CN107804639A - Article carrying apparatus - Google Patents
Article carrying apparatus Download PDFInfo
- Publication number
- CN107804639A CN107804639A CN201710806809.7A CN201710806809A CN107804639A CN 107804639 A CN107804639 A CN 107804639A CN 201710806809 A CN201710806809 A CN 201710806809A CN 107804639 A CN107804639 A CN 107804639A
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- Prior art keywords
- foregoing
- path
- section
- track
- pair
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Classifications
-
- 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
- B65G1/0457—Storage devices mechanical with suspended load carriers
-
- 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
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
- B60L5/005—Current collectors for power supply lines of electrically-propelled vehicles without mechanical contact between the collector and the power supply line
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B3/00—Elevated railway systems with suspended vehicles
- B61B3/02—Elevated railway systems with suspended vehicles with self-propelled vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C3/00—Electric locomotives or railcars
-
- 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
- B65G1/0464—Storage devices mechanical with access from above
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Power Engineering (AREA)
- Platform Screen Doors And Railroad Systems (AREA)
- Branching, Merging, And Special Transfer Between Conveyors (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Article carrying apparatus.In the 1st path（31）In, there is the 1st section（31a）With the 1st transposition section（31b）, the 1st section（31a）It is from branch（E2）It is interior to arrive cross part（E1）Interior section and be that the 1st track is not present（2a）Section, the 1st transposition section（31b）It is the 1st section（31a）In in cross part（E1）Interior 2nd track（2b）Also the section being not present；In the 2nd path（32）In, there is the 2nd section（32a）With the 2nd transposition section（32b）, the 2nd section（32a）It is from cross part（E1）It is interior to arrive merging part（E3）Interior section and be that the 1st track is not present（2a）Section, the 2nd transposition section（32b）It is the 2nd section（32a）In in cross part（E1）Interior 2nd track（2b）Also the section being not present；If the 3rd path（33）Whole sections to be not provided with pair of right and left track（2）In the 2nd track（2b）Section.
Description
Technical field
The present invention relates to a kind of article carrying apparatus, the article carrying apparatus possesses the left and right one set along driving path
To track, along the goods transport vehicle of foregoing driving path traveling on foregoing pair of right and left track and relative to a foregoing left side
The position of right a pair of tracks fixed in the state of set and it is defeated to limit items by being contacted with items waggon
Send car inclined limitation body, in the path orthogonal with foregoing driving path when foregoing pair of right and left track is observed in the vertical direction
Configured in parallel to each other with fixed intervals on width, items waggon possesses the traveling in foregoing pair of right and left track
The pair of right and left traveling wheel rotated on face.
Background technology
In Japanese Unexamined Patent Publication 2010-228673 publications（Patent document 1）It is middle recorded correlation article carrying apparatus with
Toward example.In the article carrying apparatus of patent document 1, the 1st linear path and the 2nd linear path in cross part just
Hand over.Also, the 3rd path is paid from the 1st path positioned at component more by the upstream than cross part, and the 3rd path is collaborated
To the 2nd path positioned at the merging part than cross part downstream.Cross part has in each of the 1st path and the 2nd path
The section that pair of right and left track both of which is not present, so that goods transport vehicle can pass through cross part.In addition, branch is
There is the section that the side in pair of right and left track is not present, so as to goods transport vehicle energy in each of 1 path and the 3rd path
Enough through branch；Merging part in each of the 2nd path and the 3rd path there is the side in pair of right and left track to be not present
Section, so that goods transport vehicle can pass through merging part.In contrast, between branch and cross part in the 1st path
Section, the cross part in the 2nd path and between the section between merging part and the branch in the 3rd path and merging part
Section has both pair of right and left tracks.
In article carrying apparatus, branch and merging part are being set in from the case that cross part positions away from,
Larger installation space is needed in order to set these cross parts, branch and merging part.That is, for example remembered in patent document 1
In the article carrying apparatus of load, because cross part K, branch B and merging part G are set with leaving, it is used for arranging thing so producing
The space of product conveying equipment becomes the problem of big and secondary path setting can not be obtained to longer ask in the case where installation space is limited
Topic.
The content of the invention
Therefore, seek branch and merging part can be set in into the article carrying apparatus away from the nearer position of cross part.
The feature structure of article carrying apparatus is that it possesses：Pair of right and left track, is set along driving path；Article
Waggon, travelled on foregoing pair of right and left track along foregoing driving path；Body is limited, with relative to foregoing pair of right and left rail
The state that the position in road is fixed is set, and is tilted by being contacted with items waggon to limit items waggon；Before
State pair of right and left track to observe in above-below direction, with fixed intervals phase on the path width direction orthogonal with foregoing driving path
Mutually abreast configure；Items waggon possesses the pair of right and left traveling rotated on the tread of foregoing pair of right and left track
Wheel；As foregoing driving path, there are the 1st path, the 2nd path and the 3rd path；Foregoing 2nd path is in cross part and foregoing 1st tunnel
Footpath intersects；Foregoing 3rd path is from wide to aforesaid paths positioned at branch more by the upstream than foregoing cross part in foregoing 1st path
The side branch in direction is spent, and is intersected from the side in foregoing path width direction and being located in foregoing 2nd path than foregoing
The merging part interflow of portion downstream；In foregoing pair of right and left track, if being present in the rail of the side of aforesaid paths width
Road is the 1st track, if the track of remaining the opposing party is the 2nd track；Foregoing 1st path has the 1st section and the 1st zone of intersection
Between, the 1st section is to the section in foregoing cross part and be the area in the absence of foregoing 1st track out of foregoing branch
Between, the 1st transposition section is the section that foregoing 2nd track is also not present in foregoing cross part in foregoing 1st section；Before
Stating the 2nd path has the 2nd section and the 2nd transposition section, and the 2nd section is in foregoing merging part out of foregoing cross part
Section and be the section in the absence of foregoing 1st track, the 2nd transposition section is in foregoing cross part in foregoing 2nd section
The section that interior foregoing 2nd track is also not present；Whole sections in foregoing 3rd path are foregoing in foregoing pair of right and left track
The section that 2 tracks are not present.
According to this feature structure, both pair of right and left tracks are not present in the 2nd transposition section in the 2nd path.Therefore,
The 2nd transposition section in the 2nd path can be crossed along the goods transport vehicle of the 1st route, through cross part.
In addition, both pair of right and left tracks are not present in the 1st transposition section in the 1st path.Therefore, along the 2nd tunnel
The goods transport vehicle of footpath traveling can cross the 1st transposition section in the 1st path, through cross part.
In addition, the 1st track is not present in section in the 1st section in the 1st path and in branch.Therefore, along
The goods transport vehicle of 1st route can be changed to onto the 3rd path from the 1st path, through branch.In addition, on the 2nd tunnel
The 1st track is not present in section in the 2nd section in footpath and in merging part.Therefore, conveyed along the article of the 3rd route
Car can be changed to onto the 2nd path from the 3rd path, through merging part.
Also, to the section in cross part in the branch from the 1st path（1st section）And the intersection from the 2nd path
To the section in merging part in portion（2nd section）In, in the absence of the 1st track in pair of right and left track.In addition, in the 3rd path
Whole sections in the 2nd track is not present.Therefore, even if branch and merging part are set near cross part, along the 1st
The track that path, the 2nd path and the 3rd path are set is also without prejudice to through the goods transport vehicle of cross part, branch and merging part.
