tote cart

Abstract

This invention relates to a transport vehicle for transporting articles. In the transport vehicle, a support member (50) has a support portion (60) that contacts the bottom (94) of an article (90) in a supported state. The state in which the bottom (94) is separated from the support portion (60) and the article (90) is held in a holding portion (20) is defined as a holding state. The support portion (60) is configured such that the tilt angle (A) of the article (90) in the supported state relative to the horizontal plane (H) is different from the tilt angle (A) of the article (90) in the holding state relative to the horizontal plane (H).

Description

Technical Field

[0001] This invention relates to a transport vehicle for moving goods. Background Technology

[0002] An example of the transport vehicle described above is disclosed in Japanese Patent Application Publication No. 2012-64799 (Patent Document 1). Hereinafter, the reference numerals in parentheses in the background description are reference numerals from Patent Document 1. Patent Document 1 discloses a canopy transport vehicle (A) for transporting storage containers (4), which is used for transporting items. This canopy transport vehicle (A) includes a traveling section (11) that travels along a travel path (3), a holding section (10) that holds the storage container (4), and a lifting device that raises and lowers the holding section (10) relative to the traveling section (11). When the canopy transport vehicle (A) travels, the storage container (4), while held in the holding section (10), is disposed inside a cover (17) provided at the lower part of the traveling section (11).

[0003] In Patent Document 1, the storage container (4) is an open wafer cassette with an opening (6) formed on the side for the substrate (5) to enter and exit. In order to prevent the substrate (5) from flying out of the opening (6) of the storage container (4) held in the holding part (10), the overhead transport vehicle (A) of Patent Document 1 is provided with a fly-out prevention mechanism (9) having a contact body (26) that can move to a contact position that contacts the side of the substrate (5) and a departure position that leaves the side of the substrate (5).

[0004] Vibrations from the movement of the transport vehicle can easily be transmitted to the items housed in the receiving section (in Patent Document 1, the inside of the cover). Therefore, regardless of whether a mechanism like the anti-flyout mechanism of Patent Document 1 is present, it is desirable that the items be supported within the receiving section in a posture that easily ensures a relatively high tolerance for vibration during the movement of the transport vehicle. Thus, it is desirable that the items be supported within the receiving section in a posture suitable for the movement of the transport vehicle. However, there are cases where the posture suitable for the movement of the transport vehicle differs from the posture required for the transfer target section (the section where the items are transferred between the receiving and holding sections). For example, in Patent Document 1, the items are storage containers with openings formed on the sides, and the transfer target section is the loading port of the processing device relative to the substrate being processed from the storage container. Therefore, the posture of the storage container required for the transfer target section, as in Patent Document 1, differs from the posture of the storage container required for the transfer target section. Figure 5 The arrangement shown is such that the substrate is positioned relative to the storage container in a way that makes it easy for the substrate to enter and exit (specifically, a horizontal orientation with the opening facing horizontally). The arrangement of the storage container is such that it is difficult for the substrate to move from the opening to the outside of the storage container when the transport vehicle is traveling (e.g., an inclined orientation with the opening facing upwards).

[0005] In Patent Document 1, when the transport vehicle is moving, the articles are positioned in the receiving section while being held in the holding section. Therefore, if the posture of the articles suitable for the movement of the transport vehicle differs from the posture required for the transfer target location, and the articles are configured to be held in the holding section in a posture suitable for the movement of the transport vehicle, the articles can be supported in the receiving section in this posture during the movement of the transport vehicle. However, during the transfer of articles between the holding section and the transfer target location, the posture of the articles positioned at the transfer target location is also suitable for the movement of the transport vehicle. Therefore, a mechanism is needed at the transfer target location to change the posture of the articles between the posture suitable for the movement of the transport vehicle and the posture required at the transfer target location. In addition to the article transfer operation between the holding section and the transfer target location, a posture change operation is required at the transfer target location, which may reduce the efficiency of article handling. Summary of the Invention

[0006] Therefore, it is desirable to achieve the following technology: when the posture of the item suitable for the movement of the transport vehicle is different from the posture of the item required at the transfer target location, the item is supported in the receiving part in a posture suitable for the movement of the transport vehicle during the movement of the transport vehicle, and the posture of the item placed at the transfer target location is the posture required at the transfer target location when the item is transferred between the holding part and the transfer target location.

[0007] The transport vehicle disclosed in this application is a transport vehicle for transporting items. It is characterized by comprising a main body, a holding part, a lifting device, and a supporting device. The main body moves along a travel path and has a receiving part for accommodating the items. The holding part holds the items. The lifting device raises and lowers the holding part relative to the main body. The supporting device supports the items housed in the receiving part. The supporting device includes a supporting member that supports the items from below and a supporting drive unit that drives the supporting member. The supporting drive unit is located inside the receiving part where the items held in the holding part are raised and lowered by the lifting device. When the object moves between external parts, it is in a avoidance state where the support member avoids the lifting path of the object. When the object is housed in the receiving part, it is in a support state where the support member enters the lifting path and supports the object from below by means of the support member. The support member has a support portion that contacts the bottom of the object in the support state. The state in which the bottom is separated from the support portion and the object is held in the holding portion is defined as a holding state. The support portion is formed such that the tilt angle of the object relative to the horizontal plane in the support state is different from the tilt angle of the object relative to the horizontal plane in the holding state.

[0008] According to this structure, when an article is housed in the receiving section, the transport vehicle can move in a supported state where the bottom of the article is supported by the support section, thus appropriately preventing the article from falling out of the receiving section during the movement of the transport vehicle. Furthermore, according to this structure, the support section is formed such that the tilt angle of the article relative to the horizontal plane in the supported state (hereinafter referred to as "tilt angle") is different from the tilt angle in the holding state. Therefore, the tilt angle in the supported state can be an tilt angle corresponding to the posture of the article suitable for the movement of the transport vehicle, and the tilt angle in the holding state can be an tilt angle corresponding to the posture of the article required at the transfer target location. Thus, when the transport vehicle moves, the article can be supported in the receiving section in a posture suitable for the movement of the transport vehicle, and when the article is transferred between the holding section and the transfer target location, the posture of the article placed at the transfer target location can be the posture required at the transfer target location. Furthermore, when the technology of this application is applied to a transport vehicle equipped with a restraining body (such as a fall prevention body) that prevents items from falling off the receiving section, by using the restraining body as a support component, it is possible to suppress the complexity of the device structure and realize the transport vehicle of this application.

[0009] Further features and advantages of the transport vehicle will become clear from the following description of the embodiments with reference to the accompanying drawings. Attached Figure Description

[0010] Figure 1 This is a perspective view of the transport vehicle according to the first embodiment.

[0011] Figure 2 This is a front view of the transport vehicle according to the first embodiment.

[0012] Figure 3 This is a front view of the transport vehicle and the object to be transferred according to the first embodiment.

[0013] Figure 4 This is an explanatory diagram of the lifting control during the accommodation of the transport vehicle according to the first embodiment.

[0014] Figure 5 This is an explanatory diagram of the entry control and descent control of the transport vehicle in the first embodiment.

[0015] Figure 6 This is an explanatory diagram of the lifting control during the discharge of the transport vehicle according to the first embodiment.

[0016] Figure 7 This is an explanatory diagram of the obstacle avoidance control and discharge descent control of the transport vehicle according to the first embodiment.

[0017] Figure 8 This is a control flowchart for the process of accommodating items in the accommodating section.

