JP2018043811A - Conveyance facility - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a transport facility which is easy to operate when transferring a transport carriage between a storage line and a transfer device. SOLUTION: A transport trolley 1 capable of loading and transporting an article 3, a storage shelf 2 provided with a plurality of storage lines 2a, 2a, ..., A transport device 20 having a transport trolley 24 capable of transporting the transport trolley 1, and a transfer device 20. The transport equipment S is provided with an operation terminal 40 for driving and operating the transport carriage 1. The transport carriage 1 is provided with a communication unit capable of communicating with the transfer device 20, and is itself based on a drive command from the operation terminal 40. Information on the located accommodation line 2a is transmitted to the transfer device 20, and the transfer device 20 moves the transfer table 24 to the designated accommodation line 2a based on the information received from the transfer carriage 1. [Selection diagram] Fig. 2

Description

  The present invention relates to a transport facility including a transport carriage and a transfer device.

  In a large warehouse or the like, in order to efficiently store a large amount of articles, a storage shelf in which a plurality of storage lines capable of storing a plurality of articles is provided on the top, bottom, left, and right. In order to improve the efficiency of carrying in and carrying out articles, a self-propelled transport cart that can carry articles is provided with a transfer device equipped with a transfer table that can move up and down and left and right on such a storage shelf. 2. Description of the Related Art A transport facility is used that travels on a traveling rail laid on a storage line and a transfer table, and loads / unloads articles into / from a desired storage line. In addition, there are some transfer devices that mechanically connect the transfer table and the storage line by a connecting device so that the transport cart can easily withstand the load when moving between the transfer table and the storage line.

  In a transfer facility such as Patent Document 1, a transfer device and a transfer carriage are operated by manual operation by an operator or remote control by a computer, respectively. When transferring the transport carriage from the storage line of the storage shelf to the transfer base of the transfer device, the transfer base is moved in the horizontal direction and the vertical direction so that the traveling rail on the transfer base side and the traveling rail on the storage side are aligned. In this state, the transport cart is allowed to self-run.

Japanese Examined Patent Publication No. 63-44642 (3rd page, 5th page, Fig. 1)

  However, in Patent Document 1, since the transfer device and the transport carriage are configured to be operated separately, for example, when transferring the transport carriage from the storage line of the storage shelf to the transfer base of the transfer device, It is necessary to move the transfer carriage to the transfer line to the transfer line by operating the transfer carriage to move the transfer carriage to the end of the transfer line and the transfer stand. There is a problem that is complicated.

  The present invention has been made paying attention to such a problem, and an object of the present invention is to provide a transport facility in which an operation when transferring a transport carriage between a storage line and a transfer device is simple.

In order to solve the above-mentioned problem, the transport equipment of the present invention is
Transport equipped with a transport carriage capable of placing and transporting articles, a storage shelf including a plurality of storage lines, a transport device having a transport base capable of transporting the transport cart, and an operation terminal for driving the transport cart Equipment,
The transport carriage includes a communication unit capable of communicating with the transfer device, and transmits information on a storage line in which the transport cart is located to the transfer device based on a drive command from the operation terminal. The transfer table is moved to a designated accommodation line based on information received from the cart.
According to this feature, when the transfer carriage is transferred between the storage line and the transfer stand, the operator simply performs an operation for transmitting a drive command to the transfer carriage by the operation terminal. Since the operation of the transfer device for moving the transfer table to the designated storage line is not required, the operation during the loading / unloading operation in the transfer facility can be simplified.

The transport cart is a plurality of vehicles,
The operation terminal is capable of receiving information on the accommodation line in which each of the transport carriages is located.
According to this feature, the operator can select an appropriate conveyance carriage to move to the accommodation line where goods are loaded and unloaded based on information on the accommodation line where the conveyance carriage is located.

The transport cart is a plurality of vehicles,
The said transfer apparatus moves to the accommodation line designated in order of the time of the command signal received from the said several conveyance trolley | bogie.
According to this feature, the transfer device can transport a plurality of transport carts in order with a simple configuration.

The transport cart is a plurality of vehicles,
The transfer device stores command signals received from a plurality of the transport carriages, and prioritizes the storage lines for moving the transfer bases according to the movement time from the current position of the transfer base to the specified storage line. It is characterized by doing.
According to this feature, the transfer table can be moved in order to the accommodation line with a short movement time from the current position, and the transfer cart can be transferred, so that the efficiency of the work for loading and unloading articles can be improved.

