Article delivery vehicle

Abstract

The present application provides an article transport vehicle. In an article transport vehicle capable of transporting a plurality of kinds of articles, each of those plurality of kinds of articles is appropriately limited from falling off during transport. A restriction body control section changes the posture of a restriction body so as to be a first restriction posture in which a lower surface opposing section is disposed at a position overlapping a first kind of article when viewed in an up-down direction when proceeding in the up-down direction and a side surface opposing section is disposed at a position along a side surface of the first kind of article when viewed in the up-down direction in a case where the kind of the accommodated article detected by an article detection section is the first kind of article, and changes the posture of the restriction body so as to be a second restriction posture in which the lower surface opposing section is disposed at a position overlapping a second kind of article when viewed in the up-down direction and the side surface opposing section is disposed at a position along a side surface of the second kind of article when viewed in the up-down direction and at a position overlapping the first kind of article in a case where the kind of the accommodated article detected by the article detection section is the second kind of article.

Description

Technical Field

[0001] This invention relates to a transport vehicle for conveying multiple types of articles by moving along a travel path. Background Technology

[0002] For example, Japanese Patent No. 5700255 (Patent Document 1) discloses multiple types of article transport vehicles corresponding to multiple types of articles respectively. Hereinafter, the reference numerals enclosed in parentheses in the background description are those of Patent Document 1.

[0003] Patent Document 1 discloses a first canopy conveyor (B1) specifically for conveying a wafer storage container (W) and a second canopy conveyor (B2) specifically for conveying a reticule storage container (R). Since the wafer storage container (W) and the reticule storage container (R) differ in size or shape, the technology disclosed in Patent Document 1 uses different types of conveyor vehicles as described above. Summary of the Invention

[0004] The problem that the invention aims to solve

[0005] Incidentally, depending on the type of items being transported, there may be different transport frequencies, resulting in varying usage frequencies for the transport vehicles used to transport different items. Therefore, to achieve more efficient operation, it is desirable to transport multiple types of items using the same transport vehicle. If this is possible, the usage frequency of the multiple transport vehicles equipped with the equipment can be evened out, leading to more efficient operation. However, in the transport of items by transport vehicles, measures are generally taken to prevent items from falling off the vehicle. But to achieve a transport vehicle capable of transporting multiple types of items of different sizes or shapes, as described above, specific measures to prevent the items from falling off each type of item are required.

[0006] In view of the above situation, it is desirable to realize a technology that can appropriately limit the detachment of each of the multiple types of items during transportation in an item transport vehicle capable of transporting multiple types of items.

[0007] Methods used to solve problems

[0008] A transport vehicle for transporting multiple types of items along a moving path includes: a receiving section for receiving the items; a transfer mechanism for transferring the items between the receiving section and a transfer object located below the receiving section; a detachment limiting section for preventing the items received in the receiving section from detaching outwards from the receiving section; and an item detection section for detecting the type of the received items received in the receiving section; the transfer mechanism includes a holding section and a lifting mechanism, the holding section holding the items and the lifting mechanism moving the holding section between the receiving section and the transfer object. The parts can be raised or lowered; among the aforementioned items, at least two types are included: a first type of item and a second type of item whose top-view shape is smaller than the first type of item; the aforementioned detachment restriction part includes a restriction body and a restriction body control part, wherein the posture of the restriction body is changed to a restriction posture that restricts the detachment of the aforementioned contained item and a departure posture that is different from the aforementioned restriction posture and moves away from the aforementioned contained item, and the restriction body control part controls the posture change of the aforementioned restriction body; the aforementioned restriction body includes a lower surface opposing part and a side opposing part, wherein in the aforementioned restriction posture, the lower surface opposing part opposes the lower surface of the aforementioned contained item, and in the aforementioned restriction posture, the side opposing part opposes the aforementioned contained item. The sides of the item are facing each other; when the item detection unit detects that the type of the contained item is the first type of item, the aforementioned restraint body control unit changes the posture of the aforementioned restraint body to a first restraint posture, wherein the aforementioned lower surface facing part is positioned to overlap with the first type of item when viewed in the vertical direction, and the aforementioned side facing part is positioned along the side of the first type of item when viewed in the vertical direction; when the item detection unit detects that the type of the contained item is the second type of item, the aforementioned restraint body posture is changed to a first restraint posture. The restriction posture is changed to a second restriction posture, wherein the lower surface opposing portion is positioned to overlap with the second type of article when viewed in the vertical direction, and the side opposing portion is positioned along the side of the second type of article and overlaps with the first type of article when viewed in the vertical direction; when the object is held by the holding portion and lifted by the lifting mechanism, the posture of the restriction body is changed to the departure posture, wherein the restriction body is positioned in a position that does not overlap with the movement trajectory of the object held by the holding portion.

[0009] According to this structure, the restraint body control unit can change the restraint body posture to a first restraint posture, a second restraint posture, and a release posture. In the first restraint posture, the lower surface opposing portion is positioned to overlap with the first type of article when viewed vertically, and the side opposing portion is positioned along the side of the first type of article when viewed vertically. Therefore, the lower surface opposing portion and the side opposing portion can appropriately restrain the detachment of the first type of article. Furthermore, in the second restraint posture, the lower surface opposing portion is positioned to overlap with the second type of article when viewed vertically, and the side opposing portion is positioned along the side of the second type of article and overlaps with the first type of article when viewed vertically. Therefore, the lower surface opposing portion and the side opposing portion can appropriately restrain the detachment of the second type of article. Here, in the second limiting posture, the side-facing portion is positioned closer to the side of the second item to the extent that it overlaps with the first item, thus more appropriately preventing the second item, which is smaller than the first item in terms of its top view, from falling off. Therefore, according to this structure, the falling off of items during transport can be appropriately limited regardless of the type of item. Furthermore, when the limiting body is in the disengaged posture, regardless of whether the item held by the holding part is the first item or the second item, the limiting body is positioned in a position that does not overlap with their lifting and lowering trajectory, so that the limiting body does not become an obstacle when the holding part is raised and lowered between the receiving part and the transfer object part.

[0010] Further features and advantages of the technology disclosed herein will become clearer from the following illustrative and non-limiting description of embodiments with reference to the accompanying drawings. Attached Figure Description

[0011] Figure 1 This is a side view of the goods conveying equipment.

[0012] Figure 2 This is a top view of the goods conveying equipment.

[0013] Figure 3 This is a side view of the goods transport vehicle.

[0014] Figure 4 This is an explanatory diagram showing the condition of the types of items being tested.

[0015] Figure 5 This is a table showing the relationship between the test results obtained by the article inspection department and the types of articles.

[0016] Figure 6 This is a control block diagram of a goods conveying system.

[0017] Figure 7 This is an explanatory diagram showing the first and second restricted postures of the restricted body.

[0018] Figure 8 This is an explanatory diagram showing the movement of a restricted body.

[0019] Figure 9 This is a table showing the relationship between the test results obtained by the article inspection unit and the type of article in other embodiments.

[0020] Figure 10 This is an explanatory diagram illustrating the movement of the restrictor in other embodiments. Detailed Implementation

[0021] The embodiment of the goods transport vehicle will be described with reference to the accompanying drawings. Hereinafter, an example will be given of applying the goods transport vehicle to a goods transport equipment for transporting goods, and the goods transport vehicle according to this embodiment will be described.

[0022] like Figure 1 and Figure 2 As shown, the goods conveying equipment includes: a goods conveying vehicle V for conveying goods 8; a track Ra, which is set near the top of the equipment and forms the moving path R of the goods conveying vehicle V; and a transfer object part 9 for transferring goods 8 between itself and the goods conveying vehicle V.