[0018] Figure 9 This is a control flowchart for moving items to the outside of the receiving area.

[0019] Figure 10 It is a control block diagram.

[0020] Figure 11 This is a side view of the transport vehicle according to the second embodiment. Detailed Implementation

[0021] [First Embodiment]

[0022] Refer to the attached diagram ( Figures 1-10 The first embodiment of the transport vehicle will be described.

[0023] Transport vehicle 1 in Figure 3 The example illustrates an item handling device 100 that moves item 90 along a movement path 2. For example... Figures 1-3 As shown, the transport vehicle 1 includes a main body 10, a holding part 20, a lifting device 30, and a support device 40. The main body 10 moves along the travel path 2 and includes a receiving part 15 for accommodating an item 90. The holding part 20 holds the item 90, the lifting device 30 raises and lowers the holding part 20 relative to the main body 10, and the support device 40 supports the item 90 contained in the receiving part 15. Here, the long side direction (the direction in which the travel path 2 extends) of the travel path 2 is defined as the long side direction L, and the width direction of the travel path 2 is defined as the width direction W. The width direction W is a direction orthogonal to both the long side direction L and the vertical direction V. Furthermore, the direction defined based on the transport vehicle 1 (i.e., the direction that changes in accordance with the posture of the transport vehicle 1) and along the long side direction L when positioned on the travel path 2 is defined as the vehicle body front-rear direction X, and the direction defined based on the transport vehicle 1 and along the width direction W when positioned on the travel path 2 is defined as the vehicle body left-right direction Y.

[0024] The movement path 2 can be physically formed or imaginary. In this embodiment, the movement path 2 is physically formed using a track 3. Specifically, the article handling device 100 includes a track 3 arranged along the movement path 2 (here, a pair of tracks 3 arranged at intervals along the path width direction W), and the main body 10 moves along the track 3. Furthermore, in this embodiment, the track 3 is suspended and supported from the ceiling 4, and the movement path 2 is formed along the ceiling 4. That is, in this embodiment, the transport vehicle 1 is a ceiling transport vehicle that travels along the movement path 2 formed along the ceiling 4. Alternatively, the transport vehicle 1 can be a transport vehicle other than a ceiling transport vehicle.

[0025] like Figure 1 and Figure 2As shown, the main body 10 includes a traveling section 11 and a cover section 14. The traveling section 11 includes wheels 12 that roll on the traveling surface of a track 3 (here, a pair of tracks 3). The cover section 14 is connected to the traveling section 11. The traveling surface of the track 3 is a surface facing upward V1 in the vertical direction V. The wheels 12 rotate about an axis orthogonal to the vertical direction V. The traveling section 11 includes a traveling drive section 70 (e.g., an electric motor such as a servo motor, see reference 70) that rotates the wheels 12. Figure 10 The wheel 12 is driven to rotate by the travel drive unit 70, thereby the travel unit 11 travels along the track 3. Figure 2 As shown, in this embodiment, the traveling part 11 includes a guide wheel 13 that rolls on the guide surface of the track 3. The traveling part 11 travels along the track 3 while the guide wheel 13 is in contact with and guided by the guide surface of the track 3. The guide surface of the track 3 is a surface facing inward in the path width direction W (towards the side facing the center position of the path width direction W between a pair of tracks 3). The guide wheel 13 rotates about an axis in the vertical direction V (in this example, it idles). Figure 1 In the example shown, the main body 10 has a pair of traveling parts 11 arranged in the front-rear direction X of the vehicle body.

[0026] like Figure 1 As shown, in this embodiment, the cover 14 is supported on the traveling portion 11 in a state where it is positioned below the traveling portion 11 in the vertical direction V, at a distance V2. In this embodiment, a receiving portion 15 is formed by the internal space of the cover 14. Figure 1 As shown, in this embodiment, the interior space of the cover 14 is closed on both sides in the front-rear direction X of the vehicle body and open on at least one side in the left-right direction Y of the vehicle body. Thus, the article 90 contained in the receiving part 15 is covered by the wall of the cover 14 at least from both sides in the front-rear direction X of the vehicle body.

[0027] like Figure 2 As shown, the holding part 20 includes a support part 21 that supports the held part 91 formed on the article 90, and the article 90 is held by the support part 21. Figure 2In the example shown, the retaining part 20 holds the article 90 from above V1. Specifically, the held part 91 is a flange portion formed on the upper surface portion (e.g., a plate-like canopy portion) constituting the upper surface 90a of the article 90, and the supporting part 21 supports the held part 91 from below V2 with the supporting portion of the supporting part 21 inserted into the space (hereinafter referred to as the "support space") between the held part 91 and the upper surface portion. In addition, the held part 91 is not limited to the flange portion formed on the upper part of the article 90. For example, the upper surface portion (specifically the outer peripheral portion of the upper surface portion) of the article 90 may be used as the structure of the held part 91, the structure of the held part 91 formed on the side portion of the side portion 90b constituting the article 90, or the bottom portion (e.g., a plate-like bottom plate portion) constituting the bottom surface 90c of the article 90 may be used as the structure of the held part 91.

[0028] The holding part 20 includes a holding drive part 72 (e.g., a solenoid, an electric motor, see reference) for holding and releasing the article 90 based on the holding part 20. Figure 10 By driving the drive unit 72, the article 90 based on the holding unit 20 is held and released from holding. Figure 2 In the example shown, the retaining part 20 has a pair of support parts 21, and the retaining drive part 72 is configured to bring the pair of support parts 21 (specifically, the support portion of one of the pair of support parts 21 and the support portion of the other) closer together and further apart.

[0029] If the direction in which the pair of support portions 21 approach and move away from each other is defined as the object direction, then when holding the article 90 based on the holding portion 20, the holding drive 72 brings the pair of support portions 21 closer together, switching the posture of the pair of support portions 21 to a holding posture in which the distance between the pair of support portions 21 becomes smaller than the width of the held portion 91 in the object direction. Furthermore, when releasing the holding of the article 90 based on the holding portion 20, the holding drive 72 moves the pair of support portions 21 away from each other, switching the posture of the pair of support portions 21 to a holding release posture in which the distance between the pair of support portions 21 becomes larger than the width of the held portion 91 in the object direction. Here, posture is used as a concept including at least one of position and orientation; the same applies to the posture of the support member 50 described later.

[0030] The retaining part 20 is configured in the second position P2 described later (see reference). Figure 3In the state where the holding part 21 is in position P2, the posture of the pair of support parts 21 is switched from the holding release posture to the holding posture, thereby inserting each support portion of the pair of support parts 21 into the support space of the article 90 disposed in the transfer object part 6. In this state, the holding part 20 is raised, thereby raising the article 90 together with the holding part 20. Furthermore, when the holding part 20 is disposed in the second position P2, the posture of the pair of support parts 21 is switched from the holding posture to the holding release posture, thereby removing each support portion of the pair of support parts 21 from the support space of the article 90 held in the holding part 20. In this state, the holding part 20 is raised, thereby raising only the holding part 20 when the article 90 is left in the transfer object part 6.

