Conveying vehicle

Abstract

The present application provides a kind of transport car. The action of making a pair of supporting parts (21) become the second posture from the following state is set as posture changing action, the state is to make a pair of supporting parts (21) become the first posture (C1), and a pair of supporting parts (21) are configured to make at least a part of each of a pair of supporting parts (21) be below (V2) than the holding part (91) and the holding part (91) be between a pair of supporting parts (21), the posture changing action is executed by at least holding device, and the holding state of the supporting surface (22) of each of a pair of supporting parts (21) is connected from below (V2) to the supported surface (91a). A pair of supporting parts (21) are configured to support the supported surface (91a) relative to the horizontal plane in the holding state.

Description

Technical Field

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

[0002] Japanese Patent Application Publication No. 2012-64799 (Patent Document 1) discloses an example of such a transport vehicle. Hereinafter, the reference numerals in parentheses in the background art description are reference numerals of Patent Document 1. In Patent Document 1, a canopy transport vehicle (A) for transporting articles is disclosed. This canopy transport vehicle (A) includes a traveling section (11) that travels along a travel path (3), a holding section (10) that holds the holding section (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 cassette with an opening (6) formed on the side for taking out and placing the substrate (5). In order to prevent the substrate (5) from flying out of the opening (6) of the storage container (4) held by the holding part (10), the overhead conveyor (A) of Patent Document 1 is provided with an anti-flyout mechanism (9), which has a contact body (26) that can move to a contact position that contacts the side of the substrate (5) and a departure position that moves away from the side of the substrate (5). Summary of the Invention

[0004] When the conveyor is moving, vibrations are easily transmitted to the item being held by the holding device. Therefore, regardless of the presence or absence of a mechanism like the anti-fly-out mechanism in Patent Document 1, it is desirable to hold the item in a posture that ensures a high tolerance for vibration while the conveyor is moving. In Patent Document 1, since the item is a storage container with an opening formed on the side, it is conceivable, for example, that by tilting the bottom surface of the item relative to the horizontal plane so that the opening faces obliquely upward, the substrate is less likely to move from the opening to the outside of the storage container, thus ensuring a high tolerance for vibration. However, as in Patent Document 1... Figure 5 As indicated, the article is usually positioned in a horizontal position with its bottom surface along the horizontal plane at the transfer target part (the part where the article is transferred between the transfer target part and the holding part). Therefore, if the holding device is used to hold the article in an inclined position with its bottom surface tilted relative to the horizontal plane, a mechanism is needed to change the position of the article between the horizontal and inclined positions at the transfer target part, which may lead to a complexity in the structure of the device.

[0005] Therefore, it is hoped that a technology can be developed that can hold an object in an inclined posture with its bottom surface tilted relative to the horizontal plane while suppressing the complexity of the device structure.

[0006] The conveyor vehicle disclosed herein is a conveyor vehicle for conveying articles, comprising a main body that moves along a movement path, a holding device for holding the articles, and a lifting device for raising and lowering the holding device relative to the main body; the articles comprise a held portion having a supported surface, the supported surface being a surface arranged parallel to the bottom surface of the article and facing downward; the holding device comprises a pair of support portions and a holding drive portion for bringing the pair of support portions closer together and further apart in a first direction, the pair of support portions each having a support surface for supporting the held surface from below; the width of the held portion in the first direction is defined as a first width, and the holding drive portion drives the pair of support portions to move apart such that the distance between the pair of support portions is greater than the first width. 1. An attitude, and a second attitude that brings them close together so that the interval between the pair of aforementioned support portions is smaller than the first width; the action of making the pair of aforementioned support portions into the second attitude is defined as an attitude change action, the state being that the pair of aforementioned support portions are in the first attitude, and the pair of aforementioned support portions are configured such that at least a portion of each of the pair of aforementioned support portions is located below the aforementioned held portion and the aforementioned held portion is located between the pair of aforementioned support portions, the attitude change action is performed by at least the aforementioned holding device, and a holding state in which the respective support surfaces of the pair of aforementioned support portions are connected to the aforementioned supported surface from below is achieved; the pair of aforementioned support portions are configured such that, in the aforementioned holding state, the aforementioned supported surface is tilted relative to the horizontal plane to support the aforementioned supported surface.

[0007] According to this structure, since the pair of support portions are configured such that, in the holding state, the supported surface, which is parallel to the bottom surface of the article, is inclined relative to the horizontal plane, the article can be held in an inclined position with its bottom surface tilted relative to the horizontal plane by the holding device. Furthermore, this holding state, where the article is held in an inclined position, can be maintained even when the article is positioned horizontally with its bottom surface along the horizontal plane at the transfer object location, by at least performing a posture change operation on the holding device to bring the respective support surfaces of the pair of support portions into contact with the supported surface. Therefore, according to this structure, an article can be held in an inclined position by a holding device using a relatively simple device structure that configures the pair of support portions such that, in the holding state, the supported surface is inclined relative to the horizontal plane to support the supported surface.

[0008] 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

[0009] Figure 1 It is a 3D view of the transport vehicle.

[0010] Figure 2 This is the front view of the transport vehicle.

[0011] Figure 3 It is a diagram showing the situation of transferring an item between the holding device and the object to be transferred.

[0012] Figure 4 This is a perspective view of an article supported by a pair of supports according to the first embodiment.

[0013] Figure 5 This is a perspective view of a pair of support portions according to the first embodiment.

[0014] Figure 6 This is an explanatory diagram concerning the holding action of the article according to the first embodiment.

