TW202327962A - Travel regulation device, article conveyance facility, and conveyance vehicle - Google Patents
Travel regulation device, article conveyance facility, and conveyance vehicle Download PDFInfo
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- TW202327962A TW202327962A TW111135498A TW111135498A TW202327962A TW 202327962 A TW202327962 A TW 202327962A TW 111135498 A TW111135498 A TW 111135498A TW 111135498 A TW111135498 A TW 111135498A TW 202327962 A TW202327962 A TW 202327962A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K7/00—Railway stops fixed to permanent way; Track brakes or retarding apparatus fixed to permanent way; Sand tracks or the like
- B61K7/16—Positive railway stops
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
- B61F19/00—Wheel guards; Bumpers; Obstruction removers or the like
- B61F19/04—Bumpers or like collision guards
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0457—Storage devices mechanical with suspended load carriers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Platform Screen Doors And Railroad Systems (AREA)
- Intermediate Stations On Conveyors (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
Description
本發明係關於一種限制搬運物品的搬運車的行走的行走限制裝置、物品搬運設備，以及搬運車。The present invention relates to a travel restriction device for restricting the travel of a transport vehicle for transporting articles, article transport equipment, and a transport vehicle.
一種用於防止搬運車進入軌道的端部而落下的行走限制裝置係被知曉。例如，在專利文獻1中，揭露了藉由使舌狀的擋止件旋轉、而配置於搬運車的輔助車輪的行走道路，而封閉此行走道路。又，在專利文獻2中，揭露了使擋止件旋轉而遮蔽天花板搬運車的行走驅動部所行走的空間的一部分。 [先前技術文獻] [專利文獻] A travel restraint is known for preventing a truck from falling into the end of a track. For example, Patent Document 1 discloses that a tongue-shaped stopper is rotated and disposed on a travel path of auxiliary wheels of a transport vehicle to close the travel path. In addition, Patent Document 2 discloses that the stopper is rotated to shield a part of the space in which the traveling drive unit of the ceiling truck travels. [Prior Art Literature] [Patent Document]
[專利文獻1] 日本國特許公開第2001-278575號公報 [專利文獻2] 日本國特許公開第2019-214438號公報 [Patent Document 1] Japanese Patent Laid-Open No. 2001-278575 [Patent Document 2] Japanese Patent Laid-Open No. 2019-214438
[發明欲解決的問題][Problem to be solved by the invention]
在搬運車的車輪等之行走驅動部抵接擋止件而停止的情況下，藉由上述行走驅動部與上述擋止件衝突的衝擊，有著上述行走驅動部朝預料之外的方向移動的可能性。When the travel driving part of the transport vehicle such as the wheel abuts against the stopper and stops, the travel driving part may move in an unexpected direction due to the impact of the collision between the travel driving part and the stopper. sex.
本發明的一個態樣係，以實現一種能夠避免搬運車的行走驅動部朝預料之外的方向移動的行走控制裝置等為目的。 [用於解決問題的手段] One aspect of the present invention aims to realize a travel control device and the like capable of preventing a travel drive unit of a transport vehicle from moving in an unexpected direction. [means used to solve a problem]
為了解決上述問題，本發明的一個態樣的行走限制裝置，係為限制搬運物品的搬運車的行走的行走限制裝置，其中包括擋止件。前述擋止件係，前進後退於限制前述行走的限制位置，以及容許前述行走的容許位置之間。前述限制位置係，為前述擋止件與被設置於前述搬運車的防撞器相向的位置。In order to solve the above-mentioned problems, a travel restriction device according to an aspect of the present invention is a travel restriction device for restricting travel of a transport vehicle that carries articles, and includes a stopper. The stopper moves forward and backward between a restricting position for restricting the travel and an allowable position for allowing the travel. The restriction position is a position where the stopper faces a bumper provided on the transport vehicle.
根據上述構成，在限制搬運車的行走時之擋止件能夠抵接的搬運車的部位是防撞器，而不是行走驅動部。於是，即使搬運車與擋止件發生衝突，也不會發生行走驅動部朝預料之外的方向移動這樣的事態。According to the above configuration, the portion of the transport vehicle that the stopper can abut against when restricting the travel of the transport vehicle is the bumper, not the travel drive unit. Therefore, even if the transport vehicle collides with the stopper, there will be no situation in which the traveling drive unit moves in an unexpected direction.
在前述行走限制裝置係，更包括支撐體，支撐前述擋止件，前述支撐體係，成為朝前述擋止件的前進後退方向移動亦可。在這種情況下，由於擋止件以及支撐體係一起前進，所以相較於擋止件對於支撐軸旋轉移動之以往的情況，對於前述衝突的衝擊的耐性係可提高。The walking restriction device system may further include a support body for supporting the stopper, and the support system may move in a forward and backward direction of the stopper. In this case, since the stopper and the support system advance together, the resistance to the impact of the aforementioned collision can be increased compared to the previous case where the stopper moves rotationally with respect to the support shaft.
在前述行走限制裝置係，前述支撐體係包括朝前述前進後退方向延伸的複數個軸亦可。在這種情況下，對於前述衝突的衝擊的耐性係可進一步提高。In the walking restriction device system, the support system may include a plurality of shafts extending in the forward and backward directions. In this case, the resistance to the impact of the aforementioned collision can be further improved.
在前述行走限制裝置係，更包括驅動前述支撐體的馬達亦可。在這種情況下，前述擋止件以及前述支撐體係藉由前述馬達被電力驅動。藉此，相較於對應前述搬運車的行走而被機構性地驅動的情況，作為前述擋止件以及前述支撐體所容許的重量可增大。其結果，對於前述衝突的衝擊的耐性係可進一步提高。The aforementioned walking restraint device system may further include a motor for driving the aforementioned supporting body. In this case, the aforementioned stop and the aforementioned support system are electrically driven by the aforementioned motor. Thereby, the allowable weight of the said stopper and the said support body can be increased compared with the case where it is mechanically driven according to the traveling of the said transport vehicle. As a result, the resistance to the impact of the aforementioned collision can be further improved.