The transport carriage includes detection means for detecting the position of the transfer table, and permission means for permitting self-propulsion when the relative position of the transfer table and the transport carriage is within a predetermined range. It is characterized by.
According to this feature, the transport cart itself detects and determines the relative position of the transport platform and the transport cart, and the self-propelled unit moves from the housing unit to the transport platform. It becomes simple.

The transfer device transmits an arrival signal to the transport carriage that has received the information when it is determined that the transfer table has moved to a designated storage line based on the information and has arrived.
According to this feature, the transport cart side can carry out work such as transport in the current storage line until it receives the arrival signal of the transport table from the transfer device, and the efficiency of the work of loading and unloading articles is high.

It is a perspective view which shows the accommodation shelf and raising / lowering apparatus of the conveyance installation in Example 1. FIG. It is a side view which shows the state which a conveyance trolley drive | works the accommodation side travel rail. It is a perspective view which shows the structure of a conveyance trolley | bogie. It is a front view which shows the structure of a storage line. It is a figure which shows the structure of the butting | matching edge part of an accommodation side travel rail and a raising / lowering side travel rail. It is a figure which shows the communication structure of a conveyance installation. It is a figure which shows the operation | movement table in Example 1. FIG. It is a figure which shows the operation | movement table in Example 2. FIG.

  The form for implementing the conveyance equipment which concerns on this invention is demonstrated below based on an Example.

The transfer equipment of the transfer cart according to the first embodiment will be described with reference to FIGS.
As shown in FIGS. 1 and 2, the transport facility S includes a plurality of storage lines 2 a, 2 a,... And a lifting / lowering device 20 (transfer device) that moves the transport cart 1 up and down when the transport cart 1 is transferred to the storage line 2a at a predetermined stage. Each of the storage lines 2a, 2a,... Of the storage shelf 2 is laid with a pair of storage-side travel rails 4, 4,. , 4,... Are supported on a plurality of pallets 9, 9,... On which the article 3 is placed.

  As shown in FIGS. 3 and 4, the transport carriage 1 moves up and down with respect to the vehicle body 6 that supports the vehicle body 6 that can travel on the traveling surface 4 b provided at the lower end of the accommodation-side traveling rail 4 and the article 3. A mounting table 7 that can be provided, an elevating drive unit (not shown) that moves the mounting table 7 up and down, a traveling device 12 that allows the transport carriage 1 to travel on the accommodation-side traveling rail 4, and a control unit 18. And, after the table 7 travels on the traveling surface 4b of the accommodation-side traveling rail 4 and enters the lower side of the pallet 9 in the lowest lowered state separated from the lower surface of the pallet 9, the platform 7 is raised. Thus, the article 3 is lifted together with the pallet 9, and the pallet 9 and the article 3 are lifted from the placement portion 4a of the storage-side traveling rail 4 by a predetermined height and are transported.

  The control unit 18 includes a drive motor control unit that drives and controls the driving motor for traveling, a lift motor control unit that controls driving of the lift motor for lifting and lowering, a storage unit, and a communication control unit, and is transmitted from the operation terminal 40. An operation means application that is operated by a signal is installed. The storage unit has a function of storing a drive signal history of the control device, an operation history of the transport carriage 1, and the like. The communication unit 19 enables transmission / reception of signals between an operation terminal 40 and a lifting device 20 described later.

  Further, horizontal rollers 15, 15,... Projecting outward from the respective left and right end portions are provided on the front and rear side plate portions of the vehicle body 6. Further, horizontal rollers 16 are provided on the left and right side plate portions in the vicinity of the center portion in the front-rear direction. The horizontal rollers 15, 15,... And the horizontal rollers 16, 16 abut against the side wall portions 4 d, 4 d (see FIG. 4) of the accommodation-side traveling rail 4, so that the vehicle body 6 travels along the accommodation-side traveling rail 4. It is like that.

  A sensor device 5 (detection means) is provided on the front side of the transport carriage 1. The sensor device 5 is mainly composed of a transmission unit 51, a reception unit 52, and a determination unit 53, and is connected to the control unit 18 by a cable (not shown).

  As shown in FIG. 3, a sensor 64 is provided on the side surface of the vehicle body 6 of the transport carriage 1. The sensor 64 is a photosensor having a light projecting part and a light receiving part, and is arranged at the same height as a slit 30 (see FIG. 5) formed in the accommodation-side traveling rail 4 described later. The sensor 64 can detect the slit 30 based on the relationship between the amount of reflection received by the light receiving unit from the light projecting unit and the preset threshold when the transport carriage 1 is traveling. .

