tote cart

Abstract

The present invention relates to a carrier. A holding portion (20) has a first portion (21) connected to a lifting device, a second portion (22) connected to the lifting device via the first portion (21) and in contact with an article, and an angle adjustment mechanism (40) provided between the first portion (21) and the second portion (22) to change an inclination angle (A) of the second portion (22) with respect to the first portion (21).

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 articles. 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).

[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 item held in the holding part. Therefore, regardless of whether a mechanism such as the anti-flyout mechanism in Patent Document 1 is present, it is desirable for the item to be held in the holding part in a posture that easily ensures a relatively high tolerance for vibration during the movement of the transport vehicle. Thus, it is desirable for the item to be held in the holding part 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 part (the part where the item is transferred between the item and the holding part). For example, in Patent Document 1, the item is a storage container with an opening formed on the side, and the transfer target part is the loading port of a processing device that processes a substrate removed from the storage container. Therefore, the posture of the storage container required for the transfer target part, as in Patent Document 1, differs from the posture required for the transfer target part. 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] If the posture of the item suitable for the movement of the transport vehicle differs from the posture required by the transfer target location, and the item is simply held in the holding part in a posture suitable for the movement of the transport vehicle, then during the transfer between the holding part and the transfer target location, the posture of the item positioned at the transfer target location will also be suitable for the movement of the transport vehicle. Therefore, a mechanism is needed at the transfer target location to change the posture of the item between the posture suitable for the movement of the transport vehicle and the posture required by the transfer target location. In addition to the transfer action between the holding part and the transfer target location, a posture-changing action is required at the transfer target location, which may reduce the efficiency of item 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 can be held in a posture suitable for the movement of the transport vehicle by means of the holding part, 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 of this application is a transport vehicle for transporting items, characterized in that it includes a main body that moves along a moving path, a holding part that holds the aforementioned items, and a lifting device that raises and lowers the aforementioned holding part relative to the aforementioned main body in a lifting direction. The aforementioned holding part includes a first part, a second part, and an angle adjustment mechanism. The aforementioned first part is connected to the aforementioned lifting device, and the aforementioned second part is connected to the aforementioned lifting device via the aforementioned first part and contacts the aforementioned items. The aforementioned angle adjustment mechanism is disposed between the aforementioned first part and the aforementioned second part to change the tilt angle of the aforementioned second part relative to the aforementioned first part.

[0008] According to this structure, the holding part is equipped with an angle adjustment mechanism. Therefore, even without providing a mechanism for changing the posture of the holding part in the lifting device, by changing the tilt angle of the second part relative to the first part using the angle adjustment mechanism, the posture of the item contacted by the second part (i.e., the item held in the holding part) can be made to the desired posture. Thus, the posture of the item when the transport vehicle is moving can be adapted to the posture of the transport vehicle during movement, and the posture of the item during the transfer between the holding part and the transfer target part can be made to the posture required by that transfer target part. Therefore, the item can be held in a posture adapted to the movement of the transport vehicle by means of the holding part during movement, and the posture of the item placed on the transfer target part can be made to the posture required by that transfer target part during the transfer between the holding part and the transfer target part. Furthermore, in this solution, it is not necessary to provide a mechanism for changing the posture of the holding part in the lifting device, thus reducing the complexity of the lifting device and realizing 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 It is a 3D view of the transport vehicle.

[0011] Figure 2 This is the front view of the transport vehicle.

[0012] Figure 3 It is a diagram showing the situation of an item being transferred between the holding part and the transfer object part.

[0013] Figure 4 This is a three-dimensional view of the retaining part when the tilt angle is adjusted to the second angle.

[0014] Figure 5 This is a perspective view of the retaining part when the tilt angle is adjusted to the first angle.

[0015] Figure 6 This is an illustration of the action of removing items from the transfer target area.

[0016] Figure 7 This is an illustration of the action of removing items from the transfer target area.

[0017] Figure 8 This is an illustration of the action of removing items from the transfer target area.

[0018] Figure 9 This is an explanatory diagram of the action of moving an item toward the object to be moved.

[0019] Figure 10 This is an explanatory diagram of the action of moving an item toward the object to be moved.

[0020] Figure 11 This is an explanatory diagram of the action of moving an item toward the object to be moved.

[0021] Figure 12 This is an explanatory diagram of the action of moving an item toward the object to be moved.

[0022] Figure 13 This is an explanatory diagram of the action of moving an item toward the object to be moved.

[0023] Figure 14 It is a control block diagram. Detailed Implementation

[0024] The implementation method of the transport vehicle will be described with reference to the accompanying drawings.

[0025] 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 that moves along a movement path 2, a holding part 20 that holds an item 90, and a lifting device 50 that raises and lowers the holding part 20 relative to the main body 10 in the vertical direction V. Here, the long side direction (the direction in which the movement path 2 extends) of the movement path 2 is defined as the long side direction L, and the width direction of the movement 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 in which the posture of the transport vehicle 1 changes) and which is along the long side direction L when positioned on the movement path 2 is defined as the vehicle body front-rear direction X, and the direction defined based on the transport vehicle 1 and which is along the width direction W when positioned on the movement path 2 is defined as the vehicle body left-right direction Y. In this embodiment, the vertical direction V corresponds to the "lifting direction".

[0026] 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.

[0027] like Figure 1 and Figure 2 As 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 14 The wheel 12 is driven to rotate by the travel drive unit 70, thereby the travel unit 11 travels along the track 3. Figure 2As 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.

