CN108861265A - Article carrying equipment - Google Patents
Article carrying equipment Download PDFInfo
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- CN108861265A CN108861265A CN201810444112.4A CN201810444112A CN108861265A CN 108861265 A CN108861265 A CN 108861265A CN 201810444112 A CN201810444112 A CN 201810444112A CN 108861265 A CN108861265 A CN 108861265A
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- aforementioned
- article carrying
- items
- transfer
- management region
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- 238000012546 transfer Methods 0.000 claims abstract description 216
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 claims abstract description 13
- 239000000969 carrier Substances 0.000 claims description 15
- 230000002452 interceptive effect Effects 0.000 claims description 5
- 230000007423 decrease Effects 0.000 abstract description 10
- 230000000630 rising effect Effects 0.000 abstract description 7
- 238000012545 processing Methods 0.000 description 7
- 238000005553 drilling Methods 0.000 description 5
- 230000004044 response Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000032258 transport Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000002401 inhibitory effect Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011002 quantification Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
Classifications
-
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
-
- 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)
- Physics & Mathematics (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Control Of Conveyors (AREA)
Abstract
By the article carrying equipment with the parallel Parallel Interval of multiple tracks, using with when the article carrying vehicle for the supporting mass that can be protruded and avoid in the width direction orthogonal with the extending direction of track is to carry article, inhibit the rising of cost and the decline of handling efficiency, and prevents article carrying vehicle from contacting in Parallel Interval.From Parallel Interval（PK）A side track（K1）Supporting mass outstanding（20）Prominent position be and the track in another party（K2）The article carrying vehicle of traveling（1）Travel space interference position in the case where, with transfer object position（S）Associatedly mode includes at least travel space and supporting mass（20）Set interference management region to the position of interference（Z）.In an article carrying vehicle（1）In the case where carrying out transfer work, forbid other article carrying vehicles（1）To interference management region（Z）Into.
Description
Technical field
The present invention relates to article carrying equipment, items haulage equipment makes multiple article carrying vehicles advance along track,
Multiple transfer objects carry article between position.
Background technique
Multiple article carrying vehicles are made to carry the article carrying of article between multiple transfer objects position along track traveling
An example of equipment is disclosed in Japanese Unexamined Patent Publication 2009-35403 bulletin.The article carrying equipment utilization, which is suspended in, to be set to
Automatically to carry article (520), (band bracket indicates the article carrying vehicle (200) of the track (100) of ceiling in the background technology
Appended drawing reference be patent document 1 appended drawing reference.).The supporting part (230) of suspended item (520) is not only such as Fig. 2 of the bulletin
The shown suspended item (520) in the state of being located at the underface of track (100) makes its lifting carry out the transfer article (520),
The position suspension that can be moved in the width direction orthogonal on the extending direction of track (100) as shown in Fig. 3 of the bulletin
Article (520) makes its lifting carry out the transfer article (520).
But in article carrying equipment, most cases lower railway has parallel part, but is made sometimes with improving space
With the purpose of efficiency etc., the interval of parallel track is narrowly set can to the article carrying vehicle advanced in parallel track
It will not contiguously staggered degree.In the case where the interval of track parallel in this wise is relatively narrow, if in the track for being located at a side
On an article carrying vehicle make above-mentioned supporting part (230) in the width direction protrude in the state of, article carrying vehicle in addition
It advances on the track of another party, then has a possibility that supporting part (230) and the other article carrying vehicle contact.Also considering will
It hinders object sensor etc. and is equipped on the such situation of each article carrying vehicle, but will lead to the rising of the cost of article carrying vehicle.This
Outside, it is also considered that will the number of units of article carrying vehicle in the parallel region of injection be constrained to one, but have object in this case
A possibility that handling efficiency decline of product haulage equipment.
Summary of the invention
In view of above-mentioned background, it is desirable to provide enter lower technology：In the article carrying with the parallel Parallel Interval of multiple tracks
In equipment, the article with the supporting mass that can be protruded and avoid in the width direction orthogonal with the extending direction of track is used
Carrier prevents article carrying in Parallel Interval when carrying article, to inhibit the rising of cost and the decline of handling efficiency
Vehicle contact.
In view of the foregoing, as a mode of article carrying equipment, items haulage equipment removes multiple articles
It transports vehicle to advance along track, article is carried between multiple transfer objects position, aforementioned product haulage equipment has multiple abovementioned rails
Parallel Parallel Interval, it is aforementioned by along the horizontal plane and the direction orthogonal with the extending direction of abovementioned rails is set as width direction
Article carrying vehicle has the supporting mass of bearing items, and aforementioned supporting mass is in the evacuation position avoided to aforementioned article carrying vehicle side
It sets and accordingly protrudes and avoid between the prominent position outstanding of foregoing width direction with the position at aforementioned transfer object position,
The position at items carrier and aforementioned transfer object position is accordingly at the abovementioned rails of a side of aforementioned Parallel Interval
The aforementioned prominent position for the situation for keeping aforementioned supporting mass prominent, as items carrier in the another of aforementioned Parallel Interval
Side abovementioned rails advance when track travel space and aforementioned supporting mass interference position in the case where, with the transfer pair
As the associated mode in position, set in the Parallel Interval to the position interfered including at least aforementioned travel space and aforementioned supporting mass
Interfere management region, carries out in an items carrier to aforementioned transfer object portion corresponding with previous intervention management region
In the case where the transfer work of position, forbid other entrance of items carrier to the interference management region.
According to the program, having for transfer article and the possibility of supporting mass outstanding and the contact of other article carrying vehicle
Property place setting interference management region, an article carrying vehicle the interference management region carry out transfer work the case where
Under, forbid other article carrying vehicles to enter to the interference management region.Therefore, can make for transfer article and bearing outstanding
A possibility that body and other article carrying vehicle contact reduces.Each article carrying vehicle without by hinder object sensor etc. detection
Other article carrying vehicle supporting masses outstanding, so the cost increase as caused by the carrying for hindering object sensor will not occur.
