KR20190111785A - Article transport facility - Google Patents

Abstract

PROBLEMS TO BE SOLVED An article carrying facility capable of suppressing interference between the article and the interference object during a posture change of the article is realized.
Solution The article transport facility includes an article transport vehicle 2 and a control device for controlling the article transport vehicle. When the control apparatus performs the attitude change control which changes the attitude of the article W by the attitude change mechanism, in the state in which the article conveyance vehicle 2 is in a left side tolerance section, the control apparatus will be carried out in the left area | region A1. The first posture change control for protruding W) is executed, and the second posture change control for protruding the article W into the right area A2 is executed in the state where the article transport vehicle 2 is within the right allowable section. In a state where the article transport vehicle 2 is in both side allowable sections, the article W is projected to both the first posture change control, the second posture change control, or both the left region A1 and the right region A2. Third attitude control is executed.

Description

Goods transport facility {ARTICLE TRANSPORT FACILITY}

TECHNICAL FIELD This invention relates to the goods conveyance facility containing the goods conveyance vehicle which moves along a movement path between a some conveyance object place, and conveys an article.

For example, in the facility disclosed in the following Patent Document 1 (Japanese Patent Laid-Open No. 2012-253070), the article [4] is conveyed between a plurality of destinations for conveyance [1]. The article [4] to be conveyed in the facility of Patent Literature 1 has an opening for dispensing the contents on one side thereof. And the equipment of patent document 1 conveys from the conveyance target place [1] of a conveyance source so that the contents of the contents can be appropriately taken out from the opening part of the article [4] in each conveyance target place [1]. The posture change device 31 which changes the posture of the said article [4] in the middle of conveying the article [4] to the destination object [1] of conveyance is included separately from the article conveyance vehicle [3]. . The posture changing device [31] allows the posture of the article [4] to be in an appropriate posture at the transfer destination place [1], that is, in a posture in which the opening portion faces the article processing apparatus [1] at the transfer destination. The posture change of the said article [4] is performed so that it may be.

Japanese Patent Application Laid-Open No. 2012-253070

Here, from the viewpoint of reducing the arrangement space of the posture change device in the facility, it is considered to install the posture change mechanism integrally with the article transport vehicle to change the posture of the article. However, when the posture change is performed during the conveyance of the article by the article transport vehicle, the article in the posture change in the storage section of the article transport vehicle protrudes outward from the storage section and exists around the moving path ( For example, there is a possibility of interfering with a wall, a pillar, another article carrier, and the like, which may interfere with the article, hereinafter referred to as an interference object). In order to avoid the interference between the article in the posture change and the interference object, it is also conceivable to design the entire facility so as to secure a wide space around the moving path, but it causes the enlargement of the facility and the deterioration of the space efficiency.

In view of the above circumstances, it is desired to realize an article carrying facility which can suppress the interference between the article and the interference object during the posture change of the article.

An article carrying facility according to the present disclosure is an article carrying facility including an article carrying vehicle for moving an article along a moving path between a plurality of places to be conveyed, and a control device for controlling the article carrying vehicle. The conveyance vehicle includes a receptacle for accommodating the article and a posture change mechanism for changing the posture of the article, and based on the traveling direction of the article transport vehicle in the movement path, The receptacle and the posture change so that an area is a left region and an area on the right side with respect to the receptacle are the right side, and the article protrudes outwardly from the receptacle during the posture change of the article by the posture changing mechanism. A mechanism is constructed, the left side permitting of the projection of the article outwardly from the receiving portion in the left region And a right side allowable section allowed in the right side region and both side allowable sections allowed in both the left side region and the right side region are set during the movement path, and the control device is configured to posture of the article by the posture changing mechanism. In the case of performing the posture change control for changing the posture, the first posture change control for projecting the article in the left side region of the left side region and the right side region in the state where the article transport vehicle is within the left allowable section, And in the state where the article transport vehicle is within the right allowable section, second posture change control for projecting the article to the right region of the left region and the right region, and wherein the article transport vehicle is within the two allowable sections. In a state, the first posture change control, the second posture change control, or an image Jwabang region and executes the third control position change of the article projecting on either side of the ally region.

According to this configuration, when the posture of the article is changed by the posture changing mechanism, the side on which the protrusion of the article in each permitted section is permitted in accordance with the left allowable section, the right allowable section, and both side allowable sections set during the movement path. The article can be projected to the region of to change the attitude of the article. Thereby, the protrusion of the article to a region other than the region where the protrusion of the article is allowed can be eliminated or the amount of protrusion of the article can be reduced. As a result, the article during the posture change can be suppressed from interfering with the interference object. In addition, by providing such an allowable section in the moving path, it is not necessary to secure a large space around the moving path in the entire facility, for example, in order to avoid interference between the article and the interference object, and to suppress the enlargement of the facility. can do.

New features and advantages of the technology related to the present disclosure will become more apparent in accordance with the description of the following exemplary and non-limiting embodiments described with reference to the drawings.

1 is a plan view showing a part of an article carrying facility.
2 is a view showing the shape of the conveyance mounting of the article.
It is a figure when it sees from the moving direction of an article conveyance vehicle.
4 is a control block diagram of an article carrying facility.
5 is an explanatory diagram of the attitude change control.
Fig. 6 is a flowchart showing the procedure when determining the control type.
7 is an explanatory diagram of an allowable section.
It is explanatory drawing of the attitude change control.

1. First embodiment

A first embodiment of an article carrying facility will be described with reference to the drawings. As shown in FIG. 1, the article transport facility 1 includes an article transport vehicle 2 that moves along a movement path R between a plurality of transport destination places 6 to transport the article W, and the above. The control device H (see FIG. 4) for controlling the article transport vehicle 2 is included. And the said goods conveyance facility 1 is conveying the goods W from the conveyed object place 6 which becomes a conveyance source among the several conveyed place 6 to another conveyed place 6 which becomes a conveyance destination. The posture of the article W can be changed.

In the description below, the direction in which the article transport vehicle 2 travels along the movement path R is referred to as "progression direction X", and the direction orthogonal to the advancing direction X in plan view is referred to as "width direction Y". . In addition, right and left are defined on the basis of the advancing direction X, specifically, the left side as the width direction Y is made toward the advancing direction X, and the right side is made into the "right Y2".