[0023] At the transfer object location 9, a processing device 91 is provided for processing the article 8, and a support platform 92 is disposed adjacent to the processing device 91 to support the article 8. In this embodiment, the article transport vehicle V transports the article 8, before being processed by the processing device 91, from a transport source (not shown) to the support platform 92, and transports the article 8, after being processed by the processing device 91, from the support platform 92 to a transport destination (not shown). In this embodiment, the article 8 is a container that houses the processing object to be processed by the processing device 91. The aforementioned "processing of the article 8" refers to the processing of the processing object housed in the article 8. For example, the article 8 can be a wafer storage container (so-called FOUP: Front Opening Unified Pod) that houses wafers, or a caliper storage container (so-called caliper box) that houses caliper pieces. When the article 8 is a FOUP, the processing object is a wafer. When the article 8 is a caliper box, the processing object is a caliper piece.

[0024] The following is for reference Figures 1-3The structure of the transport vehicle V will be described in detail below. Furthermore, the direction in which the transport vehicle V transports the item 8 along the movement path R will be designated as the "transport direction X". Moreover, the direction intersecting the transport direction X when viewed vertically will be designated as the "intersecting direction Y". In this example, the intersecting direction Y is a direction orthogonal to the transport direction X when viewed vertically. Alternatively, the transport direction X can be referred to as the first direction, and the intersecting direction Y as the second direction. The first and second directions are directions that intersect when viewed vertically.

[0025] The transport vehicle V moves along a travel path R to transport multiple types of items 8. The transport vehicle V includes: a receiving section 2 for receiving the items 8; and a transfer mechanism 4 for transferring the items 8 between the receiving section 2 and a transfer target section 9 located below the receiving section 2. In this embodiment, the transport vehicle V also includes a traveling mechanism 1 and a cover 3 that covers the receiving section 2.

[0026] The traveling mechanism 1 includes traveling wheels 10 that roll on track Ra and a traveling motor M1 that drives the traveling wheels 10 (see reference). Figure 6 In the illustrated example, the transport vehicle V has multiple driving wheels 10. A driving motor M1 drives at least one of the multiple driving wheels 10, providing propulsion for the transport vehicle V to travel along the transport direction X.

[0027] The cover 3 is suspended and supported by the traveling mechanism 1. The traveling mechanism 1 is arranged above the track Ra, and the cover 3 is arranged below the track Ra. In this embodiment, the cover 3 covers the upper side of the receiving part 2 and both sides in the transport direction X. In this example, the cover 3 includes an upper cover part 30 that covers the upper side of the receiving part 2, a first cover part 31 that covers one side of the receiving part 2 in the transport direction X, and a second cover part 32 that covers the other side of the receiving part 2 in the transport direction X. The first cover part 31 and the second cover part 32 are each arranged facing each other relative to the article 8 contained in the receiving part 2 in the transport direction X. The two sides of the receiving part 2 in the intersecting direction Y are left open without the cover 3.

[0028] The transfer mechanism 4 includes a holding part 41 for holding the article 8 and a lifting mechanism 42 for raising and lowering the holding part 41 between the receiving part 2 and the transfer object part 9. In this embodiment, the transfer mechanism 4 also includes a sliding mechanism 43 for moving the holding part 41 along the cross direction Y and a rotating mechanism 44 for rotating the holding part 41 about the upper and lower axes.

[0029] The retaining part 41 includes a pair of gripping claws 411 and a gripping motor M41 for bringing the pair of gripping claws 411 closer together and separating them (see reference). Figure 6Furthermore, the holding part 41 is configured to switch between a holding state in which the pair of holding claws 411 hold the article 8 and a holding release state in which the holding state is released by the pair of holding claws 411 moving closer or further apart by the driving of the holding motor M41. In this embodiment, the article 8 includes an article body part 8b and a held part 8g provided above the article body part 8b. Moreover, the holding part 41 is configured to hold the article 8 by holding the held part 8g, or more specifically, by holding the held part 8g with a pair of holding claws 411.

[0030] The sliding mechanism 43 includes a slider 431 that moves relative to the receiving part 2 along the cross direction Y and a sliding motor M43 for moving the slider 431 along the cross direction Y (see reference). Figure 6 The sliding mechanism 43 is configured such that, by driving the sliding body 431 along the cross direction Y via the sliding motor M43, the lifting mechanism 42, the holding part 41, and the article 8 held by the holding part 41 are moved along the cross direction Y. For example, when the support platform 92 of the transfer object part 9 is positioned offset from the movement path R in the cross direction Y, by moving the article 8 held by the holding part 41 along the cross direction Y, the article 8 can be positioned to overlap with the support platform 92 when viewed from the vertical direction. Thus, the transfer of the article 8 from the lifting mechanism 42 to the support platform 92 can be performed appropriately.

[0031] The rotary mechanism 44 includes: a rotary body 441, which is supported for free rotation about an upper and lower axis relative to the sliding body 431; and a rotary motor M44 (see reference). Figure 6 The rotating body 441 rotates around its upper and lower axes. The rotating mechanism 44 is configured such that the rotating body 441 rotates by means of a rotating motor M44, causing the holding part 41 and the article 8 held by the holding part 41 to rotate in a direction surrounding the upper and lower axes. By rotating the article 8 held by the holding part 41, the article 8 can be oriented in an appropriate direction relative to the transfer object part 9. For example, if the article 8 is a FOUP, an opening for picking up and placing the object to be processed is provided on its front surface. In this case, the rotating mechanism 44 changes the orientation of the article 8 so that the opening faces the processing device 91. Thus, the article 8 can be placed on the support table 92 in an appropriate orientation relative to the processing device 91.

[0032] The lifting mechanism 42 includes: a pulley 421 supported by a rotating body 441; a belt 422 wound around the pulley 421 and connected to a retaining part 41 at its front end; and a lifting motor M42 (see reference). Figure 6The lifting mechanism 42 rotates the pulley 421 to drive the belt 422. Driven by the lifting motor M42, the lifting mechanism 42 rotates the pulley 421 in the forward direction, winding the belt 422 and raising the holding part 41 and the item 8 held by it. Alternatively, driven by the lifting motor M42, the lifting mechanism 42 rotates the pulley 421 in the reverse direction, pulling out the belt 422 and lowering the holding part 41 and the item 8 held by it. By raising and lowering the item 8 held by the holding part 41 via the lifting mechanism 42, the item 8 can be transferred between itself and the support platform 92 (transfer object part 9) located lower than the receiving part 2.

[0033] like Figure 3 As shown, the item transport vehicle V includes: a detachment restriction unit 5, which restricts the item 8 contained in the containment unit 2 from falling out of the containment unit 2; and an item detection unit S, which detects the type of the contained item 8 contained in the containment unit 2.