[0028] like Figure 1 As shown, in this embodiment, the cover 14 is supported by the traveling part 11 in a state where it is positioned below the traveling part 11 in the vertical direction V, at a position V2. When the transport vehicle 1 travels, the article 90, held in the holding part 20, is disposed within the interior 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 disposed in the interior space of the cover 14 is covered by the walls of the cover 14 at least from both sides in the front-rear direction X of the vehicle body.

[0029] like Figure 4 As shown, the holding part 20 includes a held part 91 (see reference) that supports the article 90. Figure 2 The support portion 23 holds the article 90. Figure 2 In the example shown, the retaining part 20 holds the article 90 from above V1. Specifically, the held part 91 is a flange 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 23 supports the held part 91 from below V2 with its supporting portion inserted into the space (hereinafter referred to as the "support space") between the held part 91 and the upper surface portion. The supporting part 23 has a supporting surface 23a facing upward V1 (see reference). Figure 4 The support surface 23a contacts the lower surface of the held portion 91, supporting the held portion 91 from below V2. Furthermore, the held portion 91 is not limited to the flange portion formed on the upper part of the article 90. For example, the upper surface portion of the article 90 (specifically, the outer peripheral portion of the upper surface portion) may be used as the structure of the held portion 91, the side portion of the side surface 90b constituting the article 90 may be used as the structure of the held portion 91, or the bottom portion (e.g., a plate-shaped bottom plate portion) constituting the bottom surface 90c of the article 90 may be used as the structure of the held portion 91.

[0030] The retaining part 20 includes a retaining drive part 72 (e.g., a solenoid, an electric motor, see reference) for retaining and releasing the article 90 based on the retaining part 20. Figure 14By driving the drive unit 72, the article 90 based on the holding unit 20 is held and released from holding. In this embodiment, as... Figure 4 As shown, the holding part 20 includes a pair of support parts 23, and the holding drive part 72 is configured to bring the pair of support parts 23 (specifically, the support portion of one of the pair of support parts 23 and the support portion of the other) closer together and further apart. In addition, the support part is the part on which the support surface 23a is formed.

[0031] If the direction in which the pair of support portions 23 approach and move away from each other (in other words, the arrangement direction of the pair of support portions 23) is set 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 23 closer together, switching the posture of the pair of support portions 23 to a holding posture in which the interval between the pair of support portions 23 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 23 away from each other, switching the posture of the pair of support portions 23 to a holding release posture in which the interval between the pair of support portions 23 becomes larger than the width of the held portion 91 in the object direction. Here, posture is used as a concept that includes at least one of position and orientation. Figure 4 and Figure 5 In the example shown, the forward / backward direction X of the vehicle body is the object direction.

[0032] The retaining part 20 is configured in the second position P2 described later (see reference). Figure 3 , Figure 6 , Figure 11 In the state where the holding part 23 is in the second position P2, the posture of the pair of support parts 23 is switched from the holding release position to the holding position, thereby inserting each support portion of the pair of support parts 23 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 23 is switched from the holding position to the holding release position, thereby removing each support portion of the pair of support parts 23 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.

[0033] The types of items in item 90 are not limited to this, such as Figure 2As shown, in this embodiment, the article 90 is a container with an opening 92 on the side 90b. The opening 92 is provided for the contents to enter and exit relative to the article 90, and the contents enter and exit 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 contents 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 contents) 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).

[0034] 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.

[0035] exist Figure 4 and Figure 5 The example shown is an orientation-configured retaining part 20 in which a pair of support portions 23 approach and move away from each other in the longitudinal direction X of the vehicle body. However, an orientation-configured retaining part 20 in which a pair of support portions 23 approach and move away from each other in the lateral direction Y of the vehicle body can also be used. Furthermore, in Figures 1-3 The example shown illustrates a case where the article 90 is held in the holding portion 20 with the opening 92 facing the side of the vehicle body in the left-right direction Y. However, the article 90 can also be held in the holding portion 20 with the opening 92 facing the side of the vehicle body in the front-rear direction X. Furthermore, the transport vehicle 1 can also be configured to include a mechanism that allows the holding portion 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 from the opening 92 to the outside of the article 90 during the movement of the transport vehicle 1, a structure in which the article 90 is held in the holding portion 20 with the opening 92 facing the wall of the cover portion 14 is preferred.

[0036] The lifting device 50 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 14 The holding part 20 rises and falls due to the drive of the lifting drive part 71. The lifting device 50 is in the first position P1 (refer to...). Figure 2 and Figure 3 ) and the second position P2, which is below the first position P1 and below V2 (refer to) Figure 3The holding part 20 is raised and lowered between the main body 10 and the transfer object part 6. The first position P1 is the upper position in the raising and lowering direction (vertical direction V). The first position P1 is the vertical direction V position of the holding part 20 when the main body 10 moves. That is, the first position P1 is the position of the holding part 20 when the transport vehicle 1 is moving. In this embodiment, the first position P1 is the position of the holding part 20 when the article 90 held in the holding part 20 is arranged in the internal space of the cover part 14. In addition, 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 object part 6. The second position P2 is set in correspondence with the height (vertical direction V position) of each transfer object part 6. In this embodiment, the second position P2 is set such that by switching the posture of the pair of support portions 23 to a holding posture and a holding release posture, the height at which each support portion of the pair of support portions 23 can be inserted or removed relative to the support space of the article 90 disposed in the transfer object portion 6.

[0037] 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 processing target; in this embodiment, it processes the substrate 93 that has been removed from the article 90. Figure 3 As shown, the item 90 is positioned on the transfer object section 6 with its opening 92 facing the processing device 5.