1-1. Machine Configuration of Goods Conveying Equipment

The article W is the object conveyed by the article conveyance vehicle 2. Here, the article W is formed in a non-circular shape in plan view. The article W is, for example, formed in a polygonal shape, more specifically in a quadrangular shape in plan view. The quadrangle includes a shape that can be regarded as a quadrangle as a whole even if it is not strictly a quadrangle. In addition, some sides of the polygonal shape may have a shape when viewed from a plane formed by curves such as arcs. For example, the shape in plan view of the article W may be D-shaped. Hereinafter, when the shape of an object etc. is demonstrated using the expression "shape", it is the same effect. In addition, regarding the three-dimensional shape of the article W, it is a columnar body here. The article W is, for example, a container in which contents are stored. In this embodiment, the article W is a container in which a semiconductor substrate is accommodated. In this example, the article W is formed in a rectangular parallelepiped shape, and it can divide | save a several semiconductor substrate in multiple stages, and can be accommodated. In this embodiment, the upper surface and the bottom surface of the article W are blocked. Moreover, the flange part Wa for holding by the article conveyance vehicle 2 at the time of conveyance of the article W is formed in the upper surface of the article W. As shown in FIG. Moreover, the opening part Wb for taking in and out of a semiconductor substrate is formed in one surface among four side surfaces of the article W (refer FIG. 2 etc.). The remaining three sides of the article W are blocked.

The return destination place 6 is a place used as a return source of the article W, or a place used as a return destination of the article W. FIG. As shown in FIG. 1, the conveyance target place 6 is formed in multiple places in the article conveyance facility 1 (it shows a part of article conveyance facility 1 in FIG. 1). In the conveyance target place 6, the article W is processed, for example. In the present embodiment, as shown in FIGS. 1 and 2, the conveyance place 6 receives the article W between the processing apparatus 6a that performs the processing on the semiconductor substrate and the article transport vehicle 2. A feeding part 6b for (iii) is included. In this embodiment, the article W of the state which made the opening part Wb oppose the processing apparatus 6a is conveyed to the water receiving part 6b. Moreover, the semiconductor substrate accommodated in the article W is taken out from the opening part Wb by the extraction apparatus with which the processing apparatus 6a is equipped. And a semiconductor substrate is processed by the processing apparatus 6a. In order to process the semiconductor substrate by the processing apparatus 6a in this manner, the article W is moved by the article transport vehicle 2 after the opening portion Wb is in a proper posture facing the processing apparatus 6a. It is conveyed to the delivery part 6b.

The movement path R is a path | route in which the goods conveyance vehicle 2 moves in the goods conveyance facility 1. As shown in FIG. 1, the movement route R passes through a plurality of transfer destination places 6. The movement path R is installed, for example, on the bottom surface or at a position spaced upwardly from the bottom surface. In this embodiment, the movement path R is defined by the rail 98 suspended from the ceiling 99 (refer FIG. 2 and FIG. 3). As shown in FIG. 1, in this embodiment, the rail 98 is provided along the path | route which passes through the some sorghum part 6b, and overlaps with each of the some sorghum part 6b in plan view. It is arranged.

In this embodiment, the article transport vehicle 2 is equipped with the position detection sensor (not shown) which detects the present position of the said article transport vehicle 2 in the movement path R. As shown in FIG. In this embodiment, a plurality of positional information storage units (not shown) are distributed and arranged in the movement path R. As shown in FIG. The positional information storage unit is assigned to each of a plurality of regions that divide the moving path R. As shown in FIG. In addition, each of the plurality of positional information storage units stores the information of the positions of the positions of the plurality of positional information storage units. In the present embodiment, the position detection sensor reads the position information stored in each of the plurality of position information storage units arranged in the movement path R, thereby presently presenting the article transport vehicle 2 in the movement path R. FIG. It is comprised so that a position can be detected. For example, a plate or the like on which a bar code is displayed may be used as the position information storage unit, and the position detection sensor in that case is a bar code reader.

As shown to FIG. 2 and FIG. 3, the article conveyance vehicle 2 has the traveling part 21 for running the moving path R, and the accommodating part 22a which accommodates the article W. As shown in FIG. In the present embodiment, the traveling portion 21 is located above the rail 98. The traveling portion 21 is driven by a driving means such as a motor to travel along the movement path R. FIG. Here, the traveling part 21 has the traveling wheel 21a which is driven by the traveling motor 21M, rotates around a horizontal axis, and rotates the upper surface of the rail 98 along the advancing direction X. As shown in FIG. By the traveling wheel 21a rolling the upper surface of the rail 98, the traveling part 21 is enabled to run along the movement path R. As shown in FIG.

In this embodiment, the accommodating part 22a is supported by the running part 21, and is formed in the main-body part 22 located under the rail 98. As shown in FIG. In the example shown in figure, the main-body part 22 has the cover part 22b which covers the accommodating part 22a by the both sides of the advancing direction X (in FIGS. 2 and 3, a part of the cover part 22b is cut out, The receiving 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 opposed to each other in the advancing direction X, and the receiving portion 22a has a pair of opposing surfaces 22f. ) Is the space between. In this embodiment, the cover part 22b has a shape in which both sides and the lower part of the width direction Y were opened. Specifically, the cover part 22b is formed in square inverted U shape when viewed from the width direction Y. As shown in FIG. Therefore, the accommodating part 22a communicates with the outer side of the accommodating part 22a in the both sides and the lower side of the width direction Y.

As shown in FIG.2 and FIG.3, in this embodiment, the goods conveyance vehicle 2 has the conveyance mounting mechanism 3 which carries the article W with the conveyance target place 6. As shown in FIG. In the example shown in figure, the conveyance mounting mechanism 3 is comprised so that the article W can be conveyed and mounted between the delivery part 6b and the accommodating part 22a provided adjacent to the processing apparatus 6a. In this example, the transfer mounting mechanism 3 is provided with a holding mechanism 3G for holding the article W and a lifting mechanism 3H for lifting and lowering the article W. As shown in FIG.

In the present embodiment, the holding mechanism 3G is configured to hold the article W from above. Here, the holding mechanism 3G is a pair which is driven by the holding motor 3GM (see FIG. 4) provided in the holding portion 3Ga and the holding motor 3GM, and can be switched between the holding posture and the release posture. Has a phage claw (3Gb). Then, the pair of gripping claws 3Gb move into a holding position by moving in a direction approaching each other and become a release position by moving in a direction away from each other. The pair of gripping claws 3Gb hold the flange portion Wa of the article W in a holding position, and come into a release position from the state in which the flange portion Wa is held, thereby holding the flange portion Wa. Release it.

In the present embodiment, the lifting mechanism 3H is configured to lift and lower the article W held by the holding part Ga by raising and lowering the holding part Ga. Here, the lifting mechanism 3H raises and lowers the article W from a height at which the housing portion 22a (cover portion 22b) is arranged to at least a height at which the receiving portion 6b is disposed. In the present embodiment, the elevating mechanism 3H is connected to the elevating pulley 3Hc driven by the elevating motor 3HM, the elevating drum 3Hd, and the gripping portion Ga, and the elevating drum is also provided. The lifting section 3Ha including the lifting belt 3Hb wound on 3Hd, the lifting motor 3HM, the lifting pulley 3Hc, the lifting drum 3Hd, and the lifting belt 3Hb. Have. Then, the lift mechanism 3H drives the lift pulley 3Hc by the lift motor 3HM, thereby winding or unwinding the lift belt 3Hb on the lift drum 3Hd and holding the gripper Ga. The article W is raised and lowered together.