In addition, nor entering limitation in whole Parallel Intervals implementation article carrying vehicle, so also inhibiting removing for article haulage equipment
Transport efficiency decline.In this way, in the article carrying equipment with the parallel Parallel Interval of multiple tracks, using tool according to this programme
There is the article carrying vehicle for the supporting mass that can be protruded and avoid in the width direction orthogonal with the extending direction of track to carry object
When product, it is able to suppress the rising of cost and the decline of handling efficiency, and can prevent article carrying vehicle from contacting in Parallel Interval.
According to the record below about the embodiment being described with reference to, the further of article carrying equipment is specified
Feature and advantage.
Detailed description of the invention
Fig. 1 is the top view of article carrying equipment.
Fig. 2 is the figure for indicating the example of transfer article between the transfer object position of the underface of article carrying vehicle.
Fig. 3 is the figure for indicating the example of transfer article between the transfer object position of the obliquely downward of article carrying vehicle.
Fig. 4 is the block diagram for indicating the signal of system structure of article haulage equipment.
Fig. 5 is the figure for indicating an example of control agreement of the article carrying vehicle of management of shifting products device.
Fig. 6 is the figure of the presence or absence of interference for illustrating travel space and supporting mass.
Fig. 7 is the figure for indicating an example of setting method of interference management region.
Fig. 8 is the figure for illustrating the traveling limitation relative to interference management region.
Fig. 9 is the figure for illustrating the entrance relative to interference management region and forbidding.
Figure 10 is the figure for indicating an example of setting method of multiple interference management regions.
Specific embodiment
Hereinafter, being illustrated based on embodiment of the attached drawing to article carrying equipment.Fig. 1 shows the carryings of article carrying vehicle 1
The top view of the article carrying equipment 100 of article 90 (referring to Fig. 2, Fig. 3 etc.).Article carrying equipment 100 makes multiple article carryings
Vehicle 1 is advanced along track K, and article 90 is carried between multiple transfer objects position S.In transfer object position S, it is provided with and for example protects
The not shown safe-deposit vault of pipe article 90, implement relative to article 90 various physics/chemistry processing not shown processing
Device.Article carrying equipment 100 is set with the region that safe-deposit vault collects, region that processing unit is collected according to process content etc.
Region E.In Fig. 1, instantiating setting, there are four the modes of region E (E1 ~ E4).In addition, as shown in Figure 1, article carrying equipment
The 100 Parallel Interval PKs parallel with multiple track K.Track K and safe-deposit vault, the configuration of processing unit, i.e. transfer object position S
Configuration be accordingly laid with, according to the characteristic of each region E, the interval of the track K of Parallel Interval PK is also different.
Fig. 2 and Fig. 3 indicates that the slave front direction rear of the direction of travel (the extending direction L of track K) along article carrying vehicle 1 is seen
Examine the main view of article carrying vehicle 1.In addition, in the following description, by the extending direction along the horizontal plane and relative to track K
The direction of L-orthogonal is referred to as width direction W to illustrate.Article carrying vehicle 1 has traveling body 9, hanger bearing in the carrying of traveling body 9
Vehicle main body 10.In addition, track K is made of the traveling track 2 by suspension parts hanger bearing in ceiling.In the present embodiment,
It is configured in parallel in two traveling tracks 2 of horizontal plane and constitutes traveling track pair.Also, the wheel 15 for being set to traveling body 9 exists
The upper surface of traveling track 2 rolls, and thus traveling body 9 is advanced.Wheel 15 is by traveling motor M1 (referring to Fig. 4) driving.
Article carrying vehicle 1 hangs the article 90 of moving object by the transporting vehicle body 10 by hanger bearing in traveling body 9
Bearing is hung to carry the article 90.Article 90 is, for example, the front end open-type wafer transfer box for accommodating semiconductor substrate（FOUP,
Front Opening Unified Pod）, accommodate reticle mask (photomask) reticle mask case.Transporting vehicle body 10 has
Article supporting mass 20 (supporting mass), items supporting mass 20 (supporting mass) have lifting unit 13, sliding part 14, handle part 18,
Go up and down wire rod 19.Lifting unit 13, in sliding part 14, is provided with holding in the lower section of lifting unit 13 by 19 hanger bearing of lifting wire rod
Portion 18.It is formed with flange part 91 in the upper surface of article 90, handle part 18 holds the flange part 91, and article 90 is hung as a result,
It is supported on lifting unit 13.
The article carrying vehicle 1 of present embodiment is between the underface of traveling body 9 and the transfer object position S of obliquely downward
Article 90 is carried out to join.Fig. 2 indicates the example of the transfer article 90 between the transfer object position S of the underface of traveling body 9,
Fig. 3 indicates the example of the transfer article 90 between the transfer object position S of the obliquely downward of traveling body 9.In addition, the signal of Fig. 4
Block diagram indicate the system structure of article haulage equipment 100 and article carrying vehicle 1.Transfer pair in the underface with traveling body 9
In the case where as transfer article 90 between the S of position, as shown in Fig. 2, handle part 18 holds article 90 by holding actuator A3
Flange part 91, and by driving lifting motor M3 driving, lifting unit 13 along the vertical direction V go up and down, make article as a result,
90 is mobile.
Between the transfer object position S of the obliquely downward of traveling body 9 in the case where transfer article 90, further pass through cunning
The driving of dynamic motor M2, as shown in figure 3, W is mobile to side in the width direction for the sliding part 14 of bearing lifting unit 13, in mobile mesh
Ground, V is gone up and down lifting unit 13 along the vertical direction, makes article 90 mobile as a result,.Article supporting mass 20 is to 1 side of article carrying vehicle
The evacuation position of evacuation and with the position of transfer object position S accordingly in the width direction between the prominent position outstanding W it is prominent
Carry out supports articles 90 with evacuation.In addition, here, the sliding for illustrating only the side into width direction W is mobile, it is apparent that can also
To be that can slide to move to two directions.
