in the width direction Y by the slide mechanism 5 so that the outer edge Wc of the revolving locus of the article W around the revolving shaft 4b becomes It passes through the position of the boundary portion B between the accommodating portion 22a and the left area A1. Thereby, in the execution of the second posture change control, the article W can be prevented from protruding from the accommodating portion 22a to the side of the left area A1. Accordingly, it is possible to prevent the interference object 97 existing in the left area A1 from interfering with the article W with high reliability. In the illustrated example, the lower control device Hd moves the revolving shaft 4b to the right side Y2 in the width direction Y by the slide mechanism 5 when executing the second posture change control. Specifically, the revolving shaft 4b is moved to the right side Y2 with respect to the reference position by a distance corresponding to the maximum protrusion amount, which is assumed to be when the article W is wound with the reel shaft 4b at the reference position, The maximum protrusion amount of the left area A1. The method of setting the movement amount of the revolving shaft 4b under the second posture change control can be set in the same manner as in the above-described first posture change control.

又，在本實施形態中，下位控制裝置Hd在執行第3姿勢變更控制的情況下，並未使物品W在寬度方向Y上移動，而是繞著旋繞軸4b旋繞，以突出於左方區域A1及右方區域A2之雙方。在執行第3姿勢變更控制的情況下，也和執行第1姿勢變更控制及第2姿勢變更控制的情況同樣地，可使物品W旋繞的旋繞方向為第1方向C1及第2方向C2之任一方向。又，在本實施形態中，是以和物品W的旋繞角度沒有關係的方式來執行第3姿勢變更控制。亦即，下位控制裝置Hd在物品搬送車2位於兩側容許區間SA3內的狀態下，是無論物品W的旋繞方向如何，都執行第3姿勢變更控制。藉此，因為可以省略由滑動機構5所進行之物品W往寬度方向Y的移動動作，所以可以縮短從物品W的姿勢變更開始到完成為止的時間。再者，在本實施形態中，亦可設為下述構成：當物品搬送車2位於兩側容許區間SA3內的狀態下，並不執行第3姿勢變更控制，而是執行第1姿勢變更控制或第2姿勢變更控制。Further, in the present embodiment, when the lower control device Hd executes the third posture change control, the article W is not moved in the width direction Y, but is wound around the revolving axis 4b so as to protrude from the left area Both sides of A1 and the right area A2. When the third posture change control is executed, as in the case of executing the first posture change control and the second posture change control, the wrapping direction in which the article W can be wrapped can be either the first direction C1 or the second direction C2 one direction. In addition, in the present embodiment, the third posture change control is executed so as not to be related to the rotation angle of the article W. That is, the lower control device Hd executes the third posture change control regardless of the winding direction of the article W in a state where the article transport vehicle 2 is located within the both-side allowable area SA3. Thereby, since the movement of the article W in the width direction Y by the slide mechanism 5 can be omitted, the time from the change of the posture of the article W to the completion can be shortened. Furthermore, in the present embodiment, a configuration may be adopted in which, when the article transport vehicle 2 is located within the both-side allowable area SA3, the third posture change control is not executed, but the first posture change control is executed. Or the second posture change control.

如上所述，根據本實施形態的構成，無論是第1姿勢變更控制及第2姿勢變更控制之任一控制，都可在與物品W的旋繞方向沒有關係的情形下執行。從而，在搬送起點之搬送對象場所6到搬送目的地之搬送對象場所6的路徑中，僅存在左側容許區間SA1的情況下，下位控制裝置Hd是以所期望的旋繞方向來執行第1姿勢變更控制，而在僅存在右側容許區間SA2的情況下，下位控制裝置Hd是以所期望的旋繞方向來執行第2姿勢變更控制。再者，也可能根據從搬送起點之搬送對象場所6到搬送目的地之搬送對象場所6的路徑，而有在途中完全不存在容許區間SA的情況。在此情況下，下位控制裝置Hd是將物品搬送車2的路徑變更成存在容許區間SA的路徑，以在該容許區間SA中進行姿勢變更，或者在搬送起點或搬送目的地之搬送對象場所6中可進行姿勢變更的情況下，則在該搬送對象場所6中進行姿勢變更。As described above, according to the configuration of the present embodiment, either the first posture change control or the second posture change control can be executed regardless of the direction in which the article W is rotated. Therefore, in the case where only the left side allowance section SA1 exists in the route from the transfer target place 6 of the transfer origin to the transfer target place 6 of the transfer destination, the lower control device Hd executes the first posture change in the desired winding direction. However, when there is only the right side allowable section SA2, the lower control device Hd executes the second posture change control in the desired winding direction. Furthermore, depending on the route from the transfer target site 6 of the transfer origin to the transfer target site 6 of the transfer destination, there may be a case where the allowable section SA does not exist at all on the way. In this case, the lower control device Hd changes the path of the article transport vehicle 2 to a path in which the allowable section SA exists, and changes the posture in the allowable section SA, or changes the position at the transport target place 6 at the transport origin or the transport destination. If it is possible to change the posture during the process, the posture change is performed in the transfer object place 6 .