[0038] like Figure 2 In a simplified schematic representation, the lifting device 50 includes a rotating body 51 that is driven to rotate, and a transmission member 52 that is freely wound and unwound around the rotating body 51. The lifting device 50 also includes the aforementioned lifting drive unit 71 (see reference 50) that drives the rotating body 51 to rotate. Figure 14 The rotating body 51 and the lifting drive unit 71 are supported on the main body 10, and in this embodiment, they are disposed in the upper V1 portion of the internal space of the cover 14. For example, the structure may be such that the transmission member 52 is a belt and the rotating body 51 is a winding pulley for winding the belt, or the transmission member 52 is a wire and the rotating body 51 is a winding roller for winding the wire. The transmission member 52 is connected to the holding part 20. Specifically, as shown in the figure... Figure 3As shown, a connecting portion 52a provided at the end of the transmission member 52 extending from the rotating body 51 is connected to the holding portion 20. The lifting device 50 causes the rotating body 51 to rotate by the lifting drive unit 71, winding or releasing the transmission member 52, thereby causing the holding portion 20 to rise or fall (i.e., lift). In this way, the lifting device 50 lifts and lowers the holding portion 20 while suspending and supporting it.

[0039] like Figure 2 and Figure 3 As shown, in this embodiment, the lifting device 50 includes a plurality of rotating bodies 51, and the transmission component 52 is wound around each of the plurality of rotating bodies 51. Figure 2 and Figure 3 In the example shown, the lifting device 50 has three rotating bodies 51. Furthermore, the connecting portions 52a of each of the plurality of transmission components 52 (three transmission components 52 in this example) are connected to the holding portion 20. For example... Figure 4 As shown, multiple connecting parts 52a are connected to different parts of the holding part 20. Furthermore, Figure 2 and Figure 3 The text indicates that the lifting device 50 has multiple rotating bodies 51, so the multiple rotating bodies 51 are respectively arranged on other axes, but the multiple rotating bodies 51 can also be arranged coaxially. Furthermore, Figure 3 In this configuration, the connecting portion 52a of the transmission component 52 is positioned directly below the rotating body 51 around which the transmission component 52 is wound. However, it can also be configured such that the extending portion of the transmission component 52 extending from the rotating body 51 is wound around a guide rotating body (such as a guide pulley), and the connecting portion 52a of the transmission component 52 is positioned directly below the guide rotating body.

[0040] In this embodiment, the article 90 is a container through which the substrate 93 enters and exits via an opening 92 formed on the side 90b. Therefore, when the transport vehicle 1 moves, as... Figure 2 As shown, the article 90 is positioned in an inclined position S1 with the opening 92 facing upwards, thereby making it difficult for the substrate 93 housed in the article 90 to move from the opening 92 to the outside of the article 90. On the other hand, as Figure 3 As shown in the example, when the substrate 93 is inserted or removed from the article 90 at the transfer object section 6, the article 90 is positioned in a horizontal position S2 with the opening 92 facing horizontally. This facilitates the insertion or removal of the substrate 93 from the article 90 via the opening 92. That is, Figure 3In the example shown, the required posture of the item 90 at the transfer target part 6 is a horizontal posture S. In this embodiment, the holding part 20 is equipped with the angle adjustment mechanism 40 described below, so that when the transport vehicle 1 moves, the item 90 is held in an inclined posture S1 by means of the holding part 20, and the posture of the item 90 disposed at the transfer target part 6 can be a horizontal posture S2.

[0041] like Figures 2-5 As shown, the holding part 20 includes a first part 21 connected to the lifting device 50, a second part 22 connected to the lifting device 50 via the first part 21 and in contact with the article 90, and an angle adjustment mechanism 40. The holding part 20 also includes a swing drive part 73 (e.g., an electric motor, a solenoid, see reference 1) that drives the angle adjustment mechanism 40. Figure 14 In this embodiment, the swing drive unit 73 is equivalent to "drive unit".

[0042] In this embodiment, the first part 21 is connected to the transmission member 52. The first part 21 is connected to each of the plurality of transmission members 52 (specifically, the respective connecting portions 52a of the plurality of transmission members 52). Therefore, the posture of the first part 21 is determined correspondingly to the height difference between the plurality of connecting portions 52a (here, three connecting portions 52a). In this embodiment, a common lifting drive unit 71 is provided to drive the plurality of rotating bodies 51 to rotate, and the first part 21 is raised and lowered by means of the lifting device 50, so that the posture is maintained in a specific posture (here, the posture in which all connecting portions 52a are arranged at the same height). Therefore, as Figure 3 As shown, the first part 21 is configured in the specific posture described above in any of the states in which the holding part 20 is in the first position P1, the second position P2, and the third position P3 between the first position P1 and the second position P2.

[0043] Part 22 is the part of the holding part 20 that contacts the article 90. Therefore, the posture of the article 90 held in the holding part 20 is determined in correspondence with the posture of part 22. Part 22 includes support parts 23 (a pair of support parts 23 in this embodiment), and the support parts 23 of part 22 contact the article 90 (specifically the held part 91).