As shown in figure 4, centered on constituting microcomputer etc., having and working as article carrying in article carrying vehicle 1
Center carrier control unit 51.Article carrying vehicle 1 is via communication unit 52 and network 50 and as article carrying equipment
The system controller at 100 center, that is, management of shifting products device (MCP：Material Control Processor) H1 progress is wirelessly
Communication.Carrier control unit 51 is instructed through autonomous control based on the carrying from management of shifting products device H1 come work (article
Handling work), keep article 90 to carry.Above-mentioned traveling motor M1, it sledge motor M2, lifting motor M3, holds and uses
Actuator A3 is handled upside down 51 drive control of vehicle control unit.Article carrying work includes the transfer object between transfer object position S
The transfers of product 90 works and marches to corresponding with respective transfer object position S target stop position the (such as the 3rd in track K
Position Q3：Referring to Fig. 8, Fig. 9 etc.) traveling work.
Fig. 5 indicates an example of the control agreement of the article carrying vehicle 1 of management of shifting products device H1.The track K of article carrying vehicle 1
On location information be transferred to management of shifting products device H1 via network 50 from each article carrying vehicle 1.If management of shifting products device H1 is true
Determine the transfer object position S of transfer source (carry source) and transfer destination (carrying destination), then with the position of each article carrying vehicle 1
Correspondence is set, determines the article carrying vehicle 1 of instruction article handling work, is transmitted to the article carrying vehicle 1 and carries instruction.It receives and removes
The article carrying vehicle 1 for transporting instruction, which confirms the reception for carrying instruction to management of shifting products device H1, to be transmitted.
The position of the transfer object position S of current location of the management of shifting products device H1 based on article carrying vehicle 1, transfer source,
State (congestion state, whether there is or not limitations) of track K etc., carries out to the path computing ($ 1) of transfer object position S, by path
It instructs and is transmitted to article carrying vehicle.In addition, routing instruction can also be contained in carrying instruction.Receive the article of routing instruction
Carrier 1 starts based on the traveling of autonomous control based on routing instruction.Article carrying vehicle 1 will preferably set out when setting out response to
Management of shifting products device H1 transmission.Management of shifting products device H1 can also change after the setting out of article carrying vehicle 1 in the state of track K
In the case where, path is calculated again carrys out transmitting path instruction ($ 2).Management of shifting products device H1 for example passes through the article carrying vehicle 1
Set out, about utilizing for track K (being also included within the parallel track K of Parallel Interval PK) near transfer object position S,
Making the utilization of the article carrying vehicle 1, preferential ($ 2 is (equal in rear explanation referring to Fig. 6 ~ Fig. 9 about details.)).
If article carrying vehicle 1 reaches target stop position (such as the 3rd position Q3) corresponding with transfer object position S,
The arrival response for indicating to reach is transmitted relative to management of shifting products device H1.Management of shifting products device H1 is based on transfer object position S's
The situation (details is in rear explanation) on periphery, determines whether that transfer can be started, in the case where that can start transfer, will move
It carries grant instruction and transmits ($ 3) to article carrying vehicle 1.In particular, referring to Fig. 3, as described above, in the obliquely downward with traveling body 9
Transfer object position S between in the case where transfer article 90, the operating space of article supporting mass 20 broadens, so based on carrying
The judgement of managing device H1 is more important.
The article carrying vehicle 1 for receiving transfer grant instruction transmits transfer and starts response, starts transfer.Management of shifting products device
H1 is for example updated the operation ($ 4) of place information of article 90 etc..If article carrying vehicle 1 completes the transfer of article 90,
It transmits transfer and completes response.Management of shifting products device H1 is for example carried out to the path computing of the transfer object position S of transfer destination
($ 5).After, by repeating the above, article 90 can be carried to the transfer object position S of transfer destination, carried out
Transfer.
But referring to Fig.1, as described above, the Parallel Interval PK parallel there are track K in article carrying equipment 100.To mention
In the case that the purpose of high spatial service efficiency etc. and safe-deposit vault, processing unit are by compact configuration, filled with these safe-deposit vaults, processing
It is also tightly configured to set corresponding transfer object position S.Track K is accordingly laid with transfer object position S, so parallel
In the PK of section, the interval of track K can be each other by narrowly setting to the article carrying vehicle 1 advanced in parallel track K sometimes
Non-contiguously staggered degree.
But referring to Fig. 3, as described above, article carrying vehicle 1 is moved from the position that W is moved in the width direction track K sometimes
Loading product 90.In the case where the narrower intervals of parallel track K, on width direction W article supporting mass 20 outstanding have with
A possibility that other article carrying vehicles 1 contact.Fig. 6 instantiates following example：In Parallel Interval PK, in the track K the (the 1st of a side
Track K1) article carrying vehicle 1 (the 1st carrier 1A or the 3rd carrier 1C) is to transfer object position S (the 1st transfer object position S1
Or the 2nd transfer object position S2) transfer article 90 when, other article carrying vehicles 1 (the 2nd carrier 1B or the 4th carrier 1D) exist
The track K (the 2nd track K2) of another party advances.
Between the 1st transfer object position S1 in the case where transfer article 90, the article that W extends in the width direction is supported
The travel space SP weight of body 20 (sliding part 14) and the article carrying vehicle 1 (being the 2nd carrier 1B here) advanced in the 2nd track K2
It is folded.Thus, for example, the 1st carrier 1A carries out the shifting of article 90 between the 1st transfer object position S1 at the 1st track K1
When load, if the 2nd carrier 1B passes through on the 2nd track K2, there are the article supporting mass 20 and the 2nd carrier of the 1st carrier 1A
A possibility that 1B is contacted.Therefore, in the case where the 1st carrier 1A carries out transfer, the traveling of the 2nd track K2 is preferably limited.