3.其他的實施形態 接著，針對物品搬送設備的其他實施形態進行說明。3. Other Embodiments Next, another embodiment of the article conveying facility will be described.

(1)在上述之實施形態中，是針對下述例子來說明：將物品W的凸緣部Wa配置在物品W的上表面之比中心位置更接近於開口部Wb的位置。但是，並不限定於像這樣的例子，凸緣部Wa亦可配置在物品W的上表面之任一個位置。例如，凸緣部Wa亦可配置在物品W的上表面之中心位置，亦可配置在比該中心位置更遠離開口部Wb的位置。(1) In the above-described embodiment, the following description is given for an example in which the flange portion Wa of the article W is arranged on the upper surface of the article W at a position closer to the opening portion Wb than the center position. However, it is not limited to such an example, The flange part Wa may be arrange|positioned at any position of the upper surface of the article|item W. For example, the flange portion Wa may be arranged at the center position of the upper surface of the article W, or may be arranged at a position farther from the opening portion Wb than the center position.

(2)在上述之第1實施形態中，是針對下述例子來說明：控制裝置H是使物品W朝第1方向C1旋繞來作為第1姿勢變更控制，並使物品W朝第2方向C2旋繞來作為第2姿勢變更控制。但是，並不限定於像這樣的例子，可以因應於物品W、容置部22a、及姿勢變更機構4等之各條件，來設定執行姿勢變更控制時的物品W的旋繞方向。例如，在圖5中是顯示下述構成：把持機構3G所把持的凸緣部Wa是配置在物品W的上表面之比中心位置更接近於開口部Wb的位置。但是，將凸緣部Wa配置在物品W的上表面之比中心位置更遠離開口部Wb的位置之情況下，第1姿勢變更控制是執行成使物品W朝第2方向C2旋繞而使其突出於左方區域A1。相反地，第2姿勢變更控制是執行成使物品W朝第1方向C1旋繞而使其突出於右方區域A2。(2) In the above-mentioned first embodiment, the description is given for an example in which the control device H rotates the article W in the first direction C1 as the first posture change control, and causes the article W to move in the second direction C2 Twist as the second posture change control. However, it is not limited to such an example, and the winding direction of the article W when the posture change control is executed may be set according to various conditions of the article W, the accommodating portion 22a, and the posture changing mechanism 4. For example, FIG. 5 shows a configuration in which the flange portion Wa held by the holding mechanism 3G is arranged at a position closer to the opening portion Wb than the center position of the upper surface of the article W. However, when the flange portion Wa is arranged at a position on the upper surface of the article W that is farther from the opening portion Wb than the center position, the first posture change control is executed so that the article W is protruded by being wound in the second direction C2 in the left area A1. Conversely, the second posture change control is performed so that the article W is wound in the first direction C1 so as to protrude from the right area A2.

(3)在上述之實施形態中，是針對下述例子來說明：控制裝置H是根據儲存部Hd2所儲存的各容許區間SA的設定資訊，來執行姿勢變更控制。但是，並不限定於像這樣的例子，控制裝置H亦可為下述構成：當物品搬送車2行走於移動路徑R之時，根據障礙物感測器的檢測資訊等來進行容許區間SA的判定，並且根據其判定結果來執行其中任一個姿勢變更控制。(3) In the above-described embodiment, the description is given for an example in which the control device H executes the posture change control based on the setting information of each allowable section SA stored in the storage unit Hd2. However, the control device H is not limited to such an example, and the control device H may be configured to perform the allowable section SA based on the detection information of the obstacle sensor and the like when the article transport vehicle 2 is traveling on the moving path R. A determination is made, and any one of the posture change controls is executed according to the determination result.