[0034] Here, as Figure 4 As shown, the article 8 includes at least two types: a first type of article 81 and a second type of article 82. The second type of article 82 is smaller than the first type of article 81 when viewed from above. As described above, the article 8 includes an article body portion 8b and a holding portion 8g. In this embodiment, the horizontal dimension of the article body portion 8b is defined as the article width. The first type of article 81 has a first width W1, and the second type of article 82 has a second width W2 that is smaller than the first width W1. In this specification, "article width" is defined as the dimension along the article body portion 8b in the transport direction X when the article 8 is housed in the housing portion 2 and is in a transport posture when transported by the travel mechanism 1. That is, the distance between the side 8s of the article body portion 8b facing one side in the transport direction X and the side 8s facing the other side in the transport direction X is defined as the article width. "The side 8s of the main body 8b" is equivalent to the side 8s of the article 8. Hereinafter, the side 8s of the main body 8b and the side 8s of the article 8 will be described as synonyms. Furthermore, in this embodiment, both the main body 8b of the first type of article 81 and the main body 8b of the second type of article 82 are formed into a rectangular shape in top view, and more specifically, into a square shape. Therefore, in this example, the article 8 has a pair of side 8s facing opposite sides in the conveying direction X, and a pair of side 8s facing opposite sides in the intersecting direction Y (see also...). Figure 8Furthermore, the distance between the pair of side surfaces 8s facing opposite sides in the conveying direction X is the same as the distance between the pair of side surfaces 8s facing opposite sides in the intersecting direction Y. Here, the orientation of the article 8 in the conveying posture may change depending on the orientation of the processing device 91 of the conveying source or the conveying destination. Hereinafter, when it is necessary to distinguish between the two pairs of side surfaces 8s, based on the orientation of the article 8 in the conveying posture, the pair of side surfaces 8s facing opposite sides in the conveying direction X will be simply referred to as side surfaces 8s, and the pair of side surfaces 8s facing opposite sides in the intersecting direction Y will be referred to as the front surface 8f and the back surface 8r. In addition, the shape of the article body 8b in plan view can also be a variety of shapes such as polygonal, circular, or elliptical.

[0035] Furthermore, in this embodiment, the dimension from the lower surface 8d of the article body 8b to the holding portion 8g is defined as the article height. The first type of article 81 has a first height H1, and the second type of article 82 has a second height H2 that is smaller than the first height H1. In this embodiment, the holding portion 8g is configured as a flange portion that protrudes upward from the upper surface of the article body 8b and is formed in the shape of a flange. In this specification, "article height" is defined by the dimension in the vertical direction from the lower surface 8d of the article body 8b to the upper end of the holding portion 8g. In addition, "lower surface 8d of the article body 8b" is equivalent to the lower surface 8d of the article 8, and the lower surface 8d of the article body 8b and the lower surface 8d of the article 8 will be used synonymously in the following description.

[0036] In this embodiment, the article detection unit S includes: a side position detection sensor Sw, which detects the position of the side 8s of the article 8; and a lower surface position detection sensor Sh, which detects the position of the lower surface 8d of the article 8; and the type of article 8 is detected based on the detection results obtained from both the side position detection sensor Sw and the lower surface position detection sensor Sh.

[0037] In this embodiment, the side position detection sensor Sw detects the width of the contained item 8 by detecting the position of the side 8s of the contained item 8. Specifically, the side position detection sensor Sw is mounted on the cover 3 and disposed in the containing part 2. In this example, the side position detection sensor Sw is mounted on the first cover part 31 or the second cover part 32 of the cover 3. The side position detection sensor Sw is configured as a distance sensor to detect the distance of the side 8s of the contained item 8 disposed in the containing part 2. Here, the holding part 41 is disposed in the containing part 2, and the containing item 8 is held by the holding part 41 at the center position in the horizontal direction (in Figure 4The position indicated by the single-dot dashed line passing through the holding part 8g is known because it corresponds to the position of the holding part 41. The side position detection sensor Sw detects the width of the container item 8 based on the distance from the side position detection sensor Sw to the side 8s of the container item 8 and the center position of the container item 8 in the horizontal direction. Then, based on the width of the container item 8 detected by the side position detection sensor Sw, it is possible to detect whether the container item 8 is a first type of item 81 with a first width W1 or a second type of item 82 with a second width W2. In addition, the side position detection sensor Sw can also detect the width of the container item 8 other than the first type of item 81 and the second type of item 82. For example, in this example, Figure 5 As shown, the side position detection sensor Sw can also detect the width Wn of the Nth type of item. Furthermore, the distance sensor constituting the side position detection sensor Sw can be a known sensor such as a laser sensor, a light sensor, or an ultrasonic sensor.

[0038] In this embodiment, the lower surface position detection sensor Sh detects the height of the contained item 8 by detecting the position of the lower surface of the contained item 8. Specifically, the lower surface position detection sensor Sh is mounted on the cover 3 and disposed in the containing part 2. In this example, the lower surface position detection sensor Sh is mounted on the first cover part 31 or the second cover part 32 of the cover 3. The lower surface position detection sensor Sh is configured as an on-off sensor that detects the presence or absence of a light-blocking object at the detection position based on the presence or absence of light axis obstruction. Moreover, the lower surface position detection sensor Sh uses the position corresponding to the position of the lower surface 8d of the various contained items 8 disposed in the containing part 2 in the vertical direction as the detection position, and detects the presence or absence of the contained item 8 at the detection position. At each detection position in the vertical direction, the lower surface position detection sensor Sh projects detection light horizontally in a manner that traverses the entire horizontal area of ​​the containing part 2. Since the position of the holding part 8g of the contained item 8 held by the holding part 41 in the vertical direction is known, the position of the lower surface 8d of each contained item 8 in the vertical direction is also known. Therefore, the lower surface position detection sensor Sh can detect whether the contained item 8 is a first type of item 81 with an item height of a first height H1 or a second type of item 82 with an item height of a second height H2 based on the detection results of the presence or absence of the contained item 8 at multiple detection positions set according to the position of the lower surface 8d of each contained item 8 in the vertical direction.

[0039] In this embodiment, the lower surface position detection sensor Sh includes a plurality of sensors arranged in a direction along the height of the item (vertical direction). In the illustrated example, the lower surface position detection sensor Sh includes a first sensor Sh1 and a second sensor Sh2 disposed below the first sensor Sh1. As described above, since the types of items 8 that the item transport vehicle V can transport are preset, the first sensor Sh1 and the second sensor Sh2 are configured at positions that can detect the item height corresponding to the type of item 8. More specifically, the first sensor Sh1 is configured to use the position where both the first type of item 81 and the second type of item 82 are blocked by light as the detection position, and the second sensor Sh2 is configured to use the position where the first type of item 81 is blocked by light but not the second type of item 82 as the detection position.

[0040] The lower surface position detection sensor Sh detects the height of the contained item 8 based on the detection results of the first sensor Sh1 and the second sensor Sh2. For example, in this case, such as Figure 4 and Figure 5 As shown, when the detection light projected by the first sensor Sh1 is blocked (detection result: on) and the detection light projected by the second sensor Sh2 is blocked (detection result: on), the lower surface position detection sensor Sh detects that the height of the contained item 8 is the first height H1. Furthermore, when the detection light projected by the first sensor Sh1 is blocked (detection result: on) and the detection light projected by the second sensor Sh2 is not blocked (detection result: off), the lower surface position detection sensor Sh detects that the height of the contained item 8 is the second height H2. Therefore, the lower surface position detection sensor Sh can detect the first height H1 as the height of the first type of item 81 and the second height H2 as the height of the second type of item 82. Additionally, in Figure 5 In the example shown, when neither the detection light projected by the first sensor Sh1 nor the detection light projected by the second sensor Sh2 is blocked (detection result: off), the lower surface position detection sensor Sh detects that the height of the contained item 8 is a height other than the first height H1 and the second height H2, and is smaller than the second height H2. In the example shown, when the detection results of the first sensor Sh1 and the second sensor Sh2 are "off", the contained item 8 is detected as the Nth type of item 8 other than the first type of item 81 and the second type of item 82.

[0041] like Figures 6-8As shown, the detachment restriction unit 5 includes: a restriction body 51, which changes its posture to a restriction posture Ar that restricts the detachment of the contained item 8 and a departure posture Ad that leaves the contained item 8 from the restriction posture Ar; and a restriction body control unit 52 that controls the posture change of the restriction body 51. In this embodiment, the detachment restriction unit 5 also includes a restriction body drive mechanism 53 (see reference 53) that drives the restriction body 51. Figure 8 Furthermore, the restraint control unit 52 controls the posture change of the restraint 51 by controlling the restraint drive mechanism 53. In this embodiment, the detachment restraint unit 5 includes a pair of restraints 51. The restraint control unit 52 changes the posture of the pair of restraints by bringing the pair of restraints 51 closer together and moving them apart.