So, goods transport vehicle can pass through cross part, branch and merging part, and branch and merging part can be set in away from
The nearer position of cross part.
Brief description of the drawings
Fig. 1 is the top view of article carrying apparatus.
Fig. 2 is the side view of goods transport vehicle.
Fig. 3 is the rearview of goods transport vehicle.
Fig. 4 is the stereogram for intersecting transfer area.
Fig. 5 is the top view for intersecting transfer area for representing track and the Auxiliary Track positioned at the 1st traveling-position.
Fig. 6 is the top view for intersecting transfer area for representing track and the Auxiliary Track positioned at the 2nd traveling-position.
Fig. 7 is the top view in the intersection transfer area for representing track and imaginary track.
Fig. 8 is the top view in the intersection transfer area for representing state of the goods transport vehicle along the 1st route.
Fig. 9 is the top view in the intersection transfer area for representing state of the goods transport vehicle along the 2nd route.
Figure 10 is the top view in the intersection transfer area for representing state of the goods transport vehicle along the 3rd route.
Figure 11 is control block diagram.
Figure 12 is flow chart.
Embodiment
Hereinafter, the embodiment based on brief description of the drawings article carrying apparatus.
As shown in FIG. 1 to 3, article carrying apparatus possesses along driving path 1（Reference picture 1）The pair of right and left rail of setting
Road 2（Reference picture 2 and Fig. 3）And the goods transport vehicle 3 travelled on pair of right and left track 2 along driving path 1.
Driving path 1 possesses main path 4 and multiple secondary paths 5 via multiple station P.Main path 4 is formed as ring-type.Secondary road
Footpath 5 is formed as ring-type with the state via multiple station P.In addition, in the present embodiment, goods transport vehicle 3 is in driving path 1
Travelled to one direction.In Fig. 1, it is the travel direction of goods transport vehicle 3 is indicated by an arrow.
Possess shorting path 8 and transfer path 7 in driving path 1.
Shorting path 8 is connected respectively with to clip morphogenetic 2 secondary paths 5 of the shape of main path 4.The shorting path 8 is
The path come and gone for not travelled in main path 4 along 2 secondary paths 5.Transfer path 7 is connected to main path 4 and short circuit road
On footpath 8.The transfer path 7 is the path for changing to from main path 4 to secondary path 5 or being changed to from secondary path 5 to main path 4.
As shown in Figures 2 and 3, pair of right and left track 2 along the vertical direction X observe when in the path orthogonal with driving path 1
Configured in parallel to each other with fixed intervals on width Y.Also, in pair of right and left track 2, if being present in path width side
To Y side（Right side）Track 2 be the 1st track 2a, be provided as being present in the another of path width direction Y for remaining the opposing party
Side（Left side）Track 2 illustrated for the 2nd track 2b.Driving path 1 is to be set in road relative to pair of right and left track 2
Footpath width Y central imaginary path.In addition, a path width direction Y direction is referred to as the 1st direction Y1, by road
Footpath width Y other direction is referred to as the 2nd direction Y2.In addition, determined with the state in the downstream from the upstream of driving path 1
Left and right directions and illustrate.
(goods transport vehicle)
Then, goods transport vehicle 3 is illustrated.
As shown in Figures 2 and 3, goods transport vehicle 3 possesses：Traveling portion 11, along the track 2 on pair of right and left track 2
Traveling；Main part 12, positioned at the lower section of pair of right and left track 2, keep article W；And front and rear a pair of linking parts 13, positioned at left and right
Between a pair of tracks 2, traveling portion 11 and main part 12 are linked.On main part 12, possess and support article W with suspension status
Support 14.
Traveling portion 11 is made up of the preceding traveling portion 11F arranged in travel direction and rear traveling portion 11R.Preceding traveling portion 11F
And rear traveling portion 11R respectively by with linking part 13 around the vertical axis along above-below direction X rotate integrally in a manner of be attached at link
In portion 13.Also, front and rear a pair of linking parts 13 are rotatably attached at main part rotating around the vertical axis along above-below direction X
On 12.Front and rear a pair of linking parts 13 are between pair of right and left track 2.
Drive in the front on portion 11F, equipped with by the pair of right and left traveling wheel 17 of the rotation driving of the 1st motor 16（Hereinafter, there is title
Make pair of right and left front-wheel 17a situation）.Pair of right and left traveling wheel 17 is respectively with by 2 respective upper table of pair of right and left track
The mode travelled on the tread that face is formed, which is equipped, to be driven in the front on portion 11F.In addition, drive in the front on portion 11F, equipped with around edge
The pair of right and left propelling sheave 18 that above-below direction X vertical axis rotate freely.The pair of right and left propelling sheave 18 is with positioned at left and right one
The mode rotated on medial surface between track 2 and in pair of right and left track 2 is equipped and driven in the front on portion 11F.Moving ahead
The state for sailing on portion 11F to arrange in travel direction is equipped with 2 groups of pair of right and left propelling sheaves 18.
On rear traveling portion 11R, it is equally equipped with the 1st motor 16 with preceding traveling portion 11F and 1 group of pair of right and left traveling is taken turns
17（Hereinafter, there is referred to as pair of right and left trailing wheel 17b situation）With 2 groups of pair of right and left propelling sheaves 18.
So, goods transport vehicle 3 possesses the pair of right and left traveling wheel 17 rotated on the tread of pair of right and left track 2.
Possesses power receiving section 20 on the upper surface of main part 12, the power receiving section 20 is from along each of pair of right and left track 2
The supply lines 19 of individual setting non-contactly receives driving electric power.The power receiving section 20 is equipped in travel direction positioned at front and rear one
To between linking part 13, and between pair of right and left track 2.
Power receiving section 20 is slid on car body width direction and is supported by freely, and preceding traveling portion 11F and power receiving section 20 are interlocked
Mechanism 21, which interlocks, to be linked, to cause power receiving section 20 and preceding traveling portion 11F to be rotated synchronously on car body width direction around vertical axis
Sliding.
Preceding traveling portion 11F propelling sheave 18 and rear traveling portion 11R propelling sheave 18 are guided by a pair of tracks 2, move ahead simultaneously
Portion 11F 17 and rear traveling portion 11R of traveling wheel traveling wheel 17 is sailed by the rotation driving of the 1st motor 16, so as to the edge of goods transport vehicle 3
Driving path 1 to travel.In addition, preceding traveling portion 11F and rear traveling portion 11R relative to main part 12 around along above-below direction X's
Axis swing, even if so as to which driving path 1 is arc-shaped, goods transport vehicle 3 can also travel along driving path 1.
It is equipped with as shown in Fig. 2 driving in the front on portion 11F before and after the axle center rotation of width along above and below car body
A pair of guiding auxiliary wheels 22 and as making to guide the driving that integratedly moves up in car body width side of auxiliary wheel 22 front and rear a pair
2nd motor 23 in portion.It is front and rear a pair of guiding the motor 23 of auxiliary wheel 22 and the 2nd by positioned at than traveling wheel 17 by the top in a manner of equip
Drive in the front on portion 11F.