[0015] Figure 7 This is an explanatory diagram concerning the holding action of the article according to the first embodiment.

[0016] Figure 8 This is an explanatory diagram concerning the holding action of the article according to the first embodiment.

[0017] Figure 9 This is a perspective view of an article supported by a pair of supports according to the second embodiment.

[0018] Figure 10 This is a perspective view of a pair of support portions in relation to the second embodiment.

[0019] Figure 11 This is an explanatory diagram regarding the holding action of the article according to the second embodiment.

[0020] Figure 12 This is an explanatory diagram regarding the holding action of the article according to the second embodiment.

[0021] Figure 13 This is an explanatory diagram regarding the holding action of the article according to the second embodiment.

[0022] Figure 14 This is a perspective view of an article supported by a pair of supports according to the third embodiment.

[0023] Figure 15 This is a perspective view of a pair of support portions according to the third embodiment.

[0024] Figure 16 This is an explanatory diagram regarding the holding action of the article according to the third embodiment.

[0025] Figure 17 This is an explanatory diagram regarding the holding action of the article according to the third embodiment.

[0026] Figure 18 This is an explanatory diagram regarding the holding action of the article according to the third embodiment.

[0027] Figure 19 This is a perspective view of an article supported by a pair of supports according to the fourth embodiment.

[0028] Figure 20 This is a perspective view of a pair of support portions in relation to the fourth embodiment.

[0029] Figure 21 This is an explanatory diagram regarding the holding action of the article according to the fourth embodiment.

[0030] Figure 22 This is an explanatory diagram regarding the holding action of the article according to the fourth embodiment.

[0031] Figure 23 This is an explanatory diagram regarding the holding action of the article according to the fourth embodiment.

[0032] Figure 24 It is a control block diagram. Detailed Implementation

[0033] [First Embodiment]

[0034] Refer to the attached diagram ( Figures 1 to 8 , Figure 24 The first embodiment of the transport vehicle will be described.

[0035] Conveyor 1 in Figure 3 In the illustrated article conveying device 100, articles 90 are conveyed along the movement path 2. For example... Figures 1-3 As shown, the transport vehicle 1 includes a main body 10 that moves along a travel path 2, a holding device 20 that holds an article 90, and a lifting device 50 that raises and lowers the holding device 20 relative to the main body 10. Here, the length direction (the direction in which the travel path 2 extends) of the travel path 2 is defined as the path length direction L, and the width direction of the travel path 2 is defined as the path width direction W. The path width direction W is a direction orthogonal to both the path length direction L and the vertical direction V. Furthermore, the direction defined based on the transport vehicle 1 (i.e., the direction that changes according to the posture of the transport vehicle 1) and along the path length direction L when positioned on the travel path 2 is defined as the vehicle body front-to-back direction X, and the direction defined based on the transport vehicle 1 and along the path width direction W when positioned on the travel path 2 is defined as the vehicle body left-to-right direction Y.

[0036] The movement path 2 can be physically formed or hypothetically set. In this embodiment, the movement path 2 is physically formed using a track 3. Specifically, the article conveying device 100 has a track 3 arranged along the movement path 2 (here, a pair of tracks 3 spaced apart in 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 conveyor 1 is a ceiling conveyor 1 that travels along the movement path 2 formed along the ceiling 4. Alternatively, the conveyor 1 can be a conveyor 1 other than a ceiling conveyor 1.

[0037] like Figure 1 and Figure 2 As shown, the main body 10 includes: a traveling section 11, wheels 12 that roll on the traveling surface of tracks 3 (here, a pair of tracks 3); and a cover section 14 connected to the traveling section 11. The traveling surface of the tracks 3 is a surface facing upward V1 in the vertical direction V, and the wheels 12 rotate about an axis orthogonal to the vertical direction V. The traveling section 11 includes a driving drive section 70 (e.g., an electric motor such as a servo motor, see reference 70) that rotates the wheels 12. Figure 24 The vehicle is driven by the rotation of the drive unit 70 via the wheels 12, and the drive unit 11 travels along the track 3. Figure 2 As shown, in this embodiment, the traveling unit 11 includes a guide wheel 13 that rolls on the guide surface of the track 3. The traveling unit 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 (in this example, freely spins) about an axis along the vertical direction V. Figure 1 In the example shown, the main body 10 has a pair of driving units 11 arranged in the front-rear direction X of the vehicle body.

[0038] like Figure 1 As shown, in this embodiment, the cover 14 is supported by the travel unit 11 in a state where it is positioned below the travel unit 11 at a height V2 relative to the vertical direction V. During the movement of the transport vehicle 1, the article 90, held by the holding device 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 at least one side in the left-right direction Y of the vehicle body is open. 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.

[0039] The types of items in item 90 are not limited to these, such as Figure 2As shown, in this embodiment, the article 90 is a container with an opening 92 on its side 90b. The opening 92 is provided for taking and placing the contents relative to the article 90, and the contents are taken and placed relative to the article 90 through the opening 92. Other openings besides the opening 92 may also be formed on the side 90b of the article 90 (e.g., openings for weight reduction or cleaning, or openings formed in the structure of the article 90), but the article 90 is configured such that the contents contained in the article 90 cannot be moved outside 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 housed 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).

[0040] In this embodiment, article 90 does not have a lid that closes opening 92. For example, an open box can be used as article 90. Article 90 can also be made with a lid that closes opening 92. In this case, for example, a FOUP (Front Opening Unified Pod) can be used as article 90.