[0042] like Figure 3 As shown, a pair of restricting bodies 51 are disposed on the cover 3, positioned apart from each other and sandwiching the receiving portion 2. In this example, one of the pair of restricting bodies 51 is mounted on the first cover portion 31 of the cover 3, and the other of the pair of restricting bodies 51 is mounted on the second cover portion 32 of the cover 3. In this embodiment, the pair of restricting bodies 51 have identical structures. Hereinafter, when describing the structure of the restricting bodies 51, it will be assumed that the structure of each individual pair of restricting bodies 51 will be described unless otherwise specified.

[0043] like Figure 7 and Figure 8 As shown, the limiting body 51 includes: a lower surface opposing portion 511, which opposes the lower surface 8d of the containing article 8 in the limiting posture Ar; and a side opposing portion 512, which opposes the side surface 8s of the containing article 8 in the limiting posture Ar. In this embodiment, the lower surface opposing portion 511 is formed as a plate along the horizontal direction. The side opposing portion 512 is integrally formed with the lower surface opposing portion 511 and is formed to protrude upward from the upper surface of the lower surface opposing portion 511. In this example, the side opposing portion 512 is formed as a plate. The side opposing portion 512 is arranged with its plate surface facing the side surface 8s of the containing article 8 in the limiting posture Ar of the limiting body 51. In this embodiment, multiple side opposing portions 512 are provided on the lower surface opposing portion 511. The multiple side opposing portions 512 are arranged apart at the same position in the transport direction X in a manner that they are arranged in the intersecting direction Y. Therefore, even if the width of the item 8 in the cross direction Y varies depending on the type, at least one of the multiple side-opposing portions 512 arranged in the cross direction Y can be configured to face the side 8s of the item 8.

[0044] As described above, the pair of side surfaces 8s facing opposite sides in the intersecting direction Y are referred to as the front surface 8f and the back surface 8r. Figure 8As shown, in this embodiment, the limiting body 51 further includes: a front surface opposing portion 513, which faces the front surface 8f of the containing item 8 in the limiting posture Ar; and a back surface opposing portion 514, which faces the back surface 8r of the containing item 8 in the limiting posture Ar. The front surface opposing portion 513 and the back surface opposing portion 514 are integrally formed with the lower surface opposing portion 511 and are formed to protrude upward from the upper surface of the lower surface opposing portion 511. In this example, the front surface opposing portion 513 and the back surface opposing portion 514 are formed in a plate shape. The front surface opposing portion 513 is arranged with its plate surface facing the front surface 8f of the containing item 8 in the limiting posture Ar of the limiting body 51. The back surface opposing portion 514 is arranged with its plate surface facing the back surface 8r of the containing item 8 in the limiting posture Ar of the limiting body 51. In this embodiment, the front surface opposing portion 513 is formed on one of the pair of limiting bodies 51, and the back surface opposing portion 514 is formed on the other of the pair of limiting bodies 51. However, it is also possible to form both the front surface opposing portion 513 and the back surface opposing portion 514 on each of the pair of limiting bodies 51. Additionally, in Figure 7 For ease of explanation, the front surface opposing portion 513 and the back surface opposing portion 514 have been omitted.

[0045] In this embodiment, the detachment limiting part 5 includes a limiting body drive mechanism 53 that drives the limiting body 51. The limiting body drive mechanism 53 changes the posture of the limiting body 51 by driving the limiting body 51. In this example, the limiting body drive mechanism 53 is configured as a linkage mechanism with multiple links. Each of the multiple links is configured to rotate about a rotation axis 53Ax along the vertical axis. In this embodiment, the limiting body drive mechanism 53 includes a pair of links 531 arranged separately from each other. Each of the pair of links 531 is provided with a rotation axis portion connected to the rotation axis 53Ax and a connection portion connected to the limiting body 51. At least one of the pair of links 531 is driven to rotate by the drive motor M53 as a drive link connected to the drive motor M53. By rotating the link 531 that serves as the drive link, a driving force is transmitted to the limiting body 51 connected to it and the other link 531 connected to the limiting body 51. As a result, the limiting body 51 swings along the horizontal plane. More specifically, the limiting body 51 rotates about the rotation axis 53Ax towards Figure 8 The direction of the arrow shown swings. As a result, the limiting body 51 can move in both the transport direction X and the cross direction Y.

[0046] Thus, in this embodiment, the limiting body 51 is configured to swing along a horizontal plane and move in both the transport direction X and the cross direction Y. In this embodiment, the limiting body 51 moves in both the transport direction X (first direction) and the cross direction Y (second direction) with a movement amount that varies depending on the type of article 8, changing its posture to a limiting posture Ar and a disengaging posture Ad. By moving the limiting body 51 in the transport direction X with a movement amount that varies depending on the type of article 8, regardless of the type of article 8, the lower surface opposing portion 511 can be positioned appropriately relative to the lower surface 8d of the article 8, and the side opposing portion 512 can be positioned appropriately relative to the side surface 8s of the article 8. Furthermore, by moving the limiting body 51 in the cross direction Y with a movement amount that varies depending on the type of article 8, regardless of the type of article 8, the front surface opposing portion 513 can be positioned appropriately relative to the front surface 8f of the article 8, and the back surface opposing portion 514 can be positioned appropriately relative to the back surface 8r of the article 8.

[0047] Next, refer to Figure 6 The control structure of the goods transport vehicle V is explained.

[0048] In this embodiment, the goods conveying equipment includes a higher-level control device Ct that manages the entire equipment, and a lower-level control device Cv that controls each part of the goods conveying vehicle V. The higher-level control device Ct and the lower-level control device Cv are configured to communicate with each other. The higher-level control device Ct and the lower-level control device Cv include, for example, a processor such as a microcomputer, peripheral circuits such as memory, etc. Moreover, each function is realized through the cooperation of this hardware and the program executed on the processor such as the computer.

[0049] The upper-level control device Ct sends a transport instruction for item 8 to the lower-level control device Cv. In this embodiment, the item transport vehicle V includes an instruction acquisition unit 6 that obtains the transport instruction for item 8 from the upper-level control device Ct. The instruction acquisition unit 6, having obtained the transport instruction from the upper-level control device Ct, sends the obtained transport instruction to the lower-level control device Cv, and the lower-level control device Cv controls the item transport vehicle V according to the transport instruction to transport item 8. The transport instruction obtained by the instruction acquisition unit 6 includes transport source information indicating the transport source of item 8 involved in the transport instruction and transport destination information indicating the transport destination. Furthermore, in this embodiment, the transport instruction includes item type information indicating the type of item 8 involved in the transport instruction. That is, in this example, the upper-level control device Ct specifies the transport source and transport destination, and sends a transport instruction for transporting item 8 other than the first type of item 81, the second type of item 82, or the Nth type of item 8 via the instruction acquisition unit 6 to the lower-level control device Cv.

[0050] Upon receiving a transport command, the lower-level control device Cv controls the traveling mechanism 1 and the transfer mechanism 4 to transport and transfer the item 8 involved in the transport command. In this embodiment, the lower-level control device Cv controls some or all of the traveling motor M1, the holding motor M41, the lifting motor M42, the sliding motor M43, and the rotating motor M44 to transport and transfer the item 8 involved in the transport command.