On rear traveling portion 11R, possesses front and rear a pair of guidings motor of auxiliary wheel 22 and the 2nd in the same manner as preceding traveling portion 11F
23。
Also, as shown in figure 3, the connection of 2 paths or the position intersected in driving path 1, are aided in provided with that will guide
The limitation track 24 of the guiding of wheel 22.The limitation track 24 is in the by the top and also traveling wheel than being rotated on the track 2 than track 2
17 by the top, by above-below direction X observe when positioned at the central portion of pair of right and left track 2 in a manner of set.So, rail is limited
Road 24 is set with the state that the position relative to pair of right and left track 2 is fixed along driving path 1.
Also, preceding traveling portion 11F is configured to, by the driving of the 2nd motor 23, make front and rear a pair positions for guiding auxiliary wheel 22
Put guiding position to the left（Position indicated by the solid line in figure 3）With right guiding position（The position represented in figure 3 with imaginary line
Put）It is mobile.Left guiding position is front and rear a pair of guiding auxiliary wheels 22 positioned at the center in the car body width direction than preceding traveling portion 11F
Keep left side and to the position that is abutted from left side of limitation track 24.Right guiding position is that front and rear a pair of guidings auxiliary wheel 22 is located at than preceding
The position that the center in traveling portion 11F car body width direction abuts from right side on the right side and to limitation track 24.
In addition, limitation track 24 is equivalent to the guiding auxiliary wheel 22 passed through along path width direction Y with goods transport vehicle 3
Contact carrys out the inclined limitation body on the Y of path width direction of restricted articles waggon 3.In addition, guiding auxiliary wheel 22 is equivalent to quilt
Limiting unit.
As shown in Fig. 1 and Fig. 4, shorting path 8 is intersected with main path 4 and changes to intersecting for the branch of path 7 interflow and is changed
Multiply area E to illustrate.
In the intersection changes to area E, as shown in Figures 5 and 6, as driving path 1, there is the 1st path 31（Main path 4
A part）, the 2nd path 32（A part for shorting path 8）With the 3rd path 33（Change to the part in path 7）.2nd path 32
Intersect in cross part E1 and the 1st path 31.3rd path 33 is located at branch more by the upstream than cross part E1 from the 1st path 31
Portion E2 is to path width direction Y side（Right side is viewed as in the travel direction of goods transport vehicle 3）Branch, and it is wide from path
Direction Y side is spent with the merging part E3 being located at than cross part E1 downstream in the 2nd path 32 to collaborate.
The 1st section 31a in the 1st path 31 and the 2nd section 32a in the 2nd path 32 are respectively set as, and X is seen along the vertical direction
It is linear when examining.In the present embodiment, the 1st path 31 and the 2nd path 32 are respectively set as, and it is generally linear.Change
Yan Zhi, the 1st path 31 are a parts for the linear part in main path 4, and the 2nd path 32 is the straight line in shorting path 8
A part for the part of shape.1st path 31 and the 2nd path 32 are orthogonal in cross part E1.In addition, the 3rd path 33 is set as, upper
Generally arc-shaped when being observed on lower direction X.
Incidentally, less than 5 times of the interval that the 1st section 31a and the 2nd section 32a length is taken turns for pair of right and left traveling,
In the present embodiment, the 1st section 31a and the 2nd section 32a length is 2.5 times of left sides at the interval of pair of right and left traveling wheel 17
It is right.In addition, the radius of curvature in the 3rd path 33 is less than 5 times of the interval of pair of right and left traveling wheel, for pair of right and left traveling wheel 17
2 times or so of interval.
Cross part E1 be the crossover location P1 that is intersected by the 1st path 31 with the 2nd path 32 centered on, along the 1st path
31 direction and the region along on the direction in the 2nd path 32 with defined scope.Branch E2 is to divide from the 1st path 31
Centered on paying the branch location P2 in the 3rd path 33, on the direction along the 1st path 31 and the direction along the 3rd path 33
Region with defined scope.Merging part E3 be by the 3rd path 33 and the 2nd path 32 interflow interflow position P3 centered on,
There is the region of defined scope on the direction along the 2nd path 32 and the direction along the 3rd path 33.
(track)
Then, illustrated to intersecting the track 2 in transfer area E.
1st path 31 has the 1st transposition section 31b for being not provided with both pair of right and left tracks 2, so that on the 2nd tunnel
The goods transport vehicle 3 travelled in footpath 32 can pass through cross part E1.Left and right one is not provided with addition, having in the 1st path 31
To the branching point 31c of a side of track 2, so that goods transport vehicle 3 can drive to the 3rd path 33 from the 1st path 31.
The 1st transposition section 31b and branching point 31c in the 1st path 31 are continuously set.
1st transposition section 31b is the section being located between the pair of right and left track 2 set along the 2nd path 32.1st
Transposition section 31b is not provided with both pair of right and left tracks 2.Branching point 31c be from branch E2 branch location P2 to
The section of 1st transposition section 31b upstream end.Branching point 31c is provided only with the 2nd track 2b in pair of right and left track 2,
It is not provided with the 1st track 2a.
In other words, the section for being added together the 1st transposition section 31b and branching point 31c is being set as the 1st section 31a（From
Sections of the branch E2 branch location P2 to the 1st transposition section 31b downstream）In the case of, the 1st path 31 has：1st
Section 31a, it is to the section in cross part E1 out of branch E2, and is the section in the absence of the 1st track 2a；1st intersects
Section 31b, it is the section that the 2nd track 2b is also not present in cross part E1 in the 1st section 31a.
In addition, the 2nd path 32 has the 2nd transposition section 32b for being not provided with both pair of right and left tracks 2, to cause
The goods transport vehicle 3 travelled in the 1st path 31 can pass through cross part E1.It is not provided with addition, having in the 2nd path 32
The interflow section 32c of one side of pair of right and left track 2, to enable goods transport vehicle 3 to drive to the 2nd tunnel from the 3rd path 33
Footpath 32.
The 2nd transposition section 32b and interflow section 32c in the 2nd path 32 are continuously set.
2nd transposition section 32b is the section being located between the pair of right and left track 2 set along the 1st path 31.2nd
Transposition section 32b is not provided with both pair of right and left tracks 2.It is from the 2nd transposition section 32b downstream to collaborate section 32c
To branch E2 interflow position P3 section.Interflow section 32c is provided only with the 2nd track 2b in pair of right and left track 2,
It is not provided with the 1st track 2a.In other words, the section for being added together the 2nd transposition section 32b and interflow section 32c is being set as the 2nd
Section 32a（The section of interflow position P3 from the 2nd transposition section 32b downstream to merging part E3）In the case of, the 2nd path
32 have：2nd section 32a, it is to the section in merging part E3 out of cross part E1, and is the area in the absence of the 1st track 2a
Between；2nd transposition section 32b, it is the section that the 2nd track 2b is also not present in cross part E1 in the 2nd section 32a.
If whole sections in the 3rd path 33 are the section for the side for being not provided with pair of right and left track 2, make it that article is defeated
Car 3 is sent to advance in the branch E2 in the 1st path 31 and the merging part E3 cathetus in the 2nd path 32.