[0041] The lifting device 50 includes a lifting drive unit 71 (e.g., an electric motor such as a servo motor, see reference 20) that raises and lowers the holding device 20. Figure 24 The lifting device 50 brings the holding device 20 to the first position P1 (see reference). Figure 2 and Figure 3 ) and the second position P2, which is below the first position P1 and below V2 (refer to Figure 3 The first position P1 is the upper position in the lifting direction (vertical direction V). The first position P1 is the vertical direction V position of the holding device 20 when the main body 10 moves. That is, the first position P1 is the position of the holding device 20 when the transport vehicle 1 is moving. In this embodiment, the first position P1 is the position of the holding device 20 when the article 90 held by the holding device 20 is arranged in the internal space of the cover 14. Furthermore, the second position P2 is the vertical direction V position of the holding device 20 when the holding device 20 holds and releases the article 90. That is, the second position P2 is the position when the holding device 20 holds and releases the article 90, in other words, the position of the holding device 20 when the article 90 is transferred between the holding device 20 and the transfer target part 6. The second position P2 is set according to the height (vertical direction V) of each transfer target part 6.

[0042] exist Figure 3In the diagram, as an example of the transfer target portion 6, a loading port arranged adjacent to the processing device 5 is shown. The processing device 5 is a device that processes the article 90; in this embodiment, it processes the substrate 93 removed from the article 90. Figure 3 As shown, the article 90 is disposed in the transfer object section 6 with its opening 92 facing the processing device 5. In this embodiment, the article 90 is disposed in the transfer object section 6 in a horizontal position S2 with its opening 92 facing the horizontal direction. Therefore, it is easy to place and remove the substrate 93 relative to the article 90 through the opening 92 in the transfer object section 6.

[0043] As in Figure 2 As shown in the simplified schematic diagram, the lifting device 50 includes a rotating body 51 that is driven to rotate, and a transmission member 52 that is wound around the rotating body 51 and connected to the holding device 20. The lifting device 50 also includes the aforementioned lifting drive unit 71 (see reference 20) that drives the rotating body 51 to rotate. Figure 24 The rotating body 51 and the lifting drive unit 71 are supported by the main body 10 and, in this embodiment, are disposed in the upper V1 portion of the internal space of the cover 14. For example, it can be configured such that the transmission component 52 is a belt and the rotating body 51 is a winding pulley for winding the belt, or it can be configured such that the transmission component 52 is wire and the rotating body 51 is a winding drum for winding the wire. Figure 3 As shown, the connecting portion 52a of the transmission member 52, which is released from the rotating body 51, is connected to the holding device 20. The lifting device 50 rotates the rotating body 51 by means of the lifting drive unit 71, thereby winding or releasing the transmission member 52 and raising or lowering the holding device 20 (i.e., lifting). In this way, the lifting device 50 raises and lowers the holding device 20 while suspending and supporting it.

[0044] like Figure 2 and Figure 3 As shown, in this embodiment, the lifting device 50 includes a plurality of rotating bodies 51, with a transmission component 52 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 in this example) are connected to the holding device 20. The plurality of connecting portions 52a are connected to different parts of the holding device 20. Additionally, in Figure 2 and Figure 3 In this diagram, to indicate that the lifting device 50 has multiple rotating bodies 51, the multiple rotating bodies 51 are respectively arranged on different axes, but the multiple rotating bodies 51 can also be arranged coaxially. Furthermore, in... Figure 3In 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 is also possible to configure a structure in which the portion of the transmission component 52 that is released 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.

[0045] like Figure 4 As shown, the article 90 includes a holding portion 91 having a supported surface 91a. The supported surface 91a is a surface arranged parallel to the bottom surface 90c of the article 90, and faces downwards V2. Furthermore, "a surface arranged parallel to the bottom surface 90c" is used as a concept that includes not only surfaces arranged at a different position from the bottom surface 90c in the normal direction, but also surfaces arranged on the same plane as the bottom surface 90c. Figure 4 and Figure 5 As shown, the holding device 20 includes a pair of support portions 21, each having a support surface 22 from which the support surface 91a is supported from below V2, and uses the pair of support portions 21 to hold the article 90. Figure 2 In the example shown, the holding device 20 holds the article 90 from above V1. As described later, in this transport vehicle 1, a pair of support portions 21 are configured to support the supported surface 91a by tilting it relative to the horizontal plane in the holding state (described later). Hereinafter, the support surface 22 provided by one of the pair of support portions 21 and the support surface 22 provided by the other of the pair of support portions 21 are collectively referred to as a pair of support surfaces 22. In this embodiment, the pair of support portions 21 are formed to be mirror-symmetrical about a plane orthogonal to the first direction A (described later) at the center position between these pair of support portions 21. Furthermore, the pair of support portions 21 are arranged at the same height, and the pair of support surfaces 22 are arranged at the same height.

[0046] like Figure 4 As shown, in this embodiment, the upper surface portion (e.g., a plate-shaped top plate portion) constituting the upper surface 90a of the article 90 is used as the holding portion 91. This holding portion 91 is formed having a protruding portion that, when viewed from above (along the vertical direction V), protrudes outward relative to the side surface 90b of the article 90, and the lower surface of this protruding portion constitutes the supported surface 91a. On the other hand, in the second to fourth embodiments described later, a flange portion serving as the holding portion 91 is formed on the upper surface portion of the article 90, and the lower surface of this flange portion constitutes the supported surface 91a (see reference). Figure 9 , Figure 14 , Figure 19Furthermore, the structure of the retained part 91 is not limited to these. For example, it may be formed on the side portion of the side 90b constituting the article 90, 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 retained part 91.

