Automatic guided vehicle system and automatic guided vehicle

An automatic guided vehicle system comprising:

• a conveyor for transporting an article loaded thereon;
• and
• an automatic guided vehicle traveling along the conveyor,
• wherein the automatic guided vehicle includes
• a traveling drive device causing the automatic guided vehicle to travel by rotating driving wheels of the automatic guided vehicle,
• a pair of arms provided at corresponding positions on the automatic guided vehicle on a downstream side and an upstream side in a transportation direction of the article in the conveyor when the automatic guided vehicle travels along the conveyor, extending in a direction orthogonal to the transportation direction of the article, facing each other at positions at a distance corresponding to a width of the article in the transportation direction of the article in the conveyor, protruding outward from the automatic guided vehicle by reciprocating in the orthogonal direction, and retracting into the automatic guided vehicle from the protruding positions,
• arm drive devices for causing the corresponding arms to reciprocate in the orthogonal direction,
• first claws correspondingly provided on distal end sides of the pair of arms, protruding to a space between the arms from arm parts on the distal end sides, and retreating into the arm parts,
• first claw drive devices causing the corresponding first claws to perform the protrusive operation and the retreat operation, and
• a controller controlling the traveling drive device, the arm drive devices, and the first claw drive devices to cause the automatic guided vehicle to travel along the conveyor at a traveling speed higher than a transportation speed of the article, cause the arm provided on the upstream side to protrude above the conveyor from the automatic guided vehicle, cause the arm provided on the downstream side to protrude above the conveyor from the automatic guided vehicle when the arm provided on the upstream side has moved to a position of the article being transported by the conveyor in the transportation direction, and cause each of the arms to retract into the automatic guided vehicle from above the conveyor after each of the first claws has protruded to the space between the arms from the distal end side of each of the arms in a state in which the article is present between the arms.