  By detecting the slit 30 by the sensor 64, the transport carriage 1 can determine that it is located at the home position in the accommodation line 2a. The transport carriage 1 is in a safe position on the end side on the accommodation-side travel rail 4 at the home position, and the home position functions as a standby position for the transport carriage 1 traveling on the accommodation-side travel rail 4. ing.

  In addition, the transport carriage 1 is transferred to a storage line 2a having a different height in the storage shelf 2, or transferred to a transport conveyor (not shown) located at substantially the same height as the lowermost storage section 2a. 20 is performed. As shown in FIG. 1, the lifting device 20 includes a base portion 21 arranged in a floor shape, two masts 22, 22 rising up and down from the base portion 21, and these masts 22, 22. A horizontal saddle portion 23 connecting the upper ends of the two, a lift 24 supported by the masts 22 and 22 so as to be movable in the vertical direction, and a lift drive unit 26 not described in detail for moving the lift 24 in the vertical direction , Mainly consists of.

  The lifting / lowering base 24 includes lifting / lowering-side traveling rails 25 and 25 having substantially the same structure as the accommodation-side traveling rail 4, and the carriage 1 is supported on the lifting / lowering-side traveling rails 25 and 25 when the lifting / lowering base 24 moves up and down. When the transport cart 1 is transferred from the storage line 2a to the lifting device 20 or when the transport cart 1 is transferred from the lift device 20 to the storage line 2a, the transport cart 1 travels on the travel surfaces of the lift-side travel rails 25, 25. It is designed to travel on 4b.

  In addition, the lifting device 20 includes a communication unit 29 and a control unit 28. The communication unit 29 can transmit and receive signals to and from the transport carriage 1. The control unit 28 is installed with a drive program for moving the lift 24 to predetermined accommodation lines 2a, 2a,. Further, the control unit 28 can grasp the current position of the lifting platform 24 by monitoring the driving operation of the lifting drive unit 26.

  As shown in FIG. 5, the accommodation-side travel rails 4, 4 are abutted against the lift-side travel rails 25, 25 of the lift platform 24 of the side wall 4 d erected from each outer side portion of the travel surfaces 4 b, 4 b. The aforementioned slit 30 is provided in the vicinity of the end.

  The lift-side travel rails 25, 25 are also provided with slits (not shown) as in the case of the storage-side travel rail 4. By detecting this, it can be determined that the vehicle is located at the home position on the lifting platform 24.

  Further, in the vicinity of the slit 30, an RF tag 66 capable of transmitting a unique ID indicating position information of the accommodation line 2 a having the accommodation-side travel rails 4, 4 is provided. The RF tag 66 is attached to a fixture (not shown) fixed to the outside of the side wall portion 4d, and is placed inside the accommodation-side travel rails 4 and 4 through a hole 67 provided below the slit 30. The unique ID can be transmitted. The transport cart 1 can determine in which accommodation line 2 a it is located by receiving a unique ID from the RF tag 66 by the RFID reader 65 provided in the vicinity of the sensor 64.

  Note that the elevating side traveling rails 25, 25 are also provided with RF tags and holes for RF tags (not shown) as in the case of the accommodating side traveling rail 4, and the transport carriage 1 receives the unique ID. By doing so, it can be determined whether or not it is located on the lifting platform 24.

  As shown in FIG. 6, the transport facility S includes an operation terminal 40 for remotely operating a plurality of transport carts 1, 1,..., A lifting device 20, and an access point 60. 20 and the plurality of transport carts 1, 1... Are connected via an access point 60 by a wireless LAN.

  The operation terminal 40 is a so-called tablet terminal of a touch panel type, and is connected to one of the plurality of transport carts via the access point 60 and can control the operation of the designated transport cart 1.

  The transport carriage 1 can be driven by an operation means application installed in its own control unit 18, and the operation screen of the operation means application received from the connected transport carriage 1 is mirrored on the operation terminal 40. Will be displayed. Therefore, not only does the operation terminal 40 not require high processing capacity, but it is easy to divert the ready-made terminal to the operation terminal.

  As the driving operation of the transport carriage 1 by the operation terminal 40, for example, when an instruction to unload the article 3 from the storage line where the transport carriage 1 is currently located is given among instructions pre-programmed in the operation means application, the transport is performed. The carriage 1 travels to the position of the article 3 and lifts the article 3 and the pallet 9 (for the sake of simplicity, only the article 3 is described and the description of the pallet 9 is omitted). Drive to the home position.