[0044] An angle adjustment mechanism 40 is disposed between the first part 21 and the second part 22, changing the tilt angle A of the second part 22 relative to the first part 21 (refer to...). Figure 2 , Figure 5 ).like Figure 4 and Figure 5As shown, in this embodiment, the angle adjustment mechanism 40 changes the tilt angle A by swinging the second part 22 about the horizontal axis R (relative to the first part 21). Here, the tilt angle A is defined as 0 degrees when the article 90 held in the holding part 20 (specifically the second part 22) is arranged in a horizontal posture S2. Figure 4 The holding part 20 indicates a tilt angle A of 0 degrees. Furthermore, the tilt angle A is defined as the case where the article 90 held in the holding part 20 is positioned in a tilted posture S1 with the opening 92 facing upwards (see reference). Figure 2 ) is a positive acute angle. Here, along the direction of movement of the container (the substrate 93 in this embodiment) when it enters or exits through the opening 92, the direction toward the outside of the article 90 is defined as the orientation of the opening 92. In this embodiment, the posture of the bottom surface 90c of the article 90 along the horizontal plane is the horizontal posture S2 with the opening 92 facing the horizontal direction.

[0045] In this embodiment, the axle R is configured along the longitudinal direction X of the vehicle body, such as... Figure 5 As shown, when the second part 22 is tilted relative to the first part 21 (specifically, when the tilt angle A is a positive acute angle), the second part 22 becomes higher on one side of the vehicle body in the left-right direction Y than on the other side. Therefore, in this embodiment, when the article 90 is viewed from above with the opening 92 (when viewed along the vertical direction V), its orientation toward the side of the vehicle body in the left-right direction Y is maintained in the holding part 20.

[0046] exist Figure 4 and Figure 5 As an example, in this embodiment, the angle adjustment mechanism 40 includes a swing member 41 fixed to the second part 22 and a support member 42 fixed to the first part 21. The support member 42 supports the swing member 41 so that it can rotate around the axis R. Furthermore, the swing drive unit 73 is configured to swing the swing member 41 around the axis R. Since the swing member 41 is fixed to the second part 22, by swinging the swing member 41 around the axis R in this way, the second part 22 can be made to swing around the axis R, thus changing the tilt angle A. Additionally, the swing drive unit 73 is fixed to the first part 21.

[0047] exist Figure 4 and Figure 5In the example shown, the swing member 41 is a shaft member disposed on the axis R and fixed to the second part 22 via the fixing member 43. In this example, the swing member 41 is fixed to the second part 22 (specifically, the main body of the second part 22) via the fixing member 43 at two locations along the axis R (here, the vehicle body's front-rear direction X). A pair of support parts 23 are guided by the guide mechanism 46 to move towards and away from each other in a direction (here, along the axis R). In this example, the guide mechanism 46 is a linear motion mechanism having a guide rail extending in the direction along the axis R and a guide block engaged with the guide rail. The guide rail is fixed to the aforementioned main body of the second part 22, and the guide block is fixed to each of the pair of support parts 23.

[0048] The retaining drive unit 72, which drives the pair of support portions 23, is fixed to the main body of the second part 22. In this example, the retaining drive unit 72 drives the pair of support portions 23 via a motion conversion mechanism 45. Here, the motion conversion mechanism 45 is a ball screw mechanism, in which the rotational motion of the rotating shaft, which is driven by the electric motor of the retaining drive unit 72, is converted into the linear motion of each of the pair of support portions 23. Alternatively, the pair of support portions 23 may not be configured to approach and move away from each other in the direction along the axis R, but rather the pair of support portions 23 may be configured to approach and move away from each other in a direction orthogonal to the axis R when viewed from above (in this example, the left-right direction Y of the vehicle body).

[0049] exist Figure 4 and Figure 5 In the example shown, the swing member 41 is rotatably supported on support members 42 at two locations along the axis R. Specifically, support members 42 are provided on each side of a pair of fixed members 43 along the axis R, and each support member 42 rotatably supports the swing member 41 relative to the first part 21. Furthermore, in this example, the swing drive unit 73 fixed to the first part 21 is connected to the swing member 41 via a gear mechanism 44 (e.g., a reduction gear), and the rotation of the electric motor of the swing drive unit 73 is transmitted to the swing member 41 via the gear mechanism 44, causing the swing member 41 to swing. Figure 4 and Figure 5 The dimensions and shapes of the various parts are conceptual; the actual dimensions and shapes are not limited to these.

[0050] like Figure 14As 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.

[0051] 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 control unit 80 moves the item 90 held by the holding unit 20 to the transfer object part 6, the travel unit 11 moves while the item 90 is held by the holding unit 20. In addition, the control unit 80 controls the drive of the lifting drive unit 71 to cause the lifting device 50 to lift the holding unit 20. Furthermore, the control unit 80 controls the drive of the holding drive unit 72 to cause the holding unit 20 to hold the item 90 and release the holding of the item 90. In this embodiment, the holding action of the article 90 is an action that brings the pair of support portions 23 closer together (in other words, an action that switches the posture of the pair of support portions 23 to a holding posture), and the holding release action of the article 90 is an action that moves the pair of support portions 23 away from each other (in other words, an action that switches the posture of the pair of support portions 23 to a holding release posture). Furthermore, the control unit 80 controls the drive of the support drive unit 73 to cause the holding portion 20 to perform an tilt angle change action that alters the tilt angle A of the second portion 22 relative to the first portion 21.

[0052] When the item 90 is transferred from the transfer target part 6 to the holding part 20 (i.e., when the item 90 is removed from the transfer target part 6), the control unit 80 causes the traveling unit 11 to travel the transport vehicle 1 to a position corresponding to the transfer target part 6 (here, a position V1 above the transfer target part 6 and overlapping with the transfer target part 6 when viewed from above). Then, the lifting device 50 performs a lifting action to lower the holding part 20, which does not hold the item 90, from the first position P1 to the second position P2 (see reference). Figure 6In this embodiment, the swing drive unit 73 lowers the holding part 20 (which is not holding the article 90) to the second position P2, setting the tilt angle A to the second angle described later. Specifically, the holding part 20 (which is not holding the article 90) is positioned at the first position P1 with the tilt angle A at the second angle, and the tilt angle A is maintained at the second angle during the descent of the holding part 20 from the first position P1 to the second position P2. When the holding part 20 reaches the second position P2, the control unit 80 causes the holding part 20 to perform a holding action on the article 90, and then causes the lifting device 50 to perform a lifting action to raise the holding part 20 from the second position P2 to the first position P1 (see reference). Figure 7 , Figure 8 As a result, the holding part 20 holding the item 90 rises to the first position P1.