在前述行走限制裝置係，前述容許位置係在比前述限制位置更上方，在失去電源時，前述擋止件係藉由自身重量朝前述限制位置移動亦可。在這種情況下，在前述馬達藉由失去電源而停止的情況下，前述擋止件係藉由自身重量而朝前述限制位置移動。藉此，可限制搬運車的行走，提高安全性。尚且，因為前述擋止件係藉由自身重量朝前述限制位置移動，所以前述馬達係，較佳為經由減速比較高的驅動機構而驅動前述支撐體。In the travel restriction device, the allowable position may be higher than the restriction position, and the stopper may move toward the restriction position by its own weight when power is lost. In this case, when the motor stops due to power loss, the stopper moves toward the restricted position by its own weight. Thereby, the traveling of the transport vehicle can be restricted, and the safety can be improved. Moreover, since the aforementioned stopper moves toward the aforementioned restricted position by its own weight, the aforementioned motor system preferably drives the aforementioned supporting body through a drive mechanism with a high reduction ratio.
在前述行走限制裝置係，更包括檢測前述擋止件在前述容許位置的感測器亦可。在這種情況下，可基於來自前述感測器的檢測訊號，控制前述搬運車的行走。其結果，前述搬運車可安全地行走。尚且，從安全的觀點來看，更包括檢測前述擋止件在前述限制位置的感測器亦可。又，這些感測器分別為複數個感測器亦可。The above-mentioned walking restriction device may further include a sensor for detecting that the above-mentioned stopper is at the above-mentioned allowable position. In this case, the running of the transport vehicle can be controlled based on the detection signal from the sensor. As a result, the transport vehicle can travel safely. Moreover, from a safety point of view, a sensor for detecting that the stopper is at the limit position may be further included. In addition, these sensors may each be a plurality of sensors.
有關本發明的其他態樣的物品搬運設備係，包括行走路徑、搬運車、以及如上述構成的行走限制裝置。前述搬運車係藉由沿著前述行走路徑行走而搬運物品。前述行走限制裝置限制前述搬運車的行走。根據上述構成的話，可達到與上述的效果相同的效果。An article transport facility system according to another aspect of the present invention includes a travel path, a transport vehicle, and a travel restriction device configured as described above. The transport vehicle transports articles by traveling along the travel path. The travel restriction device restricts travel of the transport vehicle. According to the above configuration, the same effects as those described above can be achieved.
在前述物品搬運設備中，前述行走路徑係包括固定軌道以及可動軌道。前述可動軌道係，對於前述固定軌道，被設置為可連接並且可移動。前述行走限制裝置係，被設置於前述固定軌道中之前述可動軌道側的端部亦可。In the aforementioned article transporting device, the aforementioned running path includes a fixed rail and a movable rail. The aforementioned movable track system is configured to be connectable and movable with respect to the aforementioned fixed track. The travel restraint device may be provided at an end portion of the fixed rail on the side of the movable rail.
在這種情況下，在前述固定軌道未連接於可動軌道的情況下，可藉由前述行走限制裝置防止搬運車從前述固定軌道的前述端部跳出。In this case, when the fixed rail is not connected to the movable rail, the traveling vehicle can be prevented from jumping out from the end of the fixed rail by the travel restraint device.
在前述物品搬運設備中，更包括供電裝置以及控制裝置。前述供電裝置係，用於供電給位於前述可動軌道的前述搬運車。前述控制裝置係，控制前述行走限制裝置。前述控制裝置係，在前述固定軌道與前述可動軌道連接，前述供電裝置係可供電給位於前述可動軌道的前述搬運車，並且，前述可動軌道係對於前述固定軌道被固定的情況下，以前述擋止件朝前述容許位置移動的方式控制前述行走限制裝置亦可。The aforementioned object handling equipment further includes a power supply device and a control device. The aforementioned power supply device is used to supply power to the aforementioned transport vehicle located on the aforementioned movable track. The control device controls the travel restriction device. The aforementioned control device is, when the aforementioned fixed rail is connected to the aforementioned movable rail, the aforementioned power supply device can supply power to the aforementioned transport vehicle located on the aforementioned movable rail, and, when the aforementioned movable rail is fixed to the aforementioned fixed rail, It is also possible to control the aforesaid travel restriction device in such a way that the stopper moves toward the aforesaid allowable position.
在這種情況下，由於前述擋止件係在前述搬運車可安全地朝前述可動軌道移動的情況下朝前述容許位置移動，所以可實現在安全面上的提高。In this case, since the stopper moves toward the allowable position when the transport vehicle can safely move toward the movable rail, an improvement in safety can be achieved.
有關本發明的其他態樣的搬運車係，為搬運物品的搬運車，包括防撞器、開關、以及行走控制部。前述開關係，被設置於前述防撞器中之與如請求項1至6中任一項所述的行走限制裝置所包括、在前述限制位置的前述擋止件相向的位置。前述行走控制部係，在藉由前述擋止件推壓前述開關之時，使前述搬運車的行走停止。A transport vehicle system according to another aspect of the present invention is a transport vehicle for transporting articles, and includes a bumper, a switch, and a travel control unit. The aforementioned opening relationship is provided at a position in the aforementioned bumper facing the aforementioned stopper in the aforementioned limiting position included in the travel limiting device according to any one of Claims 1 to 6. The travel control unit stops the travel of the transport vehicle when the switch is pushed by the stopper.
在這種情況下，可達到與上述相同的效果。In this case, the same effects as above can be achieved.
有關本發明的各態樣的控制裝置以及行走控制部係，藉由電腦來實現亦可，在這種情況下，藉由使電腦作為前述控制裝置以及行走控制部所包括的各部位(軟體元件)而動作之使前述控制裝置以及行走控制部被實現於電腦的控制裝置以及行走控制部的控制程式、以及可讀取記錄了這些之電腦的記錄媒體，也落入本發明的範疇內。 [發明功效] The control device and the walking control part of the various aspects of the present invention may also be realized by a computer. ) and the above-mentioned control device and the walking control part are realized in the control program of the control device and the walking control part of the computer, and the recording medium of the computer that can read and record these, also falls within the scope of the present invention. [Efficacy of the invention]
依據本發明的一個態樣，可達到避免搬運車的行走驅動部朝預料之外的方向移動這樣的效果。According to one aspect of the present invention, it is possible to achieve the effect of preventing the traveling drive portion of the transport vehicle from moving in an unexpected direction.