If being illustrated, as shown in Figure 7, it is assumed that in the 1st section 31a in the 1st path 31 and the 2nd area in the 2nd path 32
Between the track 2a ' of imagination the 1st as imaginary 1st track 2a is provided with 32a, and assume in whole areas in the 3rd path 33
Between in be provided with the track 2b ' of imagination the 2nd as imaginary 2nd track 2b.In the case, in the present embodiment, the 3rd tunnel
Footpath 33 is set as so that is located at the footpath that the 3rd path 33 is more leaned on than crossover sites C along the track 2b ' of imagination the 2nd in the 3rd path 33
Laterally, the crossover sites C is the 1st section 31a track 2a ' of imagination the 1st and the 2nd section 32a track 2b ' of imagination the 2nd
The position of intersection.Therefore, in whole sections in the 3rd path 33, the 2nd track 2b of pair of right and left track 2 is located at along the 1st tunnel
Between the pair of right and left track 2 that the path 32 of footpath 31 and the 2nd is set, so being not provided with a left side in whole sections in the 3rd path 33
One side of right a pair of tracks 2.
As shown in Fig. 4~Fig. 6, in cross part E1, it is provided with by the 3rd motor 36（Reference picture 11）Work move
Auxiliary Track 37.Auxiliary Track 37 is arranged to, by being moved around along above-below direction X axle center, and in the 1st traveling-position（Ginseng
According to Fig. 5）With the 2nd traveling-position（Reference picture 6）Between it is mobile freely.That is, the 3rd motor 36 is configured to, by making Auxiliary Track 37
Around the axis swing along above-below direction X, and it is set to be moved between the 1st traveling-position and the 2nd traveling-position.
As shown in figs. 5 and 8, the 1st traveling-position of Auxiliary Track 37 is handed over being located at the 1st along the posture in the 1st path 31
Pitch in the 31b of section.1st traveling-position is the position that Auxiliary Track 37 is connected with the 2nd track 2b set along the 1st path 31
Put, and be Auxiliary Track 37 from the position that the 2nd transposition section 32b in the 2nd path 32 is avoided.
As shown in figure 8, Auxiliary Track 37 is set to be located at the 1st traveling-position in advance, so as in the thing travelled along the 1st path 31
In the case that product waggon 3 passes through cross part E1, a side of the pair of right and left traveling wheel 17 of goods transport vehicle 3 can be aided in
Track 37 supports.Therefore, in the case where the goods transport vehicle 3 travelled along the 1st path 31 passes through cross part E1, can avoid
The state that both pair of right and left traveling wheels 17 of goods transport vehicle 3 are not supported by track 2.
As shown in figs. 6 and 9, the 2nd traveling-position of Auxiliary Track 37 is handed over being located at the 2nd along the posture in the 2nd path 32
Pitch in the 32b of section.2nd traveling-position is the position that Auxiliary Track 37 is connected with the 2nd track 2b set along the 2nd path 32
Put, and be Auxiliary Track 37 from the position that the 1st transposition section 31b in the 1st path 31 is avoided.
As shown in figure 9, Auxiliary Track 37 is set to be located at the 2nd traveling-position in advance, so as in the thing travelled along the 2nd path 32
In the case that product waggon 3 passes through cross part E1, a side of the pair of right and left traveling wheel 17 of goods transport vehicle 3 can be aided in
Track 37 supports.Therefore, in the case where the goods transport vehicle 3 travelled along the 2nd path 32 passes through cross part E1, can avoid
The state that both pair of right and left traveling wheels 17 of goods transport vehicle 3 are not supported by track 2.
(limitation track)
Then, illustrated to intersecting the limitation track 24 in transfer area E.
As shown in Fig. 8~Figure 10, in cross part E1, branch E2 and merging part E3, set along driving path 1 limited
Track 24 processed.That is, in cross part E1, restricted track 24 is set along the 1st path 31 and the 2nd path 32.In branch E2
In, along the 1st path 31 and the 3rd path 33, restricted track 24 is set.In merging part E3, along the 2nd path 32 and the 3rd tunnel
Footpath 33 sets restricted track 24.
1st path 31 has the 1st limit section 31d for being not provided with limiting track 24, to cause the row in the 2nd path 32
The goods transport vehicle 3 sailed can pass through cross part E1.In addition, the 2nd path 32, which has, is not provided with the 2nd limitation for limiting track 24
Section 32d, to enable the goods transport vehicle 3 travelled in the 1st path 31 to pass through cross part E1.
In cross part E1, it is provided with by the 3rd motor 36（Reference picture 11）Work limit track the auxiliary that moves
38.Auxiliary limitation track 38 is arranged to, and by being rotated around along above-below direction X axle center, and is limited in the 1st restriction site and the 2nd
Moved freely between position processed.That is, the 3rd motor 36 is configured to, by making auxiliary limit track 38 around the axle along above-below direction X
The heart is swung, and it is moved between the 1st restriction site and the 2nd restriction site.In addition, the 3rd motor 36 possesses as making auxiliary
The function for the 1st operating portion that track 37 moves and the function as the 2nd operating portion for making the auxiliary limitation movement of track 38.
Limited as shown in figure 8, the 1st restriction site is auxiliary limitation track 38 with being located at the 1st along the posture in the 1st path 31
In the 31d of section and auxiliary limits the position that track 38 is connected with the limitation track 24 set along the 1st path 31.In addition, auxiliary
Limitation track 38 is helped to be located in the state of the 1st restriction site, in auxiliary limitation track 38 and the limitation along the setting of the 2nd path 32
Between track 24, formed with the gap that at least guiding auxiliary wheel 22 can pass through.It is located at by making auxiliary limit track 38 in advance
1st restriction site, and in the case where the goods transport vehicle 3 travelled along the 1st path 31 passes through cross part E1, can be by aiding in
Limitation track 38 and the limitation track 24 set along the 1st path 31 guide goods transport vehicle 3 along the 1st path 31, and
Goods transport vehicle 3 carry out single-wheel running in the case of can restricted articles waggon 3 topple on the Y of path width direction, from
And it is avoided that goods transport vehicle 3 and turns on one's side.
Limited as shown in figure 9, the 2nd restriction site is auxiliary limitation track 38 with being located at the 2nd along the posture in the 2nd path 32
In the 32d of section and auxiliary limits the position that track 38 is connected with the limitation track 24 set along the 2nd path 32.In addition, auxiliary
Limitation track 38 is helped to be located in the state of the 2nd restriction site, in auxiliary limitation track 38 and the limitation along the setting of the 2nd path 32
Formed with the gap that at least guiding auxiliary wheel 22 can pass through between track 24.By making auxiliary limit track 38 positioned at the in advance
2 restriction sites, can be by aiding in the case of passing through cross part E1 in the goods transport vehicle 3 travelled along the 2nd path 32
Limitation track 38 and the limitation track 24 set along the 2nd path 32 guide goods transport vehicle 3 along the 2nd path 32, and
Goods transport vehicle 3 carry out single-wheel running in the case of can restricted articles waggon 3 topple on the Y of path width direction, from
And it is avoided that goods transport vehicle 3 and turns on one's side.
(supply lines)
As shown in Figures 5 and 6, it is equipped with pair of right and left supply lines 19 along driving path 1.One in pair of right and left supply lines 19
Side is supported by the 1st track 2a, and the opposing party in pair of right and left supply lines 19 is supported by the 2nd track 2b.On the 1st path 31, the 2nd tunnel
In the path 33 of footpath 32 and the 3rd, supply lines 19, which is arranged on, to be provided with the section of corresponding track 2.