[0051] The limiting body control unit 52 is configured to acquire the detection result of the type of article 8 obtained by the article detection unit S. In this embodiment, the limiting body control unit 52 is configured to acquire the detection result of the type of article 8 obtained by the article detection unit S via a lower-level control device Cv. Specifically, as Figure 6 As shown, the lower-level control device Cv obtains the detection result of the type of item 8 obtained by the item detection unit S. Then, the lower-level control device Cv sends the detection result from the item detection unit S to the restriction body control unit 52. As a result, the restriction body control unit 52 obtains the detection result of the type of item 8 obtained by the item detection unit S.

[0052] Based on the detection results of the type of article 8 obtained by the article detection unit S, the restraint control unit 52 controls the restraint drive mechanism 53 (drive motor M53). Then, by controlling the restraint drive mechanism 53, the restraint control unit 52 changes the posture of the restraint 51 to a first restraint posture Ar1, a second restraint posture Ar2, or a departure posture Ad (see reference). Figure 7 and Figure 8 ).

[0053] like Figure 7 As shown in the figure above, when the type of the contained item 8 detected by the item detection unit S is the first type of item 81, the restraint body control unit 52 changes the posture of the restraint body 51 to a first restraint posture Ar1. The first restraint posture Ar1 is a restraint posture Ar in which the lower surface opposing portion 511 is positioned to overlap with the first type of item 81 when viewed vertically, and the side opposing portion 512 is positioned along the side 8s of the first type of item 81 when viewed vertically. Thus, the lower surface opposing portion 511 and the side opposing portion 512 can appropriately restrain the detachment of the first type of item 81. In this embodiment, in the first restraint posture Ar1, the front surface opposing portion 513 is positioned along the front surface 8f of the first type of item 81 when viewed vertically, and the back surface opposing portion 514 is positioned along the back surface 8r of the first type of item 81 when viewed vertically (see reference). Figure 8Therefore, when the contained item 8 is the first type of item 81, each part of the limiting body 51 can be arranged in a manner that faces each side of the first type of item 81, and the first type of item 81 can be more appropriately prevented from falling out of the containing part 2.

[0054] In addition, such as Figure 7 As shown in the figure below, when the type of the contained item 8 detected by the item detection unit S is a second item 82, the restraint body control unit 52 changes the posture of the restraint body 51 to a second restraint posture Ar2. The second restraint posture Ar2 is a restraint posture Ar in which the lower surface opposing portion 511 is positioned to overlap with the second item 82 when viewed vertically, and the side opposing portion 512 is positioned along the side 8s of the second item 82 when viewed vertically and overlaps with the first item 81. Thus, the lower surface opposing portion 511 and the side opposing portion 512 can appropriately restrict the detachment of the second item 82. Furthermore, in the second restraint posture Ar2, the side opposing portion 512 is positioned to overlap with the first item 81 when viewed vertically, without overlapping with the second item 82. Therefore, compared to the case where the side-facing portion 512 is positioned so that it does not overlap with either the first article 81 or the second article 82 when viewed in the vertical direction, the opposition interval between the side-facing portion 512 and the side 8s of the second article 82 in the second restraining posture Ar2 can be made closer. Thus, the side-facing portion 512 can appropriately restrict the detachment of the second article 82. In this embodiment, in the second restraining posture Ar2, similar to the case of the first restraining posture Ar1 described above, the front surface facing portion 513 is positioned along the front surface 8f of the second article 82 when viewed in the vertical direction, and the back facing portion 514 is positioned along the back surface 8r of the second article 82 when viewed in the vertical direction (see reference). Figure 8 Therefore, when the contained item 8 is the second item 82, each part of the restraint body 51 can be arranged in a manner that faces each other with the second item 82, and the second item 82 can be more appropriately prevented from falling out of the containing part 2.

[0055] In addition, such as Figure 1 and Figure 8As shown, when the restraint body control unit 52 is raised and lowered by the lifting mechanism 42 while the holding part 41 is holding the article 8, it changes the posture of the restraint body 51 to a departure posture Ad. The departure posture Ad is the posture in which the restraint body 51 is positioned so as not to overlap with the movement trajectory of the article 8 held by the holding part 41. Therefore, when the restraint body 51 is in the departure posture Ad, regardless of whether the article 8 held by the holding part 41 is the first type of article 81 or the second type of article 82, the restraint body 51 is positioned so as not to overlap with those raising and lowering movement trajectories. Thus, the restraint body 51 does not become an obstacle when the holding part 41 is raised and lowered between the receiving part 2 and the transfer object part 9.

[0056] In this embodiment, such as Figure 6 As shown, the restraint body control unit 52 changes the posture of the restraint body 51 based on the item type information contained in the transport command obtained by the command acquisition unit 6 and the detection result of the item type of the item 8 obtained by the item detection unit S. Therefore, regarding the item type of the item 8, the restraint body 51 can be moved based on two pieces of information obtained from different information sources, enabling the restraint body to perform actions with high reliability corresponding to the item type of the item 8. Furthermore, in this example, the restraint body control unit 52 obtains the item type information contained in the transport command from the command acquisition unit 6 via the lower-level control device Cv.

[0057] Then, if the type of item 8 indicated by the item type information matches the type of item 8 detected by the item detection unit S, the restraint body control unit 52 changes the posture of the restraint body 51 to a restraint posture Ar corresponding to that type. For example, if the type of item 8 indicated by the item type information is the first type of item 81 and the type of item 8 detected by the item detection unit S is also the first type of item 81, the restraint body control unit 52 changes the posture of the restraint body 51 to the first restraint posture Ar1 (see reference). Figure 7 (See above). Furthermore, if the type of item 8 indicated by the item type information is the second type of item 82, and the type of item 8 detected by the item detection unit S is also the second type of item 82, the restraint body control unit 52 changes the posture of the restraint body 51 to the second restraint posture Ar2 (see above). Figure 7 (See image below).

[0058] Here, in the second restriction posture Ar2 state, the restraint body 51 is positioned overlapping with the first type of item 81 when the contained item 8 is the first type of item 81. Therefore, if the restraint body 51 is mistakenly set to the second restriction posture Ar2 when the contained item 8 is the first type of item 81, the restraint body 51 will interfere with the contained item 8 (the first type of item 81). However, the first restriction posture Ar1 of the restraint body 51 corresponds to the posture of the first type of item 81, which is larger in shape than the second type of item 82. Therefore, when the restraint body 51 is in the first restriction posture Ar1 state, the restraint body 51 will not interfere with the contained item 8 regardless of whether the contained item 8 is the first type of item 81 or the second type of item 82.

[0059] Therefore, in this embodiment, when the type of item 8 indicated by the item type information is inconsistent with the type of item 8 detected by the item detection unit S, the restraint body control unit 52 changes the posture of the restraint body 51 to the first restraint posture Ar1. That is, in this embodiment, when the type of item 8 indicated by the item type information is the first type of item 81, but the type of item 8 detected by the item detection unit S is the second type of item 82, and when the type of item 8 indicated by the item type information is the second type of item 82, but the type of item 8 detected by the item detection unit S is the first type of item 81, the restraint body control unit 52 changes the posture of the restraint body 51 to the first restraint posture Ar1 (see reference). Figure 7 (See above). Thus, regardless of whether the actual contained item 8 is the first type of item 81 or the second type of item 82, interference between the containment body 51 and the contained item 8 can be reliably prevented.