[0031] The types of items in item 90 are not limited to this, such as Figure 2 As shown, in this embodiment, the article 90 is a container with an opening 92 on its side 90b. The opening 92 is configured to allow a container to enter or exit relative to the article 90, and the container enters or exits relative to the article 90 via the opening 92. Openings other than the opening 92 (e.g., openings for weight reduction, washing, or openings formed in the structure of the article 90) may also be formed on the side 90b of the article 90, but the article 90 is configured such that the container contained in the article 90 cannot be moved to the outside of the article 90 without passing through the opening 92. In this embodiment, a substrate 93 (an example of a container) such as a glass substrate or a semiconductor wafer is contained in the article 90. Furthermore, in this embodiment, the article 90 is configured to accommodate multiple substrates 93 arranged in the vertical direction (along the direction of the vertical direction V when the bottom surface 90c is configured horizontally).

[0032] In this embodiment, the article 90 does not have a cover that closes the opening 92. For example, an open wafer cassette can be used as the article 90. The article 90 can also be configured to have a cover that closes the opening 92. In this case, for example, a front-opening unified pod (FOUP) can be used as the article 90.

[0033] exist Figure 2 The example shown is a case where a pair of support portions 21 approach and move away from each other in the left-right direction Y of the vehicle body, but a pair of support portions 21 can also be arranged in the front-rear direction X of the vehicle body (see [reference]). Figure 1 The orientation of the retaining parts 20 is such that they are positioned to allow for mutual approach and separation. Furthermore, in... Figures 1-3 The example shown depicts an item 90 held in a holding part 20 with its opening 92 facing the side of the vehicle body in the left-right direction (Y). However, as shown in the following example... Figure 11As shown in the example, the article 90 can also be held in the holding part 20 with the opening 92 facing the side of the vehicle body in the longitudinal direction X. Furthermore, the transport vehicle 1 can also be configured to have a mechanism that allows the holding part 20 to rotate relative to the main body 10 about an axis in the vertical direction V. From the viewpoint of more effectively preventing the substrate 93 housed in the article 90 from moving out of the article 90 from the opening 92 during the movement of the transport vehicle 1, it is preferable that the article 90 is held in the holding part 20 with the opening 92 facing the wall of the cover part 14.

[0034] The lifting device 30 includes a lifting drive unit 71 (e.g., an electric motor such as a servo motor, reference) for raising and lowering the holding part 20. Figure 10 The lifting device 30 is in position 4, P4 (refer to...). Figure 4 and Figure 6 ) and the second position P2 below the fourth position P4 (refer to) Figure 3 The holding part 20 is raised and lowered between the holding part 20 and the receiving part 15. The fourth position P4 is the upper position in the raising and lowering direction (vertical direction V). The fourth position P4 is the position where the article 90 held in the holding part 20 is positioned in the holding part 20, such as the receiving part 15. When the main body 10 moves (i.e., when the transport vehicle 1 is moving), the holding part 20 is positioned at the first position P1 between the fourth position P4 and the second position P2 (see reference). Figure 2 , Figure 3 , Figure 5 The second position P2 is the vertical direction V position of the holding part 20 when holding and releasing the article 90 based on the holding part 20. That is, the second position P2 is the position when holding and releasing the article 90 based on the holding part 20, in other words, the position of the holding part 20 when transferring the article 90 between the holding part 20 and the transfer target part 6. The second position P2 is set in correspondence with the height (vertical direction V position) of each transfer target part 6. In this embodiment, the second position P2 is set to a height at which the support portion of each pair of support parts 21 can be inserted or detached relative to the support space of the article 90 disposed on the transfer target part 6 by switching the posture of the pair of support parts 21 to a holding posture and a holding release posture.

[0035] Figure 3 In the diagram, the loading port, which is arranged adjacent to the processing device 5, is shown as an example of the transfer target portion 6. The processing device 5 is a device that makes the article 90 the object of processing; in this embodiment, it processes the substrate 93 that has been removed from the article 90. Figure 3As shown, the article 90 is disposed in the transfer target portion 6 with the opening 92 facing the processing device 5. In this embodiment, the article 90 is disposed in the transfer target portion 6 in a horizontal posture S2 with its bottom surface 90c along the horizontal plane H. The horizontal posture S2 is the posture in which the opening 92 faces the horizontal direction, so by disposing the article 90 in the transfer target portion 6 in the horizontal posture S2, it becomes easier for the substrate 93 to enter and exit the article 90 via the opening 92 in the transfer target portion 6.

[0036] like Figure 2 In a simplified schematic representation, the lifting device 30 includes a rotating body 31 that is driven to rotate, and a transmission member 32 that is wound around and unwound freely around the rotating body 31 and connected to the holding part 20. The lifting device 30 also includes the aforementioned lifting drive unit 71 (see reference 20) that drives the rotating body 31 to rotate. Figure 10 The rotating body 31 and the lifting drive unit 71 are supported on the main body 10, and in this embodiment, they are disposed above the receiving portion V1 of the receiving portion 15. For example, the transmission member 32 is a belt and the rotating body 31 is a winding pulley for winding the belt, or the transmission member 32 is wire and the rotating body 31 is a winding roller for winding the wire. Figure 3 As shown, the connecting portion 32a provided at the end of the transmission member 32 extending from the rotating body 31 is connected to the holding portion 20. The lifting device 30 rotates the rotating body 31 by being driven by the lifting drive unit 71, and raises or lowers the holding portion 20 by winding or releasing the transmission member 32. In this way, the lifting device 30 raises and lowers the holding portion 20 while suspending and supporting it.

[0037] like Figure 2 and Figure 3 As shown, in this embodiment, the lifting device 30 has a plurality of rotating bodies 31, and the transmission component 32 is wound around each of the plurality of rotating bodies 31. Figure 2 and Figure 3 In the example shown, the lifting device 30 has three rotating bodies 31. Furthermore, the connecting portions 32a of each of the plurality of transmission components 32 (three transmission components in this example) are connected to the holding portion 20. The plurality of connecting portions 32a are connected to different portions of the holding portion 20. Additionally, Figure 2 and Figure 3 The text indicates that the lifting device 30 has multiple rotating bodies 31, so the multiple rotating bodies 31 are respectively arranged on other axes, but the multiple rotating bodies 31 can also be arranged coaxially. Furthermore, Figure 3In this configuration, the connecting portion 32a of the transmission component 32 is positioned directly below the rotating body 31 around which the transmission component 32 is wound. However, it can also be configured such that the extending portion of the transmission component 32 extending from the rotating body 31 is wound around a guide rotating body (such as a guide pulley), and the connecting portion 32a of the transmission component 32 is positioned directly below the guide rotating body.

[0038] The support device 40 that supports the article 90 housed in the receiving part 15 includes a support member 50 that supports the article 90 from below V2 (see reference). Figure 1 , Figure 2 ), and the support drive unit 73 of the drive support component 50 (e.g., solenoid, electric motor, reference). Figure 10 ).like Figure 4 and Figure 7 As shown, when the article 90 held in the holding part 20 by the lifting device 30 moves between the inside and outside of the receiving part 15, the support drive unit 73 is in a clearance state that allows the support member 50 to avoid the lifting path 7 of the article 90. The lifting path 7 is the space in which the article 90 held in the holding part 20 is lifted and lowered when the holding part 20 is lifted and lowered. In the clearance state, the support member 50 also avoids the lifting path of the holding part 20 (the space in which the holding part 20 is lifted and lowered). Furthermore, as Figure 5 As shown, when the article 90 is accommodated in the receiving portion 15, the support drive unit 73 is in a supporting state where the support member 50 enters the lifting path 7 and supports the article 90 from below V2 by means of the support member 50. In this embodiment, as will be described later, after the support drive unit 73 brings the support member 50 into the lifting path 7, the lifting drive unit 71 lowers the article 90, thereby achieving the supporting state.