[0053] On the other hand, when the item 90 is transferred from the holding part 20 to the transfer target part 6 (i.e., when the item 90 is moved into the transfer target part 6), the control unit 80 causes the traveling part 11 to travel the transport vehicle 1 to the position corresponding to the transfer target part 6, and then causes the lifting device 50 to perform a lifting action to lower the holding part 20 holding the item 90 from the first position P1 to the second position P2 (see reference). Figures 9-11 When the holding part 20 reaches the second position P2, the control part 80 causes the holding part 20 to release the holding of the item 90. Then, the lifting device 50 performs a lifting action to raise the holding part 20 from the second position P2 to the first position P1 (see reference). Figure 11 Thus, with the item 90 remaining in the transfer object section 6, the holding section 20 that does not hold the item 90 rises to the first position P1. In this embodiment, the swing drive unit 73 tilts the tilt angle A to the second angle while the holding section 20 that does not hold the item 90 rises from the second position P2.

[0054] In this embodiment, the swing drive unit 73 is configured to perform tilt angle adjustment control while the holding unit 20 holds the article 90. The swing drive unit 73 is controlled by the control unit 80 to perform tilt angle adjustment control. The region including the second position P2 in the vertical direction V is defined as the predetermined region ΔV2 (refer to...). Figure 6 , Figure 11The tilt angle adjustment control is as follows: when the holding part 20 is positioned outside the designated area ΔV2, the tilt angle A is set to a first angle; when the holding part 20 is positioned in the second position P2, the tilt angle A is set to a second angle. Here, the first angle is the angle at which the posture of the article 90 (the article 90 held in the holding part 20, hereinafter the same) is tilted in posture S1 (the posture of the opening 92 facing the article 90 at an angle upward), for example, 5 degrees. Furthermore, the second angle is the angle at which the posture of the article 90 is horizontal in posture S2 (the posture of the opening 92 facing the article 90 in a horizontal direction), which is 0 degrees in this embodiment. Additionally, Figures 6-13 In this context, the region outside the specified region ΔV2 in the vertical direction V is defined as the outer region ΔV1.

[0055] The specified region ΔV2 is set to exclude the first position P1. That is, the first position P1 is positioned V1 above the upper limit of the specified region ΔV2 and is included in the outer region ΔV1. Therefore, the swing drive unit 73 performs tilt angle adjustment control, thereby enabling the article 90 to maintain a tilted posture S1 when the transport vehicle 1 with the holding part 20 positioned at the first position P1 is moving, or when the holding part 20 is raised or lowered while positioned in the outer region ΔV1. This posture makes it difficult for the container (in this embodiment, the substrate 93) containing the article 90 to move from the opening 92 to the outside of the article 90. Furthermore, when the article 90 with the holding part 20 positioned at the second position P2 is being transferred, the posture of the article 90 can be maintained at the horizontal posture S2 required at the transfer target part 6.

[0056] While the holding part 20 holds the item 90, the swing drive unit 73 performs tilt angle adjustment control. Therefore, when the item 90 is transferred from the transfer object part 6 to the holding part 20, the holding part 20 is positioned in the second position P2 after the holding action of the item 90. Figure 6 As shown, the tilt angle A is the second angle, thus the posture of the item 90 is a horizontal posture S2. Then, when the lifting action of raising the holding part 20 from the second position P2 to the first position P1 begins, until the holding part 20 enters the outer region ΔV1, a tilt angle changing action is performed to change the tilt angle A from the second angle to the first angle. Therefore, during the period when the holding part 20 rises in the outer region ΔV1, as... Figure 8 As shown, the tilt angle A is the first angle, and thus, the posture of the item 90 is the tilt posture S1.

[0057] Figure 7 and Figure 8The following example illustrates the situation where, in conjunction with the holding part 20 reaching the upper limit of the specified area ΔV2 (the boundary between the outer area ΔV1, which is V1 above the specified area ΔV2, and the boundary between the specified area ΔV2 and V1), the tilt angle is changed, and the posture of the item 90 changes from... Figure 7 The horizontal posture S2 shown changes to Figure 8 The tilting posture S1 is shown by the double-dotted line. In this case, it can also be configured such that the rising speed of the holding part 20 decreases from the previous speed to zero or a value greater than zero at the upper limit of the specified region ΔV2. When the posture change action is performed while the holding part 20 is rising, for example, a tilt angle change action is performed, so that the tilt angle change action begins before the holding part 20 reaches the upper limit of the specified region ΔV2, and the tilt angle change action ends when the holding part 20 reaches the upper limit of the specified region ΔV2. In order to ensure that the lifting range of the article 90 in the tilting posture S1 is as large as possible, the upper limit of the specified region ΔV2 is preferably set such that the range in which the article 90 does not contact the transfer object part 6 due to the posture change of the article 90 accompanying the tilt angle change action is as close as possible to the position of the second position P2.