Fig. 7 indicates the example for limiting the traveling of the 2nd track K2 in this wise.That is, in Parallel Interval PK, with the 1st transfer pair
It is dry including at least the travel space SP and article supporting mass 20 of the article carrying vehicle 1 of the 2nd track K2 as the associated mode of position S1
Set to the position related to interference management region Z.In addition, in track K, for the traveling etc. of management article carrier 1, distributively
The location informations such as location, coordinate P.In addition, its entirety of track K, which is based on location information P, is divided into multiple unit interval B.At this
In embodiment, two location information P are arranged to indicate the unit interval B between two location information P.For example, the 1st position
Unit interval B between information P1 and the 2nd location information P2 is expressed as the 1st unit interval B12.Interfere management region Z by including
At least one unit interval B of unit interval B corresponding with transfer object position S is set.In the mode that Fig. 6 and Fig. 7 is illustrated,
1st unit interval B12 corresponding with the 1st transfer object position S1 is configured to interference management region Z.
On the other hand, as shown in fig. 6, between the 2nd transfer object position S2 in the case where transfer article 90, in width
The article supporting mass 20 (sliding part 14) stretched on the W of direction (is the 4th to remove here with the article carrying vehicle 1 advanced in the 2nd track K2
Fortune vehicle 1D) travel space SP be not overlapped.Therefore, in the 1st track K1, the 3rd carrier 1C with the 2nd transfer object position S2 it
Between when carrying out the transfer of article 90, even if the 4th carrier 1D by the 2nd track K2, the article supporting mass 20 of the 3rd carrier 1C
It is not contacted with the 4th carrier 1D.Therefore, even if the 3rd carrier 1C carries out transfer, without the traveling of the 2nd track K2 of limitation.Cause
This, as shown in fig. 7, interference management region Z corresponding with the 2nd transfer object position S2 can not be set.
In this wise setting interference management region Z in the case where, management of shifting products device H1 an article carrying vehicle 1 carry out to
Forbid other article carrying vehicles 1 dry to this in the case where the transfer work of interference management region Z corresponding transfer object position S
Relate to management region Z entrance.For example, Fig. 6 and the 1st carrier 1A shown in Fig. 7 carry out to interference management region Z the corresponding 1st
In the case where the transfer work of transfer object position S1, management of shifting products device H1 forbids other article carryings such as the 2nd carrier 1B
Vehicle 1 enters to the interference management region Z.
As shown in Figure 1, being set with multiple regions E in article carrying equipment 100, there is also the track K's of Parallel Interval PK
It is spaced wider, other article carrying vehicles 1 in parallel track K traveling and the possible area of the contact of article supporting mass 20
Domain E.For example, the 1st region E1, the 3rd region E3, the 4th region E4 Parallel Interval PK track K interval it is relatively narrow, have and article
The possibility that supporting mass 20 contacts, but the interval of the track K of the Parallel Interval PK of the 2nd region E2 is wider, not with article supporting mass
The possibility of 20 contacts.Thus, for example, the object that will enter to region E in the 1st region E1, the 3rd region E3, the 4th region E4
The number of units of product carrier 1 is limited to one, other article carrying vehicles 1 and object that thus, it is possible to avoid advancing in parallel track K
The contact of product supporting mass 20.But in this case, the work efficiency drop of the article carrying vehicle 1 of each region E, there is article carrying
A possibility that whole working efficiency of equipment 100 also declines.By setting interference directorial area corresponding with each transfer object position S
Domain Z inhibits the decline of the working efficiency of each region E.
But management of shifting products device H1 is carried out in an article carrying vehicle 1 to transfer pair corresponding with interference management region Z
In the case where working as the transfer of position S, other article carrying vehicles 1 are forbidden to enter to the interference management region Z, if but carrying out
Before transfer work, then there is the case where allowing other article carrying vehicles 1 to enter to interference management region Z.Thus, for example, in Fig. 7
In, if being introduced into the 2nd carrier 1B in the case where interfering management region Z, the 1st carrier 1A reaches transfer object position S,
Transfer work is carried out, then has a possibility that article supporting mass 20 of the 1st carrier 1A and the 2nd carrier 1B contact.
As described above, article carrying vehicle 1 starts transfer work after receiving the transfer grant instruction from management of shifting products device H1
Make.Therefore, management of shifting products device H1 can start in the 1st carrier 1A to the 1st transfer object corresponding with interference management region Z
In the state of the transfer work of position S1, even and if being present in other article carrying vehicle (such as the 2nd carrier 1B etc.)
In the case where interference management region Z, retain the transmission of transfer grant instruction.Management of shifting products device H1 is in other storewides
After carrier 1 exits interference management region Z, forbid other article carrying vehicles 1 to the entrance of interference management region Z, and
Transfer is allowed to work relative to the 1st carrier 1A.
But even if the 2nd carrier 1B is intended to exit from interference management region Z, forbid before it for example, having to other
Interfere the entrance of management region Z, or track K congestion before and the case where can not advance.2nd carrier 1B is not managed from interference
Region Z is exited, so management of shifting products device H1 does not issue transfer grant instruction relative to the 1st carrier 1A.In turn, it is removed the 1st
Transport vehicle 1A transfer work and stop become congestion due in the case where, the 1st carrier 1A wait transfer grant instruction and
Parking, thus without congestion is eliminated, the 2nd carrier 1B can not advance, in the state for being referred to as so-called deadlock.
Therefore, wait the time of transfer grant instruction that the upper limit is set the 1st carrier 1A.For example, an article carrying vehicle 1
(the 1st carrier 1A) is in the shape that can start to work to the transfer of 1st transfer object position S1 corresponding with interference management region Z
Under state, even across prespecified stand-by time, other article carrying vehicles (the 2nd carrier 1B etc.) are present in the interference tube
It in the case where managing region Z, works without transfer and is exited from interference management region Z, surround in track K, again return to mesh
It marks stop position (such as the 3rd position Q3).It exits and surround about this, the autonomous control that can be used as each article carrying vehicle 1 is come
It automatically carries out, time of the management of shifting products device H1 from receiving the arrival response from article carrying vehicle 1 can also be measured,
After above-mentioned stand-by time warp, in a manner of transmitting exit instruction (around instruction) relative to article carrying vehicle 1.If passing through the 1st
Carrier 1A is mobile to eliminate congestion, then the 2nd carrier 1B can be exited from interference management region Z.Also, if deadlock is eliminated,
When then the 1st carrier 1A is returned, management of shifting products device H1 can issue transfer grant instruction relative to the 1st carrier 1A.