By the structure demonstrated above, the article conveyance vehicle 2 which concerns on this embodiment can carry-on the article W in the conveyance destination place 6, and becomes the conveyance destination from the conveyance destination place 6 which becomes a conveyance source. The article W can be conveyed to the conveyance target place 6.

Here, as mentioned above, the article conveyance vehicle 2 conveys the article W so that it may be in an appropriate attitude | position in the conveyance destination place 6. Specifically, in order to be able to appropriately process the semiconductor substrate which is the content of the article W by the processing apparatus 6a, in the process of conveying the article W, the opening Wb is the processing apparatus of a conveyance destination. An appropriate posture against (6a) is obtained. Therefore, as shown in FIG.2 and FIG.3, the article conveyance vehicle 2 has the attitude change mechanism 4 which changes the attitude | position of the article W. As shown in FIG. In this embodiment, the attitude change mechanism 4 changes the attitude of the article W so that the opening part Wb may be in an appropriate attitude | position which opposes the processing apparatus 6a of a conveyance destination. And when the attitude | position of the article W after completion of the conveyance mounting in the conveyance destination place 6 of a conveyance agent is already in an appropriate attitude | position in the conveyance destination place 6 of a conveyance destination, the article conveyance vehicle 2 Does not change the posture of the article W by the posture change mechanism 4, and conveys the article W to the conveyance destination place 6 of a conveying destination in the posture as it is.

The posture changing mechanism 4 changes the posture of the article W by turning the article W around a specific axis. In this embodiment, the attitude | position change mechanism 4 is comprised so that the article W may be changed around the pivot axis 4b along the perpendicular direction Z, and the attitude | position of the said article W may be changed. Here, the posture change mechanism 4 has the turning part 4a which turns the holding part Ga around the turning axis 4b along a perpendicular direction Z. As shown in FIG. In this example, the turning part 4a turns the holding part Ga through the lifting part 3Ha. Inside the swing portion 4a, a swing shaft 4b along the vertical direction Z and a swing motor 4M for driving the swing shaft 4b are provided. The pivot shaft 4b is connected to the gripping portion Ga through the lifting portion 3Ha, and is driven by the swinging motor 4M to rotate together with the gripping portion Ga. Thereby, the article W held by the holding part Ga can be rotated around the pivot axis 4b.

And in the said goods conveyance vehicle 2, the accommodating part 22a and a posture so that the article W protrudes outward from the accommodating part 22a during the posture change of the article W by the attitude changing mechanism 4 are carried out. The change mechanism 4 is comprised. Adding explanation, the accommodating part 22a so that the outer edge Wc (refer FIG. 5) of the turning trace in the case where the article W pivots around the turning axis 4b will be pushed outward from the accommodating part 22a. And the posture change mechanism 4. Here, the outer edge Wc of the turning trajectory of the article W is the diameter of the maximum width of the article W in plan view (in this example, the diagonal of the rectangular article W in plan view) in diameter. To become a circle. Therefore, here, it is comprised so that the largest width | variety of the article W in planar view may become larger than the length of the width direction Y of the accommodating part 22a.

The upper figure of FIG. 5 shows the state which does not change the attitude | position of the article W, and the lower figure of FIG. 5 shows the state which is changing the attitude | position of the article W (1st posture change control or article mentioned later) 2) the state where the posture change control is being executed. Here, the area | region of the left side Y1 is made into the left area | region A1 with respect to the accommodating part 22a, and the area | region of the right side Y2 is made into the right side area | region A2 with respect to the accommodating part 22a. And in this embodiment, when the article W is rotated in the 1st direction C1 around the pivot axis 4b, the article W protrudes to the left area | region A1, and the article around the pivot axis 4b is made. The accommodation part 22a and the attitude change mechanism 4 are comprised so that the article W may protrude to the right side area | region A2 when the article W is rotated in the 2nd direction C2 opposite to 1 direction C1. have. Here, "the 1st direction C1" points in one direction (counterclockwise direction in the example shown) in the rotation direction centering on the pivot axis 4b, and "2nd direction C2" refers to the other direction. (Clockwise in the illustrated example). In addition, in this embodiment, "the article W protrudes to the left area | region A1" means that the article W protrudes mainly to the left area | region A1, and the article W is the right area | region A2. In addition to the aspect which does not protrude at all), as shown in FIG. 5, the article W also includes the aspect which protrudes also to the right side area | region A2 with the protrusion amount less than the left side area | region A1. Similarly, in this embodiment, "the article W protrudes to the right side area | region A2" means that the article W protrudes mainly to the right side area | region A2, and the article W has the left side area | region A1. In addition to the aspect which does not protrude at all), the article W also protrudes also to the left side area | region A1 with the protrusion amount less than the right side area | region A2.

As shown to FIG. 2 and FIG. 3, in this embodiment, the article conveyance vehicle 2 further has the width direction movement mechanism which moves the article W to the width direction Y. As shown in FIG. Here, the width direction movement mechanism is comprised as the slide mechanism 5 which slides the article W along the width direction Y. As shown in FIG. In this embodiment, the slide mechanism 5 is attached to the cover part 22b, and is a pair of slide pulley 5c driven or driven by 5M of slide motors, A slide belt 5b wound around each pair of slide pulleys 5c and a slide portion 5a connected to the slide belt 5b and slidable in the width direction Y are included. The slide part 5a is connected with the turning part 4a, and slides along the width direction Y, and is connected to the holding part Ga and the holding part Ga via the turning part 4a and the lifting part 3Ha. The gripped article W can be moved along the width direction Y. By moving the article W to the width direction Y by the said slide mechanism 5, the position shift | offset | difference with respect to the delivery part 6b (the conveyance target place 6) is carried out at the time of the loading of the article W. In FIG. It is possible to adjust in the direction Y.

1-2. Control Configuration of Goods Conveying Equipment

Next, the control structure of the goods conveying installation 1 is demonstrated. As mentioned above, the article conveyance facility 1 includes the control apparatus H which controls the article conveyance vehicle 2. As shown in FIG. 4, the control device H includes the upper control device Hu that controls the entire article transport facility 1 and the lower control device Hd that controls the article transport vehicle 2. It is configured to include. The host control apparatus Hu is arrange | positioned in the area | region of the goods conveying facility 1, and is located. The lower control apparatus Hd is arranged in the article transport vehicle 2. The control apparatus H is equipped with a processor, such as a microcomputer, and peripheral circuits, such as a memory. And each function of the control apparatus H is implement | achieved by cooperation of these hardware and the program run on a processor, such as a computer.