(4)在上述之實施形態中，是針對構成為下述的例子來說明：相對於軌道98(移動路徑R)而在平面視角下重疊的位置上配置交接部6b(搬送對象場所6)，且物品搬送車2是在與此交接部6b之間移載物品W。但是，並不限定於像這樣的例子，交接部6b亦可配置在相對於軌道98而在寬度方向Y上偏移的位置。在此情況下，移載機構3是構成為具有移載用滑動機構，前述移載用滑動機構是使把持機構3G及升降機構3H移動成使物品W沿著寬度方向Y移動而相對於軌道98朝寬度方向Y突出。藉由移載用滑動機構，將把持機構3G及升降機構3H配置於在平面視角下與交接部6b重疊的位置上，藉此就變得可以在與交接部6b之間移載物品W，前述交接部6b是配置在相對於軌道98而在寬度方向Y上偏移的位置。並且，在此情況下，較理想的是，將移載用滑動機構兼用為寬度方向移動機構(滑動機構5)，前述寬度方向移動機構是在上述第2實施形態中的姿勢變更控制之時使物品W在寬度方向Y上移動的機構。(4) In the above-described embodiment, an example of a configuration in which the transfer portion 6b (the transfer object place 6) is arranged at a position overlapping the rail 98 (movement path R) in a plan view is explained, In addition, the article transport vehicle 2 transfers the article W to and from the delivery portion 6b. However, it is not limited to such an example, and the delivery part 6b may be arrange|positioned at the position shifted in the width direction Y with respect to the rail 98. FIG. In this case, the transfer mechanism 3 is configured to include a transfer slide mechanism that moves the gripping mechanism 3G and the elevating mechanism 3H so as to move the article W in the width direction Y relative to the rail 98 It protrudes in the width direction Y. With the sliding mechanism for transfer, the holding mechanism 3G and the lifting mechanism 3H are arranged at positions overlapping the transfer portion 6b in a plan view, whereby the article W can be transferred between the transfer portion 6b and the transfer portion 6b, as described above. The delivery portion 6b is arranged at a position shifted in the width direction Y with respect to the rail 98 . Furthermore, in this case, it is preferable to use the sliding mechanism for transfer also as the width direction moving mechanism (slide mechanism 5), and the width direction moving mechanism is used at the time of the posture change control in the above-mentioned second embodiment. A mechanism for moving the article W in the width direction Y.

(5)在上述之各實施形態中，是針對下述例子來說明：下位控制裝置Hd除了第1姿勢變更控制及第2姿勢變更控制之外，還會執行第3姿勢變更控制。但是，並不限定於像這樣的例子，下位控制裝置Hd亦可構成為不執行第3姿勢變更控制，而是選擇第1姿勢變更控制及第2姿勢變更控制的其中任一個控制來執行以作為姿勢變更控制。例如，在下述情況等之下不存在第3姿勢變更控制：和上述之第1實施形態同樣地在姿勢變更控制中不進行物品W之寬度方向Y的滑動移動之構成，而物品W在繞著旋繞軸4b的旋繞中相對於容置部22a只突出於寬度方向Y的其中一方，並且物品W的旋繞角度為180°以下。又，在上述之第2實施形態中，亦可構成為在兩側容許區間SA3中也不執行第3姿勢變更控制，而是執行第1姿勢變更控制及第2姿勢變更控制的其中任一個控制。(5) In each of the above-mentioned embodiments, the description is given for an example in which the lower control device Hd executes the third posture change control in addition to the first posture change control and the second posture change control. However, it is not limited to such an example, and the lower control device Hd may be configured not to execute the third posture change control, but to select any one of the first posture change control and the second posture change control and execute it as a Posture change control. For example, the third posture change control does not exist in the case where, as in the first embodiment described above, in the posture change control, the sliding movement of the article W in the width direction Y is not performed, and the article W goes around During the revolving of the reeling shaft 4b, only one of the width directions Y protrudes from the accommodating portion 22a, and the revolving angle of the article W is 180° or less. Furthermore, in the above-described second embodiment, the third posture change control may not be executed in the both-side allowable section SA3, but either the first posture change control or the second posture change control may be executed. .

(6)再者，在上述之各實施形態中所揭示的構成，只要沒有發生矛盾，亦可與其他實施形態所揭示的構成來組合而應用。關於其他的構成，在本說明書中所揭示的實施形態在全部之點上均只不過是例示。從而，在不脫離本發明的主旨之範圍內，可適當地進行各種改變。(6) Furthermore, the configurations disclosed in the above-mentioned embodiments may be combined with the configurations disclosed in other embodiments, as long as there is no conflict. Regarding other configurations, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various changes can be appropriately made without departing from the gist of the present invention.

4.上述實施形態之概要 以下，針對在上述所說明之物品搬送設備的概要進行說明。4. Outline of the above-mentioned embodiment Hereinafter, the outline of the article conveyance facility described above will be described.