In the above description, such as under type is illustrated：One article carrying vehicle 1 carry out to interference management region
In the case where the transfer work of Z corresponding transfer object position S, management of shifting products device H1 forbids other article carrying vehicles 1 to this
Interfere the entrance of management region Z.But if considering the generation etc. of deadlock as described above, preferably do not make other as far as possible
Article carrying vehicle 1 is close to interference management region Z.Therefore, it is distributed in the work of the article carrying of certain transfer object position S
In the case where one article carrying vehicle 1, limits other article carrying vehicles 1 and managed to interference corresponding with the transfer object position S
Region Z, which advances, to be more suitble to.For example, management of shifting products device H1 will divide to the work of the article carrying of the 1st transfer object position S1
In the case where the 1st carrier 1A of dispensing, limit other article carrying vehicles (the 2nd carrier 1B etc.) with the 1st transfer object position
The corresponding interference management region Z of S1, which advances, to be more suitble to.Hereinafter, illustrating also referring to Fig. 8 and Fig. 9.
Fig. 8, which instantiates management of shifting products device H1 and will work to the article carrying of the 1st transfer object position S1, to be distributed to the 1st and removes
The case where transporting vehicle 1A.2nd carrier 1B also advances near the 1st transfer object position S1.The current location of 2nd carrier 1B
It is the 1st position Q1, stopping target position is 2nd position Q2 corresponding with transfer object position S shown in appended drawing reference S10.Into
The stopping target position for the 1st carrier 1A that row works to the article carrying of the 1st transfer object position S1 is the 3rd position Q3.It removes
Load (moving distance, the traveling time including the waiting time, passage in the path of track K will be passed through by transporting managing device H1 and calculating
The presence or absence of limitation etc.) cost of quantification, the as far as possible small path of selection cost, routing instruction is given to each article carrying vehicle 1.
2nd carrier 1B has from the 1st position Q1 to the path of the 2nd position Q2 mobile situation across the 1st L11, the 2nd
L12, the 3rd L13 the 1st path or across the 1st L11, the 4th L14, the 5th L15, the 6th L16, the 3rd L13 the 2nd
This two, path.Here, the cost of Ruo Gedao is all " 1 ", then the totle drilling cost in the 1st path is " 3 ", and the totle drilling cost in the 2nd path is
"5".Therefore, the 1st path of relatively low cost is selected.But in the 2nd L12, it is set with and the shifting as the 1st carrier 1A
Carry the corresponding interference management region Z of the 1st transfer object position S1 of the object of work.It is preferred that the 1st transfer
In the case that the article carrying work of object position S1 is distributed in the 1st carrier 1A, activation and the 1st S1 pairs of transfer object position
The restrictive condition of the interference management region Z answered limits the traveling of other article carrying vehicles (the 2nd carrier 1B etc.).
In the case where not limiting the traveling of interference tube reason region Z, by path computing as described above, selection includes should
Interfere the 1st path of the 2nd L12 existing for management region Z.Therefore, management of shifting products device H1 is will be to the 1st transfer object position
In the case that the 1st carrier 1A is distributed in the article carrying work of S1, make to include interference corresponding with the 1st transfer object position S1
The cost increase of the 2nd L12 of management region Z, such as it is set to " 10 ".The totle drilling cost in the 1st path is " 12 ", more than the 2nd tunnel
The totle drilling cost " 5 " of diameter.As a result, as the 2nd path of Path selection of the 2nd carrier 1B.That is, relatively including interference management region
The road of Z is difficult to be selected as path, and article carrying vehicle 1 is difficult to enter interference management region Z as a result,.
Here, in the case where the 1st carrier 1A reaches the 3rd position Q3, the cost of the 2nd L12 can also further be made
Rise, the connection (so-called envelope road) of the 2nd L12 itself can also be truncated.For example, extreme by the way that cost to be set as to " 1000 " etc.
The big value in ground, can give and be truncated identical effect.Substantially forbidden by the rising of cost, envelope road to interference directorial area
The entrance of domain Z.That is, the 2nd L12 is truncated, thus as the 2nd carrier 1B from the 1st position Q1 to the feelings of the 2nd position Q2 movement
The path of condition, invalid across the 1st L11, the 2nd L12, the 1st path of the 3rd L13, the 2nd path becomes unique path.
Therefore, it in the case where the 2nd carrier 1B does not enter interference management region Z, advances from the 1st position Q1 to the 2nd position Q2.
In addition, at the time of by the 1st carrier 1A is distributed to the work of the article carrying of the 1st transfer object position S1,
It can forbid the entrance to interference management region Z, such as the passage of the 2nd L12 of truncation at once.But it does not deposit as described above
In the case where multiple paths, the 2nd carrier 1B cannot be mobile from the 1st position Q1 to the 2nd position Q2.Alternatively, also having as circuitous
The case where other path in circuit is bigger totle drilling cost.By adding cost appropriate to the 2nd L12, such as even if
Interfere management region Z in front of wait the 1st carrier 1A transfer work end, can also select include the 2nd L12 road
Diameter.Therefore, at the time of by the 1st carrier 1A is distributed to the work of the article carrying of the 1st transfer object position S1, make to include dry
The cost increase for relating to the 2nd L12 of management region Z carries out being based on forbidding to dry after the 1st carrier 1A reaches the 3rd position Q3
The limitation for relating to the stage of the entrance of management region Z, thereby, it is possible to inhibit the work efficiency drop of article haulage equipment 100.
Such interference management region Z is set in multiple positions of article carrying equipment 100.As described above, track K's is whole
Body is divided into multiple unit interval B.Also, interfere management region Z by including unit interval corresponding with transfer object position S
At least one unit interval B of B is set.Transfer object position S and the configuration of safe-deposit vault, processing unit etc. are arranged in correspondence with, institute
Also to there is the case where multiple transfer objects position S corresponds to a unit interval B.Therefore, different interference management region Z is had
The case where sharing identical unit interval B.Even that is, different interference directorial area corresponding from different transfer object positions
Domain Z also has the situation corresponding with identical unit interval.