[0058] Furthermore, when transferring the item 90 from the holding part 20 to the transfer target part 6, during the lifting action of lowering the holding part 20 from the first position P1 to the second position P2, if the holding part 20 is lowered in the outer region ΔV1, as Figure 9 As shown, the tilt angle A is the first angle, therefore, the posture of the item 90 is the tilt posture S1. When the holding part 20 enters the designated area ΔV2, until the holding part 20 reaches the second position P2, a tilt angle changing action is performed to change the tilt angle A from the first angle to the second angle. Therefore, as Figure 11 As shown, after the posture of the holding part 20 is changed from the tilted posture S1 to the horizontal posture S2, the holding part 20 reaches the second position P2.

[0059] exist Figure 9 and Figure 10 The following example illustrates the situation where, in coordination with the holding part 20 reaching the upper limit of the specified area ΔV2, the tilt angle is changed, and the posture of the item 90 changes from... Figure 9 The tilt posture S1 shown by the solid line changes to Figure 10 The horizontal posture S2 is shown. In this case, it can also be configured such that the descent speed of the holding part 20 decreases from its previous speed to zero or a value greater than zero at the upper limit of the specified region ΔV2. When the posture change action is performed while the holding part 20 is descending, for example, a tilt angle change action is performed, such that the tilt angle change action begins when the holding part 20 reaches the upper limit of the specified region ΔV2, and ends before the holding part 20 reaches the second position P2.

[0060] However, as in Figure 12 and Figure 13 As shown in one example, there is a case where the transfer object part 6 is configured with multiple heights. In this case, a second position P2 is set corresponding to each of the multiple heights at which the transfer object part 6 is configured, so the second position P2 includes multiple positions V2 lower than the first position P1. Figure 12 and Figure 13 In the example shown, the second position P2 includes the second position P2 corresponding to the transfer object part 6 shown by the solid line, and the second position P2 corresponding to the transfer object part 6 shown by the double-dotted line. Figure 12 and Figure 13 (Illustration omitted).

[0061] In the case where the second position P2 includes multiple positions, the second position P2 that serves as the start or end point of the lifting and lowering motion of the holding part 20 among the multiple second positions P2 is set as the object second position P2a (refer to...). Figure 13 In this embodiment, the swing drive unit 73 is configured to control the tilt angle adjustment by setting a predetermined region ΔV2, which includes the second position P2a of the object. Furthermore, the predetermined region ΔV2 is generally set to include only the second position P2a of the object, but there are also cases where another second position P2, which exists at a height close to the second position P2a of the object, is included in the predetermined region ΔV2. Figure 12 and Figure 13 In the example shown, we envision the case where item 90 is moved into the transfer object part 6 shown by the solid line. The second position P2 corresponding to the transfer object part 6 shown by the solid line is the second position P2a of the object. Furthermore, in this example, the defined area ΔV2 is set in a manner that only includes the second position P2a of the object (that is, in a manner that does not include the second position P2 corresponding to the transfer object part 6 shown by the double-dotted line), and the second position P2 corresponding to the transfer object part 6 shown by the double-dotted line is not included in the outer area ΔV1. As a result, item 90 can be held in a tilted posture S1 within a relatively large lifting range that includes the second position P2 corresponding to the transfer object part 6 shown by the double-dotted line.

[0062] [Other Implementation Methods]

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

[0064] (1) In the above embodiment, the structure of the drive unit (oscillating drive unit 73) of the drive angle adjustment mechanism 40 changing the tilt angle A of the second part 22 relative to the first part 21 by oscillating the oscillating member 41 fixed to the second part 22 about the axis R has been described as an example. However, this application is not limited to such a structure. For example, it may be configured such that the second part 22 is connected to the first part 21 via a linkage mechanism, and the drive unit of the drive angle adjustment mechanism 40 drives the linkage mechanism to change the tilt angle A. Furthermore, in the above embodiment, the structure of the drive unit of the drive angle adjustment mechanism 40 being fixed to the first part 21 has been described as an example. However, it is also possible that the drive unit of the drive angle adjustment mechanism 40 is fixed to the second part 22 by means of the structure of the angle adjustment mechanism 40.

[0065] (2) In the above embodiment, the structure in which the axle R is configured along the front-rear direction X of the vehicle body has been described as an example. However, this application is not limited to such a structure, and it is also possible to configure the axle R along the left-right direction Y of the vehicle body. In this case, when the second part 22 is tilted relative to the first part 21 (specifically, when the tilt angle A is a positive acute angle), the second part 22 is higher on one side in the front-rear direction X of the vehicle body than on the other side, and the article 90 is held in the holding part 20 with the orientation of that side facing the front-rear direction X of the vehicle body when viewed from above by the opening 92.

[0066] (3) In the above embodiment, the structure in which the swing drive unit 73 sets the area including the object at the second position P2a as a predetermined area ΔV2 to perform tilt angle adjustment control when the second position P2 includes multiple positions is described as an example. However, this application is not limited to such a structure. For example, it may be configured such that when the height difference between the multiple positions included in the second position P2 is small, the entire area including the second position P2 is set as the predetermined area ΔV2.

[0067] (4) In the above embodiments, the structure in which the second angle is the angle at which the posture of the article 90 is in a horizontal posture S2 has been described as an example. However, this application is not limited to such a structure, and it is also possible to make the second angle the angle at which the posture of the article 90 is in an inclined posture S1 and different from the first angle (for example, an angle smaller than the first angle).

[0068] (5) 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.

[0069] [Summary of the above embodiments]

[0070] The following is a summary of the transport vehicle described above.