The higher-order control apparatus Hu outputs the conveyance instruction which conveys the goods W to the conveyance destination place 6 of a conveyance destination from the conveyance destination place 6 of the conveyance source with respect to the lower control apparatus Hd. The lower control apparatus Hd which received the conveyance instruction controls the article conveyance vehicle 2 so that the article W may be conveyed toward the conveyance destination place 6 of a conveyance destination.

In the present embodiment, the host controller Hu stores the posture at which the article W for each of the plurality of transfer destinations 6 is appropriate as the proper posture information Ja. And the upper control apparatus Hu outputs a conveyance instruction with respect to the lower control apparatus Hd, and also transmits the appropriate attitude information Ja. The lower control device Hd that has received the appropriate posture information Ja is the posture of the return destination according to the posture of the article W at the transfer destination place 6 of the carrier and the proper posture information Ja. The posture of the article W in (6) is compared, and it is determined whether the posture change of the article W is necessary. When it is determined that the posture change of the article W is necessary, the lower controller Hd executes posture change control for changing the posture of the article W during the conveyance of the article W.

In the article transport vehicle 2, when the attitude change of the article W is performed as described above, the article W protrudes outward from the receiving portion 22a (see FIG. 5). Therefore, when the attitude | position change of the article W is performed in the middle of conveying the article W along the movement path R, the interference | interference object 97 which exists around the movement path R (refer FIG. 7). The article W may interfere. In the present embodiment, the interference object 97 is, for example, a structure such as a wall or a column provided in a facility in which the article transport facility 1 is installed, a processing device 6a that serves as the transport destination 6, or another. Article conveyance 2; As shown in FIG. 7, such an interference object 97 may exist in a plurality of locations around the moving path R, and may be present on the left side region based on the position of the article transport vehicle 2. It may exist in either one of A1) and the right side area | region A2, or both. Therefore, the lower control device Hd is configured to perform the first posture change control, the second posture change control, and the third posture change control as the posture change control for changing the posture of the article W. FIG.

In the first posture change control, the lower control device Hd protrudes the article W into the left region A1 of the left region A1 and the right region A2 to change the attitude of the article W. FIG. Here, the structure in which the article W protrudes also in the right side area | region A2 during execution of a 1st attitude change control may be sufficient. Also in this case, the first attitude change control is executed so that the amount of protrusion of the article W into the left region A1 is larger than the amount of protrusion of the article W into the right region A2. By the execution of the first posture change control, the article W in posture change can be mainly projected to the left area A1, and as a result, the projection of the article W to the right area A2 is eliminated and the article ( The amount of protrusion of W) can be reduced. Thereby, even if the interference object 97 exists in the right side area | region A2 (refer FIG. 7), it can suppress that the said interference object 97 and the article W in a posture change | interference change.

As shown in FIG. 5, in the present embodiment, the lower control device Hd protrudes the article W to the left region A1 by turning the article W in the first direction C1 as the first posture change control. Change your posture while you make it. In addition, as shown in the upper figure of FIG. 5, in this embodiment, the article W is a basic posture in which the posture change is not performed, and the opening part Wb is rearward of the advancing direction X in this embodiment. It's supposed to face you. And the flange part Wa hold | gripped by the holding mechanism 3G is arrange | positioned at the position closer to the opening part Wb rather than the center position of the direction along the advancing direction X in the upper surface of the article W. As shown in FIG. The article W pivots about the flange portion Wa by the rotation of the pivot shaft 4b. Therefore, in this embodiment, as shown in the lower figure of FIG. 5, when turning the article W to 1st direction C1 by the 1st attitude change control, the article W is mainly a left area | region A1. (Protrudes slightly even to the right area A2 in the example shown).

In the second posture change control, the lower control device Hd protrudes the article W into the right region A2 of the left region A1 and the right region A2 to change the attitude of the article W. do. Here, the structure in which the article W protrudes also to the left area | region A1 during execution of a 2nd attitude change control may be sufficient. Also in this case, the second attitude change control is executed so that the amount of protrusion of the article W into the right region A2 is larger than the amount of protrusion of the article W into the left region A1. By executing the second posture change control, the article W in posture change can be mainly projected to the right area A2, and as a result, the projection of the article W to the left area A1 is eliminated or The amount of protrusion of the article W can be reduced. Thereby, even if the interference object 97 exists in the left area | region A1 (refer FIG. 7), it can suppress that the interference | interference object 97 and the article W in posture change interfere.

As shown in FIG. 5, in the present embodiment, the lower control device Hd turns the article W in the second direction C2 as the second posture change control, thereby moving the article W to the right region A2. The posture is changed while protruding. As described above, as described above, the flange portion Wa gripped by the gripping mechanism 3G is formed in the opening portion Wb rather than the center position in the direction along the traveling direction X on the upper surface of the article W. FIG. It is located in close proximity. In the basic posture in which the posture change is not performed, the article W is directed to the side opposite to the advancing direction X (see the upper figure in FIG. 5). Therefore, in this embodiment, as shown in the lower figure of FIG. 5, when turning the article W to 2nd direction C2 by 2nd attitude change control, the article W mainly moves to the right side area | region A2. It protrudes (slightly protrudes to the left area A1 in the example shown).

In the third attitude change control, the lower control device Hd protrudes the article W in both the left region A1 and the right region A2 to change the attitude of the article W. FIG. In the third attitude change control, the article W may be rotated in any of the first direction C1 and the second direction C2. In addition, the amount of protrusion of the article W into the left region A1 and the amount of protrusion of the article W into the right region A2 may be different or the same when the third posture change control is executed. . For example, when the article W is rotated 180 degrees or more around the pivot axis 4b, such as when the article W is rotated 270 ° in either of the first direction C1 and the second direction C2, During the posture change, the article W may protrude to both the left region A1 and the right region A2. When the pivotable direction of the revolving part 4a is only one direction, etc., it may become the structure which rotates such an article W 180 degrees or more around the revolving axis 4b. In this embodiment, such attitude change control corresponds to the third attitude change control.

The lower control device Hd determines the type of control to be executed before executing the attitude change control. As shown in FIG. 4, in the present embodiment, the lower control device Hd determines a control type to be executed among three control types of the first posture change control, the second posture change control, and the third posture change control. It has a type determination part Hd1.