[實施例1] 以下，針對本發明之一實施例，參照第1圖至第9圖而詳細說明。 [Example 1] Hereinafter, an embodiment of the present invention will be described in detail with reference to FIG. 1 to FIG. 9 .
(物品搬運設備的概要) 第1圖係為表示本實施例的物品搬運設備的一部分的概要圖。如第1圖所示，物品搬運設備1係，包括複數條軌道2(行走路徑)，以及搬運車3。收容有物品4的搬運車3係，藉由沿著設置於天花板5側的軌道2行走，可搬運物品4。以下，將行走方向RD作為前後方向。 (Outline of article handling equipment) Fig. 1 is a schematic diagram showing a part of the article conveying facility of this embodiment. As shown in FIG. 1 , a series of article transport equipment includes a plurality of rails 2 (traveling paths) and transport vehicles 3 . The conveyance vehicle 3 containing the article 4 can carry the article 4 by running along the rail 2 provided on the ceiling 5 side. Hereinafter, the traveling direction RD is referred to as the front-rear direction.
軌道2係，被分類為在固定狀態下被設置的固定軌道11，以及對於固定軌道11被設置為可連接並且可移動的可動軌道12。固定軌道11係，藉由支撐具13，在從天花板5懸掛的狀態下被設置。The rails 2 are classified into fixed rails 11 provided in a fixed state, and movable rails 12 provided to be connectable and movable to the fixed rails 11 . The fixed rail 11 is installed in a state suspended from the ceiling 5 via the support 13 .
在本實施例中，在兩個固定軌道11之間設置有可動軌道12，此可動軌道12係，被設置為可朝上下方向升降。升降可動軌道12的升降裝置14係，在從天花板5懸掛的狀態下被設置。尚且，可動軌道12係，被設置為可朝行走方向RD移動亦可，為可朝與行走方向RD垂直的方向移動亦可。In this embodiment, a movable rail 12 is provided between the two fixed rails 11, and the movable rail 12 is configured to be able to go up and down. The elevating device 14 for elevating the movable rail 12 is installed in a state suspended from the ceiling 5 . Furthermore, the movable rail 12 may be provided so as to be movable in the traveling direction RD, or may be provided so as to be movable in a direction perpendicular to the traveling direction RD.
搬運車3係，包括物品支撐部21以及行走驅動部22。物品支撐部21係，是收容且支撐物品4的框體，被配置於軌道2的下方。在物品支撐部21的上部，在搬運車3與其他構件衝突的情況下之吸收衝擊的防撞器23係，被設置為從物品支撐部21朝行走方向RD延伸。尚且，物品支撐部21係，包括用於升降載置且支撐物品4的工作站的起重機機構亦可。The 3-series transport vehicle includes an article support unit 21 and a traveling drive unit 22 . The article support unit 21 is a frame for accommodating and supporting the article 4 , and is disposed below the rail 2 . On the upper part of the article support part 21, a bumper 23 which absorbs a shock when the transport vehicle 3 collides with another member is provided so as to extend from the article support part 21 in the traveling direction RD. Furthermore, the article support unit 21 may include a crane mechanism for lifting and lowering a workstation for placing and supporting the article 4 .
行走驅動部22係，為用於在軌道2上行走驅動之物。行走驅動部22係，被設置於軌道2上，懸吊支撐物品支撐部21。The traveling drive unit 22 is used for traveling and driving on the track 2 . The travel drive unit 22 is provided on the rail 2 and supports the article support unit 21 in a suspended manner.
(行走限制裝置) 在本實施例中，限制搬運車3的行走的行走限制裝置6係被配置於固定軌道11的端部附近。行走限制裝置6係，被安裝於升降裝置14，但並不限於此，被安裝於固定軌道11亦可，也在從天花板5懸吊的狀態下被設置。 (walking restraint device) In this embodiment, the travel restriction device 6 for restricting the travel of the transport vehicle 3 is arranged near the end of the fixed rail 11 . The travel restriction device 6 is attached to the elevating device 14 , but is not limited thereto, and may be attached to the fixed rail 11 , and is also installed in a suspended state from the ceiling 5 .
行走限制裝置6係，包括在限制搬運車3行走的限制位置OP、以及容許上述行走的容許位置HP之間前進後退的擋止件7。擋止件7係，限制位置OP以位於與搬運車3的防撞器23相向的位置的方式設置。The travel restriction device 6 includes a stopper 7 that advances and retreats between a restriction position OP that restricts the travel of the transport vehicle 3 and a permission position HP that allows the travel. The stopper 7 is provided so that the restriction position OP is located at a position facing the bumper 23 of the transport vehicle 3 .
根據上述構成，在限制搬運車3的行走時之擋止件7能夠抵接的搬運車3的部位是防撞器23，而不是行走驅動部22。於是，即使搬運車3與擋止件7衝突，也不會發生行走驅動部22朝預料之外的方向移動這樣的事態。According to the above configuration, the part of the transport vehicle 3 that the stopper 7 can contact when restricting the travel of the transport vehicle 3 is the bumper 23 instead of the traveling drive unit 22 . Therefore, even if the transport vehicle 3 collides with the stopper 7, the traveling drive unit 22 does not move in an unexpected direction.
又，行走限制裝置6係，由於被設置於固定軌道11中之可動軌道12側的端部，所以在固定軌道11未連接於可動軌道12的情況下，可藉由行走限制裝置6防止搬運車3從固定軌道11的端部跳出。Moreover, the travel restriction device 6 is provided at the end of the fixed rail 11 on the side of the movable rail 12, so when the fixed rail 11 is not connected to the movable rail 12, the travel restriction device 6 can prevent the transport vehicle from moving. 3 jump out from the end of the fixed rail 11.
尚且，開關係被設置於防撞器23的前端，在藉由擋止件7推壓此開關的情況下，行走驅動部22(行走控制部)係使搬運車3的行走停止亦可。在這種情況下，即使搬運車3與擋止件7衝突，也能夠確實地使行走驅動部22朝預料之外的方向移動這樣的事態不會發生。尚且，在上述開關設置橡膠等緩衝材料亦可，在這種情況下，擋止件7係經由上述緩衝材料而推壓開關亦可。Moreover, the switch relationship is arranged on the front end of the bumper 23, and when the switch is pushed by the stopper 7, the travel drive part 22 (travel control part) stops the travel of the transport vehicle 3. In this case, even if the transport vehicle 3 collides with the stopper 7 , a situation in which the traveling drive unit 22 can be reliably moved in an unexpected direction does not occur. Furthermore, a cushioning material such as rubber may be provided on the switch, and in this case, the stopper 7 may press the switch through the cushioning material.