Figure 10 instantiates unit interval B and interferes the relationship of management region Z.1st interference management region Z1 is referring to Fig. 7, figure
8, Fig. 9 etc. is as described above, be by a unit interval B (the 1st unit interval B12) corresponding with the 1st transfer object position S1
It is set with the mode of an interference management region Z.2nd transfer object position S2 is present in position corresponding with the 2nd unit interval B23
The possibility set, but do not contacted as described above with article supporting mass 20, so not setting interference management region Z.
3rd transfer object position S3 is present in position corresponding with the 3rd unit interval B34, but approaches and the 2nd unit interval
The boundary of B23.Therefore, 3rd interference management region Z3 corresponding with the 3rd transfer object position S3 is by the 2nd unit interval B23 and the
3 unit interval B34 both sides setting.In this way, interference management region Z can also be set by multiple unit interval B.In addition, with
The distance on the corresponding position transfer object position S and the boundary of unit interval B is the mode of prespecified set distance or more
Setting interference management region Z is more suitble to.There is also the 4th transfer object position S4 near the 3rd transfer object position S3, but
Position corresponding with the 4th transfer object position S4 is near the center of the 3rd unit interval B34.Therefore, with the 3rd unit interval B34
The distance on boundary at two positions be all set distance or more, set by single unit interval B (the 3rd unit interval B34)
Fixed 4th interference management region Z4.3rd interference management region Z3 and the 4th interference management region Z4, which has, is used as identical unit area
Between B the 3rd unit interval B34.
5th transfer object position S5 and the 6th transfer object position S6 is configured at and as different unit interval B's
4th unit interval B45 and the corresponding position the 5th unit interval B56.But with the 5th transfer pair that belongs to the 4th unit interval B45
As the corresponding position position S5 at a distance from the boundary of the 5th unit interval B56 deficiency set distance, and belong to the 5th unit interval
The corresponding position deficiency set distance at a distance from the boundary of the 4th unit interval B45 of the 6th transfer object position S6 of B56.Cause
This, it further includes the 5th that 5th interference management region Z5 corresponding with the 5th transfer object position S5, which does not only include the 4th unit interval B45,
Unit interval B56.In addition, 6th interference management region Z6 corresponding with the 6th transfer object position S6 does not only include the 5th unit area
Between B56, further include the 4th unit interval B45.That is, the 5th interference management region Z5 and the 6th interference management region Z6 be from it is different
The corresponding interference management region Z of transfer object position S, but set identical region.
As described above, the case where interference management region Z is also set to unit interval B having the same, in addition, also having not
The case where same interference management region Z is set by identical unit interval B entirely.Obviously, shifting corresponding with each interference management region Z
Object position S difference is carried, is limited so having and applying to the interference management region Z including identical unit interval B in the phase same time
The case where (cost increase, the Feng Dao (enter and forbid) in road etc.).A possibility that such limitation is easy to happen above-mentioned deadlock.Cause
This, relative to from the different interference management region Z corresponding transfer object position S including identical unit interval B, with
The transfer of the article 90 of different article carrying vehicles 1 is more suitble in nonoverlapping mode of identical period to distribute.Specifically,
Management of shifting products device H1 relative to from the different corresponding transfers of interference management region Z including identical unit interval B
Object position S is distributed in such a way that the transfer of the article 90 of different article carrying vehicles 1 is nonoverlapping in identical period to transmit
Carry instruction.
As described above, in the article carrying equipment 100 with multiple track K parallel Parallel Interval PK, using having
In the article carrying vehicle with the article supporting mass 20 that can be protruded and avoid on the width direction W of the extending direction L-orthogonal of track K
When 1 carrying article 90, it is able to suppress the rising of cost and the decline of handling efficiency, and article can be prevented in Parallel Interval PK
Carrier 1 contacts.In addition, in the above description, instantiating overhead transfer vehicle as article carrying vehicle 1 to illustrate, but article is removed
Fortune vehicle 1 is also possible to the carrier advanced on the ground.
(summary of embodiment)
Hereinafter, the summary to article carrying equipment described above briefly describes.
As a mode of article carrying equipment, items haulage equipment makes multiple article carrying vehicles along track row
Into carrying article between multiple transfer objects position, the parallel area that aforementioned product haulage equipment has multiple abovementioned rails parallel
Between, it will along the horizontal plane and the direction orthogonal with the extending direction of abovementioned rails is set as width direction, items carrier tool
Have bearing items supporting mass, aforementioned supporting mass the evacuation position avoided to aforementioned article carrying vehicle side and with aforementioned shifting
The position for carrying object position accordingly protrudes and avoids between the prominent position outstanding of foregoing width direction, in aforementioned parallel area
Between a side abovementioned rails at the position at items carrier and aforementioned transfer object position accordingly make aforementioned supporting mass
The aforementioned prominent position of prominent situation is, as items carrier another party of aforementioned Parallel Interval abovementioned rails
In the case where the position of the travel space of track when traveling and the interference of aforementioned supporting mass, with associated with the transfer object position
Mode sets interference directorial area in the Parallel Interval to the position interfered including at least aforementioned travel space and aforementioned supporting mass
Domain carries out the transfer work to aforementioned transfer object position corresponding with previous intervention management region in an items carrier
In the case where work, forbid other entrance of items carrier to the interference management region.
According to the program, having for transfer article and the possibility of supporting mass outstanding and the contact of other article carrying vehicle
Property place setting interference management region, an article carrying vehicle the interference management region carry out transfer work the case where
Under, forbid other article carrying vehicles to enter to the interference management region.Therefore, can make for transfer article and bearing outstanding
A possibility that body and other article carrying vehicle contact reduces.Each article carrying vehicle without by hinder object sensor etc. detection
Other article carrying vehicle supporting masses outstanding, so the cost increase as caused by the carrying for hindering object sensor will not occur.