  As will be described later at the home position, the transport carriage 1 that has confirmed the position of the lifting / lowering base 24 travels continuously over the abutting end of the accommodation-side traveling rail 4 and the lifting / lowering-side traveling rail 25, and the lifting / lowering base 24 moves up and down. It moves on the side running rails 25, 25. Subsequently, the article 3 is transported downward by the elevating device 20 and delivered to a conveyance conveyor (not shown) located at substantially the same height as the lowermost storage line 2a.

  After the delivery cart 1 receives the delivery instruction from the operation terminal 40 and actually enters the delivery instruction, the transport carriage 1 moves up and down the information on the accommodation line 2a where it is located with respect to the lifting device 20 at a predetermined timing. Transmit to device 20. When the lifting / lowering device 20 receives the information on the accommodation line 2 a from the transport carriage 1, the lifting / lowering apparatus 20 determines this as a calling signal from the transport carriage 1. In addition, the conveyance trolley | bogie 1 transmits the instruction | indication which conveys itself to a predetermined | prescribed conveyance conveyor to the information raising / lowering apparatus 20 with the signal of a call.

  Further, the transport carriage 1 transmits its own carriage ID to the lifting device 20 at the same time in addition to the information of the accommodation line 2 a where it is located. The lifting device 20 that has received the calling signal stores the calling signal in the operation table T1 (see FIG. 7). The received call signal is stored in association with the command No. in order based on the information on the time when the call signal was received and the information on this time.

  The lifting / lowering device 20 starts the pick-up operation process for moving the lifting / lowering table 24 to the accommodation line 2a associated with the command No of the smallest number from the operation table T1. After the start of the pick-up operation process, when the elevator 24 arrives in front of the designated storage line 2a, the elevator 20 transmits an arrival signal to the transport carriage 1 that has received the command signal.

  As described above, the lifting / lowering device 20 can monitor the driving operation of the lifting / lowering driving unit 26 by the control unit 28 and determine by itself that the lifting platform 24 has arrived at the designated accommodation line 2a. Yes. When this arrival determination is made, an arrival signal is transmitted from the communication unit 29 to the transport carriage 1 that has received the command signal.

  When the carriage 1 receives the arrival signal from the lifting device 20 in the state where it has arrived at the home position of the accommodation line 2a, it starts the operation of transferring to the lifting side traveling rails 25, 25 of the lifting platform 24. Then, when it is detected by the above-described sensor 64 that it has moved to the home position on the lifting platform 24, information indicating that the transfer has been completed is transmitted to the lifting device 20.

  The transport carriage 1 uses the above-described determination by the sensor device 5 when starting the operation of transferring to the ascending / descending side traveling rails 25, 25 of the elevator platform 24. The sensor device 5 is a reflector (not shown) provided on the lifting platform 24 of the lifting device 20 from the time from when the light signal is transmitted from the transmitting unit 51 to when the receiving unit 52 receives the reflected signal. It is comprised so that the distance to may be detected.

  The sensor device 5 includes a reflector plate of the lift 24 and the sensor device 5 of the transport cart 1 when the lift 24 is stopped at an appropriate height and the transport cart 1 is stopped at the home position. The reference distance is set in advance, and when this reference distance is detected, the travel surfaces 4b and 4b of the accommodation-side travel rails 4 and 4 and the travel surfaces 25b and 25b of the lift-side travel rails 25 and 25 (see FIG. 5). It is determined that the vertical position of the abutting end coincides, and the operation of transferring to the ascending / descending side traveling rails 25, 25 is started.

  In addition, the transport cart 1 instructs the elevator 24 to move up and down as many times as necessary for the delivery of the number of articles 3 specified by the command from the operation terminal 40, and the predetermined number of articles 3 to be delivered. A command for transporting itself to the original accommodation line 2a after being delivered to the line and a command to the lifting device 20 are provided. And the information which shows that the pick-up operation process was completed is transmitted to the raising / lowering apparatus 20 at the time of having detected by the above-mentioned sensor 64 that it moved to the home position of the original accommodation line 2a.

  In addition, the lifting device 20 locks the lifting platform 24 until it receives information indicating that the transfer of the transport carriage 1 has been completed, and makes the lifting platform 24 in a state in which the lifting / lowering is not possible. The lock is released, and the elevator can be lifted.