第2圖係，為第1圖的A-A線段的的橫視剖面圖。又，在第2圖中，係表示搬運車3配置於升降裝置14的狀態。Figure 2 is a cross-sectional view of the A-A line segment of Figure 1. In addition, in FIG. 2, the state in which the transport vehicle 3 is arrange|positioned on the elevating apparatus 14 is shown.
如第2圖所示，在升降裝置14係，從天花板5經由支撐具31而設置有框構件32。在框構件32的下面的中央部係，經由連結體33而設置有軌道2。如第2圖所示，軌道2係，被設置為一對在左右方向相向。在框構件32的下面的右部係，設置有收容升降機構等的各種驅動機構的驅動用箱34。As shown in FIG. 2 , a frame member 32 is provided from the ceiling 5 via a support 31 in the lifting device 14 . In the central portion of the lower surface of the frame member 32 , the rail 2 is provided via a connecting body 33 . As shown in Fig. 2, the rails 2 are provided as a pair facing each other in the left and right directions. On the right side of the lower surface of the frame member 32, a drive case 34 for housing various drive mechanisms such as an elevating mechanism is provided.
又，在框構件32的下面的左部係，設置有行走限制裝置6。在第2圖的例子中，行走限制裝置6的擋止件7係配置於限制位置OP。請參照第2圖，可理解到限制位置OP的擋止件7係與搬運車3的防撞器23相向。In addition, the travel restriction device 6 is provided on the left side of the lower surface of the frame member 32 . In the example in FIG. 2 , the stopper 7 of the travel restricting device 6 is arranged at the restricting position OP. Please refer to FIG. 2 , it can be understood that the stopper 7 at the limit position OP faces the bumper 23 of the transport vehicle 3 .
第3圖以及第4圖係，為表示行走限制裝置6的概略的圖。第3圖係為立體圖，第4圖係，為從與第2圖相同的方向觀看的圖。尚且，第3圖以及第4圖係，表示擋止件7存在於容許位置HP的情況。又，在第4圖中，藉由兩點鏈線表示擋止件7存在於限制位置OP的情況。又，在第3圖以及第4圖中，省略了用於驅動擋止件7的驅動機構(馬達、齒輪等)。FIG. 3 and FIG. 4 are schematic diagrams showing the travel restriction device 6 . Fig. 3 is a perspective view, and Fig. 4 is a view viewed from the same direction as Fig. 2 . Furthermore, Figs. 3 and 4 show the case where the stopper 7 exists at the allowable position HP. In addition, in FIG. 4 , the case where the stopper 7 exists at the restriction position OP is shown by a two-dot chain line. In addition, in FIG. 3 and FIG. 4 , the drive mechanism (motor, gear, etc.) for driving the stopper 7 is omitted.
如第3圖和第4圖所示，行走限制裝置6係，包括被固定於升降裝置14的固定部41，以及對於此固定部41可移動的可動部51。固定部41係，包括用於安裝於升降裝置14的安裝構件42，導引後述的可動部51的兩根軸體52的導引構件43，以及連接安裝構件42與導引構件43的連接構件44。可動部51係，包括擋止件7，被固定於此擋止件7的兩根軸體52(支撐體)，以及連接兩根軸體52的頂端部與擋止件7的連接構件53(支撐體)。As shown in FIGS. 3 and 4 , the travel restriction device 6 includes a fixed portion 41 fixed to the elevating device 14 , and a movable portion 51 movable relative to the fixed portion 41 . The fixed part 41 includes a mounting member 42 for mounting on the elevating device 14, a guide member 43 for guiding two shafts 52 of the movable part 51 described later, and a connecting member for connecting the mounting member 42 and the guide member 43. 44. The movable part 51 is composed of a stopper 7, two shafts 52 (support bodies) fixed to the stopper 7, and a connecting member 53 ( support body).
可動部51的擋止件7係，為在左右方向較長的長方體的塊。兩根軸體52被螺固於擋止件7的上面，連接構件53被螺緊在側面。The stopper 7 of the movable portion 51 is a rectangular parallelepiped block long in the left-right direction. The two shafts 52 are screwed on the top of the stopper 7, and the connecting member 53 is screwed on the side.
固定部41的導引構件43係為塊體，並具有可動部51的兩根軸體52所貫穿的孔部45。在此孔部45係，設置有滑動軸承(未圖示)。The guide member 43 of the fixed part 41 is a block and has a hole 45 through which the two shafts 52 of the movable part 51 pass. A sliding bearing (not shown) is provided in this hole portion 45 .
在固定部41的安裝構件42係，設置有用於檢測可動部51的位置的感測器46~48。又，在可動部51的連接構件53的上部係，設置有被利用於固定部41的感測器46~48的突起片54以及阻擋構件55。The attachment member 42 of the fixed part 41 is provided with sensors 46 to 48 for detecting the position of the movable part 51 . In addition, on the upper part of the connecting member 53 of the movable part 51 , the protruding pieces 54 and the blocking member 55 used for the sensors 46 to 48 of the fixed part 41 are provided.
藉由感測器46檢測到突起片54，而檢測到擋止件7存在於容許位置HP。又，藉由感測器47檢測到突起片54，而檢測到擋止件7存在於限制位置OP。然後，感測器48係為接近感測器，藉由阻擋構件55接近，而檢測到擋止件7存在於限制位置OP。由於可藉由兩個感測器47、48檢測擋止件7存在於限制位置OP，所以安全性係提高。尚且，由於作為感測器46~48可利用習知之物，所以省略這些的詳細內容。The presence of the stopper 7 at the allowable position HP is detected by the sensor 46 detecting the protruding piece 54 . In addition, the sensor 47 detects the protruding piece 54 , and detects that the stopper 7 exists at the limiting position OP. Then, the sensor 48 is a proximity sensor, which detects that the stopper 7 exists at the limit position OP by the approach of the blocking member 55 . Since the existence of the stopper 7 at the limit position OP can be detected by the two sensors 47, 48, the safety is improved. Also, since well-known ones can be used as the sensors 46 to 48 , details of these are omitted.