一種物品搬送設備，具備有物品搬送車與控制裝置，前述物品搬送車是在複數個搬送對象場所之間沿著移動路徑移動來搬送物品，前述控制裝置是控制該物品搬送車，前述物品搬送車具有：容置前述物品的容置部、及變更前述物品的姿勢之姿勢變更機構，將前述移動路徑中的前述物品搬送車的行進方向設為基準，並相對於前述容置部將左側的區域設為左方區域，相對於前述容置部將右側的區域設為右方區域，前述容置部及前述姿勢變更機構是構成為：在由前述姿勢變更機構所進行之前述物品的姿勢變更中前述物品會從前述容置部突出於外側，在前述移動路徑中，設定有容許前述物品從前述容置部往外側突出的以下區間：在前述左方區域中容許的左側容許區間、在前述右方區域中容許的右側容許區間、以及在前述左方區域及前述右方區域之雙方中容許的兩側容許區間，前述控制裝置在執行藉由前述姿勢變更機構來變更前述物品的姿勢之姿勢變更控制的情況下，在前述物品搬送車位於前述左側容許區間內的狀態下，是執行第1姿勢變更控制，使前述物品於前述左方區域及前述右方區域當中的前述左方區域突出，在前述物品搬送車位於前述右側容許區間內的狀態下，是執行第2姿勢變更控制，使前述物品於前述左方區域及前述右方區域當中的前述右方區域突出，在前述物品搬送車位於前述兩側容許區間內的狀態下，是執行前述第1姿勢變更控制、前述第2姿勢變更控制、或使前述物品於前述左方區域及前述右方區域之雙方突出的第3姿勢變更控制。An article conveying facility includes an article conveying vehicle, wherein the article conveying vehicle moves along a moving path between a plurality of conveying object locations to convey articles, and a control device controls the article conveying vehicle and the article conveying vehicle. There is an accommodating portion for accommodating the article, and a posture changing mechanism for changing the posture of the article, and a region on the left side of the accommodating portion is adjusted relative to the accommodating portion using the traveling direction of the article transport vehicle in the moving path as a reference. The left area is defined as the right area with respect to the accommodating portion, and the accommodating portion and the posture changing mechanism are configured so as to change the posture of the article by the posture changing mechanism. The article protrudes from the accommodating portion to the outside, and in the moving path, the following sections are set for allowing the article to protrude from the accommodating portion to the outside: a left side allowance area allowed in the left area, a left side allowance area allowed in the right side area the right side allowable interval allowed in the square area, and the both side allowance intervals allowed in both the left area and the right area, the control device is performing a posture change for changing the posture of the article by the posture changing mechanism In the case of control, in a state where the article transport vehicle is located in the left side tolerance zone, the first posture change control is executed so that the article protrudes from the left side area among the left side area and the right side area, and the In a state where the article transport vehicle is located within the right side allowable section, the second posture change control is executed so that the article protrudes from the right area among the left area and the right area, and the article transport vehicle is located in the right area. In the state within the tolerance zone on both sides, the first posture change control, the second posture change control, or the third posture change control for protruding the article in both the left area and the right area is executed.

根據本構成，可以設成在藉由姿勢變更機構來變更物品的姿勢之情況下，因應於已設定於移動路徑中的左側容許區間、右側容許區間、及兩側容許區間，來使物品於各容許區間中的容許物品的突出之側的區域突出，以進行物品的姿勢變更。藉此，可以消除物品往容許物品的突出之區域以外的區域的突出、或是將物品的突出量變得較少。其結果，可以抑制姿勢變更中的物品與干涉對象物相干涉的情形。又，藉由將像這樣的容許區間設置於移動路徑中，可以做到例如既毋須為了避免物品與干涉對象物的干涉而在設備整體中將移動路徑的周圍的空間確保得較寬廣，亦可謀求設備的大型化之抑制。According to this configuration, when the posture of the article is changed by the posture changing mechanism, the article can be set in each of the left-side allowable sections, right-side allowable sections, and both-side allowable sections already set in the moving path. In the tolerance zone, the area on the protruding side of the allowable item is protruded to change the posture of the item. Thereby, the protrusion of the article to the area other than the area where the protrusion of the article is allowed can be eliminated, or the amount of the protrusion of the article can be reduced. As a result, it is possible to suppress the interference between the article whose posture is being changed and the object to be interfered with. Furthermore, by providing such an allowable section in the movement path, it is possible to ensure a wide space around the movement path in the entire apparatus, for example, in order to avoid interference between the article and the interference object. Seek to suppress the enlargement of equipment.

在此，較理想的是，前述姿勢變更機構是構成為使前述物品繞著沿鉛直方向的旋繞軸旋繞，以變更該物品的姿勢，前述容置部及前述姿勢變更機構是構成為：在使前述物品朝繞著前述旋繞軸的第1方向旋繞的情況下，前述物品於前述左方區域突出，在使前述物品朝繞著前述旋繞軸之和前述第1方向相反的反方向即第2方向旋繞的情況下，前述物品於前述右方區域突出，前述控制裝置是使前述物品朝前述第1方向旋繞來作為前述第1姿勢變更控制，使前述物品朝前述第2方向旋繞來作為前述第2姿勢變更控制。Here, preferably, the posture changing mechanism is configured to change the posture of the article by revolving the article around a revolving axis in the vertical direction, and the accommodating portion and the posture changing mechanism are configured to change the posture of the article when the article is rotated. When the article is revolved in the first direction around the reeling axis, the article protrudes from the left area, and the article is directed in the second direction, which is the opposite direction to the first direction around the reeling axis. In the case of revolving, the article protrudes from the right area, and the control device makes the article revolve in the first direction as the first attitude change control, and revolves the article in the second direction as the second Posture change control.