That is, in the 1st transposition section 31b in the 1st path 31 and the 2nd transposition section 32b in the 2nd path 32, including conduct
It is not provided with the 1st non-powered section 31e in the section of both pair of right and left supply lines 19.In addition, the branch in the 1st path 31
Among each of section 31c, the interflow section 32c in the 2nd path 32 and the 3rd path 33 whole sections, including it is not provided with
The section of the supply lines 19 of a side in pair of right and left supply lines 19.In other words, the 1st section 31a in the 1st path 31, the 2nd tunnel
Among each of the 2nd section 32a in footpath 32 and whole sections in the 3rd path 33, including the supply lines in the absence of at least one party
19 section.Supply lines 19 is configured in this wise, so as to avoid the article in cross part E1, branch E2 or merging part E3 traveling
Waggon 3 is interfered with supply lines 19.
In addition, in the present embodiment, compared with the interval of pair of right and left track 2, pair of right and left supply lines 19 is in path
It is arranged to narrower width on width Y.Therefore, compared with the 1st transposition section 31b and the 2nd transposition section 32b, the 1st non-confession
The electric non-powered section 32e of section 31e and the 2nd are narrower interval.Alternatively, it is also possible to make the interval of pair of right and left track 2 and a left side
Right a pair of supply lines 19 at intervals of identical interval.
(control unit)
Then, the control to goods transport vehicle 3 illustrates.
As shown in figure 11, in article carrying apparatus, multiple goods transport vehicles provided with management along the traveling of driving path 1
The travel control unit H1 of 3 traveling.In addition, in article carrying apparatus, provided with management cross part E1, branch E2 and merging part
The area control unit H2 of the traveling of goods transport vehicle 3 in E3.That is, the traveling on the goods transport vehicle 3 in driving path 1, base
Managed on this by travel control unit H1, but the traveling of management article waggon 3 is additionally provided with travel control unit H1 differences
Area control unit H2, so as in each of cross part E1, branch E2 and merging part E3, while preventing goods transport vehicle 3
Mutual collision is while travel goods transport vehicle 3.
In goods transport vehicle 3, possesses the trolley control part H3 of control goods transport vehicle 3.Trolley control part H3 is based on
Mail message from travel control unit H1, the traveling control of the 1st motor 16 of control and the 2nd motor 23 is performed, so that article is defeated
Car 3 is sent to travel.In addition, in goods transport vehicle 3, possesses the position detection part 41 for detecting the position on driving path 1.
In present embodiment, position detection part 41 is provided with the detection body sensing of multiple detected bodys by detecting along driving path 1
The range sensor 43 of the operating range of device 42 and detection goods transport vehicle 3 is formed.In detected body, showing expression should
The address information of detected body provided position, travel control unit H1 based on the positional information being shown in detected body and
The range information of the operating range from being detected detected body is represented, and detects the position on the driving path 1 of goods transport vehicle 3
Put.In addition, trolley control part H3 is configured to, can be received by radio communication etc. between travel control unit H1 and area control unit H2
Photos and sending messages.
Area control unit H2 will intersect transfer area E as stopping prohibited area management.That is, area's control unit H2 will include the 1st tunnel
The 1st section 31a in footpath 31, the 2nd section 32a in the 2nd path 32 and the region in whole sections in the 3rd path 33 are as 1
Stop prohibited area management.
Area control unit H2 only permits 1 goods transport vehicle 3 enters to intersect transfer area E（Stop prohibited area）, so as to prevent
3 mutual collision of goods transport vehicle.If being illustrated, in Ze areas control unit H2, it is transfused to and intersects to being present in transfer area E
The detection information of test section 45 that is detected of goods transport vehicle 3.In the present embodiment, as test section 45, provided with the 1st
Entrance detection means the 46, the 1st exports detection means 47, the 2nd entrance detection means the 48 and the 2nd outlet detection means 49.1st entrance
Detection means 46 enters branch E2 when the goods transport vehicle 3 along the 1st path 31 traveling（Intersect transfer area E）When detect the thing
Product waggon.1st outlet detection means 47 is when the goods transport vehicle 3 along the 1st path 31 traveling is from cross part E1（Intersect transfer
Area E）The goods transport vehicle 3 is detected when exiting.2nd entrance detection means 48 is when the goods transport vehicle 3 travelled along the 2nd path 32
Into cross part E1（Intersect transfer area E）When detect the goods transport vehicle 3.2nd outlet detection means 49 is worked as along the 2nd path 32
The goods transport vehicle 3 of traveling is from branch E2（Intersect transfer area E）The goods transport vehicle 3 is detected when exiting.Area's control unit H2 bases
Detection means 47, the 2nd entrance detection means the 48 and the 2nd outlet detection means are exported in these the 1st entrance detection means the 46, the 1st
49 detection information, differentiate and whether there is goods transport vehicle 3 in transfer area E is intersected.
As shown in Figure 12 flow chart, changed to if the trolley control part H3 of goods transport vehicle 3 drives to relative to intersection
Area E is located at the setting position of upstream distance set in advance, then performs and controlled through preparation（♯1）.Controlled at this through preparation
In system, the 2nd motor 23 of control works so that guiding auxiliary wheel 22 is moved to position corresponding with the path that goods transport vehicle 3 travels
Put, and will indicate entry into and intersect the entrance information for changing to area E to area control unit H2 transmissions.
If area control unit H2 is received into information from goods transport vehicle 3, it is not present in transfer area E is intersected other
Switching control is performed in the case of goods transport vehicle 3.In the switching control, control the 3rd motor 36 so that Auxiliary Track 37 and
Auxiliary limitation track 38 is located at position corresponding with the path travelled into the goods transport vehicle 3 for intersecting transfer area E, and will license
Information is sent to trolley control part H3.In addition, area control unit H2 is intersecting when being received from goods transport vehicle 3 into information
In the case of goods transport vehicle 3 being present in transfer area E, change to as goods transport vehicle 3 exits from intersection transfer area E and intersecting
Goods transport vehicle 3 is not present in area E, performs switching control.
The trolley control part H3 of goods transport vehicle 3 is after transmission control is performed, if when by setting set in advance
Between before receive License Info, then perform through control（♯2、♯3）.At this through in controlling, the 1st motor 16 of control is so that thing
Product waggon 3 changes to area E through intersection.In addition, the trolley control part H3 of goods transport vehicle 3 perform send control after, straight
In the case of being all not received by License Info untill by setting time set in advance, perform and stop control（♯2、♯4）.
In stopping control, the 1st motor 16 is controlled, so that goods transport vehicle 3 stops before it will reach intersection transfer area E.In addition,
Setting position and setting time are set as to enter to intersect in goods transport vehicle 3 in the case where performing stopping control changing to
The location and time for stopping goods transport vehicle 3 before area E.Also, if stop in goods transport vehicle 3 due to stopping control
In the state of receive License Info, then perform through control, to cause goods transport vehicle 3 to start again at traveling and through intersecting
Change to area E（♯5）.
In the present embodiment, due in the branch E2 from the 1st path 31 to the section in cross part E1（1st area
Between 31a）And to the section in merging part E3 out of the 2nd path 32 cross part E1（2nd section 32a）In be not provided with the 1st rail
Road 2a, the 2nd track 2b is not provided with whole sections in the 3rd path 33 in addition, so can be by branch E2 and merging part
E3 is arranged near cross part E1.Therefore, it is possible to be longer by the linear section sets in secondary path 5, so as to incite somebody to action
The P setting number of standing increases, or sets in the linear part along secondary path 5 feelings of interim custody articles W buffer part
, can be by the increasing number of the buffer part of setting under condition.