[0060] In this embodiment, such as Figure 7 As shown, the restraint body control unit 52 configures the restraint body 51 such that, regardless of whether it is in the first restraint posture Ar1 or the second restraint posture Ar2, the distance in the vertical direction from the held part 8g of the contained item 8 to the upper surface of the lower surface opposing part 511 (hereinafter referred to as the lower end distance Dd) is greater than the first height H1, and the distance from the held part 8g of the contained item 8 to the upper end of the side opposing part 512 (hereinafter referred to as the upper end distance Du) is smaller than the second height H2. That is, regardless of whether the restraint body 51 is in the first restraint posture Ar1 or the second restraint posture Ar2, the lower end distance Dd is greater than the first height H1, and the upper end distance Du is smaller than the second height H2. In other words, regardless of whether the limiting body 51 is in the first limiting posture Ar1 or the second limiting posture Ar2, the upper surface of the lower surface opposing portion 511 is positioned below the lower surface 8d of the contained item 8 (the first item 81 and the second item 82), and the upper end of the side opposing portion 512 is positioned above the lower surface 8d of the contained item 8 (the first item 81 and the second item 82).

[0061] As described above, in this example, the limiting body 51 is configured to move along the horizontal plane but not in the vertical direction. Therefore, the position of the upper surface of the lower surface opposing portion 511 is set to match the item 8 with the largest item height among the various types of items 8 transported by the transport vehicle V (in this example, the first type of item 81), and is positioned below the lower surface 8d of that item 8 in the limiting posture Ar. Furthermore, the position of the upper end of the side opposing portion 512 is set to match the item 8 with the smallest item height among the various types of items 8 transported by the transport vehicle V (in this example, the second type of item 82), and is positioned above the lower surface 8d of that item 8 in the limiting posture Ar. According to the above structure, since it is not necessary to change the vertical position of the limiting body 51 by matching the first type of item 81 and the second type of item 82, which have different item heights, respectively, the structure of the limiting body control unit 52 can be simplified. Furthermore, without changing the position of the limiting body 51 in the vertical direction, regardless of whether the limiting body 51 is in the first limiting posture Ar1 or the second limiting posture Ar2, the lower surface opposing part 511 and the side opposing part 512 are positioned in appropriate positions to prevent the first type of article 81 or the second type of article 82 from falling off.

[0062] [Other Implementation Methods]

[0063] Next, other implementations of the goods transport vehicle will be described.

[0064] (1) In the above embodiment, an example was described in which the article 8 includes at least two types: the first type of article 81 and the second type of article 82. Therefore, the types of article 8 can also be three or more. For example, it can also be as follows: Figure 9 As shown, this includes 8 items 8 of three or more types, each with different widths or heights, that can be detected based on a combination of detection results obtained from the side position detection sensor Sw and the lower surface position detection sensor Sh. Figure 9 The vertical columns, for example, represent items of equal width but different heights, such as the 10th, 11th, 12th, etc. Figure 9 In the horizontal column, for example, it represents the 10th item, the 20th item, etc., where the items are all of equal height but have different widths.

[0065] (2) In the above embodiment, an example was described in which the limiting body 51 is configured to swing along a horizontal plane and move in both the conveying direction X (first direction) and the intersecting direction Y (second direction). However, it is not limited to such an example; the limiting body 51 may also be configured to move only in the conveying direction X. Alternatively, the limiting body 51 may also be configured as follows: Figure 10 As shown, it is configured to move in the vertical direction in addition to the conveying direction X and the crossing direction Y. The direction in which the limiting body 51 can move is determined by the configuration of the limiting body drive mechanism 53 that drives the limiting body 51.

[0066] (3) In the above embodiment, an example was described in which the item detection unit S detects the type of item 8 by a side position detection sensor Sw that detects the position of the side surface 8s of the item 8 and a lower surface position detection sensor Sh that detects the position of the lower surface 8d of the item 8. However, it is not limited to such an example. For example, the item detection unit S may also be equipped with a weight detection sensor that detects the weight of the item 8, and the type of item 8 is detected based on the weight of the item 8 detected by the weight detection sensor. In this case, the item transport vehicle V may be equipped with a storage unit that stores the weights of multiple types of items 8 that may be transported as weight information, and the type of the item 8 is determined based on the weight information stored in the storage unit and the weight of the item 8 detected by the weight detection sensor.

[0067] (4) In the above embodiments, an example of the side position detection sensor Sw being configured as a distance sensor has been described. However, it is not limited to such an example; the side position detection sensor Sw may also be configured as an open / close sensor that detects the presence or absence of a light-blocking object at the detection position based on the presence or absence of light axis obstruction. Furthermore, in the above embodiments, an example of the side position detection sensor Sw being mounted on the first cover portion 31 or the second cover portion 32 of the cover 3 has been described. However, in the case where the side position detection sensor Sw is configured with multiple open / close sensors as described above, for example, the side position detection sensor Sw may be mounted on the upper cover portion 30 of the cover 3. In this case, the multiple open / close sensors may be configured to be arranged in a direction along the width of the contained item 8 (conveyance direction X) to detect the position of the side 8s of the contained item 8.

[0068] (5) In the above embodiment, an example of an on / off sensor configured to detect the presence or absence of a light-blocking object at a detection position based on the presence or absence of light axis obstruction has been described. However, it is not limited to such an example, and the lower surface position detection sensor Sh may also be configured as a distance sensor. In this case, the lower surface position detection sensor Sh may be configured to project the detection light in a direction that intersects with the lower surface 8d of the containing item 8. Furthermore, the lower surface position detection sensor Sh detects the distance from the lower surface position detection sensor Sh to the lower surface 8d of the containing item 8, and based on this distance and the vertical position of the held part 8g, which is known based on the position of the holding part 41, the item height of the containing item 8 is detected.

[0069] (6) In the above embodiment, an example in which the side opposing portion 512 and the lower surface opposing portion 511 are integrally formed has been described. However, it is not limited to such an example, and the side opposing portion 512 and the lower surface opposing portion 511 may also be formed separately. In this case, the side opposing portion 512 and the lower surface opposing portion 511 may also be driven by separate drive mechanisms.

[0070] (7) In the above embodiment, an example in which the side opposing portion 512 is formed as a plate has been described. However, it is not limited to such an example. The side opposing portion 512 may also be formed as a polygonal column or a cylinder, or it may also be formed as a block.

[0071] (8) In the above embodiments, an example of the limiting body drive mechanism 53 being configured as a linkage mechanism having multiple links has been described. However, it is not limited to such an example, and the limiting body drive mechanism 53 may also be configured as a known mechanism other than a linkage mechanism. For example, the limiting body drive mechanism 53 may also be configured as a linear motion mechanism having a ball screw or the like.

[0072] (9) In the above embodiment, an example of the detachment restriction part 5 having a pair of restriction bodies 51 has been described. However, it is not limited to such an example, and the detachment restriction part 5 may have only one or more restriction bodies 51.

[0073] (10) In the above embodiment, an example was described in which, regardless of whether the limiting body 51 is in the first limiting posture Ar1 or the second limiting posture Ar2, the distance in the vertical direction from the held part 8g of the contained item 8 to the upper surface of the lower surface opposing part 511 (lower end distance Dd) is greater than the first height H1, and the distance from the held part 8g of the contained item 8 to the upper end of the side opposing part 512 (upper end distance Du) is smaller than the second height H2. However, this is not limited to such an example. The limiting body 51 can also be configured to be movable in the vertical direction, and the lower end distance Dd and the upper end distance Du can be changed according to the type of item 8. That is, when the contained item 8 is the first type of item 81, in the state where the limiting body 51 is in the first limiting posture Ar1 corresponding to the first type of item 81, the upper end distance Du can be greater than the second height H2 as long as it is smaller than the first height H1. Furthermore, when the contained item 8 is the second type of item 82, and the restraint body 51 is in the second restraint posture Ar2 corresponding to the second type of item 82, the lower end distance Dd can be smaller than the first height H1 as long as it is greater than the second height H2.