根據上述構成，支撐擋止件7的兩根軸體52以及連接構件53係，成為朝擋止件7的前進後退方向(上下方向)移動。藉此，由於擋止件7、與支撐此擋止件7的兩根軸體52以及連接構件53一起前進，所以相較於擋止件7對於支撐軸旋轉移動之以往的情況，對於衝突的衝擊的耐性係可提高。According to the above configuration, the two shaft bodies 52 and the connecting member 53 that support the stopper 7 move in the forward and backward direction (vertical direction) of the stopper 7 . Thereby, since the stopper 7 advances together with the two shafts 52 supporting the stopper 7 and the connecting member 53, compared with the conventional situation in which the stopper 7 rotates and moves with respect to the support shaft, the conflicting Impact resistance can be improved.
又，由於兩根軸體52朝上述前進後退方向延伸，所以對於上述衝突的衝擊的耐性係可進一步提高。In addition, since the two shafts 52 extend in the forward and backward direction, the resistance to the impact of the collision can be further improved.
擋止件7、兩根軸體52以及連接構件53係藉由馬達(未圖示)被電力驅動。藉此，相較於對應搬運車3的行走而被機構性地驅動的情況，作為擋止件7、兩根軸體52、以及連接構件53所容許的重量可增大。其結果，對於上述衝突的衝擊的耐性係可進一步提高。The stopper 7 , the two shafts 52 and the connecting member 53 are electrically driven by a motor (not shown). Thereby, the allowable weight as the stopper 7 , the two shaft bodies 52 , and the connecting member 53 can be increased compared to the case where the transport vehicle 3 is mechanically driven in response to the running of the transport vehicle 3 . As a result, the resistance against the impact of the collision can be further improved.
尚且，如第4圖所示，容許位置HP係在比限制位置OP更上方，在失去電源時，擋止件7係藉由自身重量朝限制位置OP移動係較佳。在這種情況下，在上述馬達藉由失去電源而停止的情況下，擋止件7係藉由自身重量而朝限制位置OP移動。藉此，可限制搬運車3的行走，提高安全性。尚且，因為擋止件7係藉由自身重量朝限制位置OP移動，所以上述馬達係，較佳為經由減速比較高的驅動機構，而驅動擋止件7、兩根軸體52以及連接構件53。Moreover, as shown in FIG. 4, the allowable position HP is higher than the limit position OP, and it is better that the stopper 7 moves toward the limit position OP by its own weight when the power is lost. In this case, the stopper 7 moves toward the restricting position OP by its own weight in a case where the above-mentioned motor is stopped by loss of power. Thereby, the traveling of the transport vehicle 3 can be restricted, and safety can be improved. Moreover, because the stopper 7 moves toward the limit position OP by its own weight, the above-mentioned motor system preferably drives the stopper 7, the two shafts 52 and the connecting member 53 through a drive mechanism with a high reduction ratio. .
又，由於更包括檢測擋止件7在容許位置HP的感測器46，所以可基於來自感測器46的檢測訊號，控制搬運車3的行走。其結果，搬運車3可安全地行走。又，由於更包括用於檢測擋止件7在限制位置OP的感測器47、48，所以安全性係提高。Furthermore, since the sensor 46 for detecting that the stopper 7 is at the allowable position HP is further included, the traveling of the transport vehicle 3 can be controlled based on the detection signal from the sensor 46 . As a result, the transport vehicle 3 can travel safely. Furthermore, since the sensors 47 and 48 for detecting that the stopper 7 is at the limit position OP are further included, the safety is improved.
(升降裝置) 第5圖係，為表示升降裝置14的概要的圖，為第1圖的B-B線段的橫視剖面圖。尚且，在第5圖中，表示了搬運車3被配置於升降裝置14的狀態。 (lifting device) Fig. 5 is a diagram showing the outline of the elevating device 14, and is a cross-sectional view taken along line B-B in Fig. 1 . In addition, in FIG. 5, the state in which the transport vehicle 3 is arrange|positioned on the elevating apparatus 14 is shown.
如第5圖所示，搬運車3的行走驅動部22係，包括驅動馬達61、行走輪62、以及電力接收線圈63。As shown in FIG. 5 , the travel drive unit 22 of the transport vehicle 3 includes a drive motor 61 , travel wheels 62 , and a power receiving coil 63 .
驅動馬達61係，用於旋轉驅動行走輪62。行走輪62係，被設置於行走驅動部22的前後左右的各部位。也就是說，在行走驅動部22係，設置有四個行走輪62。行走輪62係，藉由驅動馬達61被旋轉驅動，在一對的軌道2之上面轉動。藉由驅動馬達61以及行走輪62，可使搬運車3被導引於軌道2而行走。The drive motor 61 is used to rotate and drive the traveling wheel 62 . The traveling wheels 62 are provided at respective positions in the front, rear, left, and right of the traveling drive unit 22 . That is, four traveling wheels 62 are provided in the traveling drive unit 22 . The traveling wheels 62 are rotationally driven by the drive motor 61 and rotate on the pair of rails 2 . By driving the motor 61 and the traveling wheels 62 , the transport vehicle 3 can be guided on the track 2 to travel.
電力接收線圈63係，從後述的供電線8接收電力。此電力係，被供給至搬運車3的各部位。電力接收線圈63係，在與供電線8相向的位置設置有複數個。The power receiving coil 63 receives power from the power supply line 8 described later. This electric power system is supplied to each part of the transport vehicle 3 . A plurality of power receiving coils 63 are provided at positions facing the feeding line 8 .
如第2圖以及第5圖所示，物品搬運設備1係，更包括一對的供電線8。一對的供電線8係，分別被支撐於一對的軌道2，且以與搬運車3的電力接收線圈63相向的方式被配置。藉由使交流電流流過供電線8而產生磁場，且藉由此磁場使驅動用電力發生於電力接收線圈63，進而可在非接觸的狀態下對搬運車3進行驅動用電力的供電。As shown in FIG. 2 and FIG. 5 , the article handling equipment 1 series further includes a pair of power supply lines 8 . The pair of power supply lines 8 are respectively supported by the pair of rails 2 and arranged to face the power receiving coil 63 of the transport vehicle 3 . A magnetic field is generated by passing an alternating current through the power supply line 8 , and the driving power is generated in the power receiving coil 63 by the magnetic field, so that the driving power can be supplied to the transport vehicle 3 in a non-contact state.