(other embodiment)
（1）In the above-described embodiment, with along the track of imagination the 2nd in the 3rd path be located at than the 1st section the track of imagination the 1st
More the 3rd tunnel is set with the crossover sites of the rail junction of imagination the 1st in the 2nd section by the mode in the outside of the radial direction in the 3rd path
Footpath, but the 3rd path can also be set in a manner of the track of imagination the 2nd along the 3rd path is located at above-mentioned crossover sites, in addition
Can be in a manner of the inner side that the track of imagination the 2nd along the 3rd path is located at the radial direction that the 3rd path is more leaned on than above-mentioned crossover sites
Set the 3rd path.
（2）In the above-described embodiment, by the 3rd path be integrally formed into the vertical direction observation when be arc-shaped,
But the shape in the 3rd path can also suitably be changed in the following manner：Only by the both ends in the path length direction in the 3rd path
Be formed as arc-shaped, the pars intermedia in the path length direction in the 3rd path is formed as linear etc..In addition, by the 1st path and
2nd path is linear when being formed as observing in the vertical direction, but can also be so that the part in path is formed as into curve-like
The shape in the 1st path and the 2nd path is suitably changed etc. mode.
（3）In the above-described embodiment, by making the restricting portion of goods transport vehicle contact limit on path width direction
Portion processed carrys out restricted articles waggon and is inclined upwardly in path width side, but can also be by restricting portion with around along path width side
To（Left and right directions）Axle center rotation pair of right and left limitation roller form, make pair of right and left limitation roller support limiting unit from below,
It is inclined upwardly so as to carry out restricted articles waggon in path width direction and path length side.
（4）In the above-described embodiment, it is configured to, pair of right and left supply lines is set along driving path, conveyed in article
Possess on car and gone from the powered power receiving section of pair of right and left supply lines, goods transport vehicle by the electric power received from supply lines
Sail, but can also be configured to, possess battery in goods transport vehicle, travelled by the electric power from battery.
(summary of above-mentioned embodiment)
Hereinafter, the summary of the article carrying apparatus in above-mentioned middle explanation is illustrated.
The feature structure of article carrying apparatus is that it possesses：Pair of right and left track, is set along driving path；Article
Waggon, travelled on foregoing pair of right and left track along foregoing driving path；Body is limited, with relative to foregoing pair of right and left rail
The state that the position in road is fixed is set, and is tilted by being contacted with items waggon to limit items waggon；Before
State pair of right and left track to observe in above-below direction, with fixed intervals phase on the path width direction orthogonal with foregoing driving path
Mutually abreast configure；Items waggon possesses the pair of right and left traveling rotated on the tread of foregoing pair of right and left track
Wheel；As foregoing driving path, there are the 1st path, the 2nd path and the 3rd path；Foregoing 2nd path is in cross part and foregoing 1st tunnel
Footpath intersects；Foregoing 3rd path is from wide to aforesaid paths positioned at branch more by the upstream than foregoing cross part in foregoing 1st path
The side branch in direction is spent, and is intersected from the side in foregoing path width direction and being located in foregoing 2nd path than foregoing
The merging part interflow of portion downstream；In foregoing pair of right and left track, if being present in the rail of the side of aforesaid paths width
Road is the 1st track, if the track of remaining the opposing party is the 2nd track；Foregoing 1st path has the 1st section and the 1st zone of intersection
Between, the 1st section is to the section in foregoing cross part and be the area in the absence of foregoing 1st track out of foregoing branch
Between, the 1st transposition section is the section that foregoing 2nd track is also not present in foregoing cross part in foregoing 1st section；Before
Stating the 2nd path has the 2nd section and the 2nd transposition section, and the 2nd section is in foregoing merging part out of foregoing cross part
Section and be the section in the absence of foregoing 1st track, the 2nd transposition section is in foregoing cross part in foregoing 2nd section
The section that interior foregoing 2nd track is also not present；Whole sections in foregoing 3rd path are foregoing in foregoing pair of right and left track
The section that 2 tracks are not present.
According to this feature structure, both pair of right and left tracks are not present in the 2nd transposition section in the 2nd path.Therefore,
The 2nd transposition section in the 2nd path can be crossed along the goods transport vehicle of the 1st route, through cross part.
In addition, both pair of right and left tracks are not present in the 1st transposition section in the 1st path.Therefore, along the 2nd tunnel
The goods transport vehicle of footpath traveling can cross the 1st transposition section in the 1st path, through cross part.
In addition, the 1st track is not present in section in the 1st section in the 1st path and in branch.Therefore, along
The goods transport vehicle of 1st route can be changed to onto the 3rd path from the 1st path, through branch.In addition, on the 2nd tunnel
The 1st track is not present in section in the 2nd section in footpath and in merging part.Therefore, conveyed along the article of the 3rd route
Car can be changed to onto the 2nd path from the 3rd path, through merging part.
Also, to the section in cross part in the branch from the 1st path（1st section）And the intersection from the 2nd path
To the section in merging part in portion（2nd section）In, in the absence of the 1st track in pair of right and left track.In addition, in the 3rd path
Whole sections in the 2nd track is not present.Therefore, even if branch and merging part are set near cross part, along the 1st
The track that path, the 2nd path and the 3rd path are set is also without prejudice to through the goods transport vehicle of cross part, branch and merging part.
So, goods transport vehicle can pass through cross part, branch and merging part, and branch and merging part can be set in away from
The nearer position of cross part.
Here it is preferred that foregoing 1st section in foregoing 1st path and the foregoing 2nd section difference in foregoing 2nd path
It is set as, is viewed as linearly in above-below direction；The set overall in foregoing 3rd path is to be viewed as arc-shaped in above-below direction.
It is arc-shaped by the set overall in the 3rd path according to the structure, so as to be set as straight line with having the 3rd path
The section of shape is compared with the situation for being set as curvilinear section, and the 3rd path can be made to become simple.In addition, in the 3rd path
In the case of radius of curvature is less, compared with the larger situation of the radius of curvature in the 3rd path, branch and merging part are set at
Relative to the position that cross part is nearer.But in the complete of the 1st section in the 1st path, the 2nd section in the 2nd path and the 3rd path
A side of pair of right and left track is not present in portion section, it is nearer away from cross part thus, it is possible to which branch and merging part are set in
Position.Therefore, in addition to the bigger situation of the radius of curvature in the 3rd path, the smaller feelings of radius of curvature in the 3rd path
Also can be arc-shaped by the set overall in the 3rd path under condition.
Moreover it is preferred that it is assumed that in foregoing 1st section in foregoing 1st path and foregoing 2nd path the foregoing 2nd
I.e. imaginary 1st track of imaginary foregoing 1st track is provided with section and is assumed in whole sections in foregoing 3rd path
In the case of being provided with i.e. imaginary 2nd track of imaginary foregoing 2nd track, foregoing 3rd path is set, so that along the foregoing 3rd
Foregoing imaginary 2nd track in path is located at foregoing imaginary 1st track than foregoing 1st section and the foregoing vacation in foregoing 2nd section
Think that the position of the 1st rail junction is located further forward the outside for the radial direction for stating the 3rd path.
According to the structure, by setting the 3rd path so as to be located at along the track of imagination the 2nd in the 3rd path than the 1st section
The outside of the radial direction in the 3rd path is more leaned at the position of imaginary 1st track and the rail junction of imagination the 1st in the 2nd section, so as to make
Branch and merging part are close to cross part.