[0047] The retaining device 20 includes a retaining drive 72 (e.g., a solenoid or an electric motor, see reference 72) that allows a pair of support portions 21 to approach and move away from each other in the first direction A. Figure 24 The first direction A is the arrangement direction of the pair of support portions 21 (here, the horizontal direction along the horizontal plane), and the pair of support portions 21 are arranged apart in the first direction A. The pair of support portions 21 are supported by the main body of the holding device 20, which is connected to the transmission member 52 (specifically, the connecting portion 52a), so that at least one of their position and orientation can be varied. Moreover, the holding drive 72 changes at least one of the position and orientation of each of the pair of support portions 21, causing the pair of support portions 21 to approach and move away from each other in the first direction A. In this embodiment, the holding drive 72 moves each of the pair of support portions 21 along the first direction A (i.e., changes the position in the first direction A), causing the pair of support portions 21 to approach and move away from each other in the first direction A. Figure 6 As shown, the width of the first direction A of the holding part 91 is set as the first width ΔA, and the holding drive part 72 drives the pair of support parts 21 to move away from each other in a first posture C1 such that the distance between the pair of support parts 21 is greater than the first width ΔA (see reference). Figure 6 ), and a second posture C2 that brings the pair of supports 21 closer together so that the spacing between them is smaller than the first width ΔA (see reference). Figure 4 , Figure 7 , Figure 8 ).

[0048] Here, the state in which the pair of support portions 21 are positioned in a first posture C1 and the pair of support portions 21 are configured such that at least a portion of each of the pair of support portions 21 is located V2 below the held portion 91 and the held portion 91 is located between the pair of support portions 21 is called the holding preparation state. In the holding preparation state, at least a portion of each of the pair of support surfaces 22 is disposed V2 below the supported surface 91a. In this embodiment, in the holding preparation state, the entirety of each of the pair of support surfaces 22 is disposed V2 below the supported surface 91a. In this embodiment, Figure 6 The state shown is the ready state. Furthermore, the action of changing the pair of support portions 21 from the ready state to the second posture C2 is called a posture change action. In this embodiment, from... Figure 6 The state shown Figure 7 The state transition shown is a posture change action. The second position P2 mentioned above (refer to...) Figure 3 At least a portion of each of the pair of support surfaces 22 is positioned in a holding device 20 such that it is located V2 below the supported surface 91a. That is, a holding preparation state is achieved when the holding device 20 is positioned in the second position P2, and a posture change operation is performed when the holding device 20 is positioned in the second position P2.

[0049] By performing a posture change operation at least with the holding device 20, a holding state is achieved in which the respective support surfaces 22 of the pair of support portions 21 are in contact with the supported surface 91a from below (V2). Furthermore, "in contact" between the two surfaces is not limited to surface-to-surface contact; it includes the concept of one surface's edge contacting the other surface's edge (or the portion surrounded by the edge). In this embodiment, by performing a posture change operation with the holding device 20, a holding state is achieved in which the respective support surfaces 22 of the pair of support portions 21 are positioned opposite the supported surface 91a from below (V2). Then, the holding device 20 is raised by the lifting device 50 via the lifting drive 71 to achieve the holding state. In the holding state, each of the pair of support surfaces 22 is positioned downwards (V2) away from the supported surface 91a. In this embodiment, Figure 7 The state shown is one that can be maintained. Figure 8 The state shown is the hold state.

[0050] like Figure 4 and Figure 5 As shown, the direction orthogonal to the first direction A (here, the horizontal direction) from a top view is designated as the second direction B. One side of the second direction B is designated as the first side of the second direction B1, and the other side of the second direction B (opposite to the first side of the second direction B1) is designated as the second side of the second direction B2. Figure 5 and Figure 6 As shown, in this embodiment, each of the pair of support surfaces 22 has an inclined region 30, which is inclined along a first inclined direction D1 that slopes downwards towards the first side B1 in the second direction V2. In this embodiment, the inclined region 30 is not inclined along the first direction A. Here, the inclined region 30 is formed entirely as a planar shape. Furthermore, the entire support surface 22 is set as an inclined region 30. In other words, each of the pair of support portions 21 is supported towards the main body portion of the holding device 20 with the support surface 22 inclined along the first inclined direction D1. The first inclined direction D1 is, for example, set as a direction inclined downwards at 5 degrees relative to the horizontal surface.

[0051] Each of the pair of support surfaces 22 has an inclined region 30. In the held state, the inclined regions 30 of each of the pair of support surfaces 22 are configured to connect with the supported surface 91a from below V2. Therefore, in the held state, as Figure 8As shown, the article 90 is held by the holding device 20 in an inclined posture S1 with its bottom surface 90c tilted in a direction corresponding to the first inclined direction D1. Figure 4 As shown, in this embodiment, the article 90 is held by the holding device 20 with its opening 92 facing the second side B2 in the second direction when viewed from above. Therefore, as Figure 2 and Figure 3 As shown, in this embodiment, the tilting posture S1 is set to a posture in which the opening 92 faces obliquely upward (i.e., a posture in which the substrate 93 housed in the article 90 is difficult to move from the opening 92 to the outside of the article 90), and the holding device 20 holds the article 90 in the tilting posture S1 with the opening 92 facing obliquely upward. Furthermore, along the direction of movement of the container (in this embodiment, the substrate 93) when placing or removing the container through the opening 92, the direction facing outward of the article 90 is set to the orientation of the opening 92. Because the holding device 20 holds the article 90 in this way, as... Figure 2 As shown, when the holding device 20 is in the first position P1 or in the third position P3 between the first position P1 and the second position P2, the article 90 is held by the holding device 20 in an inclined posture S1.