在固定軌道11的情況下，如第2圖所示。一對的供電線8被固定於一對的固定軌道11的下方。又，連結體33係藉由框構件32而被保持。In the case of a fixed rail 11, it is as shown in FIG. 2 . A pair of power supply lines 8 are fixed below a pair of fixed rails 11 . Moreover, the connection body 33 is held by the frame member 32 .
另一方面，在可動軌道12的情況下，如第5圖所示，在框構件32設置有使供電線8朝左右方向滑行的滑行裝置71。又，連結體33係，藉由被設置於框構件32的保持裝置72而被保持。On the other hand, in the case of the movable rail 12 , as shown in FIG. 5 , the frame member 32 is provided with a sliding device 71 for sliding the power supply line 8 in the left-right direction. Also, the coupling body 33 is held by a holding device 72 provided on the frame member 32 .
在可動軌道12升降的情況下，供電線8係藉由滑行裝置71朝遠離可動軌道12的方向滑行。又，連結體33係，保持狀態藉由保持裝置72而被解除。藉此，可動軌道12係成為可下降。When the movable rail 12 is raised and lowered, the power supply line 8 slides away from the movable rail 12 through the sliding device 71 . In addition, the connection body 33 is released from the holding state by the holding device 72 . Thereby, the movable rail 12 can descend.
另一方面，在可動軌道12上升、且可動軌道12到達與固定軌道11相同的高度的情況下，供電線8係藉由滑行裝置71朝接近可動軌道12的方向滑行。又，連結體33係，藉由保持裝置72而成為保持狀態。藉此，成為使位於可動軌道12的搬運車3可朝固定軌道11移動。On the other hand, when the movable rail 12 rises and the movable rail 12 reaches the same height as the fixed rail 11 , the power supply line 8 slides toward the movable rail 12 by the sliding device 71 . In addition, the link body 33 is held by the holding device 72 . Thereby, the transport vehicle 3 positioned on the movable rail 12 can move toward the fixed rail 11 .
尚且，在第5圖中，保持裝置72為保持狀態的情況係藉由兩點鏈線表示，且為保持狀態被解除的解除狀態的情況係藉由實線表示。又，滑行裝置71為朝可動軌道12接近的狀態的情況係藉由兩點鏈線表示，且為從可動軌道12遠離的狀態的情況係藉由實線表示。Also, in FIG. 5 , the case where the holding device 72 is in the holding state is indicated by a two-dot chain line, and the case in which the holding state is released is shown by a solid line. In addition, the case where the sliding device 71 is in the state approaching the movable rail 12 is indicated by a two-dot chain line, and the case where the slide device 71 is in a state away from the movable rail 12 is indicated by a solid line.
(滑行裝置) 第6圖係，為表示滑行裝置71的概要的立體圖。尚且，第6圖係，為表示供電線8接近可動軌道12的狀態。 (sliding device) FIG. 6 is a perspective view showing the outline of the slide device 71 . Furthermore, FIG. 6 shows a state in which the power supply line 8 approaches the movable rail 12 .
如第6圖所示，滑行裝置71係，包括被安裝於框構件32的安裝部81，以及對於此安裝部81為可朝左右方向滑動的滑動部82。供電線8係被設置於滑動部82的頂端。As shown in FIG. 6 , the sliding device 71 includes an attachment portion 81 attached to the frame member 32 , and a slide portion 82 slidable in the left and right directions for the attachment portion 81 . The power supply line 8 is provided on the tip of the sliding portion 82 .
安裝部81係，在前後方向包括兩個台部83。用於朝供電線8供給電力的配線84係，一端被安裝於台部83，另一端被連接於供電線8。The mounting portion 81 includes two stand portions 83 in the front-rear direction. The wiring 84 for supplying power to the power supply line 8 has one end attached to the table portion 83 and the other end connected to the power supply line 8 .
根據上述構造，藉由馬達(未圖示)，使滑動部82對於安裝部81滑動，而可使供電線8遠離可動軌道12。According to the above-mentioned structure, the motor (not shown) slides the sliding part 82 with respect to the mounting part 81, and the power supply line 8 can be separated from the movable rail 12. As shown in FIG.
(保持裝置) 第7圖係，為表示保持裝置72的概要的立體圖。尚且，第7圖係，表示保持狀態被解除的解除狀態。 (holding device) FIG. 7 is a perspective view showing the outline of the holding device 72 . Furthermore, FIG. 7 shows a released state in which the held state is released.
如第7圖所示，保持裝置72係，包括被安裝於框構件32的大致方形的支撐板91。在支撐板91的中央部係，設置有包括馬達的驅動機構92，在支撐板91的前部以及後部係，設置有連桿機構93。驅動機構92與連桿機構93係經由軸94而連接。藉由驅動機構92，軸94係朝第7圖的箭頭CR的方向旋轉，藉此連桿機構93的頂端部93a係可抵接並保持於連結體33。As shown in FIG. 7 , the holding device 72 includes a substantially square support plate 91 attached to the frame member 32 . A drive mechanism 92 including a motor is provided at the center of the support plate 91 , and link mechanisms 93 are provided at the front and rear of the support plate 91 . The drive mechanism 92 and the link mechanism 93 are connected via a shaft 94 . By the drive mechanism 92 , the shaft 94 is rotated in the direction of the arrow CR in FIG. 7 , whereby the tip portion 93 a of the link mechanism 93 can contact and be held by the connecting body 33 .
(行走限制裝置的控制) 第8圖係，為表示物品搬運設備1中之電性關係的概略構成的方塊圖。如第8圖所示，物品搬運設備1係，除了上述的供電線8、搬運車3、升降裝置14以及行走限制裝置6之外，包括電源101(供電裝置)，各種感測器102，以及控制裝置103。 (Control of travel restriction device) FIG. 8 is a block diagram showing a schematic configuration of an electrical relationship in the article conveyance facility 1. As shown in FIG. As shown in Fig. 8, the article handling equipment 1 series includes a power supply 101 (power supply device), various sensors 102, and control device 103 .