[0074] (11) In the above embodiment, an example was described in which the restriction body control unit 52 changed the posture of the restriction body 51 to a first restriction posture Ar1 when the type of item 8 indicated by the item type information is inconsistent with the type of item 8 detected by the item detection unit S. However, it is not limited to such an example. For example, the restriction body control unit 52 may also stop the operation of the restriction body 51 and report an error when the type of item 8 indicated by the item type information is inconsistent with the type of item 8 detected by the item detection unit S.

[0075] (12) In the above embodiment, an example of the restraint body control unit 52 changing the posture of the restraint body 51 based on the article type information contained in the transport instruction obtained by the instruction acquisition unit 6 and the detection result of the article type of the article 8 obtained by the article detection unit S has been described. However, it is not limited to such an example. The restraint body control unit 52 may also change the posture of the restraint body 51 based solely on the detection result of the article type of the article 8 obtained by the article detection unit S, without considering the article type information contained in the transport instruction obtained by the instruction acquisition unit 6. Alternatively, the restraint body control unit 52 may also change the posture of the restraint body 51 based solely on the article type information contained in the transport instruction obtained by the instruction acquisition unit 6, without considering the detection result of the article type of the article 8 obtained by the article detection unit S.

[0076] (13) Furthermore, the structures disclosed in the above embodiments can be combined with structures disclosed in other embodiments, provided that no contradiction arises. Regarding other structures, the embodiments disclosed in this specification are merely illustrative in all respects. Therefore, various modifications can be made appropriately without departing from the spirit of this disclosure.

[0077] [Summary of the above embodiments]

[0078] The following is a description of the goods transport vehicle described above.

[0079] A transport vehicle for transporting multiple types of items along a moving path includes: a receiving section for receiving the items; a transfer mechanism for transferring the items between the receiving section and a transfer object located below the receiving section; a detachment limiting section for preventing the items received in the receiving section from detaching outwards from the receiving section; and an item detection section for detecting the type of the received items received in the receiving section; the transfer mechanism includes a holding section and a lifting mechanism, the holding section holding the items and the lifting mechanism moving the holding section between the receiving section and the transfer object. The parts can be raised or lowered; among the aforementioned items, at least two types are included: a first type of item and a second type of item whose top-view shape is smaller than the first type of item; the aforementioned detachment restriction part includes a restriction body and a restriction body control part, wherein the posture of the restriction body is changed to a restriction posture that restricts the detachment of the aforementioned contained item and a departure posture that is different from the aforementioned restriction posture and moves away from the aforementioned contained item, and the restriction body control part controls the posture change of the aforementioned restriction body; the aforementioned restriction body includes a lower surface opposing part and a side opposing part, wherein in the aforementioned restriction posture, the lower surface opposing part opposes the lower surface of the aforementioned contained item, and in the aforementioned restriction posture, the side opposing part opposes the aforementioned contained item. The sides of the item are facing each other; when the item detection unit detects that the type of the contained item is the first type of item, the aforementioned restraint body control unit changes the posture of the aforementioned restraint body to a first restraint posture, wherein the aforementioned lower surface facing part is positioned to overlap with the first type of item when viewed in the vertical direction, and the aforementioned side facing part is positioned along the side of the first type of item when viewed in the vertical direction; when the item detection unit detects that the type of the contained item is the second type of item, the aforementioned restraint body posture is changed to a first restraint posture. The restriction posture is changed to a second restriction posture, wherein the lower surface opposing portion is positioned to overlap with the second type of article when viewed in the vertical direction, and the side opposing portion is positioned along the side of the second type of article and overlaps with the first type of article when viewed in the vertical direction; when the object is held by the holding portion and lifted by the lifting mechanism, the posture of the restriction body is changed to the departure posture, wherein the restriction body is positioned in a position that does not overlap with the movement trajectory of the object held by the holding portion.

[0080] According to this structure, the restraint body control unit can change the restraint body posture to a first restraint posture, a second restraint posture, and a release posture. In the first restraint posture, the lower surface opposing portion is positioned to overlap with the first type of article when viewed vertically, and the side opposing portion is positioned along the side of the first type of article when viewed vertically. Therefore, the lower surface opposing portion and the side opposing portion can appropriately restrain the detachment of the first type of article. Furthermore, in the second restraint posture, the lower surface opposing portion is positioned to overlap with the second type of article when viewed vertically, and the side opposing portion is positioned along the side of the second type of article and overlaps with the first type of article when viewed vertically. Therefore, the lower surface opposing portion and the side opposing portion can appropriately restrain the detachment of the second type of article. Here, in the second limiting posture, the side-facing portion is positioned closer to the side of the second item to the extent that it overlaps with the first item, thus more appropriately preventing the second item, which is smaller than the first item in terms of its top view, from falling off. Therefore, according to this structure, the falling off of items during transport can be appropriately limited regardless of the type of item. Furthermore, when the limiting body is in the disengaged posture, regardless of whether the item held by the holding part is the first item or the second item, the limiting body is positioned in a position that does not overlap with their lifting and lowering trajectory, so that the limiting body does not become an obstacle when the holding part is raised and lowered between the receiving part and the transfer object part.

[0081] Here, preferably, the aforementioned detachment restriction part has a pair of aforementioned restriction bodies; the aforementioned restriction body control part changes the posture of the pair of aforementioned restriction bodies by bringing the pair of aforementioned restriction bodies closer to each other and moving them away from each other.

[0082] According to this structure, when set to a restricted posture, the contained item can be clamped from both sides by a pair of restrictors. Therefore, the detachment of the item can be more effectively prevented. Furthermore, the range of motion of each of the pair of restrictors can be reduced, shortening the time required to change the posture of the pair of restrictors.

[0083] Furthermore, preferably, the aforementioned article has an article body and a holding part, the holding part being disposed above the aforementioned article body and held by the aforementioned holding part; let the dimension from the lower surface of the aforementioned article body to the aforementioned holding part be the article height, the aforementioned first type of article has a first height, and the aforementioned second type of article has a second height smaller than the aforementioned first height; the aforementioned limiting body control unit configures the aforementioned limiting body such that, regardless of whether it is the aforementioned first limiting posture or the aforementioned second limiting posture, the distance from the aforementioned holding part to the upper surface of the aforementioned lower surface opposing part in the aforementioned vertical direction is greater than the aforementioned first height, and the distance from the aforementioned holding part to the upper end of the aforementioned side opposing part is smaller than the aforementioned second height.

[0084] According to this structure, since it is not necessary to change the vertical position of the restraining body by matching the first and second types of articles with different heights, the structure of the restraining body control unit can be simplified. Moreover, without changing the vertical position of the restraining body, regardless of whether the restraining body is in the first or second restraining posture, the lower surface opposing part and the side opposing part can be positioned appropriately to prevent the first or second type of article from falling off.

[0085] Furthermore, preferably, the aforementioned article detection unit includes a side position detection sensor and a lower surface position detection sensor. The side position detection sensor detects the position of the side of the aforementioned contained article, and the lower surface position detection sensor detects the position of the lower surface of the aforementioned contained article. The type of the aforementioned article is detected based on the detection results obtained from both the side position detection sensor and the lower surface position detection sensor.

[0086] According to this structure, by detecting the side position of the contained item using a side position detection sensor, the top-view dimensions of the contained item can be indirectly detected. Furthermore, by detecting the position of the bottom surface of the contained item using a bottom surface position detection sensor, the height of the contained item can be indirectly detected. Therefore, according to this structure, the size or shape of the contained item can be determined, thereby enabling the identification of different types of items of varying sizes or shapes.