In addition, nor entering limitation in whole Parallel Intervals implementation article carrying vehicle, so also inhibiting removing for article haulage equipment
Transport efficiency decline.In this way, by the article carrying equipment with the parallel Parallel Interval of multiple tracks, being used according to this programme
Article carrying vehicle with the supporting mass that can be protruded and avoid in the width direction orthogonal with the extending direction of track is carried
When article, it is able to suppress the rising of cost and the decline of handling efficiency, and can prevent article carrying vehicle from connecing in Parallel Interval
Touching.
Here it is preferred that be included in the transfer between aforementioned transfer object position aforementioned for items carrier
The aforementioned transfer work of article marches to target stop position corresponding with respective aforementioned transfer object position on abovementioned rails
The article carrying for the traveling work set works, before being distributed in one to the items handling work at the transfer object position
In the case where stating article carrying vehicle, other items carriers are limited in previous intervention pipe corresponding with the transfer object position
Region is managed to advance.
For example, having article carrying vehicle temporary in the front of interference management region if forbidding the entrance to interference management region
When stop, the case where the end for waiting the transfer of other article carrying vehicles to work.If article carrying vehicle stops, there is article carrying
A possibility that handling efficiency decline of equipment.In most cases, article carrying vehicle can pass through multiple and different paths and march to
Destination.In the corresponding situation of limitation interference management region, by passing through other path, have than in interference management region
Front temporarily ceases the case where quickly marching to destination.It is limited in the transfer object with the object as article carrying work
The corresponding interference in position manages area row into thus the easy interference management region that bypasses in advance is come to destination traveling.
Moreover it is preferred that can start in an items carrier to corresponding with previous intervention management region
In the state of the aforementioned transfer work at aforementioned transfer object position, even and if other items carriers are present in this at one
In the case where interfering management region, after other items carriers all exit the interference management region, before forbidding other
Entrance of the article carrying vehicle to the interference management region is stated, and aforementioned transfer is allowed to work.
Implement there is article carrying vehicle to be present in the interference before the limitation interfered the entrance of management region to be forbidden, advanced
The case where management region, has the article carrying vehicle to contact with the supporting mass for the article carrying vehicle for carrying out transfer work in this case
Possibility.Transfer work is carried out after exiting accordingly, there exist the article carrying vehicle in the interference management region from the interference management region
Make more to be suitble to.
Moreover it is preferred that can start in previous intervention management region to corresponding in an items carrier
In the state of the aforementioned transfer work at aforementioned transfer object position, even and if other items carriers are present in this at one
In the case where interfering management region, after other items carriers all exit the interference management region, before forbidding other
Entrance of the article carrying vehicle to the interference management region is stated, and in the case where allowing aforementioned transfer to work, it is aforementioned at this
Article carrying vehicle can start in previous intervention management region to the aforementioned transfer at corresponding aforementioned transfer object position work
Under state, the interference management region is existed in other items carriers even across prespecified stand-by time
In the case of, it works without aforementioned transfer, is exited from the interference management region.
For example, the article carrying vehicle of the beginning of transfer work is waited to stop, thus getting congestion, have and be present in interference tube
Other article carrying vehicles in reason region such as cannot exit at the case where in the state for being referred to as so-called deadlock from the interference management region.
If the article carrying vehicle of the beginning of transfer work is waited temporarily to leave from this, it surround, returns, then deadlock is eliminated, and hereafter also can
Enough carry out transfer.That is, if other article carrying vehicles for being present in interference management region can be from the interference by the elimination of congestion
Management region exits, then in the case where the article carrying vehicle for carrying out transfer work returns, can start transfer work rapidly.
In addition, the entirety of abovementioned rails is divided into multiple unit intervals, previous intervention management region as a mode
By including at least one aforementioned unit interval setting of aforementioned unit interval corresponding with aforementioned transfer object position, before different
Identical aforementioned unit interval can be shared by stating interference management region.
In most cases, it in order to distribute address, coordinate in the traveling etc. of track management article carrying vehicle, by the address, sits
Mark sets multiple unit intervals.If management region is interfered to set based on the unit interval, can suitably carry management article
Movement of the vehicle relative to interference management region.But generally positional relationship is uncertain for transfer object position and unit interval.Example
Such as, also with the presence of the multiple transfer object positions in a unit interval the case where, near the boundary of adjacent unit interval
The case where there are transfer object positions.Even that is, different interference management region corresponding from different transfer object positions,
Also there is the situation corresponding with identical unit interval.Therefore, if different interference management regions can share identical unit interval,
It then can suitably set interference management region.
Moreover it is preferred that sharing identical aforementioned unit interval in different previous intervention management regions and being set
In the case where, relative to corresponding aforementioned from the different previous intervention management regions including identical aforementioned unit interval
Transfer object position, by the transfer of the items of different items carriers not identical period overlapping in a manner of into
Row distribution.
If multiple article carrying vehicles nearby collect, it is easy to cause congestion and occurs as described above to be referred to as deadlock
State.Relative to from the different interference management region corresponding transfer object positions including same units section, if
It is distributed in such a way that the transfer of the article of different article carrying vehicles is not in the overlapping of identical period, then multiple article carrying vehicles are difficult
To collect, a possibility that deadlock etc. occurs reduction can be made.
Description of symbols
1 ：Article carrying vehicle
1A：1st carrier (carries out the article carrying vehicle of transfer work in the 1st track)
1B：2nd carrier (the other article carrying vehicle other than the 1st carrier)
13：Lifting unit (article supporting mass)
14：Sliding part (article supporting mass)
18：Handle part (article supporting mass)
19：It goes up and down wire rod (article supporting mass)
20：Article supporting mass (article supporting mass)
90：Article
100 ：Article carrying equipment
B：Unit interval
K：Track
K1：1st track (track of a side of Parallel Interval)
K2：2nd track (track of another party of Parallel Interval)
L：Extending direction
PK：Parallel Interval
S：Transfer object position
SP：Travel space
W：Width direction
Z：Interfere management region.