[0052] like Figure 4 and Figure 5 As shown, in this embodiment, each of the pair of support portions 21 further includes an abutting portion 23 that abuts against the held portion 91 from the first side B1 in the second direction. Here, "abutting" refers not only to the case where abutting is always present, but also to the case where abutting occurs when there is a gap between the held portion 91 and the abutting portion 23, and when the held portion 91 moves to the abutting portion 23 side. When the frictional force between the supported surface 91a and the support surface 22 is not sufficient to limit the extent to which the held portion 91 moves towards the first side B1 in the second direction on the support surface 22 in the held state, the article 90 is held by the holding device 20 in the state where the held portion 91 abuts against the abutting portion 23 from the second side B2 in the second direction. On the other hand, if, for example, the support surface 22 is made of a rubber component, and the friction between the supported surface 91a and the support surface 22 is such that the extent to which the held part 91 moves toward the first side B1 in the second direction on the support surface 22 in the held state can be limited, the article 90 can be held by the holding device 20 not in the state where the held part 91 abuts against the abutting part 23 from the second side B2 in the second direction, but in the state where there is a gap between the held part 91 and the abutting part 23.

[0053] The structure of the abutment portion 23 is not limited to this, but in this embodiment, the abutment portion 23 is composed of a plate-shaped member. On the other hand, in the second embodiment described later, the abutment portion 23 is composed of a columnar member (see [reference]). Figure 10Alternatively, each of the pair of support portions 21 may also have an abutment portion 23 that abuts against the held portion 91 from the second direction, on the second side B2.

[0054] exist Figure 2 In the example shown, a pair of support portions 21 are positioned in the longitudinal direction X of the vehicle body (see reference). Figure 1 In the case where the retaining device 20 is arranged in the direction of mutual approach and separation (i.e., the direction of the first direction A along the longitudinal direction X of the vehicle body), the retaining device 20 can also be arranged with a pair of support portions 21 in the direction of mutual approach and separation in the lateral direction Y of the vehicle body (i.e., the direction of the first direction A along the lateral direction Y of the vehicle body). Furthermore, in Figures 1-3 The example shown illustrates a case where the article 90 is held with the opening 92 facing the side of the vehicle body in the left-right direction Y using the holding device 20. However, the article 90 can also be held with the opening 92 facing the side of the vehicle body in the front-rear direction X using the holding device 20. Alternatively, the transport vehicle 1 can be configured to include a mechanism that allows the holding device 20 to rotate relative to the main body 10 about an axis along the vertical direction V. From the viewpoint of more reliably 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, it is preferable to configure the structure in which the article 90 is held with the opening 92 facing the wall of the cover portion 14 using the holding device 20.

[0055] like Figure 24 As shown, the goods conveying equipment 100 includes a control unit 80 that controls the movement of the conveyor 1. The control unit 80 includes a processing unit such as a CPU and peripheral circuitry such as a memory. Through the cooperation of this hardware and the program executed on the processing unit, the various functions of the control unit 80 are realized. The control unit 80 can be installed on the conveyor 1 or installed independently of the conveyor 1. Furthermore, if the control unit 80 has multiple hardware components that can communicate with each other, some of the hardware can be installed on the conveyor 1, while the remaining hardware can be installed independently of the conveyor 1.

[0056] The control unit 80 controls the drive of the driving unit 70, causing the main body 10 to move along the movement path 2. Specifically, the control unit 80 controls the drive of the driving unit 70, causing the driving 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 driving unit 11. When the control unit 80 is conveying the item 90 held by the holding device 20 to the transfer object part 6, the driving unit 11 moves while the holding device 20 holds the item 90. Furthermore, the control unit 80 controls the drive of the lifting drive unit 71, causing the lifting device 50 to lift the holding device 20. As described above, since the holding device 20 holds the item 90 in an inclined position S1, therefore... Figure 3 As shown, the article 90, held by the holding device 20, is raised and lowered in an inclined posture S1. Furthermore, the control unit 80 controls the holding drive unit 72 to perform a posture switching operation, changing the posture of the pair of support parts 21 to a first posture C1 and a second posture C2. This posture change operation is a posture switching operation from the first posture C1 to the second posture C2.

[0057] When the item 90 is transferred from the transfer target section 6 to the holding device 20 (i.e., when the item 90 is transported out from the transfer target section 6), after the control unit 80 causes the travel unit 11 to travel 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 in top view), the lifting device 50 causes the holding device 20 to lower from the first position P1 to the second position P2, so that the pair of support sections 21 are switched to the first posture C1. If the holding device 20 reaches the second position P2, the holding preparation state is achieved (see...). Figure 6 Next, the control unit 80 causes the holding device 20 to perform a posture switching operation (i.e., posture change operation) to switch the posture of the pair of support parts 21 from the first posture C1 to the second posture C2, and the state changes from the holding ready state to the holding capable state (see reference). Figure 7 ).