[0071] A transport vehicle for transporting items is characterized by comprising a main body that moves along a moving path, a holding part that holds the items, and a lifting device that raises and lowers the holding part relative to the main body in a lifting direction. The holding part comprises a first part, a second part, and an angle adjustment mechanism. The first part is connected to the lifting device, and the second part is connected to the lifting device via the first part and contacts the items. The angle adjustment mechanism is disposed between the first part and the second part to change the tilt angle of the second part relative to the first part.

[0072] According to this structure, the holding part is equipped with an angle adjustment mechanism. Therefore, even without providing a mechanism for changing the posture of the holding part in the lifting device, by changing the tilt angle of the second part relative to the first part using the angle adjustment mechanism, the posture of the item contacted by the second part (i.e., the item held in the holding part) can be made to the desired posture. Thus, the posture of the item when the transport vehicle is moving can be adapted to the posture of the transport vehicle during movement, and the posture of the item during the transfer between the holding part and the transfer target part can be made to the posture required by that transfer target part. Therefore, the item can be held in a posture adapted to the movement of the transport vehicle by means of the holding part during movement, and the posture of the item placed on the transfer target part can be made to the posture required by that transfer target part during the transfer between the holding part and the transfer target part. Furthermore, in this solution, it is not necessary to provide a mechanism for changing the posture of the holding part in the lifting device, thus reducing the complexity of the lifting device and realizing the transport vehicle of this application.

[0073] Preferably, the aforementioned lifting device includes a transmission component and a plurality of rotating bodies, the plurality of rotating bodies being driven to rotate, the aforementioned transmission component being wound and released freely around each of the plurality of rotating bodies, and the aforementioned first part being connected to the aforementioned transmission component.

[0074] According to this structure, multiple rotating bodies are rotated to wind or unwind the transmission component, thereby enabling the holding part to be raised and lowered while it is suspended and supported. In the transport vehicle of this application, as described above, it is unnecessary to include a mechanism in the lifting device for changing the posture of the holding part. Therefore, when the lifting device is configured as in this solution, it is not necessary to configure each part (rotating body, transmission component, drive unit that drives the rotating body to rotate, etc.) to change the posture of the suspended and supported holding part, thus simplifying the lifting device.

[0075] Furthermore, preferably, the aforementioned angle adjustment mechanism includes a swinging member and a support member, the aforementioned swinging member is fixed to the aforementioned second part, the aforementioned support member is fixed to the aforementioned first part, and the aforementioned swinging member is supported so as to be rotatable about an axis in the horizontal direction, thereby driving the drive unit of the aforementioned angle adjustment mechanism to make the aforementioned swinging member swing about the aforementioned axis.

[0076] According to this structure, by using a drive unit to make the swinging member swing around the axis, the tilt angle of the second part relative to the first part can be changed in a larger or smaller manner, and an angle adjustment mechanism for changing the tilt angle can be appropriately provided.

[0077] Furthermore, preferably, the aforementioned item is a container with an opening on the side. The aforementioned lifting device causes the aforementioned holding part to move up and down between a first position and a second position. The aforementioned second position is a position for holding and releasing the aforementioned item based on the aforementioned holding part, and is lower than the aforementioned first position. The area including the aforementioned second position in the aforementioned lifting direction is defined as a predetermined area. The posture of the aforementioned item with the aforementioned opening facing upwards is defined as an inclined posture, and the posture of the aforementioned item with the aforementioned opening facing horizontally is defined as a horizontal posture. When the aforementioned holding part holds the aforementioned item, the drive unit of the aforementioned angle adjustment mechanism performs tilt angle adjustment control. The aforementioned tilt angle adjustment control is as follows: when the aforementioned holding part is disposed outside the aforementioned predetermined area, the aforementioned tilt angle is the angle at which the posture of the aforementioned item is the aforementioned inclined posture, i.e., the first angle; when the aforementioned holding part is disposed in the aforementioned second position, the aforementioned tilt angle is the angle at which the posture of the aforementioned item is the aforementioned horizontal posture, i.e., the second angle.

[0078] As shown in this solution, when the article is a container with an opening on the side, by tilting the article, compared to when the article is in a horizontal position, it is more difficult for the contents contained within the article to move from the opening to the outside of the article. Furthermore, by tilting the article to a horizontal position, it becomes easier for the contents to enter and exit the article via the opening. According to this structure, when the holding part holds the article, tilt angle adjustment control is executed. Therefore, by positioning the holding part outside a designated area (e.g., the first position) when the transport vehicle is moving, the article can be tilted when the holding part outside the designated area is raised or lowered during the transport vehicle's movement, and the article can be tilted when transferring articles based on the holding part's holding or release.

[0079] In the scheme where the aforementioned tilt angle adjustment control is performed by the aforementioned drive unit as described above, preferably, the aforementioned second position includes multiple positions that are lower than the aforementioned first position. The aforementioned second position, which serves as the starting point or ending point of the lifting and lowering action of the aforementioned holding unit, is set as the target second position. The aforementioned drive unit sets the area including the aforementioned target second position as the aforementioned predetermined area to perform the aforementioned tilt angle adjustment control.

[0080] According to this structure, when the second position includes multiple positions, the area above the designated area and the boundary of the designated area can be set to an approach position that is relatively close to the second position of the object, which serves as the start or end point of the lifting action at that moment. Therefore, during the period when the holding part is configured within a relatively large lifting range between the first position and the approach position, the article can be held in an inclined posture, making it easy to properly lift and lower the article held in the holding part.

[0081] Furthermore, preferably, the aforementioned drive unit lowers the aforementioned tilt angle to the aforementioned second angle during the period when the aforementioned holding part, which is not holding the aforementioned article, descends to the aforementioned second position.