[0039] like Figure 1 , Figure 2 ,and Figure 5 As shown, the support member 50 includes a support portion 60 that contacts the bottom 94 (specifically, the planar bottom surface 90c of the bottom 94) of the article 90 in a supported state. That is, the bottom 94 of the article 90 has a planar bottom surface 90c that contacts the support portion 60 (specifically, the upper surface of the support portion 60) in a supported state. In this embodiment, the support portion 60 is formed of a plate-like member. When the article 90 is housed in the receiving portion 15, it is in a supported state, thereby allowing the transport vehicle 1 to move while the bottom 94 of the article 90 is supported by the support portion 60.

[0040] The support drive unit 73 switches the posture of the support member 50 to a avoidance posture for achieving an avoidance state by changing at least one of the position and orientation of the support member 50. Figure 4 and Figure 7The posture of the support member 50 (shown in the image) and the posture for achieving the support state (shown in the image). Figure 5 and Figure 6 (The orientation of the support component 50 is shown in the image). Figures 4-7 As shown, the support member 50 is supported on the main body 10 (specifically the cover 14) via the posture changing mechanism 41, and the support drive unit 73 drives the posture changing mechanism 41 to switch the posture of the support member 50. The posture changing mechanism 41 is, for example, a linkage mechanism with an arm or a sliding mechanism (linear motion mechanism).

[0041] like Figure 1 As shown, in this embodiment, the support device 40 includes a pair of support members 50 that approach and move away from each other due to the support drive unit 73. One of the pair of support members 50 is designated as the first support member 51, and the other is designated as the second support member 52. The pair of support members 50 are driven to approach and move away from each other in their arrangement direction (in this embodiment, the vehicle body forward-backward direction X). In this embodiment, the vehicle body forward-backward direction X corresponds to the "first direction".

[0042] In this embodiment, the support drive unit 73 moves the pair of support members 50 apart in the longitudinal direction X of the vehicle body to achieve a avoidance state. That is, the support drive unit 73 achieves the avoidance state by moving the pair of support members 50 apart in the longitudinal direction X of the vehicle body, thereby arranging each of the pair of support members 50 in an avoidance posture. Furthermore, the support drive unit 73 moves the pair of support members 50 closer together in the longitudinal direction X of the vehicle body, positioning the support portions 60 of each pair of support members 50 below the bottom surface 90c (specifically, the position where the bottom surface 90c is below the bottom surface 90c and faces the bottom surface 90c in the vertical direction V). That is, the support drive unit 73 moves the pair of support members 50 closer together in the longitudinal direction X of the vehicle body, arranging each of the pair of support members 50 in a support posture where the support portions 60 are positioned below the bottom surface 90c. The switching of the posture of the support member 50 to the support posture occurs when the bottom 94 of the article 90 held in the holding part 20 is positioned V1 above the support part 60. Figure 4 In the state shown, after switching the posture of the support member 50 to the support posture, the holding part 20 is lowered so that the bottom 94 contacts the support part 60, thereby achieving the support state (see reference). Figure 5 ).

[0043] Here, the state in which the bottom 94 moves away from the support 60 and the item 90 is held in the holding part 20 is defined as the holding state. Here, the state in which the holding part 20 holding the item 90 is located in the fourth position P4 (see reference). Figure 4 , Figure 6The item is set to a holding state. In this embodiment, in the holding state, the bottom surface 90c is configured along the horizontal plane H. That is, the tilt angle A (hereinafter simply referred to as "tilt angle A" or "angle A") of the item 90 (specifically the bottom surface 90c) relative to the horizontal plane H in the holding state is... Figure 3 The angle is 0 degrees, and the posture of the item 90 in the holding state is a horizontal posture S2 with the bottom surface 90c along the horizontal plane H. In this embodiment, a common lifting drive unit 71 is provided to drive the rotation of multiple rotating bodies 31, and the holding part 20 is raised and lowered by means of the lifting device 30 in a way that maintains the posture in the holding state (here, the horizontal posture S2). Therefore, as Figure 3 As shown, when the holding part 20 is in the second position P2, or in the third position P3 between the first position P1 and the second position P2, the posture of the item 90 held in the holding part 20 is a horizontal posture S2.

[0044] On the other hand, in this embodiment, the support portion 60 is configured to support the article 90 with the opening 92 facing obliquely upward in the supported state. That is, the support portion 60 is configured such that the tilt angle A in the supported state is different from the tilt angle A in the held state. In this embodiment, the tilt angle A in the supported state is set to an angle greater than 0 degrees (for example, 5 degrees). Furthermore, here, the tilt angle A is defined as follows: when the opening 92 faces horizontally, the tilt angle A is 0 degrees; when the opening 92 faces obliquely upward, the tilt angle A is a positive acute angle; and when the opening 92 faces directly upward, the tilt angle A is 90 degrees.

[0045] Designate one side of the vehicle body in the left-right direction (Y) as side 1 (Y1), and the other side in the left-right direction (Y) as side 2 (Y2). Figures 1-3 As shown, in this embodiment, each support portion 60 of a pair of support members 50 has an inclined surface 60a that is inclined downwards in a direction V2 as it faces the first side Y1. The inclined surface 60a is formed on the upper surface of the support portion 60. Here, the inclined surface 60a is formed as a plane. Furthermore, in the supported state, the inclined surface 60a of the support portion 60 contacts the bottom surface 90c of the article 90. As a result, the posture of the article 90 in the supported state corresponds to the inclination direction of the inclined surface 60a, forming an inclined posture S1 in which the bottom surface 90c of the article 90 is inclined. Figure 2 and Figure 3 As shown, the article 90 is supported by the support member 50 with the opening 92 facing upwards toward the second side Y2. Therefore, in the supported state, the article 90 is supported by the support member 50 in an inclined posture S1 with the opening 92 facing upwards. In this embodiment, the left-right direction Y of the vehicle body corresponds to "the second direction (the direction orthogonal to the first direction when viewed from above)", and the first side Y1 corresponds to "the first side of the second direction".

[0046] like Figure 10 As shown, the goods handling equipment 100 includes a control unit 80 that controls the movement of the transport vehicle 1. The control unit 80 includes a processing unit such as a CPU and peripheral circuits such as a memory. Through the cooperation of these hardware components and the programs executed on the processing unit, the various functions of the control unit 80 are realized. The control unit 80 can be installed on the transport vehicle 1 or installed independently of it. Furthermore, if the control unit 80 comprises multiple separate hardware components capable of communicating with each other, some of the hardware may be installed on the transport vehicle 1, while the remaining hardware may be installed independently of the transport vehicle 1.

[0047] The control unit 80 controls the drive of the travel drive unit 70 to cause the main body 10 to move along the travel path 2. Specifically, the control unit 80 controls the drive of the travel drive unit 70 to cause the travel unit 11 to move along the track 3. In this embodiment, the movement of the main body 10 is achieved by the movement of the travel unit 11. When the article 90 to be housed in the receiving part 15 is transported to the transfer object part 6, the control unit 80 causes the travel unit 11 to move while the article 90 is supported by the support member 50 from below V2. In addition, the control unit 80 controls the drive of the lifting drive unit 71 to cause the lifting device 30 to lift the holding part 20. Furthermore, the control unit 80 controls the drive of the holding drive unit 72 to cause the holding part 20 to perform a holding action to hold the article 90 and a holding release action to release the holding of the article 90. In this embodiment, the holding action of the article 90 is an action that brings the pair of support portions 21 closer together (in other words, an action that switches the posture of the pair of support portions 21 to a holding posture), and the holding release action of the article 90 is an action that separates the pair of support portions 21 from each other (in other words, an action that switches the posture of the pair of support portions 21 to a holding release posture). Furthermore, the control unit 80 controls the drive of the support drive unit 73 to cause the support device 40 to perform a posture switching action that switches the posture of the support member 50 to an avoidance posture and a support posture.