[0058] Once the holding state is achieved, the control unit 80 raises the holding device 20 from the second position P2 to the first position P1 by causing the lifting device 50 to perform a lifting action. After the state changes from the holding state to the holding state, the holding device 20, which holds the item 90 in an inclined posture S1, is raised to the first position P1. At this time, as the holding device 20 rises from the second position P2, the posture of the item 90 changes from the horizontal posture S2 to the inclined posture S1, thereby lifting the portion of the second side B2 in the second direction. If the holding device 20 reaches a predetermined position V1 above the second position P2, then... Figure 8 As shown, the article 90 is in an inclined position S1, with its bottom surface 90c tilted in a direction corresponding to the first inclined direction D1. Then, the holding device 20, which holds the article 90 in the inclined position S1, is raised from this predetermined position to the first position P1.

[0059] On the other hand, when the article 90 is transferred from the holding device 20 to the transfer target location 6 (i.e., when the article 90 is transported into the transfer target location 6), after the control unit 80 causes the travel unit 11 to travel the transport vehicle 1 to the position corresponding to the transfer target location 6, the lifting device 50 causes the holding device 20, which holds the article 90, to lower from the first position P1 to the second position P2. At this time, if the holding device 20 lowers to the predetermined position mentioned above, then... Figure 8 As shown, the end of the bottom surface 90c of the article 90 in the second direction, on the first side B1, contacts the transfer object portion 6. Then, as the holding device 20 descends to the second position P2, the posture of the article 90 changes from an inclined posture S1 to a horizontal posture S2 (see reference). Figure 7 That is, as the holding device 20 descends from the predetermined position to the second position P2, the state changes from the holding state to the capable holding state, and each of the pair of support surfaces 22 is positioned downward V2 away from the supported surface 91a.

[0060] Once the state that can be maintained is achieved, the control unit 80 causes the holding device 20 to perform a posture switching operation to switch the posture of the pair of support parts 21 from the second posture C2 to the first posture C1 (see reference). Figure 6 Then, the lifting device 50 performs a lifting action to raise the holding device 20 from the second position P2 to the first position P1. Thus, while the item 90 in the horizontal position S2 remains in the transfer object part 6, only the holding device 20 is raised to the first position P1.

[0061] In this embodiment, the period during which the holding device 20 is raised and lowered includes a first period during which the posture of the article 90 changes as the state transitions between a holding state and a holding state, and a second period during which the holding device 20 is raised and lowered while in the holding state. During the second period, the posture of the article 90 held by the holding device 20 does not change (in other words, the posture is maintained or substantially maintained). The first period is the period during which the holding device 20 rises from the second position P2 to the predetermined position when the article 90 is transferred from the transfer target portion 6 to the holding device 20, and the period during which the holding device 20 descends from the predetermined position to the second position P2 when the article 90 is transferred from the holding device 20 to the transfer target portion 6. Furthermore, the second period is the period during which the holding device 20, holding the article 90, rises and falls between the predetermined position and the first position P1. In this embodiment, the lifting drive unit 71 is configured such that the lifting speed of the holding device 20 during the first period is lower than the lifting speed of the holding device 20 during the second period. The lifting drive unit 71 is controlled by the control unit 80, which causes the lifting speed of the holding device 20 to change.

[0062] [Second Implementation]

[0063] Refer to the attached diagram ( Figures 9-13 The second embodiment of the transport vehicle will be described below. Hereinafter, the transport vehicle of this embodiment will be described focusing on the differences from the first embodiment. Points not specifically mentioned are the same as in the first embodiment, and are given the same reference numerals but are omitted in detail.

[0064] like Figure 10 and Figure 11 As shown, in this embodiment, each of the pair of support surfaces 22 has an inclined region 30 that is inclined along a first inclined direction D1. This is the same as in the first embodiment, but in each of the pair of support portions 21, the side of the support portion 21 closer to the other in the first direction A is designated as the first side A1 in the first direction. In this embodiment, unlike the first embodiment, at least a portion of the inclined region 30 is also inclined along a second inclined direction D2 that is inclined downwards towards the first side A1 in the first direction V2. Figure 10 As shown, in this embodiment, the entire inclined region 30 is inclined along both the first inclined direction D1 and the second inclined direction D2. Here, if the region inclined along both the first and second inclined directions D1 is defined as the first inclined region 31, and the region inclined along the first inclined direction D1 but not along the second inclined direction D2 is defined as the second inclined region 32, then in this embodiment, the entire inclined region 30 is defined as the first inclined region 31. Furthermore, in this embodiment, the first inclined region 31 is formed as a planar shape.

[0065] like Figure 10 As shown, in this embodiment, each of the pair of support surfaces 22 has a horizontal region along a horizontal plane in addition to the inclined region 30. This horizontal region is formed such that it extends horizontally from the lowest part of the inclined region 30. Specifically, the support surface 22 has a first horizontal region 41 along a horizontal plane on a first side A1 in a first direction relative to the inclined region 30, and a second horizontal region 42 along a horizontal plane on a first side B1 in a second direction relative to the inclined region 30. The first horizontal region 41 is a horizontal region disposed on the first side A1 in the first direction relative to the inclined region 30 at various positions in the second direction B, and the second horizontal region 42 is a horizontal region disposed on the first side B1 in the second direction relative to the inclined region 30 at various positions in the first direction A. Since the inclined region 30 is inclined along both the first inclined direction D1 and the second inclined direction D2, therefore... Figure 10 As shown, the boundary between the inclined region 30 and the horizontal region is inclined in a direction toward the first side A2 of the first direction as it moves toward the first side B1 of the second direction. Therefore, most of the horizontal region of the support surface 22 is disposed on the first side A1 of the first direction relative to the inclined region 30 and on the first side B1 of the second direction relative to the inclined region 30 (specifically, other parts of the inclined region 30), and the first horizontal region 41 and the second horizontal region 42 are set to be mostly common regions.