根據本構成，即能夠以簡易的構成來進行物品的姿勢變更。並且，在第1姿勢變更控制中，可以藉由使物品朝第1方向旋繞，以使該物品於左方區域突出來進行姿勢變更，其結果，可以將物品往右方區域的突出消除或讓物品的突出量變少。又，在第2姿勢變更控制中，可以藉由使物品朝第2方向旋繞，以使該物品於右方區域突出來進行姿勢變更，其結果，可以將物品往左方區域的突出消除或讓物品的突出量變少。According to this configuration, the posture of the article can be changed with a simple configuration. Furthermore, in the first posture change control, the posture can be changed by revolving the article in the first direction so that the article protrudes in the left area. As a result, the protruding of the article in the right area can be eliminated or released. The protruding amount of the item is reduced. Also, in the second posture change control, the posture can be changed by revolving the article in the second direction so that the article protrudes in the right area. As a result, the protruding of the article in the left area can be eliminated or released. The protruding amount of the item is reduced.

又，較理想的是，將正交於前述物品搬送車的行進方向之方向設為寬度方向，前述物品搬送車更具有使前述物品在前述寬度方向上移動的寬度方向移動機構，前述控制裝置在執行前述第1姿勢變更控制的情況下，是藉由前述寬度方向移動機構使前述物品朝前述寬度方向中的前述左方區域側移動，在執行前述第2姿勢變更控制的情況下，是藉由前述寬度方向移動機構使前述物品朝前述寬度方向中的前述右方區域側移動。Furthermore, it is preferable that the direction orthogonal to the traveling direction of the article transport vehicle is the width direction, the article transport vehicle further includes a width direction moving mechanism for moving the article in the width direction, and the control device is set in the width direction. When the first posture change control is executed, the article is moved toward the left area side in the width direction by the width direction moving mechanism, and when the second posture change control is executed, the article is moved by the width direction moving mechanism. The said width direction moving mechanism moves the said article to the said right area side in the said width direction.

根據本構成，在進行第1姿勢變更控制的情況下，因為是使物品往容許該物品的突出的左方區域之側移動，所以可以更加減少物品往右方區域突出的可能性。同樣地，在進行第2姿勢變更控制的情況下，因為是使物品往容許該物品的突出的右方區域之側移動，所以可以更加減少物品往左方區域突出的可能性。According to this configuration, when the first posture change control is performed, since the article is moved to the side of the left area that allows the article to protrude, the possibility of the article protruding to the right area can be further reduced. Similarly, in the case of performing the second posture change control, since the article is moved to the side of the right area where the protruding of the article is allowed, the possibility of the article protruding to the left area can be further reduced.

又，較理想的是，前述姿勢變更機構是構成為使前述物品繞著沿鉛直方向的旋繞軸旋繞，以變更該物品的姿勢，前述控制裝置在執行前述第1姿勢變更控制的情況下，是藉由前述寬度方向移動機構使前述物品在前述寬度方向上移動，以使前述物品繞著前述旋繞軸的旋繞軌跡的外緣成為通過前述容置部與前述右方區域的邊界部之位置，在執行前述第2姿勢變更控制的情況下，是藉由前述寬度方向移動機構使前述物品在前述寬度方向上移動，以使前述物品繞著前述旋繞軸的旋繞軌跡的外緣成為通過前述容置部與前述左方區域的邊界部之位置。Further, preferably, the posture changing mechanism is configured to revolve the article around a revolving axis in the vertical direction to change the posture of the article, and when the control device executes the first posture changing control, the The article is moved in the width direction by the width direction moving mechanism, so that the outer edge of the revolving trajectory of the article around the revolving axis becomes a position passing through the boundary between the accommodating portion and the right region, and When the second posture change control is executed, the article is moved in the width direction by the width direction moving mechanism so that the outer edge of the revolving locus of the article around the revolving axis passes through the accommodating portion. The position of the boundary with the aforementioned left area.

根據本構成，在第1姿勢變更控制中，可以既不使物品的旋繞軌跡的外緣於右方區域突出，並且將物品的寬度方向的移動距離抑制到最低限度。又，在第2姿勢變更控制中，可以既不使物品的旋繞軌跡的外緣於左方區域突出，並且將物品的寬度方向的移動距離抑制到最低限度。藉此，變得可謀求有效率的姿勢變更控制之執行。According to this configuration, in the first posture change control, it is possible to minimize the moving distance of the article in the width direction without protruding the outer edge of the article's swirling locus from the right region. Furthermore, in the second posture change control, the movement distance in the width direction of the article can be suppressed to a minimum without protruding the outer edge of the swirling locus of the article from the left region. Thereby, it becomes possible to achieve efficient execution of posture change control.

又，較理想的是，前述控制裝置更具備儲存部，前述儲存部儲存有已設定於前述移動路徑中的前述左側容許區間、前述右側容許區間、及前述兩側容許區間，前述控制裝置是依據前述儲存部所儲存的各容許區間的設定資訊，來執行前述姿勢變更控制。In addition, preferably, the control device further includes a storage unit, and the storage unit stores the left-side allowable section, the right-side allowable section, and the both-side allowable sections already set in the moving path, and the control device is based on The setting information of each allowable section stored in the storage unit is used to execute the posture change control.