Also, set because in whole sections in the 3rd path, imaginary 2nd track is located at along the 1st path and the 2nd path
Between the 1st track and imaginary 2nd track put, intersect so position existing for the track of imagination the 2nd passes through in goods transport vehicle
The traveling of goods transport vehicle is hindered during portion, but imaginary 2nd track is practically without setting, therefore as described above even in making branch
Close in the case of cross part, goods transport vehicle can also pass through cross part for portion and merging part.
Moreover it is preferred that by including the foregoing 2nd in foregoing 1st section in foregoing 1st path, foregoing 2nd path
1 region in whole sections in section and foregoing 3rd path is set as stopping prohibited area；Possess detection and be present in foregoing stopping
The test section of items waggon in prohibited area and the detection information control items conveying based on foregoing test section
The control unit of car；It is right in the case that foregoing control unit has other items waggons in foregoing stopping prohibited area
In the items waggon that enter foregoing stopping prohibited area, execution makes items waggon stop at than foregoing stopping
Prohibited area is by the upstream to stop control, and the situation of other items waggons is not present in foregoing stopping prohibited area
Under, the items waggon for enter foregoing stopping prohibited area, control items waggon is performed so that it is worn
That crosses foregoing stopping prohibited area passes through control.
According to the structure, in the case where other goods transport vehicles are not present in stopping prohibited area, perform through control
Make, thus to enter the goods transport vehicle of stopping prohibited area can entering stopping prohibited area and pass through and stop prohibited area.
In addition, in the case where other goods transport vehicles being present in stopping prohibited area, performing and stopping control, thus to enter and stop
The goods transport vehicle of prohibited area is stopped at than stopping the top trip of prohibited area, so the goods transport vehicle can be avoided with existing
Collided in stopping other goods transport vehicles in prohibited area.
Further, since cross part, branch and merging part be included in 1 stop prohibited area in, so with by cross part,
Branch is compared with situation of the merging part as the traveling of respectively different stopping prohibited area management article waggon, it is easier to
Carry out the management of the traveling of goods transport vehicle.
Further, since branch and merging part can be set in relative to the nearer position of cross part, so even if handing over
Fork, branch and merging part are included in 1 and stopped in prohibited area, can also suppress to stop prohibited area change greatly.
Moreover it is preferred that items waggon possesses from the pair of right and left power supply arranged along foregoing driving path
The powered power receiving section of line；For foregoing pair of right and left supply lines, in foregoing 1st section, foregoing 2nd section and foregoing 3rd path
Each of whole sections include the section of the supply lines in the absence of at least one party, and in foregoing 1st transposition section and
Each of foregoing 2nd transposition section includes the section in the absence of both foregoing pair of right and left supply lines.
According to the structure, pair of right and left is not present due to being included in each of the 1st transposition section and the 2nd transposition section
The section of both supply lines, so goods transport vehicle can be to cross the 1st of the 2nd transposition section in the 2nd path and the 1st path the
The mode of transposition section passes through cross part.
It is not present at least further, since being included in each of whole sections in the 1st section, the 2nd section and the 3rd path
The section of the supply lines of one side, so goods transport vehicle can be to cross the 1st section in the 2nd section in the 2nd path and the 1st path
Mode pass through branch and cross part.
In addition, in the 1st section in the 1st path, the 2nd section in the 2nd path and whole sections in the 3rd path, a left side be present
The section that section that one side of right a pair of supply lines is not present or both is all not present, in the section, from supply lines to article
The power receiving section of waggon is tailed off by electricity.But because the goods transport vehicle for controlling and stopping by the stopping of control unit stops
Only than stop the top trip of prohibited area, so goods transport vehicle can be avoided to stop at the area to be tailed off as described above by electricity
Between in.
Moreover it is preferred that in foregoing cross part, aforementioned branches portion and foregoing merging part, along foregoing driving path
Foregoing limitation body is provided with, foregoing limitation body from foregoing path width direction and the restricting portion of items waggon by connecing
Touch, limitation items waggon tilts on aforesaid paths width；The foregoing 1st transposition section tool in foregoing 1st path
Either with or without the 1st limit section for setting foregoing limitation track, foregoing 2nd transposition section in foregoing 2nd path, which has, to be not provided with
2nd limit section of foregoing limitation track；In foregoing cross part, working come the auxiliary moved by the 1st operating portion is set
Track and working come the auxiliary limitation track moved by the 2nd operating portion；Foregoing Auxiliary Track is arranged to, with along preceding
The posture for stating the 1st path is located at the 1st traveling-position in foregoing 1st transposition section and with along the posture in foregoing 2nd path
Moved freely between the 2nd traveling-position in foregoing 2nd transposition section；It is foregoing auxiliary limitation track be arranged to, with along
The posture in foregoing 1st path is located at the 1st restriction site in foregoing 1st limit section and with along the posture in foregoing 2nd path
Moved freely between the 2nd restriction site in foregoing 2nd limit section.
According to the structure, Auxiliary Track is set to be located at the 1st traveling-position in advance, thus in the article along the 1st route
In the case that waggon passes through the 1st transposition section of cross part, the pair of right and left of goods transport vehicle can be travelled to a side of wheel
Supported with Auxiliary Track.Also, limit goods transport vehicle by limitation track to be inclined upwardly in path width side.Therefore, on edge
The goods transport vehicle of the 1st route through cross part the 1st transposition section in the case of, in the left and right of only goods transport vehicle
A pair of traveling wheel a sides supported by Auxiliary Track in the state of, goods transport vehicle will not also turn on one's side and can be along the 1st path
Traveling.In addition, similarly, Auxiliary Track is set to be located at the 2nd traveling-position in advance, so as to which goods transport vehicle will not turn on one's side and being capable of edge
The 2nd route.
Industrial applicability
The technology for being related to the disclosure can possess the goods transport vehicle that is travelled on pair of right and left track and by defeated with article
Car contact is sent to come in the article carrying apparatus of the inclined limitation body of restricted articles waggon to apply.
Description of reference numerals
1 driving path
2 tracks
The tracks of 2a the 1st
2a ' the 1st tracks of imagination
The tracks of 2b the 2nd
2b ' the 2nd tracks of imagination
3 goods transport vehicles
17 traveling wheels
19 supply lines
20 power receiving sections
22 guiding auxiliary wheels（Restricting portion）
24 limitation tracks（Limit body）
31 the 1st paths
The sections of 31a the 1st
The transposition sections of 31b the 1st
32 the 2nd paths
The sections of 32a the 2nd
The transposition sections of 32b the 2nd
33 the 3rd paths
36 the 3rd motors（1st operating portion, the 2nd operating portion）
37 Auxiliary Tracks
38 auxiliary limitation tracks
45 test sections
E intersects transfer area（Stop prohibited area）
E1 cross parts
E2 branches
E3 merging part
H3 trolley control parts（Control unit）
Y path widths direction.