[0066] In this embodiment, in the ready-to-hold state, only a portion of each of the pair of support surfaces 22 is positioned V2 below the supported surface 91a. Specifically, in the ready-to-hold state, the lower V2 portion of the inclined region 30 (specifically, the first inclined region 31) is positioned V2 below the supported surface 91a (in this embodiment, the first horizontal region 41 and the second horizontal region 42 are also positioned V2 below the supported surface 91a), and the upper V1 portion of the inclined region 30 (specifically, the first inclined region 31) is positioned V1 above the supported surface 91a. In this embodiment, Figure 11 The state shown is the ready state. Furthermore, in this embodiment, Figure 12 The states shown represent the states during the transition between the prepared state and the held state. Figure 13 The state shown is the hold state.

[0067] In the first embodiment, the holding device 20 performs a posture change action to achieve a state that can be maintained, and then the holding device 20 is raised by the lifting device 50 to achieve the state of maintenance. In contrast, in this embodiment, as will be explained below, the holding device 20 performs a posture change action to achieve the state of maintenance.

[0068] When transferring item 90 from the transfer target section 6 to the holding device 20, after the control unit 80 causes the travel unit 11 to travel the transport vehicle 1 to the position corresponding to the transfer target section 6, the lifting device 50 causes the holding device 20, which has its pair of support sections 21 switched to the first posture C1 state, to descend from the first position P1 to the second position P2. If the holding device 20 reaches the second position P2, the holding preparation state is achieved (see reference). Figure 11 ).

[0069] Next, the control unit 80 causes the holding device 20 to perform a posture switching operation (i.e., posture change operation) to switch the posture of the pair of support portions 21 from the first posture C1 to the second posture C2. At this time, the respective inclined regions 30 (specifically, the first inclined regions 31) of the pair of support surfaces 22 contact the edge of the supported surface 91a from the second side A2 in the first direction. As the posture switching operation proceeds, the posture of the article 90 changes from the horizontal posture S2 to the inclined posture S1, so that the portion of the second side B2 in the second direction is lifted (see reference). Figure 12 If the posture switching action is completed, then as follows: Figure 13 As shown, the article 90 is in an inclined position S1, with its bottom surface 90c tilted in a direction corresponding to the first tilting direction D1. Then, the control unit 80 causes the lifting device 50 to perform a lifting action to raise the holding device 20 from the second position P2 to the first position P1. As a result, the holding device 20, which holds the article 90 in the inclined position S1, is raised from the second position P2 to the first position P1.

[0070] On the other hand, when transferring the item 90 from the holding device 20 to the transfer target location 6, after the control unit 80 causes the travel unit 11 to travel the transport vehicle 1 to the position corresponding to the transfer target location 6, the lifting device 50 causes the holding device 20, which holds the item 90, to lower from the first position P1 to the second position P2. If the holding device 20 lowers to the second position P2, then... Figure 13 As shown, the end of the bottom surface 90c of the article 90 in the second direction on the first side B1 contacts the transfer object part 6.

[0071] Next, the control unit 80 causes the holding device 20 to perform a posture switching operation, changing the posture of the pair of support portions 21 from the second posture C2 to the first posture C1. During this time, as the posture switching operation proceeds, the posture of the article 90 changes, causing the portion on the second side B2 in the second direction to descend (in other words, the angle of inclination of the bottom surface 90c relative to the horizontal plane decreases) (see reference). Figure 12 If the posture switching action is completed, then as follows: Figure 11As shown, the position of the item 90 becomes a horizontal position S2. Then, the control unit 80 causes the lifting device 50 to perform a lifting action to raise the holding device 20 from the second position P2 to the first position P1. Thus, while the item 90 in the horizontal position S2 remains in the transfer object part 6, only the holding device 20 is raised to the first position P1.

[0072] [Third Implementation]

[0073] Refer to the attached diagram ( Figures 14-18 The third embodiment of the transport vehicle will now be described. Hereinafter, the transport vehicle of this embodiment will be described focusing on its differences from the second embodiment. Points not specifically mentioned are the same as in the second embodiment, and are given the same reference numerals but are omitted in detail.

[0074] like Figure 15 and Figure 16 As shown, in this embodiment, each of the pair of support surfaces 22 has an inclined region 30 inclined along a first inclined direction D1, and at least a portion of the inclined region 30 is also inclined along a second inclined direction D2. These points are common to the second embodiment, but in this embodiment, unlike the second embodiment, only a portion of the inclined region 30 is inclined along both the first and second inclined directions D1 and D2. Specifically, at least the region of the inclined region 30 near the second side B2 of the second direction relative to the center of the second direction B (here, the entire region of the inclined region 30) sequentially includes a first inclined region 31 inclined along both the first and second inclined directions D1 and D2, and a second inclined region 32 inclined along the first inclined direction D1 but not along the second inclined direction D2, as it extends from the first side A1 of the first direction toward the second side A2 of the first direction (opposite to the first side A1 of the first direction). The first inclined region 31 and the second inclined region 32 are formed continuously in the first direction A.