[0082] According to this structure, similar to the case where the holding part holding the unheld item is lowered to the second position, the holding part holding the item is also lowered to the second position. Compared to the case where the holding part is positioned outside the designated area and the tilt angle is the first angle, it is not necessary to control the change of the tilt angle from the first angle to the second angle from the moment the holding part enters the designated area. Accordingly, it is possible to simplify the control and increase the processing speed.

[0083] The transport vehicle of this application only needs to be able to perform at least one of the above-mentioned effects.

[0084] Explanation of reference numerals in the attached figures

[0085] 1: Transport vehicle

[0086] 2: Movement Path

[0087] 10: Main body

[0088] 20: Maintaining Section

[0089] 21: Part 1

[0090] 22: Part 2

[0091] 40: Angle adjustment mechanism

[0092] 41: Oscillating component

[0093] 42: Support component

[0094] 50: Lifting device

[0095] 51: Solid of Revolution

[0096] 52: Transmission components

[0097] 73: Oscillating drive unit (drive unit)

[0098] 90: Items

[0099] 90b: Side view

[0100] 92: Opening

[0101] A: Tilt angle

[0102] P1: Position 1

[0103] P2: Position 2

[0104] P2a: Object's second position

[0105] R: Axis

[0106] S1: Tilt posture

[0107] S2: Horizontal posture

[0108] V: Vertical direction (direction of ascent and descent)

[0109] V2: Below

[0110] ΔV2: Specified area.

Claims

1. A transport vehicle, wherein the aforementioned transport vehicle transports items, characterized in that, The device comprises a main body that moves along a moving path, a holding part that holds the aforementioned article, and a lifting device that moves the holding part up and down relative to the main body in a lifting direction. The aforementioned retaining section comprises Part 1, Part 2, and an angle adjustment mechanism. The aforementioned part 1 is connected to the aforementioned lifting device. The aforementioned second part is connected to and in contact with the aforementioned lifting device via the aforementioned first part, and also contacts the aforementioned item. The aforementioned angle adjustment mechanism is disposed between the aforementioned first part and the aforementioned second part, changing the tilt angle of the aforementioned second part relative to the aforementioned first part. The aforementioned angle adjustment mechanism includes a swinging component and a supporting component. The aforementioned swinging component is fixed to the aforementioned second part. The aforementioned support member is fixed to the aforementioned first part and supports the aforementioned swing member so that it can rotate about an axis in the horizontal direction. The configuration is such that the drive unit that drives the aforementioned angle adjustment mechanism causes the aforementioned swing member to swing around the aforementioned axis.

2. The transport vehicle as described in claim 1, characterized in that, The aforementioned lifting device includes a transmission component and multiple rotating bodies. The aforementioned multiple rotating bodies are driven by rotation. The aforementioned transmission component is wound and released freely around each of the aforementioned rotating bodies. The aforementioned Part 1 is connected to the aforementioned transmission component.

3. A transport vehicle, wherein the aforementioned transport vehicle transports items, characterized in that, The device comprises a main body that moves along a moving path, a holding part that holds the aforementioned article, and a lifting device that moves the holding part up and down relative to the main body in a lifting direction. The aforementioned retaining section comprises Part 1, Part 2, and an angle adjustment mechanism. The aforementioned part 1 is connected to the aforementioned lifting device. The aforementioned second part is connected to and in contact with the aforementioned lifting device via the aforementioned first part, and also contacts the aforementioned item. The aforementioned angle adjustment mechanism is disposed between the aforementioned first part and the aforementioned second part, changing the tilt angle of the aforementioned second part relative to the aforementioned first part. The aforementioned item is a container with an opening on the side. The aforementioned lifting device causes the aforementioned holding part to move up and down between the first position and the second position. The second position is the position for holding and releasing the aforementioned article based on the aforementioned holding part, and it is lower than the aforementioned first position. The region including the aforementioned second position in the aforementioned lifting direction is defined as the designated region; the posture of the aforementioned item with the aforementioned opening facing obliquely upward is defined as the tilted posture; and the posture of the aforementioned item with the aforementioned opening facing horizontally is defined as the horizontal posture. When the aforementioned retaining part holds the aforementioned item, the drive unit of the aforementioned angle adjustment mechanism performs tilt angle adjustment control. The aforementioned tilt angle adjustment control is controlled as follows: when the aforementioned holding part is disposed outside the aforementioned designated area, the aforementioned tilt angle is the angle at which the posture of the aforementioned item is the aforementioned tilt posture, i.e., the first angle; when the aforementioned holding part is disposed in the aforementioned second position, the aforementioned tilt angle is the angle at which the posture of the aforementioned item is the aforementioned horizontal posture, i.e., the second angle.

4. The transport vehicle as described in claim 3, characterized in that, The aforementioned lifting device includes a transmission component and multiple rotating bodies. The aforementioned multiple rotating bodies are driven by rotation. The aforementioned transmission component is wound and released freely around each of the aforementioned rotating bodies. The aforementioned Part 1 is connected to the aforementioned transmission component.

5. The transport vehicle as described in claim 3, characterized in that, The aforementioned second position includes several positions located below the aforementioned first position. The aforementioned second position, which serves as the starting or ending point of the lifting and lowering motion of the aforementioned holding part, is designated as the object second position. The aforementioned drive unit sets the area including the second position of the aforementioned object as the aforementioned predetermined area to perform the aforementioned tilt angle adjustment control.

6. The transport vehicle as described in claim 3, characterized in that, The aforementioned drive unit lowers the aforementioned holding part of the aforementioned article to the aforementioned second position at the aforementioned tilt angle, which is the aforementioned second angle.

Images