[0048] When the control unit 80 accommodates the article 90, which is positioned V2 below the accommodating part 15, in the accommodating part 15, if... Figure 8 As shown, the lifting control during accommodation (step #01), the entry control (step #02), and the lowering control during accommodation (step #03) are executed sequentially. That is, after the lifting drive unit 71 performs the lifting control during accommodation under the control of the control unit 80, the support drive unit 73 performs the entry control, and then the lifting drive unit 71 performs the lowering control during accommodation.

[0049] When the item 90 is removed from the transfer target section 6, after the control unit 80 causes the traveling unit 11 to move the transport vehicle 1 to a position corresponding to the transfer target section 6 (here, a position V1 above the transfer target section 6 and overlapping with the transfer target section 6 when viewed from above), the lifting device 30 causes the holding part 20, which does not hold the item 90, to lower from its current position (position 4 P4 in this embodiment) to position 2 P2. Then, the control unit 80 causes the holding part 20 to hold the item 90 and then executes... Figure 8 The controls are shown in the diagram. Furthermore, in the case where the holding part 20 of the unheld item 90 is lowered from inside the receiving part 15 to a target position (here, position 2 P2), in this embodiment, the lifting drive 71 lowers the holding part 20 in one direction from its current position (here, position 4 P4) to the target position.

[0050] The lifting control during containment is a control that, in the avoidance state, raises the holding part 20 holding the item 90 so that the bottom 94 is positioned V1 above the support part 60. Here, "the bottom 94 is positioned V1 above the support part 60" means that at each position in the left-right direction Y of the vehicle body, the bottom 94 is positioned V1 above the support part 60. In this embodiment, as... Figure 4 As shown, during the lifting control, the holding part 20 holding the item 90 is raised from its current position (here, the second position P2) to the fourth position P4, which is positioned V1 above the support part 60, at the bottom 94.

[0051] Entry control refers to the control that causes the support member 50 to enter the lifting path 7 so that the support portion 60 is positioned below the bottom 94 at a position V2 (specifically, the position below the bottom 94 at V2 facing the bottom 94 in the vertical direction V). In this embodiment, as... Figure 5 As shown, when the system is in control, a pair of support members 50 are brought closer to each other along the front-rear direction X of the vehicle body, and the support portions 60 of each pair of support members 50 are positioned below the bottom surface 90c on V2.

[0052] The descent control during accommodating is a control that lowers the holding part 20 so that the bottom 94 contacts the support part 60. By executing the descent control during accommodating, a supported state is achieved. In the descent control during accommodating, the holding part 20 is lowered so that part or all of the load of the article 90 is borne by the support members 50 (in this embodiment, a pair of support members 50). In this embodiment, as... Figure 5As shown, during the descent control during accommodation, the holding part 20 is lowered to the first position P1, causing the bottom part 90c to contact the inclined surfaces 60a of the support part 60 on both sides in the vehicle body's longitudinal direction X. In this embodiment, in the supported state, the support part 60 (here, the inclined surface 60a) contacts the bottom part 90c across the entire area of ​​the vehicle body in the lateral direction Y. Furthermore, in this embodiment, in the supported state, the posture of the pair of support parts 21 provided by the holding part 20 is maintained in a holding posture.

[0053] When the control unit 80 moves the article 90 supported on the support member 50 to the outside of the receiving part 15, such as... Figure 9 As shown, the discharge lifting control (step #10), obstacle avoidance control (step #11), and discharge lowering control (step #12) are executed sequentially. That is, under the control of the control unit 80, after the lifting drive unit 71 performs the discharge lifting control, the support drive unit 73 performs the obstacle avoidance control, and then the lifting drive unit 71 performs the discharge lowering control. When the item 90 is moved into the transfer target area 6, after the control unit 80 causes the traveling unit 11 to perform a traveling action to move the transport vehicle 1 to the position corresponding to the transfer target area 6, it executes... Figure 9 The controls are represented in the text.

[0054] The discharge-time lifting control involves raising the holding portion 20, causing the bottom 94 to move upwards V1 away from the support portion 60. During discharge-time lifting control, the holding portion 20 is raised while the positions of the pair of support portions 21 are switched to a holding position. As a result, the article 90 rises along with the holding portion 20, and the bottom 94 moves upwards V1 away from the support portion 60. In this embodiment, as... Figure 6 As shown, during discharge, the rise control moves the holding part 20 from position 1 P1 (refer to...). Figure 5 It rose to position 4, P4.

[0055] The avoidance control is a control that causes the support component 50 to avoid the lifting path 7 to enter an avoidance state. In this embodiment, as... Figure 7 As shown, in the avoidance control, a pair of support members 50 are separated from each other in the longitudinal direction X of the vehicle body to achieve an avoidance state. The discharge descent control is a control that lowers the holding part 20 holding the article 90 so that the article 90 is positioned outside the receiving part 15. In this embodiment, as... Figure 7 As shown, during discharge, the descent control lowers the holding part 20 holding the item 90 from position 4 P4 to the target position (here, position 2 P2).

[0056] When the item 90 is moved into the transfer object section 6, after the discharge descent control is executed, the control unit 80 causes the holding part 20 to release the item 90, and then causes the lifting device 30 to lift the holding part 20 into the interior of the receiving part 15. In this way, when the holding part 20, which does not hold the item 90, is raised from the outside to the inside of the receiving part 15, in this embodiment, the lifting drive unit 71 raises the holding part 20 in one direction from its current position (here, the second position P2) to a reference position inside the receiving part 15 (in this embodiment, the fourth position P4), and then maintains the holding part 20 at the reference position.

[0057] [Second Implementation]

[0058] Refer to the attached diagram ( Figure 11 The second embodiment of the transport vehicle will be described below. Hereinafter, the transport vehicle of this embodiment will be described focusing on its differences from the first embodiment. Aspects not specifically described herein will be referred to by the same reference numerals as in the first embodiment, and detailed descriptions will be omitted.

[0059] In this embodiment, unlike the first embodiment, the upper surface of the support portion 60 (the surface that contacts the bottom part 90c of the article 90 in the supported state) is formed such that, in the same direction Y of the vehicle body, the upper surface of the support portion 60 is not inclined in either the direction downward V2 toward the first side Y1 or the direction upward V1 toward the first side Y1. Furthermore, in this embodiment, as... Figure 11 As shown, the support portion 60 of one pair of support members 50 and the support portion 60 of the other pair are arranged at different heights. Therefore, the posture of the article 90 in the supported state is as follows: Figure 11 As shown, the bottom surface 90c of the article 90 is tilted in an inclined posture S1 corresponding to the height difference between the support portion 60 of one of the pair of support members 50 and the support portion 60 of the other.

[0060] In this embodiment, the support portion 60 of the first support member 51 is positioned V1 above the support portion 60 of the second support member 52. Furthermore, the article 90 is supported by the support member 50 with its opening 92 facing the side of the vehicle body in the longitudinal direction X when viewed from above (specifically, the side of the vehicle body in the longitudinal direction X where the first support member 51 is positioned relative to the second support member 52). Figure 11 The left side of the support is facing the support. Therefore, in the supported state, the article 90 is supported by the support member 50 in an inclined posture S1 with the opening 92 facing obliquely upward.