Claims (6)
1. a kind of article carrying apparatus, the article carrying apparatus possesses：
Pair of right and left track, is set along driving path；
Goods transport vehicle, travelled on foregoing pair of right and left track along foregoing driving path；And
Body is limited, the state fixed with the position relative to foregoing pair of right and left track is set, by being conveyed with items
Car contact tilts to limit items waggon；
Items conveying equipment is characterised by,
When foregoing pair of right and left track is observed in the vertical direction, on the path width direction orthogonal with foregoing driving path with
Fixed intervals configure in parallel to each other；
Items waggon possesses the pair of right and left traveling wheel rotated on the tread of foregoing pair of right and left track；
As foregoing driving path, there are the 1st path, the 2nd path and the 3rd path；
Foregoing 2nd path intersects in cross part and foregoing 1st path；
Foregoing 3rd path is located at branch more by the upstream than foregoing cross part to foregoing path width from foregoing 1st path
The side branch in direction, and from being located at than foregoing cross part in the side in foregoing path width direction and foregoing 2nd path
Merging part interflow downstream；
In foregoing pair of right and left track, if the track for being present in the side of aforesaid paths width is the 1st track, if remaining
The track of the opposing party be the 2nd track；
Foregoing 1st path has the 1st section and the 1st transposition section, and the 1st section is to foregoing intersection out of foregoing branch
Section in portion, and be the section in the absence of foregoing 1st track, the 1st transposition section is foregoing in foregoing 1st section
The section that foregoing 2nd track is also not present in cross part；
Foregoing 2nd path has the 2nd section and the 2nd transposition section, and the 2nd section is to foregoing interflow out of foregoing cross part
Section in portion, and be the section in the absence of foregoing 1st track, the 2nd transposition section is foregoing in foregoing 2nd section
The section that foregoing 2nd track is also not present in cross part；
Whole sections in foregoing 3rd path are the sections that foregoing 2nd track in foregoing pair of right and left track is not present.
2. article carrying apparatus as claimed in claim 1, it is characterised in that
Foregoing 1st section in foregoing 1st path and foregoing 2nd section in foregoing 2nd path are respectively set as, in the vertical direction
It is linear during observation；
The set overall in foregoing 3rd path is, is arc-shaped when observing in the vertical direction.
3. article carrying apparatus as claimed in claim 2, it is characterised in that
It is assumed that being provided with foregoing 2nd section in foregoing 1st section in foregoing 1st path and foregoing 2nd path imaginary
Foregoing 1st track is imaginary 1st track and assumes to be provided with the imaginary foregoing 2nd in whole sections in foregoing 3rd path
In the case that track is imaginary 2nd track,
Foregoing 3rd path is set in the following manner：It is located at along foregoing imaginary 2nd track in foregoing 3rd path than foregoing 1st area
Between the position of foregoing imaginary 1st rail junction in foregoing imaginary 1st track and foregoing 2nd section be located further forward and state the 3rd path
The outside of radial direction.
4. such as article carrying apparatus according to any one of claims 1 to 3, it is characterised in that
By including foregoing 1st section in foregoing 1st path, foregoing 2nd section in foregoing 2nd path and foregoing 3rd path
Whole sections 1 region be set as stop prohibited area；
Possesses the test section for the items waggon that detection is present in foregoing stopping prohibited area and based on foregoing test section
Detection information control items waggon control unit；
In the case that foregoing control unit has other items waggons in foregoing stopping prohibited area, for enter
The foregoing items waggon for stopping prohibited area, execution make items waggon stop at than foregoing stopping prohibited area
By the upstream to stop control, the feelings of other items waggons are not present in foregoing control unit in foregoing stopping prohibited area
Under condition, for enter it is foregoing stopping prohibited area items waggon, perform control items waggon so that its
Control is passed through through foregoing stopping prohibited area.
5. such as article carrying apparatus according to any one of claims 1 to 4, it is characterised in that
Items waggon possesses from the powered power receiving section of pair of right and left supply lines arranged along foregoing driving path；
For foregoing pair of right and left supply lines, in whole sections in foregoing 1st section, foregoing 2nd section and foregoing 3rd path
Each includes the section of the supply lines in the absence of at least one party, and in foregoing 1st transposition section and foregoing 2nd zone of intersection
Between each include section in the absence of both foregoing pair of right and left supply lines.
6. such as article carrying apparatus according to any one of claims 1 to 5, it is characterised in that
In foregoing cross part, aforementioned branches portion and foregoing merging part, foregoing driving path is provided with foregoing limitation body, it is preceding
Limitation body is stated by being contacted from foregoing path width direction with the restricting portion of items waggon, limitation items conveying
Car tilts on aforesaid paths width；
Foregoing 1st transposition section in foregoing 1st path has the 1st limit section for being not provided with foregoing limitation body, foregoing 2nd tunnel
Foregoing 2nd transposition section in footpath has the 2nd limit section for being not provided with foregoing limitation body；
In foregoing cross part, the work by the 1st operating portion is set the Auxiliary Track that moves and by the 2nd operating portion
The auxiliary for working to move limits track；
Foregoing Auxiliary Track is arranged to, to be located at the 1st row in foregoing 1st transposition section along the posture in foregoing 1st path
Sail and moved between position and the 2nd traveling-position to be located at along the posture in foregoing 2nd path in foregoing 2nd transposition section certainly
Such as；
Foregoing auxiliary limitation track is arranged to, to be located at the in foregoing 1st limit section along the posture in foregoing 1st path
Moved between 1 restriction site and the 2nd restriction site to be located at along the posture in foregoing 2nd path in foregoing 2nd limit section
Freely.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016176982A JP6620707B2 (en) | 2016-09-09 | 2016-09-09 | Goods transport equipment |
| JP2016-176982 | 2016-09-09 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107804639A true CN107804639A (en) | 2018-03-16 |
| CN107804639B CN107804639B (en) | 2021-07-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710806809.7A Active CN107804639B (en) | 2016-09-09 | 2017-09-08 | Article conveying apparatus |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP6620707B2 (en) |
| KR (1) | KR102332340B1 (en) |
| CN (1) | CN107804639B (en) |
| TW (1) | TWI711568B (en) |
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| CN109017885A (en) * | 2018-08-17 | 2018-12-18 | 湖南大学 | A kind of dynamic auto recombination car team method and system |
| CN110092148A (en) * | 2019-05-09 | 2019-08-06 | 同方威视技术股份有限公司 | Sample transports detection device and system |
| CN110775645A (en) * | 2018-07-25 | 2020-02-11 | B和R工业自动化有限公司 | Method and device for operating a long stator linear motor with an adapter |
| CN111225864A (en) * | 2017-10-31 | 2020-06-02 | 村田机械株式会社 | Conveying system |
| CN111788106A (en) * | 2018-05-01 | 2020-10-16 | 村田机械株式会社 | Conveying system |
| CN112758570A (en) * | 2019-11-06 | 2021-05-07 | 株式会社大福 | Article conveying apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2024202707A1 (en) * | 2023-03-28 | 2024-10-03 | ソニーグループ株式会社 | Information processing method, information processing device, and mobile body system |
| WO2024224676A1 (en) * | 2023-04-26 | 2024-10-31 | 株式会社ダイフク | Transport system |
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Also Published As
| Publication number | Publication date |
|---|---|
| TWI711568B (en) | 2020-12-01 |
| JP2018041410A (en) | 2018-03-15 |
| JP6620707B2 (en) | 2019-12-18 |
| TW201811639A (en) | 2018-04-01 |
| KR20180028975A (en) | 2018-03-19 |
| CN107804639B (en) | 2021-07-13 |
| KR102332340B1 (en) | 2021-11-26 |
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