The procedure of 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 part Hd1 acquires a conveyance instruction | command and appropriate posture information Ja from the host control apparatus Hu (S11, S12). Thereby, the appropriate posture of the conveyance destination place 6 of the conveyance destination and the article W in the said conveyance destination place 6 is grasped | ascertained. And based on the appropriate attitude | position of the article W in the conveyance destination place 6 of a conveyance destination, the turning direction which should turn the article W is determined from 1st direction C1 and 2nd direction C2 (S13). . Specifically, when the proper posture of the article W in the conveyance destination place 6 of the conveyance destination is a posture in which the opening portion Wb faces the right side Y2, the turning direction of the article W is defined as the first direction C1. In the case where the opening portion Wb is in a posture toward the left side Y1, it is determined in the second direction C2 (see also FIG. 5). In other words, the turning direction which becomes the minimum turning amount for changing the attitude | position of the article W from the basic attitude shown in the upper figure of FIG. 5 to the appropriate attitude | position in the conveyance destination place 6 of a conveyance destination is 1st direction C1. And the second direction C2. Then, the control type determining unit Hd1 determines the type of the posture change control along the determined turning direction (S14). In the present embodiment, when the turning direction of the article W is determined in the first direction C1, it is determined that the first posture change control is performed as the control type. And when determining the turning direction of the article W to 2nd direction C2, it is determined to perform 2nd attitude change control as a kind of control.

In the said goods conveying facility 1, for example, as shown in FIG. 7, the allowable area SA which allows protrusion of the article W from the accommodation part 22a to the outside is carried out in the movement path R. As shown in FIG. Plurality is set. In detail, the left allowable section SA1 which allows the protrusion of the article W to the outside from the accommodating part 22a in the left area | region A1, and the right allowable section SA2 which permits in the right side area | region A2. ) And both allowable sections SA3 allowed by both the left region A1 and the right region A2 are set in the movement path R. FIG. In addition, in this embodiment, prohibition of protruding the article W from the accommodation part 22a to the outer side in both the left side area | region A1 and the right side area | region A2 apart from these permissible sections SA is prohibited. The section SR is set. In addition, the movement path R here means the path | route which the article conveyance vehicle 2 in the article conveyance facility 1 whole can move, and is from the conveyance destination place 6 of the conveyance source based on each conveyance instruction | command. It is not limited to the path | route to the conveyance destination place 6 of a conveyance destination.

As a matter of course, depending on the route from the return destination place 6 of the return carrier to the return destination place 6 of the destination, there may be only one allowable section SA on the way, or there may be no case at all. There may be. For example, although it is determined to perform 1st attitude change control, the left permissible section SA1 does not exist in the path | route from the conveyance destination place 6 of a carrier to the conveyance destination place 6 of a conveyance destination. In the case, the lower control device Hd changes the posture of the article transport vehicle 2 to the path where the left allowable section SA1 exists and changes the posture to the left allowable section SA1, or the carrier When the posture change is possible at the transfer destination place 6 of the transfer destination, the posture change is performed at the transfer destination place 6. Similarly, although it is determined to perform 2nd attitude change control, when the right permissible section SA2 does not exist in the path | route from the conveyance destination place 6 of a carrier to the conveyance destination place 6 of a conveyance destination, The lower control device Hd changes the path of the article transport vehicle 2 to a path in which the right allowable section SA2 is present and changes the attitude in the right allowable section SA2, or the carrier or the conveyer. When the posture change is possible at the conveyance destination place 6 of the client, the posture change is performed at the conveyance destination place 6.

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 region A1 and the interference object 97 exists in the right region A2. The right 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. Both side allowable sections SA3 are sections in which the interference object 97 does not exist in both the left region A1 and the right region A2. The prohibition section SR is a section in which the interference object 97 exists in both the left region A1 and the right region A2.

Here, the above-mentioned "the interference object 97 exists in the left area | region A1" means the range from the accommodating part 22a of the left area | region A1 toward the left Y1 to the set distance SD in this embodiment. This means that the interference object 97 exists. Therefore, even when the interference object 97 exists in the left area A1, when the distance from the accommodation portion 22a to the interference object 97 is larger than the set distance SD, the allowable section SA is set. It is assumed that "the interference target 97 does not exist in the left area A1".

In addition, similarly, the "interference target 97 exists in the right side area | region A2 exists" mentioned above, in this embodiment, from the accommodating part 22a of the right side area | region A2 toward the right side Y2 to the set distance SD. Within the range, it means that the interference object 97 exists. Therefore, even when the interference object 97 exists in the right side area | region A2, when the distance from the accommodating part 22a to the said interference object 97 is larger than setting distance SD, it is possible to set the allowable section SA. It is assumed that "the interference target 97 does not exist in the alliance area | region A2".

And in this embodiment, "setting distance SD" is set based on each of the both ends of the width direction Y in the accommodating part 22a. However, it is not limited to this, and "setting distance SD" may be set based on each part of the goods conveyance vehicle 2 or the movement path R (rail 98). And even if it sets based on any of the above, "setting distance SD" is determined from the accommodating part 22a determined according to the structure of the article W, the accommodating part 22a, and the attitude | position change mechanism 4. What is necessary is just to set it to an appropriate value according to the protrusion amount of the article W to the outside.

As shown in FIG. 4, in the present embodiment, the lower control device Hd stores the left allowable section SA1, the right allowable section SA2, and the two allowable section SA3 set in the movement path R. FIG. The part Hd2 is provided. In addition, the storage unit Hd2 also stores the prohibited section SR in the movement path R. FIG. Specifically, in the storage unit Hd2, the left allowable section SA1 and the right allowable section, which are set in association with the entire movement path R of the article transport facility 1 and the position on the movement path R, are provided. The section map which has each section information of SA2, both allowable section SA3, and forbidden section SR is memorize | stored. The lower controller Hd executes posture change control based on the setting information of each allowable section SA stored in the storage unit Hd2. In the present example, the lower control device Hd further performs attitude change control based on the setting information of the prohibited section SR stored in the storage unit Hd2.

When the lower control device Hd performs the attitude change control, in a state where the article transport vehicle 2 is within the left allowable section SA1, the lower control device Hd includes the left region A1 among the left region A1 and the right region A2. 1st posture change control which protrudes the article W with (), and in the state in which the article conveyance vehicle 2 is in right side tolerance area SA2, the right side area | region of the left area | region A1 and the right side area | region A2. The second posture change control for protruding the article W in (A2) is executed, and in the state where the article transport vehicle 2 is in both side allowable sections SA3, the first posture change control, the second posture change control, Or third attitude change control. In the present embodiment, the lower control device Hd has any of the first posture change control, the second posture change control, and the third posture change control in the state where the article transport vehicle 2 is within the prohibited section SR. Do not run.