[0061] In this embodiment, each support portion 60 of the pair of support members 50 has an inclined surface 60a along the bottom surface 90c in the supported state. Here, the inclined surface 60a is formed as a plane. This inclined surface 60a differs from the inclined surface 60a in the first embodiment, and is inclined upward V1 in the direction of the aforementioned side facing the front-rear direction X of the vehicle body. In the supported state, the inclined surface 60a of the support portion 60 is in contact with the bottom surface 90c of the article 90.

[0062] [Other Implementation Methods]

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

[0064] (1) In the first embodiment described above, an example was given of a structure in which the bottom surface 90c of the article 90 is tilted in accordance with the tilting direction of the inclined surface 60a by forming an inclined surface 60a at the portion of the support 60 that contacts the bottom surface 90c of the article 90. However, this application is not limited to such a structure. For example, it is also possible to configure a structure in which multiple components (e.g., block-shaped components, column-shaped components) are provided at the portion of the support 60 that contacts the bottom surface 90c in such a way that the height decreases as it moves toward the first side Y1, and the bottom surface 90c of the article 90 is tilted in accordance with the tilting direction of the imaginary surface including the upper ends of each of the multiple components.

[0065] (2) In the second embodiment described above, the example is given where each of the support portions 60 of a pair of support members 50 has an inclined surface 60a along the bottom surface 90c in the supported state. However, this application is not limited to such a structure. For example, the upper surface of the support portion 60 of one or both of the pair of support members 50 may be formed as a planar structure along the horizontal plane H.

[0066] (3) In the embodiments described above, a support state was achieved by executing a descent control after the execution of a rise control and an entry control when the article 90, which is positioned V2 below the receiving portion 15, is received in the receiving portion 15. However, this application is not limited to such a structure. It is also possible to configure the support member 50 to be vertically movable, and after the execution of the rise control and the entry control when receiving, to achieve a support state by executing a control that raises the support member 50 so that part or all of the load of the article 90 is borne by the support member 50 when the support portion 60 contacts the bottom 94. In this case, it is possible to configure the support member 50 to move to the outside of the receiving portion 15 when the article 90 supported on the support member 50 is moved to the outside of the receiving portion 15, instead of executing a clearance control and a descent control when discharging, to execute a control that lowers the support member 50 so that the support portion 60 moves away from the bottom 94 V2 downwards.

[0067] (4) In the embodiments described above, the structure in which the bottom 94 of the article 90 is positioned V1 above the support portion 60 in the support state, and the support member 50 enters the lifting path 7 of the article 90, has been described as an example. However, this application is not limited to such a structure, and it can be a structure in which an inclined surface is formed on the upper surface of the support portion 60 (for example, at least a portion of the inclined surface 60a) that is inclined downward V2 toward the side facing the lifting path 7, and the bottom 94 of the article 90 is positioned at the same height as the inclined surface, and the support member 50 enters the lifting path 7 of the article 90. In this case, as the support member 50 enters the lifting path 7, due to the contact between the inclined surface and the bottom 94 of the article 90, a force V1 upward is applied to the bottom 94, and the posture of the article 90 changes from the posture in the holding state to the posture in the support state, thus achieving the support state.

[0068] (5) The above-described embodiments are illustrated using a structure in which a pair of support members 50 are arranged in the longitudinal direction X of the vehicle body as an example. However, this application is not limited to such a structure, and it may also be a structure in which a pair of support members 50 are arranged in the left-right direction Y of the vehicle body, and the pair of support members 50 are driven to approach and move away from each other in the left-right direction Y of the vehicle body. In this case, the left-right direction Y of the vehicle body corresponds to the "first direction", and the longitudinal direction X of the vehicle body corresponds to the "second direction".

[0069] (6) The above-described embodiments are exemplified by a structure in which the support device 40 has a pair of support members 50. However, this application is not limited to such a structure. For example, the support device 40 may have only one support member 50.

[0070] (7) In the above embodiments, the structure in which the bottom surface 90c is configured along the horizontal plane H in the holding state, that is, the tilt angle A of the article 90 in the holding state relative to the horizontal plane H is 0 degrees, has been described as an example. However, this application is not limited to such a structure, and it may also be a structure in which the tilt angle A in the holding state is larger than 0 degrees (but is different from the tilt angle A in the supported state).

[0071] (8) Furthermore, the structures disclosed in the above embodiments can be combined with structures disclosed in other embodiments (including combinations of embodiments described as other embodiments) as long as they do not create contradictions. Regarding other structures, the embodiments disclosed in this specification are merely illustrative in all respects. Therefore, various changes can be appropriately made without departing from the spirit of this application.

[0072] [Summary of the above embodiments]

[0073] The following is a summary of the transport vehicle described above.

[0074] A transport vehicle for transporting items, characterized in that it comprises a main body, a holding part, a lifting device, and a supporting device. The main body moves along a travel path and has a receiving part for accommodating the items. The holding part holds the items. The lifting device raises and lowers the holding part relative to the main body. The supporting device supports the items housed in the receiving part. The supporting device includes a supporting member that supports the items from below and a supporting drive unit that drives the supporting member. The supporting drive unit adjusts the position of the items held in the holding part within and outside the receiving part as the holding part rises and falls due to the lifting device. When the object moves between the two sides, it is in a avoidance state in which the aforementioned support member avoids the lifting path of the aforementioned article. When the aforementioned article is housed in the aforementioned receiving part, it is in a support state in which the aforementioned support member enters the aforementioned lifting path and supports the aforementioned article from below by means of the aforementioned support member. The aforementioned support member has a support part that contacts the bottom of the aforementioned article in the aforementioned support state. The state in which the aforementioned bottom leaves the aforementioned support part and the aforementioned article is held in the aforementioned holding part is set as a holding state. The aforementioned support part is formed such that the tilt angle of the aforementioned article relative to the horizontal plane in the aforementioned support state is different from the tilt angle of the aforementioned article relative to the horizontal plane in the aforementioned holding state.

[0075] According to this structure, when an article is housed in the receiving section, the transport vehicle can move in a supported state where the bottom of the article is supported by the support section, thus appropriately preventing the article from falling out of the receiving section during the movement of the transport vehicle. Furthermore, according to this structure, the support section is formed such that the tilt angle of the article relative to the horizontal plane in the supported state (hereinafter referred to as "tilt angle") is different from the tilt angle in the holding state. Therefore, the tilt angle in the supported state can be an tilt angle corresponding to the posture of the article suitable for the movement of the transport vehicle, and the tilt angle in the holding state can be an tilt angle corresponding to the posture of the article required at the transfer target location. Thus, when the transport vehicle moves, the article can be supported in the receiving section in a posture suitable for the movement of the transport vehicle, and when the article is transferred between the holding section and the transfer target location, the posture of the article placed at the transfer target location can be the posture required at the transfer target location. Furthermore, when the technology of this application is applied to a transport vehicle equipped with a restraining body (such as a fall prevention body) that prevents items from falling off the receiving section, by using the restraining body as a support component, it is possible to suppress the complexity of the device structure and realize the transport vehicle of this application.