電源101係，朝各種區塊供給電力。特別是，電源101係，經由供電線8朝搬運車3供給電力。The power supply 101 is for supplying electric power to various blocks. In particular, the power supply 101 supplies electric power to the transport vehicle 3 via the power supply line 8 .
各種感測器102係，檢測物品搬運設備1中的各種狀態。各種感測器102係，朝控制裝置103發送檢測資訊。Various sensors 102 are used to detect various states in the object handling device 1 . Various sensors 102 send detection information to the control device 103 .
控制裝置103係，統合地控制各種構成的動作，例如藉由包括中央處理器(Central Processing Unit)以及記憶體的電腦所構成。然後，各種構成的動作控制係，藉由在電腦執行控制程式而被進行。The control device 103 controls the actions of various components comprehensively, for example, it is formed by a computer including a central processing unit (Central Processing Unit) and a memory. Then, the motion control system of various configurations is performed by executing the control program on the computer.
第9圖係，為表示控制裝置103中之行走限制裝置的控制流程的流程圖。如第9圖所示，首先，判斷固定軌道11是否與可動軌道12連接(S11)。此判斷係，例如，可藉由檢測可動軌道12是否藉著升降裝置14而上升到與固定軌道11相同的高度而執行。FIG. 9 is a flow chart showing the control flow of the travel restriction device in the control device 103. As shown in Fig. 9, first, it is judged whether the fixed rail 11 is connected to the movable rail 12 (S11). This judgment can be performed, for example, by detecting whether the movable rail 12 has been raised to the same height as the fixed rail 11 by the lifting device 14 .
接著，判斷供電線8是否可供電給位於可動軌道12的搬運車3(S12)。此判斷係，例如，可藉由檢測升降裝置14中之滑行裝置71是否使供電線8接近可動軌道12而執行。接著，判斷可動軌道12是否對於固定軌道11被固定(S13)。此判斷係，例如，可藉由檢測升降裝置14中之保持裝置72是否保持連結體33而執行。Next, it is judged whether the power supply line 8 can supply power to the transport vehicle 3 located on the movable track 12 (S12). This judgment can be performed, for example, by detecting whether the sliding device 71 in the lifting device 14 makes the power supply line 8 approach the movable rail 12 . Next, it is judged whether the movable rail 12 is fixed to the fixed rail 11 (S13). This judgment can be performed, for example, by detecting whether the holding device 72 in the lifting device 14 holds the connecting body 33 .
接著，在步驟S11~S13全部滿足的情況下，行走限制裝置6係以將擋止件7朝容許位置HP移動的方式進行指示(S14)。另一方面，在這以外的情況下，行走限制裝置6係以將擋止件7朝限制位置OP移動的方式進行指示(S15)。之後，返回步驟S11而重複上述動作。尚且，將步驟S11~S13的順序替換亦可。Next, when all steps S11 to S13 are satisfied, the travel restriction device 6 instructs to move the stopper 7 to the allowable position HP (S14). On the other hand, in other cases, the travel restriction device 6 instructs to move the stopper 7 to the restriction position OP (S15). Thereafter, the process returns to step S11 to repeat the above operations. Furthermore, the order of steps S11 to S13 may be replaced.
根據上述方法，由於擋止件7係在搬運車3可安全地朝可動軌道12移動的情況下朝容許位置HP移動，所以可實現在安全面上的提高。According to the method described above, since the stopper 7 moves toward the allowable position HP when the transport vehicle 3 can move toward the movable rail 12 safely, an improvement in safety can be realized.
[藉由軟體的實施例] 控制裝置103(以下稱為「裝置」)的功能係，可藉由用於使作為此裝置之電腦發揮功能的程式中、用於使作為此裝置的各控制區塊之電腦發揮功能的程式而實現。 [Example by software] The function system of the control device 103 (hereinafter referred to as "device") can be realized by a program for making a computer function as each control block of this device function among programs for making a computer function as this device. accomplish.
在這種情況下，上述裝置係，作為用於執行上述程式的硬體，包括具有至少一個控制裝置(例如處理器)與至少一個儲存裝置(例如記憶體)的電腦。藉由此控制裝置與儲存裝置執行上述程式，在上述各實施例中所說明的各個功能係被實現。In this case, the above-mentioned device includes, as the hardware for executing the above-mentioned program, a computer having at least one control device (such as a processor) and at least one storage device (such as a memory). With the control device and the storage device executing the above programs, the various functions described in the above embodiments are realized.
上述程式係，被記錄於並非暫時的、且電腦可讀取的一個或複數個記錄媒體亦可。此記錄媒體係，為上述裝置所包括亦可，為上述裝置不包括亦可。在後者的情況下，上述程式係，經由有線或無線之任意的傳送媒體而供給至上述裝置亦可。The above-mentioned programs may be recorded on one or more recording media that are not temporary and can be read by a computer. This recording medium may be included in the above-mentioned device or may not be included in the above-mentioned device. In the latter case, the program may be supplied to the device via any wired or wireless transmission medium.
又，上述各控制區塊的功能的一部分或全部係，可藉由邏輯電路而實現。例如，被形成有作為上述各控制區塊而發揮功能之邏輯電路的積體電路係也被包括在本發明的範疇內。除此之外，例如也可藉由量子電腦實現上述各控制區塊的功能。In addition, part or all of the functions of the above-mentioned control blocks may be realized by logic circuits. For example, an integrated circuit system in which logic circuits functioning as the control blocks described above are formed is also included in the scope of the present invention. In addition, for example, the functions of the above-mentioned control blocks can also be realized by a quantum computer.
又，在上述各實施例中說明的各處理係，藉由AI(Artificial Intelligence，人工智慧)而被執行亦可。在這種情況下，AI係在上述控制裝置動作亦可，在其他裝置(例如，邊緣運算或雲端伺服器等)動作亦可。In addition, each processing described in each of the above-mentioned embodiments may be executed by AI (Artificial Intelligence). In this case, the AI system may operate on the above-mentioned control device, or may operate on other devices (for example, edge computing or cloud server, etc.).
本發明係不限定於上述各實施例，可在申請專利範圍所示的範圍內進行各種變更，針對將相異的實施例中所分別揭露的技術手段適當組合而得到的實施例也被包括於本發明的技術範圍內。The present invention is not limited to the above-mentioned embodiments, and various changes can be made within the scope indicated in the scope of the patent application. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the present invention. within the technical scope of the present invention.