根據本構成，變得能夠藉由簡易的控制構成來適當地執行相應於各容許區間的姿勢變更控制。 產業上之可利用性According to this configuration, it becomes possible to appropriately execute the posture change control corresponding to each allowable section with a simple control configuration. industrial availability

本揭示之技術可以利用在具備有物品搬送車之物品搬送設備上，其中前述物品搬送車是在複數個搬送對象場所之間沿著移動路徑移動來搬送物品。The technology of the present disclosure can be used in an article conveying facility including an article conveying vehicle that moves along a moving path between a plurality of conveying target locations to convey articles.

1‧‧‧物品搬送設備 2‧‧‧物品搬送車 3‧‧‧移載機構 3G‧‧‧把持機構 3Ga‧‧‧把持部 3Gb‧‧‧把持爪 3GM‧‧‧把持用馬達 3H‧‧‧升降機構 3Ha‧‧‧升降部 3Hb‧‧‧升降用皮帶 3Hc‧‧‧升降用滑輪 3Hd‧‧‧升降用絞盤 3HM‧‧‧升降用馬達 4‧‧‧姿勢變更機構 4a‧‧‧旋繞部 4b‧‧‧旋繞軸 4M‧‧‧旋繞用馬達 5‧‧‧滑動機構(幅方向移動機構) 5a‧‧‧滑動部 5b‧‧‧滑動用皮帶 5c‧‧‧滑動用滑輪 5M‧‧‧滑動用馬達 6‧‧‧搬送對象場所 6a‧‧‧處理裝置 6b‧‧‧交接部 21‧‧‧行走部 21a‧‧‧行走輪 21M‧‧‧行走用馬達 22‧‧‧本體部 22a‧‧‧容置部 22b‧‧‧罩蓋部 22f‧‧‧相向面 97‧‧‧干涉對象物 98‧‧‧軌道 99‧‧‧天花板 A1‧‧‧左方區域 A2‧‧‧右方區域 B‧‧‧邊界部 C1‧‧‧第1方向 C2‧‧‧第2方向 H‧‧‧控制裝置 Hd‧‧‧下位控制裝置 Hd1‧‧‧控制種類決定部 Hd2‧‧‧儲存部 Hu‧‧‧上位控制裝置 Ja‧‧‧適當姿勢資訊 R‧‧‧移動路徑 S11~S14‧‧‧步驟 SA‧‧‧容許區間 SA1‧‧‧左側容許區間 SA2‧‧‧右側容許區間 SA3‧‧‧兩側容許區間 SD‧‧‧設定距離 SR‧‧‧禁止區間 W‧‧‧物品 Wa‧‧‧凸緣部 Wb‧‧‧開口部 Wc‧‧‧物品的旋繞軌跡的外縁 X‧‧‧行進方向 Y‧‧‧寬度方向 Y1‧‧‧左側 Y2‧‧‧右側 Z‧‧‧鉛直方向1‧‧‧Item handling equipment 2‧‧‧Item handling vehicle 3‧‧‧Transfer mechanism 3G‧‧‧Control Organization 3Ga‧‧‧Control 3Gb‧‧‧holding claw 3GM‧‧‧holding motor 3H‧‧‧Lifting mechanism 3Ha‧‧‧Lifting part 3Hb‧‧‧lifting belt 3Hc‧‧‧lifting pulley 3Hd‧‧‧Winches for lifting 3HM‧‧‧Motor for lifting 4‧‧‧Posture change mechanism 4a‧‧‧Convoluted part 4b‧‧‧winding shaft 4M‧‧‧winding motor 5‧‧‧Sliding mechanism (moving mechanism in width direction) 5a‧‧‧Sliding part 5b‧‧‧Sliding belt 5c‧‧‧Sliding pulley 5M‧‧‧Sliding Motor 6‧‧‧Place to be transferred 6a‧‧‧Processing device 6b‧‧‧Transfer Department 21‧‧‧Walking Department 21a‧‧‧Travel wheel 21M‧‧‧travel motor 22‧‧‧Main body 22a‧‧‧Accommodation 22b‧‧‧Cover 22f‧‧‧Opposite side 97‧‧‧Interference object 98‧‧‧track 99‧‧‧Ceiling A1‧‧‧Left area A2‧‧‧Right area B‧‧‧Boundary Department C1‧‧‧1st direction C2‧‧‧2nd direction H‧‧‧Control device Hd‧‧‧Lower control device Hd1‧‧‧Control Type Determination Department Hd2‧‧‧Storage Hu‧‧‧Host control device Ja‧‧‧Appropriate Posture Information R‧‧‧movement path S11~S14‧‧‧Steps SA‧‧‧Tolerance SA1‧‧‧Left tolerance zone SA2‧‧‧Right side tolerance SA3‧‧‧Tolerance on both sides SD‧‧‧Setting distance SR‧‧‧Prohibited section W‧‧‧Item Wa‧‧‧Flange Wb‧‧‧opening Wc‧‧‧The outer edge of the object's spiral trajectory X‧‧‧Direction of travel Y‧‧‧Width direction Y1‧‧‧left Y2‧‧‧right Z‧‧‧Vertical direction