Claims (8)
1. a kind of article carrying equipment, items haulage equipment makes multiple article carrying vehicles advance along track, in multiple transfers
Object carries article between position, which is characterized in that
It, will along the horizontal plane and the side orthogonal with the extending direction of abovementioned rails with the parallel Parallel Interval of multiple abovementioned rails
To being set as width direction,
Items carrier has the supporting mass of bearing items, and aforementioned supporting mass is avoided to aforementioned article carrying vehicle side
Evacuation position and accordingly dash forward between the prominent position outstanding of foregoing width direction with the position at aforementioned transfer object position
Out and avoid,
The position pair of items carrier and aforementioned transfer object position at the abovementioned rails of a side of aforementioned Parallel Interval
The feelings of the position of the aforementioned prominent position travel space of make aforementioned supporting mass prominent situation with answering and the interference of aforementioned supporting mass
Under condition, by with the transfer object position it is associated in a manner of, the position interfered including at least aforementioned travel space and aforementioned supporting mass
Ground sets interference management region in the Parallel Interval, and aforementioned travel space is items carrier in the another of aforementioned Parallel Interval
The track when abovementioned rails of one side are advanced,
The transfer to aforementioned transfer object position corresponding with previous intervention management region is carried out in an items carrier
In the case where work, forbid other entrance of items carrier to the interference management region.
2. article carrying equipment as described in claim 1, which is characterized in that
Items carrier carries out article carrying work, and items handling work includes aforementioned transfer work and traveling work
Make, aforementioned transfer work transfer items, aforementioned traveling work between items carrier and aforementioned transfer object position
As, items carrier marches to target stop position corresponding with each aforementioned transfer object position in abovementioned rails,
In the case where being distributed in an items carrier to the items handling work at the transfer object position, limit
Other items carriers are made to advance in previous intervention management region corresponding with the transfer object position.
3. article carrying equipment as described in claim 1, which is characterized in that
It can start in an items carrier to aforementioned transfer object position corresponding with previous intervention management region
In the state of aforementioned transfer work, even and if the case where other items carrier is present in the interference management region
Under, after other items carriers all exit the interference management region, forbid other items carriers dry to this
The entrance of management region is related to, and aforementioned transfer is allowed to work.
4. article carrying equipment as claimed in claim 2, which is characterized in that
It can start in an items carrier to aforementioned transfer object position corresponding with previous intervention management region
In the state of aforementioned transfer work, even and if the case where other items carrier is present in the interference management region
Under, after other items carriers all exit the interference management region, forbid other items carriers dry to this
The entrance of management region is related to, and aforementioned transfer is allowed to work.
5. article carrying equipment as claimed in claim 3, which is characterized in that
It can start in previous intervention management region to corresponding aforementioned transfer object position in an items carrier
In the state of aforementioned transfer work, this is existed in other items carriers even across prespecified stand-by time
In the case where interfering management region, works without aforementioned transfer, exited from the interference management region.
6. article carrying equipment as claimed in claim 4, which is characterized in that
It can start in previous intervention management region to corresponding aforementioned transfer object position in an items carrier
In the state of aforementioned transfer work, this is existed in other items carriers even across prespecified stand-by time
In the case where interfering management region, works without aforementioned transfer, exited from the interference management region.
7. the article carrying equipment as described in any in claim 1 ~ 6, which is characterized in that
The entirety of abovementioned rails is divided into multiple unit intervals,
Previous intervention management region by include aforementioned unit interval corresponding with aforementioned transfer object position at least one is aforementioned
Unit interval setting,
Different previous intervention management regions can share identical aforementioned unit interval.
8. article carrying equipment as claimed in claim 7, which is characterized in that
Relative to from the corresponding aforementioned transfer of different previous intervention management regions including identical aforementioned unit interval
Object position is divided in such a way that the transfer of the items of different items carriers is not in the overlapping of identical period
Match.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017-094020 | 2017-05-10 | ||
| JP2017094020A JP6652106B2 (en) | 2017-05-10 | 2017-05-10 | Goods transport equipment |
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| CN108861265A true CN108861265A (en) | 2018-11-23 |
| CN108861265B CN108861265B (en) | 2022-02-08 |
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| CN201810444112.4A Active CN108861265B (en) | 2017-05-10 | 2018-05-10 | Article carrying apparatus |
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| Country | Link |
|---|---|
| JP (1) | JP6652106B2 (en) |
| KR (1) | KR102455313B1 (en) |
| CN (1) | CN108861265B (en) |
| TW (1) | TWI752219B (en) |
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| CN109615844A (en) * | 2018-12-24 | 2019-04-12 | 广州蓝奇电子实业有限公司 | A kind of method of charging/discharging apparatus and the infrared docking I/O signal of piler |
| CN114026515A (en) * | 2019-06-27 | 2022-02-08 | 村田机械株式会社 | Traveling vehicle system and method for controlling traveling vehicle |
| CN116354054A (en) * | 2023-05-30 | 2023-06-30 | 广东蓓思涂汽车零部件有限公司 | Intelligent conveying system for electrophoresis processing of automobile parts |
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| EP3943414A4 (en) * | 2019-03-22 | 2022-11-16 | Murata Machinery, Ltd. | Transport vehicle system |
| JP7283456B2 (en) * | 2020-09-09 | 2023-05-30 | 株式会社ダイフク | Goods transport equipment |
| CN118401450A (en) * | 2022-03-29 | 2024-07-26 | 村田机械株式会社 | Conveying system |
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Also Published As
| Publication number | Publication date |
|---|---|
| KR102455313B1 (en) | 2022-10-14 |
| KR20180123979A (en) | 2018-11-20 |
| JP6652106B2 (en) | 2020-02-19 |
| TW201900526A (en) | 2019-01-01 |
| TWI752219B (en) | 2022-01-11 |
| CN108861265B (en) | 2022-02-08 |
| JP2018188287A (en) | 2018-11-29 |
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