1:物品搬運設備 2:軌道(行走路徑) 3:搬運車 4:物品 5:天花板 6:行走限制裝置 7:擋止件 8:供電線 11:固定導軌 12:可動軌道 13:支撐具 14:升降裝置 21:物品支撐部 22:行走驅動部 23:防撞桿 31:支撐具 32:框構件 33:連結體 34:驅動用箱 41:固定部 42:安裝構件 43:導引構件 44:連接構件 45:孔部 46~48:感測器 51:可動部 52:軸體(支撐體) 53:連接構件(支撐體) 54:突起片 55:阻擋構件 61:驅動馬達 62:行走輪 63:電力接收線圈 71:滑行裝置 72:保持裝置 81:安裝部 82:滑動部 83:台部 84:配線 91:支撐板 92:驅動機構 93:連桿機構 93a:頂端部 94:軸 101:電源(供電裝置) 102:各種感測器 103:控制裝置 CR:箭頭 HP:容許位置 OP:限制位置 RD:行走方向 S11~S15:步驟 1: Item handling equipment 2: Track (walking path) 3: Truck 4: Items 5: Ceiling 6: Walking restriction device 7: stopper 8: Power supply line 11: Fixed guide rail 12: Movable track 13: support 14: Lifting device 21: Item support department 22: Travel drive unit 23: Anti-collision bar 31: support 32: frame component 33: Connection body 34: Drive box 41: fixed part 42: Install components 43: Guide member 44: Connecting components 45: Hole 46~48: Sensor 51: Movable part 52: shaft body (support body) 53: Connecting member (support body) 54: protruding piece 55: Blocking components 61: Drive motor 62:Traveling wheel 63: Power receiving coil 71: sliding device 72: Holding device 81: Installation department 82: sliding part 83: Taiwan Department 84: Wiring 91: support plate 92: Driving mechanism 93: Link mechanism 93a: top end 94: axis 101: Power supply (power supply device) 102: Various sensors 103: Control device CR: arrow HP: allowable position OP: limit position RD: walking direction S11~S15: Steps
第1圖係為表示本發明的一實施例的物品搬運設備的一部分的概要圖。 第2圖係為第1圖的A-A線段的橫視剖面圖。 第3圖係為表示上述物品搬運設備中之行走限制裝置的概要的立體圖。 第4圖係為表示上述行走限制裝置的概要的圖，為從與第2圖相同的方向觀看的圖。 第5圖係為第1圖的B-B線段的橫視剖面圖，為表示上述物品搬運設備中之升降裝置的概要的圖。 第6圖係為表示上述升降裝置中之滑行裝置的概要的立體圖。 第7圖係為表示上述升降裝置中之保持裝置的概要的立體圖。 第8圖係為表示上述物品搬運設備中之電性關係的概略構成的方塊圖。 第9圖係為表示上述物品搬運設備中之控制裝置中之行走限制裝置的控制流程的流程圖。 Fig. 1 is a schematic diagram showing a part of an article conveying facility according to an embodiment of the present invention. Fig. 2 is a cross-sectional view of line A-A of Fig. 1. Fig. 3 is a perspective view showing an outline of a travel restriction device in the above-mentioned article conveyance facility. Fig. 4 is a diagram showing the outline of the above-mentioned travel restriction device, and is a diagram viewed from the same direction as that of Fig. 2 . Fig. 5 is a cross-sectional view taken along the line B-B in Fig. 1, and is a diagram showing the outline of the lifting device in the above-mentioned article conveying equipment. Fig. 6 is a perspective view showing the outline of a sliding device in the lifting device. Fig. 7 is a perspective view showing an outline of a holding device in the lifting device. Fig. 8 is a block diagram showing a schematic configuration of the electrical relationship in the above-mentioned article handling equipment. Fig. 9 is a flow chart showing the control flow of the travel restricting device in the control device of the above-mentioned article conveying equipment.
1:物品搬運設備 1: Item handling equipment
2:軌道(行走路徑) 2: Track (walking path)
3:搬運車 3: Truck
4:物品 4: Items
5:天花板 5: Ceiling
6:行走限制裝置 6: Walking restriction device
7:擋止件 7: stopper
11:固定導軌 11: Fixed guide rail
12:可動軌道 12: Movable track
13:支撐具 13: support
14:升降裝置 14: Lifting device
21:物品支撐部 21: Item support department
22:行走驅動部 22: Travel drive unit
23:防撞桿 23: Anti-collision bar
61:驅動馬達 61: Drive motor
62:行走輪 62:Traveling wheel
HP:容許位置 HP: allowable position
OP:限制位置 OP: limit position
RD:行走方向 RD: walking direction
Claims (10)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2021173433A JP2023063119A (en) | 2021-10-22 | 2021-10-22 | Travel regulation device |
| JP2021-173433 | 2021-10-22 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| TW202327962A true TW202327962A (en) | 2023-07-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW111135498A TW202327962A (en) | 2021-10-22 | 2022-09-20 | Travel regulation device, article conveyance facility, and conveyance vehicle |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP2023063119A (en) |
| KR (1) | KR20230057973A (en) |
| CN (1) | CN116002308A (en) |
| TW (1) | TW202327962A (en) |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001278575A (en) | 2000-03-30 | 2001-10-10 | Shinko Electric Co Ltd | Method and device for attaching and detaching ceiling carrier, and device and structure for connecting parting rails |
| JP7131107B2 (en) | 2018-06-11 | 2022-09-06 | 村田機械株式会社 | Transportation equipment for transport vehicles |
-
2021
- 2021-10-22 JP JP2021173433A patent/JP2023063119A/en active Pending
-
2022
- 2022-09-20 TW TW111135498A patent/TW202327962A/en unknown
- 2022-09-26 CN CN202211177408.7A patent/CN116002308A/en active Pending
- 2022-10-19 KR KR1020220135283A patent/KR20230057973A/en unknown
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| Publication number | Publication date |
|---|---|
| JP2023063119A (en) | 2023-05-09 |
| CN116002308A (en) | 2023-04-25 |
| KR20230057973A (en) | 2023-05-02 |
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