[0076] Preferably, the aforementioned lifting device includes a lifting drive unit that raises and lowers the aforementioned holding part. When the aforementioned article, which is positioned below the aforementioned receiving part, is received in the aforementioned receiving part, the aforementioned lifting drive unit performs a rising control during receiving, the aforementioned support drive unit performs an entry control, and then the aforementioned lifting drive unit performs a falling control during receiving. The aforementioned rising control during receiving is a control that raises the aforementioned holding part holding the aforementioned article in the aforementioned avoidance state so that the aforementioned bottom is positioned above the aforementioned support part. The aforementioned entry control is a control that moves the aforementioned support member into the aforementioned lifting path so that the aforementioned support part is positioned below the aforementioned bottom. The aforementioned falling control during receiving is a control that lowers the aforementioned holding part so that the aforementioned bottom contacts the aforementioned support part.

[0077] According to this structure, when an item positioned below the receiving section is received in the receiving section, the receiving-up control, entry control, and receiving-down control are executed sequentially. This avoids interference with the support member and allows the item to be lowered after being raised into the receiving section to achieve a supported state. During entry control, the bottom is positioned above the support section, thus preventing vibration and dust caused by friction between the bottom and the support section, and allowing the support member to enter the lifting path of the item to achieve the supported state.

[0078] As described above, when the aforementioned article, which is positioned below the aforementioned receiving portion, is received in the aforementioned receiving portion, after the aforementioned lifting drive performs the receiving upward control, the aforementioned support drive performs the entry control, and then the aforementioned lifting drive performs the receiving downward control. In such a structure, preferably, when the aforementioned holding portion, which does not hold the aforementioned article, is raised from the outside of the aforementioned receiving portion to the inside, the aforementioned lifting drive raises the aforementioned holding portion in one direction from the current position of the aforementioned holding portion to a reference position inside the aforementioned receiving portion, and then maintains the aforementioned holding portion at the aforementioned reference position.

[0079] According to this structure, the lifting and lowering control of the holding part can be simplified when the holding part of the unheld item is raised from the outside to the inside of the receiving part.

[0080] In the transport vehicle with the above-described structures, the aforementioned lifting device includes a lifting drive unit that raises and lowers the aforementioned holding part. When the aforementioned article supported on the aforementioned support member is moved to the outside of the aforementioned receiving part, the aforementioned lifting drive unit performs discharge lifting control, the aforementioned support drive unit performs avoidance control, and then the aforementioned lifting drive unit performs discharge lowering control. The aforementioned discharge lifting control is a control that raises the aforementioned holding part so that the aforementioned bottom leaves the aforementioned support member from above. The aforementioned avoidance control is a control that causes the aforementioned support member to avoid the aforementioned lifting path and be in the aforementioned avoidance state. The aforementioned discharge lowering control is a control that lowers the aforementioned holding part holding the aforementioned article so that the aforementioned article is placed outside the aforementioned receiving part.

[0081] According to this structure, when an article supported on the support member is moved to the outside of the receiving section, discharge lifting control, avoidance control, and discharge lowering control are executed sequentially. Thus, after the article is lifted so that its bottom leaves the support member, interference with the support member can be avoided, and the article can be lowered to the outside of the receiving section. During avoidance control, the bottom is positioned upwards away from the support member, thus avoiding vibration and dust caused by friction between the bottom and the support member, and allowing the support member to avoid the lifting path of the article in order to achieve the avoidance state.

[0082] As described above, when the aforementioned article supported on the aforementioned support member is moved to the outside of the aforementioned receiving portion, after the aforementioned lifting drive performs the upward control during discharge, the aforementioned support drive performs the avoidance control, and then the aforementioned lifting drive performs the downward control during discharge. In such a structure, preferably, when the aforementioned holding portion that does not hold the aforementioned article is lowered from the inside of the aforementioned receiving portion to the target position outside, the aforementioned lifting drive lowers the aforementioned holding portion in one direction from the current position of the aforementioned holding portion to the aforementioned target position.

[0083] According to this structure, the lifting and lowering control of the holding part can be simplified when the holding part of the unheld item is lowered from the inside of the receiving part to the outside.

[0084] In the transport vehicle with the above-described structures, preferably, the bottom has a planar bottom surface that contacts the support portion in the supported state. In the holding state, the bottom surface is arranged along a horizontal plane. The support device has a pair of support members that approach and move away from each other in a first direction by means of the support drive. The support drive causes the pair of support members to move away from each other in the first direction to achieve the avoidance state. It also causes the pair of support members to approach each other in the first direction. The support portion of each of the pair of support members is arranged below the bottom surface. The direction orthogonal to the first direction when viewed from above is defined as the second direction. One side of the second direction is defined as the first side of the second direction. The support portion of each of the pair of support members has an inclined surface that is inclined downward in a direction that is inclined toward the first side of the second direction.

[0085] According to this structure, the posture of the article in the holding state can be a horizontal posture with its bottom surface along the horizontal plane, and the posture of the article in the supported state can be an inclined posture with its bottom surface tilted, corresponding to the tilting direction of the inclined surface. Therefore, by applying this structure to cases where the required posture of the article at the transfer target location is a horizontal posture, and the posture of the article suitable for the movement of the transport vehicle is an inclined posture, the article can be supported in the receiving part in a posture suitable for the movement of the transport vehicle during the movement of the transport vehicle, and the posture of the article placed at the transfer target location can be made to the required posture at the transfer target location during the transfer of the article between the holding part and the transfer target location.

[0086] Furthermore, preferably, the aforementioned bottom has a planar bottom surface that contacts the aforementioned support portion in the aforementioned supported state. In the aforementioned holding state, the aforementioned bottom surface is configured along a horizontal plane. The aforementioned support device has a pair of aforementioned support members that approach and move away from each other along a first direction by means of the aforementioned support drive portion. The aforementioned support drive portion causes the pair of aforementioned support members to move away from each other along the aforementioned first direction to be in the aforementioned avoidance state, and causes the pair of aforementioned support members to approach each other along the aforementioned first direction. The aforementioned support portions of each of the pair of aforementioned support members are disposed below the aforementioned bottom surface, and the aforementioned support portions of one of the pair of aforementioned support members and the aforementioned support portions of the other are disposed at different heights.

[0087] According to this structure, the posture of the article in the holding state can be a horizontal posture with its bottom surface along the horizontal plane, and the posture of the article in the supported state can be an inclined posture in which the bottom surface of the article is tilted in accordance with the height difference between the support portion of one of the pair of support members and the support portion of the other. Thus, by applying this structure to the case where the posture of the article required at the transfer target location is a horizontal posture and the posture of the article suitable for the movement of the transport vehicle is an inclined posture, the article can be supported in the receiving part in a posture suitable for the movement of the transport vehicle when the transport vehicle is moving, and the posture of the article placed at the transfer target location can be made to the posture required at the transfer target location when the article is transferred between the holding part and the transfer target location.

[0088] As described above, in a structure in which the aforementioned support portion of one of the aforementioned support members and the aforementioned support portion of the other are arranged at different heights, preferably, the aforementioned support portion of each of the aforementioned support members has an inclined surface along the aforementioned bottom surface in the aforementioned support state.

[0089] According to this structure, in the supported state, the contact area between the support part and the bottom part can be increased to stably support the article.

[0090] In the transport vehicle with the above-described structures, preferably, the aforementioned item is a container with an opening on the side, and the aforementioned support is formed such that, in the aforementioned support state, the aforementioned item is supported in an orientation in which the aforementioned opening faces obliquely upward.