2. Second Embodiment

Next, a second embodiment of the article transport facility 1 will be described. In the first embodiment described above, in the posture change control, only the article W is pivoted around the pivot axis 4b without performing the slide movement in the width direction Y of the article W by the slide mechanism 5. The example of the structure which changes a posture was demonstrated. In addition, in this embodiment, the slide movement of the width direction Y of the article W by the slide mechanism 5 is performed in posture change control. Thereby, in this embodiment, it is the structure which can perform 1st attitude change control and 2nd attitude change control, without restrict | limiting to the turning direction of the article W. As shown in FIG. Hereinafter, this embodiment is demonstrated centering on a point different from said 1st Embodiment. About a point which is not specifically described, it is the same as that of said 1st Embodiment.

In the present embodiment, the lower control device Hd moves the article W to the left region A1 side (left Y1) by the slide mechanism 5 when the first posture change control is executed. In the case of performing the posture change control, the article W is moved to the right area A2 side (right Y2) by the slide mechanism 5. That is, in the 1st attitude change control, the article W is moved in the state which moved the article W to the left side area | region A1 side (left Y1) rather than the center position in the width direction Y of the accommodating part 22a. It turns around the pivot 4b. As a result, when the first posture change control is executed, the article W being subjected to the posture change is projected from the accommodation portion 22a to the left region A1 side, and the article W is moved from the accommodation portion 22a to the right region A2 side. Even if (W) does not protrude or protrudes, the amount of protruding can be reduced. In the second posture change control, the article W is moved in a state in which the article W is moved to the right area A2 side (right Y2) than the center position in the width direction Y of the housing portion 22a. It turns around the pivot 4b. As a result, when the second posture change control is executed, the article W being subjected to the posture change is projected from the accommodation portion 22a to the right area A2 side, and the article from the accommodation portion 22a to the left area A1 side. Even if (W) does not protrude or protrudes, the amount of protruding can be reduced. The turning direction of the article W in the first posture change control and the second posture change control may be either of the first direction C1 and the second direction C2. And the lower control apparatus Hd performs a 1st attitude change control, regardless of the turning direction of the article W, in the state in which the article conveyance vehicle 2 is in the left permissible section SA1, and the article conveyance vehicle In the state where (2) is in the right permissible section SA2, the second posture change control is executed regardless of the turning direction of the article W.

In the present embodiment, when the first posture change control is executed, the slide mechanism (not to protrude from the accommodation portion 22a to the right side area A2 (so that the amount of projection becomes zero) during the posture change) The movement amount of the width direction Y by 5) is controlled. When the second posture change control is executed, the slide mechanism 5 is provided so that the article W does not protrude from the accommodation portion 22a to the left area A1 (so that the amount of projection becomes zero) during the posture change. Control the slide amount. In the present embodiment, the pivot shaft 4b is in the center position in the width direction Y of the accommodation portion 22a as the reference state, and the center position is described as the reference position. Specifically, as shown in FIG. 8, when the lower control device Hd executes the first posture change control, the outer edge Wc of the turning trajectory of the article W around the turning axis 4b is formed. The article W is moved in the width direction Y by the slide mechanism 5 (refer FIG. 3 etc.) so that it may become a position through the boundary part B of the accommodating part 22a and the right side area | region A2. Thereby, the article W can be prevented from protruding from the accommodating part 22a to the right side area | region A2 side at execution of a 1st attitude change control. Therefore, the interference object 97 and the article W which exist in the right side area | region A2 can be prevented with high certainty. In the illustrated example, the lower control device Hd moves the pivot shaft 4b to the left Y1 in the width direction Y by the slide mechanism 5 when the first posture change control is executed. Specifically, the pivot axis is a distance corresponding to the maximum amount of protrusion of the article W to the right-side region A2 in the case where the article W is pivoted while the pivot axis 4b is in the reference position. Move (4b) to the left Y1 with respect to the reference position. The amount of movement of the pivot shaft 4b at this time is related to the size and shape of the article W, the direction of rotation of the article W, the size and shape of the accommodation portion 22a, the configuration of the posture change mechanism 4, and the like. May be appropriately set. In addition, the present invention is not limited to the above configuration, and when the first posture change control is executed, the slide is such that the outer edge Wc of the turning trajectory of the article W is in a position passing through the left side Y1 from the boundary portion B. The movement amount of the width direction Y by the mechanism 5 may be set. In this case, regardless of the turning direction of the article W, the moving amount for moving the turning shaft 4b in the width direction Y can be made constant. Alternatively, even when conveying plural kinds of articles W having different sizes and shapes, the amount of movement for moving the pivot axis 4b in the width direction Y can be made constant.

In addition, when the lower control device Hd executes the second posture change control, the outer edge Wc of the swing trajectory of the article W around the pivot axis 4b has the accommodation portion 22a and the left region ( The article W is moved in the width direction Y by the slide mechanism 5 so as to be a position via the boundary portion B of A1). Thereby, the article W can be prevented from protruding from the accommodating part 22a to the left side area | region A1 side by execution of 2nd attitude change control. Therefore, the interference object 97 and the article W which exist in the left area | region A1 can be prevented with high certainty. In the illustrated example, the lower control device Hd moves the pivot shaft 4b to the right side Y2 in the width direction Y by the slide mechanism 5 when the second posture change control is executed. Specifically, the pivot axis is a distance corresponding to the maximum protrusion amount of the article W to the left area A1 in the case where the article W is pivoted while the pivot axis 4b is in the reference position. Move (4b) to the right Y2 with respect to the reference position. The setting method of the movement amount of the pivot shaft 4b in this second attitude change control can be made similar to the said 1st attitude change control.

In addition, in the present embodiment, when the lower control device Hd executes the third posture change control, the lower control device Hd is rotated around the pivot axis 4b without moving the article W in the width direction Y, and thus the left region ( It protrudes to both A1) and the right side area | region A2. Also in the case of executing the third posture change control, as in the case of performing the first posture change control and the second posture change control, the turning direction in which the article W is rotated is either one of the first direction C1 and the second direction C2. May be used. In addition, in this embodiment, 3rd attitude | position change control is performed irrespective of the turning angle of the article W. As shown in FIG. In other words, the lower control device Hd executes the third posture change control irrespective of the turning direction of the article W in the state in which the article transport vehicle 2 is in both side allowable sections SA3. Thereby, since the movement operation | movement to the width direction Y of the article W by the slide mechanism 5 can be skipped, the time from the start of the posture change of the article W to completion can be shortened. And also in this embodiment, it is set as the structure which performs 1st attitude change control or 2nd attitude change control instead of 3rd attitude change control in the state in which the goods conveyance vehicle 2 is in both side tolerance sections SA3. You may also

As described above, according to the configuration of the present embodiment, any of the first posture change control and the second posture change control can be executed regardless of the turning direction of the article W. As shown in FIG. Therefore, when only left permissible section SA1 exists in the path | route from the conveyance destination place 6 of a conveyance source to the conveyance destination place 6 of a conveyance destination, the lower control apparatus Hd will be made in the desired turning direction. When one attitude change control is executed and only right allowable section SA2 exists, the lower-level control device Hd executes the second attitude change control in the desired turning direction. And depending on the route from the conveyance destination place 6 of a conveyance source to the conveyance destination place 6 of a conveyance 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 posture 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 the carrier or When the posture change is possible at the transfer destination place 6 of the transfer destination, the posture change is performed to the transfer destination place 6.