[0087] Furthermore, preferably, the device includes an instruction acquisition unit that acquires a transport instruction for the aforementioned item from a higher-level control device; the transport instruction acquired by the instruction acquisition unit includes item type information indicating the type of the aforementioned item involved in the transport instruction; the restriction body control unit changes the posture of the aforementioned restriction body to the aforementioned restriction posture corresponding to the aforementioned item if the type of the aforementioned item indicated by the aforementioned item type information is consistent with the type of the aforementioned item detected by the aforementioned item detection unit, and changes the posture of the aforementioned restriction body to the aforementioned first restriction posture if the type of the aforementioned item indicated by the aforementioned item type information is inconsistent with the type of the aforementioned item detected by the aforementioned item detection unit.

[0088] According to this structure, the restrictor is activated based on two pieces of information obtained from different information sources regarding the type of item, thus enabling the restrictor to perform actions with high reliability corresponding to the type of item. Here, the restrictor is positioned in the second restrictive posture, overlapping with the first type of item. Therefore, if the restrictor is mistakenly set to the second restrictive posture when the type of item being contained is the first type, interference will occur between the restrictor and the item. However, according to this structure, if the type of item indicated by the item type information obtained from the upper control device is inconsistent with the type of item detected by the item detection unit, the restrictor posture is changed to the first restrictive posture. Therefore, even when the two pieces of information indicating the type of item are inconsistent, regardless of whether the item contained in the containment unit is the first type or the second type, the restrictor can prevent interference with that item.

[0089] Industrial availability

[0090] The technology disclosed herein can be used in article transport vehicles that move along a movement path to transport multiple types of articles.

[0091] Explanation of reference numerals in the attached figures

[0092] V: Goods transport vehicle

[0093] 2: Containment Department

[0094] 4: Transfer mechanism

[0095] 41: Maintaining Section

[0096] 42: Lifting mechanism

[0097] 5: Detachment Restriction Section

[0098] 51: Restricted Body

[0099] 511: Lower surface opposing part

[0100] 512: Side Opposite Section

[0101] 52: Restriction Body Control Department

[0102] 6: Instruction Acquisition Unit

[0103] S: Item Inspection Department

[0104] Sh: Lower surface position detection sensor

[0105] Sw: Side position detection sensor

[0106] 8: Items

[0107] 8: Containment Items

[0108] 81: The first type of item

[0109] 82: The second type of item

[0110] 8b: Main body of the item

[0111] 8d: Lower surface

[0112] 8g: The part to be retained

[0113] 8s: Side view

[0114] 9: Location of the object being transferred

[0115] Ad: Leaving posture

[0116] Ar: Restricted Posture

[0117] Ar1: First Restricted Posture

[0118] Ar2: Second Restricted Posture

[0119] Ct: Upper-level control device

[0120] Dd: Distance from the bottom

[0121] Du: Distance from top

[0122] R: Movement path.

Claims

1. An article transport vehicle that transports a plurality of kinds of articles along a movement path, comprising: a housing portion that houses the articles; a transfer mechanism that performs transfer of the articles between the housing portion and a transfer destination portion located on a lower side than the housing portion; a falling limiting portion that limits falling outward of the housing portion of the articles in a state of being housed in the housing portion; and an article detection portion that detects a kind of a housed article that is the article in the state of being housed in the housing portion, characterized in that the transfer mechanism includes a holding portion that holds the articles and a lifting mechanism that lifts the holding portion between the housing portion and the transfer destination portion, in the articles, at least a first article and a second article whose appearance from above is smaller than that of the first article are included, the falling limiting portion includes a limiting body that changes a posture thereof between a limiting posture that limits falling of the housed article and a separation posture that separates from the housed article, and a limiting body control portion that controls the posture change of the limiting body, the limiting body includes a lower surface opposing portion that opposes a lower surface of the housed article in the limiting posture and a side surface opposing portion that opposes a side surface of the housed article in the limiting posture, the limiting body control portion changes the posture of the limiting body to a first limiting posture in which the lower surface opposing portion is disposed at a position overlapping the first article when viewed in an up-down direction along which the articles move and the side surface opposing portion is disposed at a position opposing a side surface of the first article at a distance that enables the limiting body to limit falling of the first article, when the kind of the housed article detected by the article detection portion is the first article, the limiting body control portion changes the posture of the limiting body to a second limiting posture in which the lower surface opposing portion is disposed at a position overlapping the second article when viewed in the up-down direction, the side surface opposing portion is disposed at a position opposing a side surface of the second article at a distance that enables the limiting body to limit falling of the second article, and the side surface opposing portion is disposed at a position overlapping the first article, when the holding portion holds the articles, the limiting body control portion changes the posture of the limiting body to the separation posture in which the limiting body is disposed at a position not overlapping a movement track of the articles held by the holding portion.

2. The article transport vehicle according to claim 1, characterized in that the falling limiting portion includes a pair of the limiting bodies, and the limiting body control portion changes the posture of the pair of the limiting bodies by bringing the pair of the limiting bodies closer to each other and separating the pair of the limiting bodies from each other.

3. The article transport vehicle according to claim 1, characterized in that ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The aforementioned article has an article main body portion and a held portion, the held portion being provided on an upper side than the article main body portion and being held by the holding portion; The dimension from a lower surface of the article main body portion to the held portion is an article height, the first article has a first height, and the second article has a second height smaller than the first height; The aforementioned restriction body control portion configures the restriction body so that, regardless of which of the first restriction posture and the second restriction posture, the distance in the up-down direction from the held portion to the upper surface of the lower surface opposing portion is larger than the first height, and the distance from the held portion to the upper end of the side surface opposing portion is smaller than the second height.

4. The article transport vehicle according to claim 2, wherein The aforementioned article has an article main body portion and a held portion, the held portion being provided on an upper side than the article main body portion and being held by the holding portion; The dimension from a lower surface of the article main body portion to the held portion is an article height, the first article has a first height, and the second article has a second height smaller than the first height; The aforementioned restriction body control portion configures the restriction body so that, regardless of which of the first restriction posture and the second restriction posture, the distance in the up-down direction from the held portion to the upper surface of the lower surface opposing portion is larger than the first height, and the distance from the held portion to the upper end of the side surface opposing portion is smaller than the second height.

5. The article transport vehicle according to any one of claims 1 to 4, wherein The aforementioned article detection portion has a side surface position detection sensor that detects the position of the side surface of the accommodated article and a lower surface position detection sensor that detects the position of the lower surface of the accommodated article, and the kind of the article is detected based on the detection results from both the side surface position detection sensor and the lower surface position detection sensor.

6. The article transport vehicle according to any one of claims 1 to 4, wherein An instruction acquisition portion that acquires a transport instruction of the article from a higher-level control device is provided; The transport instruction acquired by the aforementioned instruction acquisition portion includes article kind information indicating the kind of the article to which the transport instruction pertains; The aforementioned restriction body control portion changes the posture of the restriction body to the first restriction posture when the kind of the article indicated by the aforementioned article kind information and the kind of the article detected by the aforementioned article detection portion do not match.

7. The article transport vehicle according to claim 5, wherein An instruction acquisition portion that acquires a transport instruction of the article from a higher-level control device is provided; In the aforementioned transport instruction acquired by the aforementioned instruction acquisition unit, item type information indicating a type of the item to which the transport instruction pertains is included; The aforementioned restriction body control unit causes the aforementioned restriction body posture to change to the aforementioned first restriction posture in a case where the type of the aforementioned item indicated by the aforementioned item type information does not match the type of the aforementioned item detected by the aforementioned item detection unit.

Images