圖1是顯示物品搬送設備的一部分的平面圖。 圖2是顯示物品的移載情形的圖。 圖3是物品搬送車的移動方向視圖。 圖4是物品搬送設備的控制方塊圖。 圖5是姿勢變更控制的說明圖。 圖6是顯示決定控制種類時的順序之流程圖。 圖7是容許區間的說明圖。 圖8是姿勢變更控制的說明圖。FIG. 1 is a plan view showing a part of the article conveying apparatus. FIG. 2 is a diagram showing a transfer situation of articles. FIG. 3 is a moving direction view of the article transport vehicle. Fig. 4 is a control block diagram of the article conveying apparatus. FIG. 5 is an explanatory diagram of posture change control. FIG. 6 is a flowchart showing the procedure for determining the control type. FIG. 7 is an explanatory diagram of an allowable section. FIG. 8 is an explanatory diagram of posture change control.

2‧‧‧物品搬送車 2‧‧‧Item handling vehicle

4b‧‧‧旋繞軸 4b‧‧‧winding shaft

22a‧‧‧容置部 22a‧‧‧Accommodation

97‧‧‧干涉對象物 97‧‧‧Interference object

A1‧‧‧左方區域 A1‧‧‧Left area

A2‧‧‧右方區域 A2‧‧‧Right area

B‧‧‧邊界部 B‧‧‧Boundary Department

C1‧‧‧第1方向 C1‧‧‧1st direction

C2‧‧‧第2方向 C2‧‧‧2nd direction

R‧‧‧移動路徑 R‧‧‧movement path

SA‧‧‧容許區間 SA‧‧‧Tolerance

SA1‧‧‧左側容許區間 SA1‧‧‧Left tolerance zone

SA2‧‧‧右側容許區間 SA2‧‧‧Right side tolerance

SD‧‧‧設定距離 SD‧‧‧Setting distance

W‧‧‧物品 W‧‧‧Item

Wc‧‧‧物品的旋繞軌跡的外縁 Wc‧‧‧The outer edge of the object's spiral trajectory

X‧‧‧行進方向 X‧‧‧Direction of travel

Y‧‧‧寬度方向 Y‧‧‧Width direction

Y1‧‧‧左側 Y1‧‧‧left

Y2‧‧‧右側 Y2‧‧‧right

Claims (5)