3. Other Embodiments

Next, another embodiment of the article carrying facility will be described.

(1) In said embodiment, the example in which the flange part Wa of the article W is arrange | positioned at the position closer to the opening part Wb rather than the center position in the upper surface of the article W was demonstrated. However, it is not limited to such an example, The flange part Wa may be arrange | positioned in any position in the upper surface of the article W. As shown in FIG. For example, the flange part Wa may be arrange | positioned at the center position in the upper surface of the article W, and may be arrange | positioned in the position farther from the opening part Wb than the said center position.

(2) In said 1st Embodiment, the control apparatus H turns the article W to 1st direction C1 as 1st attitude change control, and makes the article W 2nd as 2nd attitude change control. An example of turning in the direction C2 has been described. However, the rotation direction of the article W at the time of performing the posture change control is set according to the conditions of the article W, the accommodating portion 22a, the posture change mechanism 4, and the like. Can be. For example, in FIG. 5, the flange portion Wa gripped by the gripping mechanism 3G is disposed at a position closer to the opening portion Wb than the center position on the upper surface of the article W. As shown in FIG. It was. However, when the flange portion Wa is disposed at a position farther from the opening position Wb than the center position on the upper surface of the article W, the first posture change control pivots the article W in the second direction C2. To protrude into the left region A1. In contrast, the second posture change control is executed to pivot the article W in the first direction C1 to protrude into the rightward region A2.

(3) In the above embodiment, the control device H has described an example of performing posture change control based on the setting information of each allowable section SA stored in the storage unit Hd2. However, the present invention is not limited to this example, and the control device H determines the allowable section SA based on the detection information of the obstacle sensor or the like when the article transport vehicle 2 is traveling on the movement path R. And the posture change control may be performed based on the determination result.

(4) In the above embodiment, the delivery section 6b (the transport destination 6) is disposed at a position overlapped in plan view with respect to the rail 98 (moving path R), and the article transport vehicle (2) demonstrated the example comprised so that the article W may be conveyed and mounted between this delivery part 6b. However, it is not limited to such an example, The water-receiving part 6b may be arrange | positioned with respect to the rail 98 at the position which deviated to the width direction Y. FIG. In this case, the transfer mounting mechanism 3 moves the gripper 3G and the lifting mechanism 3H to move the article W along the width direction Y to protrude in the width direction Y with respect to the rail 98. It is provided with the mounting slide mechanism. By the slide mechanism for transport mounting, the grip mechanism 3G and the lift mechanism 3H are disposed at a position overlapping with the hand-carrying portion 6b in plan view, thereby deviating in the width direction Y from the rail 98. It becomes possible to transfer-mount the article W between the delivery parts 6b arranged at the position. In this case, if the slide mounting mechanism for transfer mounting is combined with the width direction movement mechanism (slide mechanism 5) which moves the article W to the width direction Y at the time of the attitude change control in the said 2nd Embodiment, It is suitable.

(5) In each of the above embodiments, the 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 has been described. However, the present invention is not limited to this example, and the lower controller Hd does not execute the third posture change control and selects and executes any one of the first posture change control and the second posture change control as the posture change control. It may be configured to do so. For example, similarly to the above-described first embodiment, the article W is accommodated during the swing around the pivot axis 4b as a configuration in which the article W is not slid in the width direction Y in the posture change control. When only one of the width direction Y protrudes with respect to the part 22a, and the rotation angle of the article W is 180 degrees or less, there is no 3rd attitude change control. In addition, in said 2nd Embodiment, you may comprise so that any one of 1st attitude change control and 2nd attitude change control may be performed instead of 3rd attitude change control also in both side allowance area | region SA3.

(6) And the structure disclosed by each embodiment mentioned above can also be applied in combination with the structure disclosed by other embodiment, unless a contradiction arises. Regarding other configurations, the embodiments disclosed in the present specification are merely examples in all respects. Accordingly, various modifications can be made as appropriate without departing from the spirit of the present disclosure.

4. Outline of the Embodiment

Hereinafter, the outline | summary of the article conveyance facility demonstrated above is demonstrated.

An article carrying facility comprising a article carrying vehicle for moving an article along a moving path between a plurality of places to be conveyed, and a control device for controlling the article carrying vehicle, wherein the article carrying vehicle is a receiving portion for accommodating the article. And a posture change mechanism for changing the posture of the article, wherein the region on the left side with respect to the accommodating portion is a left region with respect to the accommodating portion, based on the traveling direction of the article transport vehicle in the movement path. The accommodating part and the posture changing mechanism are configured so that the right side region is a right area, and the article protrudes outward from the accommodating part during the posture change of the article by the posture changing mechanism. The left allowable section allowing the projection of the article to the left region and the right region A side permissible section and both side permissible sections allowed by both the left side region and the right side region are set during the movement path, and the control device performs posture change control for changing the posture of the article by the posture changing mechanism. In the case of execution, in the state in which the said goods conveyance vehicle is in the said left tolerance area | region, the 1st attitude change control which protrudes the said goods to the said left area | region of the said left area | region and the right side area | region is performed, and the said goods conveyance truck is the said right side In a state within the allowable section, the second posture change control for projecting the article to the right region among the left region and the right region is executed, and in the state where the article transport vehicle is within the two allowable sections, the first posture Change control, the second posture change control, or the left region and the right region; And it executes the third control position change of the article projecting on either side.

According to this configuration, when the posture of the article is changed by the posture changing mechanism, the side on which the protrusion of the article in each permitted section is permitted in accordance with the left allowable section, the right allowable section, and both side allowable sections set during the movement path. The article can be projected to the region of to change the attitude of the article. As a result, the projection of the article to a region other than the region where the projection of the article is allowed can be eliminated, or the projection amount of the article can be reduced. As a result, it is possible to suppress the article in the posture change from interfering with the interference object. In addition, by providing such an allowable section in the moving path, it is not necessary to secure a large space around the moving path in the entire facility, for example, in order to avoid interference between the article and the interference object, and to suppress the enlargement of the facility. can do.