[0091] According to this structure, when the article is a container with an opening on the side, in a supported state, the article can be supported in a posture in which the container containing the article is difficult to move from the opening to the outside of the article.

[0092] The transport vehicle of this application only needs to be able to perform at least one of the above-mentioned effects.

[0093] Explanation of reference numerals in the attached figures

[0094] 1: Transport vehicle

[0095] 2: Movement Path

[0096] 7: Lifting Path

[0097] 10: Main body

[0098] 15: Reception area

[0099] 20: Maintaining Section

[0100] 30: Lifting device

[0101] 40: Support device

[0102] 50: Support component

[0103] 60: Support section

[0104] 60a: Inclined surface

[0105] 71: Lifting Drive Unit

[0106] 73: Support drive unit

[0107] 90: Items

[0108] 90b: Side view

[0109] 90c: Bottom surface

[0110] 92: Opening

[0111] 94: Bottom

[0112] A: Tilt angle

[0113] H: Horizontal plane

[0114] P2: Position 2 (Target Position)

[0115] P4: Position 4 (Reference Position)

[0116] V1: Above

[0117] V2: Below

[0118] X: Forward / backward direction of the vehicle (first direction)

[0119] Y: Left / right direction of the vehicle (second direction)

[0120] Y1: First side (second direction, first side).

Claims

1. A transport vehicle, wherein the aforementioned transport vehicle transports items, characterized in that, It comprises a main body, a retaining part, a lifting device, and a supporting device. The aforementioned main body moves along a moving path and has a receiving part for accommodating the aforementioned items. The aforementioned holding section holds the aforementioned items. The aforementioned lifting device causes the aforementioned holding part to rise or fall relative to the aforementioned main body part. The aforementioned support device supports the aforementioned article housed in the aforementioned receiving portion. The aforementioned support device includes a support member that supports the aforementioned article from below and a support drive unit that drives the aforementioned support member. When the aforementioned support drive unit moves between the inside and outside of the aforementioned receiving part, as the aforementioned holding part moves up and down due to the aforementioned lifting device, the aforementioned support member is in a avoidance state that avoids the lifting path of the aforementioned article. When the aforementioned article is received in the aforementioned receiving part, the aforementioned support member is in a support state that allows the aforementioned support member to enter the aforementioned lifting path and supports the aforementioned article from below by means of the aforementioned support member. The aforementioned support member has a support portion that contacts the bottom of the aforementioned article in the aforementioned supported state. The state in which the aforementioned bottom part is separated from the aforementioned support part and the aforementioned article is held in the aforementioned holding part is defined as the holding state. The aforementioned support portion is formed such that the tilt angle of the aforementioned article relative to the horizontal plane in the aforementioned supported state is different from the tilt angle of the aforementioned article relative to the horizontal plane in the aforementioned held state.

2. The transport vehicle as described in claim 1, characterized in that, The aforementioned lifting device includes a lifting drive unit for raising and lowering the aforementioned holding part. When the aforementioned item, which is positioned below the aforementioned receiving section, is received in the aforementioned receiving section, the aforementioned lifting drive unit performs the upward control during receiving, the aforementioned support drive unit performs the entry control, and then the aforementioned lifting drive unit performs the downward control during receiving. The aforementioned lifting control during containment is a control that, in the aforementioned clearance state, raises the aforementioned holding part holding the aforementioned item, thereby positioning the aforementioned bottom part above the aforementioned support part. The aforementioned entry control is a control that causes the aforementioned support member to enter the aforementioned lifting path, thereby positioning the aforementioned support portion below the aforementioned bottom. The aforementioned descent control during accommodation is a control that causes the aforementioned retaining part to descend so that the aforementioned bottom contacts the aforementioned supporting part.

3. The transport vehicle as described in claim 2, characterized in that, When the aforementioned holding part, which does not hold the aforementioned item, is raised from the outside of the aforementioned receiving part to the inside, the aforementioned lifting drive unit raises the aforementioned holding part in one direction from its current position to a reference position inside the aforementioned receiving part, and then maintains the aforementioned holding part at the aforementioned reference position.

4. The transport vehicle as described in any one of claims 1 to 3, characterized in that, The aforementioned lifting device includes a lifting drive unit for raising and lowering the aforementioned holding part. When the aforementioned article supported on the aforementioned support member is moved to the outside of the aforementioned receiving portion, after the aforementioned lifting drive unit performs the upward control during discharge, the aforementioned support drive unit performs the avoidance control, and then the aforementioned lifting drive unit performs the downward control during discharge. The aforementioned discharge-time lifting control is a control that causes the aforementioned holding part to rise, thereby causing the aforementioned bottom part to move away from the aforementioned support part from above. The aforementioned avoidance control is a control that causes the aforementioned support component to avoid the aforementioned lifting path and thus enter the aforementioned avoidance state. The aforementioned discharge-time descent control is a control that lowers the aforementioned holding part holding the aforementioned article so that the aforementioned article is positioned outside the aforementioned receiving part.

5. The transport vehicle as described in claim 4, characterized in that, When the aforementioned holding part, which does not hold the aforementioned item, is lowered from the inside of the aforementioned receiving part to the target position on the outside, the aforementioned lifting drive part lowers the aforementioned holding part from the current position of the aforementioned holding part to the aforementioned target position in one direction.

6. The transport vehicle as described in any one of claims 1 to 3, characterized in that, The aforementioned bottom has a planar bottom surface that contacts the aforementioned support portion in the aforementioned supported state. In the aforementioned holding state, the aforementioned bottom surface is configured along the horizontal plane. The aforementioned support device includes a pair of aforementioned support members that approach and move away from each other along a first direction by means of the aforementioned support drive unit. The aforementioned support drive unit causes the pair of aforementioned support members to move away from each other along the aforementioned first direction to achieve the aforementioned avoidance state, and causes the pair of aforementioned support members to move closer to each other along the aforementioned first direction, thereby positioning the respective support portions of the pair of aforementioned support members below the aforementioned bottom surface. The direction orthogonal to the aforementioned first direction when viewed from above is designated as the second direction, and one side of the aforementioned second direction is designated as the first side of the second direction. Each of the aforementioned support portions of the pair of aforementioned support members has an inclined surface that is inclined downward in a direction that is inclined toward the first side of the aforementioned second direction.

7. The transport vehicle as described in any one of claims 1 to 3, characterized in that, The aforementioned bottom has a planar bottom surface that contacts the aforementioned support portion in the aforementioned supported state. In the aforementioned holding state, the aforementioned bottom surface is configured along the horizontal plane. The aforementioned support device includes a pair of aforementioned support members that approach and move away from each other along a first direction by means of the aforementioned support drive unit. The aforementioned support drive unit causes the pair of aforementioned support members to move away from each other along the aforementioned first direction to achieve the aforementioned avoidance state, and causes the pair of aforementioned support members to move closer to each other along the aforementioned first direction, thereby positioning the respective support portions of the pair of aforementioned support members below the aforementioned bottom surface. The aforementioned support portion of one of the aforementioned support components and the aforementioned support portion of the other are configured at different heights.

8. The transport vehicle as described in claim 7, characterized in that, Each of the aforementioned support portions of the pair of aforementioned support members has an inclined surface along the aforementioned bottom surface in the aforementioned support state.

9. The transport vehicle as described in any one of claims 1 to 3, characterized in that, The aforementioned item is a container with an opening on the side. The aforementioned support portion is formed such that, in the aforementioned support state, the aforementioned article is supported with the aforementioned opening facing obliquely upward.

Images