一種物品搬送設備，具備以下： 物品搬送車，在複數個搬送對象場所之間沿著移動路徑移動來搬送物品；及 控制裝置，控制該物品搬送車， 前述物品搬送設備具有以下之特徵： 前述物品搬送車具有容置前述物品的容置部、及變更前述物品的姿勢之姿勢變更機構， 將前述移動路徑中的前述物品搬送車的行進方向設為基準，並將相對於前述容置部之左側的區域設為左方區域，將相對於前述容置部之右側的區域設為右方區域， 前述容置部及前述姿勢變更機構構成為：在由前述姿勢變更機構所進行之前述物品的姿勢變更中前述物品會從前述容置部突出於外側， 在前述移動路徑中設定有容許前述物品從前述收容部往外側突出的以下區間：在前述左方區域中容許的左側容許區間、在前述右方區域中容許的右側容許區間、以及在前述左方區域及前述右方區域之雙方中容許的兩側容許區間， 前述控制裝置在執行藉由前述姿勢變更機構來變更前述物品的姿勢之姿勢變更控制的情況下，在前述物品搬送車位於前述左側容許區間內的狀態下，是執行使前述物品朝前述左方區域及前述右方區域當中的前述左方區域突出的第1姿勢變更控制，在前述物品搬送車位於前述右側容許區間內的狀態下，是執行使前述物品朝前述左方區域及前述右方區域當中的前述右方區域突出的第2姿勢變更控制，在前述物品搬送車位於前述兩側容許區間內的狀態下，是執行前述第1姿勢變更控制、前述第2姿勢變更控制、或使前述物品朝前述左方區域及前述右方區域之雙方突出的第3姿勢變更控制。An article handling equipment has the following: An article transport vehicle that moves along a moving path between a plurality of transport object locations to transport articles; and a control device to control the article transport vehicle, The aforementioned article handling equipment has the following characteristics: The article transport vehicle has an accommodating portion for accommodating the article, and a posture changing mechanism for changing the posture of the article, Taking the traveling direction of the article transport vehicle in the moving path as a reference, the area on the left side of the accommodating portion is referred to as the left area, and the area on the right side of the accommodating portion is referred to as the right side area, The accommodating portion and the posture changing mechanism are configured such that the article protrudes outward from the accommodating portion when the posture of the article is changed by the posture changing mechanism, In the moving path, the following sections are set for allowing the articles to protrude outward from the accommodating portion: a left-side allowable section allowed in the left-side area, a right-side allowable section allowed in the right-side area, and a left-side allowable section the allowable range on both sides of the area and the area on the right side of the aforesaid area, When the control device executes the posture change control for changing the posture of the article by the posture changing mechanism, in a state where the article transport vehicle is located in the left side tolerance section, the control device executes the movement of the article toward the left area. and the first posture change control in which the left area of the right area protrudes, when the article transport vehicle is located in the right side tolerance section, the article is executed to move the article to the left area and the right area. The second posture change control protruding from the right region of the , executes the first posture change control, the second posture change control, or causes the article to move toward the A third posture change control in which both of the left area and the right area protrude. 如請求項1之物品搬送設備，其中前述姿勢變更機構是構成為使前述物品繞著沿鉛直方向的旋繞軸旋繞，以變更該物品的姿勢， 前述容置部及前述姿勢變更機構構成為：在使前述物品朝繞著前述旋繞軸的第1方向旋繞的情況下，前述物品朝前述左方區域突出，在使前述物品朝繞著前述旋繞軸之和前述第1方向相反的反方向即第2方向旋繞的情況下，前述物品朝前述右方區域突出， 前述控制裝置是使前述物品朝前述第1方向旋繞來作為前述第1姿勢變更控制，使前述物品朝前述第2方向旋繞來作為前述第2姿勢變更控制。The article conveying apparatus according to claim 1, wherein the posture changing mechanism is configured to change the posture of the article by revolving the article around a revolving axis in the vertical direction, The accommodating portion and the posture changing mechanism are configured such that when the article is revolved in a first direction around the reeling axis, the article protrudes toward the left region, and when the article is revolved around the reeling axis In the case of revolving in the second direction, which is the opposite direction to the first direction, the article protrudes toward the right area, The control device is configured to rotate the article in the first direction as the first attitude change control, and rotate the article in the second direction as the second attitude change control. 如請求項1或2之物品搬送設備，其是將正交於前述物品搬送車的行進方向之方向設為寬度方向， 前述物品搬送車更具有使前述物品在前述寬度方向上移動的寬度方向移動機構， 前述控制裝置在執行前述第1姿勢變更控制的情況下，是藉由前述寬度方向移動機構使前述物品朝前述寬度方向中的前述左方區域側移動，在執行前述第2姿勢變更控制的情況下，是藉由前述寬度方向移動機構使前述物品朝前述寬度方向中的前述右方區域側移動。According to the article conveying equipment of claim 1 or 2, the direction orthogonal to the traveling direction of the article conveying vehicle is set as the width direction, The article transport vehicle further includes a width direction moving mechanism for moving the article in the width direction, When the control device executes the first posture change control, the article is moved toward the left region side in the width direction by the width direction moving mechanism, and when the second posture change control is executed , is to move the article toward the right region side in the width direction by the width direction moving mechanism. 如請求項3之物品搬送設備，其中前述姿勢變更機構是構成為使前述物品繞著沿鉛直方向的旋繞軸旋繞，以變更該物品的姿勢， 前述控制裝置在執行前述第1姿勢變更控制的情況下，是藉由前述寬度方向移動機構使前述物品在前述寬度方向上移動，以使前述物品繞著前述旋繞軸的旋繞軌跡的外緣成為通過前述容置部與前述右方區域的邊界部之位置，在執行前述第2姿勢變更控制的情況下，是藉由前述寬度方向移動機構使前述物品在前述寬度方向上移動，以使前述物品繞著前述旋繞軸的旋繞軌跡的外緣成為通過前述容置部與前述左方區域的邊界部之位置。The article conveying apparatus according to claim 3, wherein the posture changing mechanism is configured to change the posture of the article by revolving the article around a revolving axis in the vertical direction, When the control device executes the first posture change control, the article is moved in the width direction by the width direction moving mechanism so that the outer edge of the revolving locus of the article around the revolving axis passes through. The position of the boundary portion between the accommodating portion and the right region is, when the second posture change control is executed, the article is moved in the width direction by the width direction moving mechanism, so that the article goes around The outer edge of the revolving locus of the revolving axis becomes a position passing through the boundary portion between the accommodating portion and the left region. 如請求項1或2之物品搬送設備，其中前述控制裝置更具備儲存部，前述儲存部儲存有已設定於前述移動路徑中的前述左側容許區間、前述右側容許區間、及前述兩側容許區間， 前述控制裝置是依據前述儲存部所儲存的各容許區間的設定資訊，來執行前述姿勢變更控制。The article conveying equipment according to claim 1 or 2, wherein the control device further includes a storage unit, and the storage unit stores the left-side allowable section, the right-side allowable section, and the both-side allowable sections that have been set in the moving path, The control device executes the posture change control according to the setting information of each allowable section stored in the storage unit.
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