The posture changing mechanism is configured to change the posture of the article by pivoting the article around a pivotal axis along the vertical direction, and when the article is pivoted in a first direction around the pivotal axis. The accommodation portion and the posture changing mechanism such that the article protrudes into the right region when the article protrudes into the left region and the article is pivoted in a second direction opposite to the first direction around the pivot axis. The control apparatus is suitable when the article is pivoted in the first direction as the first posture change control and the article is pivoted in the second direction as the second posture change control.

According to this structure, the attitude | position of an article can be changed with a simple structure. In the first posture change control, by turning the article in the first direction, the article can be protruded to the left region to change the posture. As a result, the protrusion of the article to the right region is eliminated or the amount of protrusion of the article is reduced. You can do less. In the second posture change control, by turning the article in the second direction, the article can be protruded to the right region and the posture can be changed. As a result, the protrusion of the article to the left region is eliminated, or the amount of protrusion of the article. Can be less.

Moreover, as the width direction is a direction orthogonal to the advancing direction of the said goods conveyance vehicle, the said goods conveyance vehicle further comprises the width direction moving mechanism which moves the said article in the said width direction, The said control apparatus is a said 1st attitude | position When the change control is executed, the article is moved by the width direction moving mechanism to the left region side in the width direction, and when the second posture change control is executed, the width direction moving mechanism is used. It is suitable to move the said article to the said right side area side in the said width direction.

According to this configuration, in the case of performing the first posture change control, in order to move the article to the side of the left region where the projection of the article is allowed, the possibility of the article protruding to the right region can be reduced. Similarly, in the case of performing the second posture change control, in order to move the article to the side of the right region where the projection of the article is allowed, the possibility of the article protruding to the left region can be further reduced.

The posture changing mechanism is configured to change the posture of the article by pivoting the article around a pivot axis along the vertical direction, and the control device turns the pivot when the first 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 turning trajectory of the article around the axis is in a position through the boundary between the receiving portion and the right side region, and the second posture change control. In the case of carrying out, the article is moved in the width direction by the width direction moving mechanism such that the outer edge of the turning trajectory of the article around the pivot axis is in a position through the boundary between the accommodation portion and the left region. If it is suitable.

According to this structure, in the 1st attitude change control, the movement distance of the width direction of an article can be suppressed to the minimum, so that the outer edge of the turning trace of an article may not protrude to a right side area | region. In the second posture change control, the movement distance in the width direction of the article can be minimized while the outer edge of the turning trajectory of the article does not protrude to the left region. Thereby, it becomes possible to implement efficient attitude change control.

The control device may further include a storage unit that stores the left allowable section, the right allowable section, and the both allowable sections set in the movement path, and the control device is configured for each allowable section stored in the storage section. It is suitable to execute the posture change control based on the setting information.

According to this structure, it becomes possible to perform suitably the attitude change control according to each allowable section by a simple control structure.

The technique according to the present disclosure can be used for an article conveying facility including an article conveying vehicle that moves along a moving path between a plurality of conveying destination places and conveys an article.

1: goods conveying equipment
2: goods return vehicle
4: posture change mechanism
4b: pivot axis
5: slide mechanism (width movement mechanism)
6: return destination
22a: receptacle
97: interference object
A1: left area
A2: allies
B: boundary
C1: first direction
C2: second direction
H: control unit
Hu: upper control unit
Hd: lower control unit
Hd2: memory
R: travel path
SA: Permissible section
SA1: left side allowance
SA2: right side allowable section
SA3: Permissible section on both sides
W: Goods
Wb: opening
Wc: outer edge of the turning trajectory of the article
X: direction of travel
Y: width direction
Y1: left
Y2: right
Z: vertical direction

Claims (5)

An article transport vehicle for moving goods along a moving path between a plurality of destinations; And
A control device for controlling the article transport vehicle;
Including,
The article transport vehicle is provided with a housing portion accommodating the article, and a posture change mechanism for changing the posture of the article,
Based on the traveling direction of the said goods conveyance vehicle in the said movement path, the area | region on the left side with respect to the said accommodating part is made into a left area | region, and the area | region to the right side with respect to the said accommodating part is a right area | region,
The accommodation portion and the posture changing mechanism are configured such that the article protrudes outwardly from the accommodation portion during the posture change of the article by the posture changing mechanism,
A left side allowance section which allows projection of the article outwardly from the accommodation section in the left region; A right allowable section allowed in the right side region; And both side allowable sections allowed in both the left side region and the right side region;
When the said control apparatus performs the attitude | position change control which changes the attitude | position of the said article by the said attitude | position change mechanism, in the state in which the said goods conveyance vehicle is in the said left permissible section, the said left side of the said left area | region and the right side area | region A first posture change control for projecting the article into an area, and in a state where the article transport vehicle is within the right allowable section, a second posture change for projecting the article to the right side region of the left side region and the right side region; A control for executing the article and projecting the article to both the first posture change control, the second posture change control, or both the left side region and the right side region in a state where the article transport vehicle is within the two allowable sections; 3 to perform posture change control,
Goods conveying equipment. The method of claim 1,
The posture changing mechanism is configured to change the posture of the article by pivoting the article around a pivot axis along the vertical direction,
The article protrudes into the left region when the article is pivoted in a first direction around the pivot axis, and when the article is pivoted in a second direction which is opposite to the first direction around the pivot axis. The receptacle and the posture change mechanism are configured such that the article protrudes into the right side region,
The said control apparatus turns an article in the said 1st direction as said 1st attitude change control, and makes an article conveyance facility which turns the said article in the 2nd direction as said 2nd attitude change control. The method according to claim 1 or 2,
In the width direction, the direction orthogonal to the traveling direction of the article transport vehicle is used.
The article transport vehicle further includes a width direction moving mechanism for moving the article in the width direction,
In the case where the first posture change control is executed, the control device moves the article to the left region side in the width direction by the width direction moving mechanism, and executes the second posture change control. The article carrying facility which moves the article to the said right side area side in the said width direction by the said width direction moving mechanism. The method of claim 3,
The posture changing mechanism is configured to change the posture of the article by pivoting the article around a pivot axis along the vertical direction,
The control apparatus moves in the width direction such that when the first posture change control is executed, the outer edge of the swing trajectory of the article around the pivot axis is in a position passing through a boundary between the accommodation portion and the right side region. In the case where the article is moved in the width direction by the mechanism and the second posture change control is executed, the outer edge of the turning trajectory of the article around the pivot axis passes through the boundary between the accommodation portion and the left region. The article carrying facility which moves the said article in the said width direction by the said width direction movement mechanism so that it may become a position. The method according to claim 1 or 2,
The control device further includes a storage unit that stores the left allowable section, the right allowable section, and the both allowable section set in the movement path,
The said control apparatus carries out the said attitude | position change control based on the setting information of each allowable section stored in the said storage part.

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