  The lifting device 20 deletes the command No from the operation table T1 by receiving the information indicating that the picking-up operation process is completed, and executes the command No when there is a subsequent command No.

  In addition, when the information corresponding to the calling signal is stored in the operation table T1, the elevating device 20 is based on the information on the time when the signal is received, and the designated accommodation line 2a among the plurality of received signals. The information indicating whether or not the vehicle is scheduled to go to is transmitted to each transport carriage 1 that has transmitted the signal. Therefore, the transport cart 1 side can perform work such as transport of the articles 3 in the current storage line 2a in accordance with the time until the lifting platform 24 arrives, and the efficiency of the work of loading and unloading the articles 3 is high.

  As described above, when the transport carriage 1 is transferred between the accommodation line 2a and the lifting device 20, the lifting cart 20 is called by the transport cart 1, so that the operator issues a drive command to the transport cart 1 through the operation terminal 40. Since the operator does not need to separately operate the lifting device 20 for moving the lifting platform 24 directly to the designated storage line 2a only by performing an operation for transmission, during the loading / unloading operation in the transport facility S The operation can be simplified. In addition, since the operator does not transmit drive commands to the lifting device 20 and the transport carriage 1 respectively, it is possible to suppress a reduction in work efficiency due to an operation error.

  In the above-described embodiment, the operation of the transport carriage 1 and the lifting device 20 has been described by taking as an example the case where there is an article to be delivered in the storage line 2a where the transport carriage 1 to be driven is located. Various operations are conceivable depending on conditions such as the position of the article. For example, when there is no article to be delivered to the storage line 2a where the transport carriage 1 to be driven is operated and an instruction to deliver the article from the other storage line 2a is received from the operation terminal 40, the transport carriage 1 sends the information to the lifting device 20 together with a call signal by calling the lifting platform 24 in a state where no goods are being carried, and transporting itself to the accommodation line 2a where the goods to be delivered are present.

  In addition, the transport carriage 1 that has received a drive command for unloading a plurality of articles (for example, three) needs to be transported three times from the storage line 2a to the unloading line. This is a mode in which the next command No is not executed until information indicating that the pick-up operation process is completed is received. Therefore, since the lifting device 20 does not perform an operation of picking up another transport cart during the transporting operation of moving the lifting platform 24 up and down three times, the control unit 28 of the lifting device 20 does not require high processing capability.

  In the above-described embodiment, the transport cart 1 on which the article is placed is transported to the delivery line by the lifting / lowering table 24 in the loading / unloading operation of the article. The carriage 1 moves to the original storage line 2a at the time when the article is transferred onto the lifting platform 24 by mounting an apparatus such as a conveyor or a pusher that moves the article between the delivery line and the delivery line. It is good also as a structure which performs the operation | movement to return and only the articles | goods 3 are conveyed by the raising / lowering stand 24. FIG. In this case, when the transport carriage 1 returns from the lifting platform 24 to the accommodation line 2a, it determines whether or not the movement to the home position is completed by detecting the sensor 64, and determines that the movement to the home position is completed. At this point, information indicating that the transfer of the article 3 has been completed is transmitted to the lifting device 20, and the lifting device 20 is brought into a liftable state.

  Next, a transport facility according to the second embodiment will be described with reference to FIG. The description of the same configuration as that of the above embodiment is omitted.

  The lifting device 20 that has received the command signal stores the command signal in the operation table T2 in association with the command No. The received command signal stores information on the time when the command signal is received and information on the designated accommodation line 2a. The lifting device 20 calculates the estimated time required for movement from the current position of its own lifting platform 24 to each designated accommodation line 2a in response to the plurality of received command signals. Then, the order of the pick-up operation process is determined based on the information on the predicted time. According to this, it can move to the accommodation line 2a in which the estimated time from the current position of the lifting platform 24 is short, the transfer cart 1 can be transferred, and the efficiency of the work of loading and unloading the articles 3 can be improved.

  The command No to be compared when determining the order of the pick-up operation processing is a predetermined time set in advance from the time of receiving the command signal of the command No. having the smallest number for which the pick-up operation processing has not been started. A group is created for the commands received within.

  It should be noted that the group is created while the pick-up operation process of the other transport carriage 1 is in progress from the time when the command signal of the command No. having the smallest number where the pick-up operation process has not been started is received. It has become. Then, when the pick-up operation process of the other transport cart 1 is completed, a predetermined time elapses from the time when the command signal of the command No. with the smallest number at which the pick-up operation process is not started is received. If not, a group is created for the command received until the time when the pick-up operation process of the other transport cart 1 is completed.

  And the picking-up operation process which moves to the accommodation line 2a matched with the order of the picking-up operation processing of the smallest number from the operation table T2 is started. Thereafter, when the lifting device 20 receives the termination command, it calculates the predicted time from the current position of the lifting platform 24 to each designated accommodation line 2a in the group including the terminated command No. Update.

  When the pickup operation processing for all the command Nos in the group is completed, it is determined whether or not there is a next command No. If there are a plurality of command Nos, the order of the pickup operation processing is determined in the same manner as described above. To do.

  Although the embodiments of the present invention have been described with reference to the drawings, the specific configuration is not limited to these embodiments, and modifications and additions within the scope of the present invention are included in the present invention. It is.

  For example, the transfer device in the above-described embodiment has been described by taking the elevating device 20 that conveys the transport carriage 1 up and down as an example. In the case of the transport facility S, the transfer device may be configured to move the transfer table up, down, left and right of the storage shelf.

  In addition, the lifting device 20 is not limited to a mode in which the picking-up operation process is automatically started when the call signal is received from the transport carriage 1. For example, the pick-up operation processing is started by the operation terminal 40, the lifting device 20, and the like. May be performed based on an operation by the operator's operation terminal 40. Even in this case, the elevating device 20 operates based on the information of the accommodation line 2a received from the transport carriage 1.

  Further, in the above-described embodiment, the operation terminal 40 is connected to each of the transport carts 1 to instruct entry / exit of articles. However, the present invention is not limited to this. For example, entry / exit of a plurality of articles is performed. May be instructed to be shared by a plurality of transport carts.

  Further, the operation terminal is not limited to the tablet terminal as in the embodiment, and may be formed integrally with the lifting device 20.

  In the above-described embodiment, the operation terminal 40, the lifting device 20, and the plurality of transport carts 1, 1,... Are connected via a wireless LAN via the access point 60, but are not limited thereto. For example, the access point may be omitted by directly connecting the operation terminal and the transport cart, and the transport cart and the lifting device, respectively.

DESCRIPTION OF SYMBOLS 1 Conveyance cart 2 Storage shelf 2a Storage line 3 Article 4 Storage side traveling rail 4a Placement part 4b Traveling surface 4d Side wall part 5 Sensor device 9 Pallet 15, 15, Horizontal roller 16, 16 Horizontal roller 18 Control part 19 Communication part 20 Elevation Device 21 Base unit 23 Recumbent unit 24 Elevating platform 25, 25 Elevating side traveling rail 26 Elevating drive unit 28 Control unit 29 Communication unit 30 Slit 40 Operation terminal 60 Access point 64 Sensor 65 RFID reader 66 RF tag S Transport equipment

Claims (6)

Transport equipped with a transport carriage capable of placing and transporting articles, a storage shelf including a plurality of storage lines, a transport device having a transport base capable of transporting the transport cart, and an operation terminal for driving the transport cart Equipment,
The transport carriage includes a communication unit capable of communicating with the transfer device, and transmits information on a storage line in which the transport cart is located to the transfer device based on a drive command from the operation terminal. A transfer facility characterized in that the transfer table is moved to a designated storage line based on information received from a cart. The transport cart is a plurality of vehicles,
The said operation terminal can receive the information of the said accommodation line in which each said conveyance trolley is located, The conveyance installation of Claim 1 characterized by the above-mentioned. The transport cart is a plurality of vehicles,
The transfer equipment according to claim 1 or 2, wherein the transfer device moves to a storage line specified in order of time of command signals received from the plurality of transfer carriages. The transport cart is a plurality of vehicles,
The transfer device stores command signals received from a plurality of the transport carriages, and prioritizes the storage lines for moving the transfer bases according to the movement time from the current position of the transfer base to the specified storage line. The transfer facility according to claim 1 or 2, wherein the transfer facility is performed.   The transport carriage includes detection means for detecting the position of the transfer table, and permission means for permitting self-propulsion when the relative position of the transfer table and the transport carriage is within a predetermined range. The transfer equipment according to any one of claims 1 to 4.   The transfer device transmits an arrival signal to a transport carriage that has received the information when it is determined that the transfer table has moved to a designated storage line based on the information and has arrived. Item 6. The transport facility according to any one of Items 1 to 5.

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