[0075] Furthermore, unlike the second embodiment, in this embodiment, such as Figure 15 and Figure 17 As shown, the first inclined region 31 is formed as a curved surface such that the angle of inclination relative to the horizontal plane gradually increases as it moves from the first side A1 in the first direction towards the second side A2 in the first direction, and then the angle gradually decreases. On the other hand, the second inclined region 32 is formed as a planar surface. In this embodiment, Figure 16 The state shown is the ready state. Figure 17 The states shown represent the states during the transition between the prepared state and the held state. Figure 18The state shown is the holding state. In the second embodiment, in the holding state, the first inclined regions 31 of each of the pair of support surfaces 22 are configured to connect with the supported surface 91a from below V2. In contrast, in this embodiment, in the holding state, the second inclined regions 32 of each of the pair of support surfaces 22 are configured to connect with the supported surface 91a from below V2.

[0076] When transferring the article 90 from the transfer target portion 6 to the holding device 20, or when transferring the article 90 from the holding device 20 to the transfer target portion 6, the control unit 80, as in the second embodiment, controls the driving action of the driving unit 11, the posture switching action of the holding device 20, and the lifting action of the lifting device 50. However, in this embodiment, in the holding state, instead of the respective first inclined regions 31 of the pair of support surfaces 22, the respective second inclined regions 32 of the pair of support surfaces 22 are configured to contact the supported surface 91a from below V2. Therefore, in this embodiment, when the holding device 20 performs a posture change operation (a posture change operation that switches the posture of the pair of support portions 21 from the first posture C1 to the second posture C2), the posture of the article 90 changes from the horizontal posture S2 to the inclined posture S1 after the respective first inclined regions 31 of the pair of support surfaces 22 contact the edge of the supported surface 91a from the first direction to the second side A2. (Refer to...) Figure 17 The posture change action continues until the ends of both sides of the supported surface 91a in the first direction A reach the respective second inclined regions 32 of the pair of supported surfaces 22. If the posture change action is completed, the posture of the article 90 becomes the inclined posture S1 of the supported surface 91a along the second inclined region 32 (see reference). Figure 18 ).

[0077] [Fourth Implementation]

[0078] Refer to the attached diagram ( Figures 19-23 The fourth embodiment of the transport vehicle will be described below. Hereinafter, the transport vehicle of this embodiment will be described focusing on the differences from the first embodiment. Points not specifically mentioned are the same as in the first embodiment, and are given the same reference numerals but are omitted in detail.

[0079] In the first, second, and third embodiments described above, by providing inclined regions 30 inclined along the first inclined direction D1 in each of the pair of support surfaces 22, the pair of support portions 21 are configured such that, in the holding state, the supported surface 91a is inclined relative to the horizontal plane to support the supported surface 91a. In contrast, in this embodiment, as... Figure 23As shown, one of the pair of support portions 21 has a support surface 22 designated as a first support surface 22a, and the other of the pair of support portions 21 has a support surface 22 designated as a second support surface 22b. By positioning the first support surface 22a above the second support surface 22b by a distance V1, the pair of support portions 21 are configured such that, in a held state, the supported surface 91a is inclined relative to the horizontal plane to support the supported surface 91a. In this embodiment, Figure 21 The state shown is the ready state. Figure 22 The states shown represent the states during the transition between the prepared state and the held state. Figure 23 The state shown is the hold state.

[0080] In this embodiment, in the holding state, the article 90 is held by the holding device 20 in an inclined posture S1, with its bottom surface 90c tilted downwards in a direction V2 along one side facing the first direction A (from the side facing the second support surface 22b). Specifically, in the holding state, the article 90 is held by the holding device 20 in an inclined posture S1, with its bottom surface 90c tilted downwards in a direction V2 along one side facing the first direction A at an angle corresponding to the height difference between the first support surface 22a and the second support surface 22b. In this embodiment, as... Figure 19 As shown, the article 90 is held by the holding device 20 with its opening 92 facing towards the first direction A (from the side of the second support surface 22b towards the first support surface 22a) when viewed from above. Therefore, in this embodiment, the tilting posture S1 is set to a posture with the opening 92 facing obliquely upward. In addition, unlike the embodiments described above, in this embodiment, the first support surface 22a and the second support surface 22b do not have tilting regions 30 that tilt along the first tilting direction D1. That is, the first support surface 22a and the second support surface 22b are not tilted along the second direction B.

[0081] like Figure 20 As shown, in this embodiment, the first support surface 22a includes an object region 60, which is inclined downwards in a direction V2 as it moves toward the first side A1 in the first direction. In this embodiment, the object region 60 is formed as a curved surface such that the angle of inclination relative to the horizontal plane gradually increases and then gradually decreases as it moves from the first side A1 in the first direction toward the second side A2 in the first direction. On the other hand, in this embodiment, the second support surface 22b is formed entirely as a plane along the horizontal plane. Thus, unlike the embodiments described above, in this embodiment, the pair of support portions 21 are not formed in a shape that is mirror-symmetrical to each other.

[0082] At least the upper V1 portion of the object region 60 (here, the entire object region 60) is positioned above the second support surface 22b by V1. In the held state, the portion of the first support surface 22a positioned above the second support surface 22b by V1 is configured to connect with the supported surface 91a from below by V2. Furthermore, in Figure 23 In the example shown, in the holding state, the boundary portion of the object region 60 and the planar portion provided on the second side A2 in the first direction relative to the object region 60 are connected to the supported surface 91a from below V2. However, the planar portion included in the first supported surface 22a may also be formed to be inclined in a direction that is inclined to the lower V2 along the first side A1 in the first direction, so that the planar portion is connected to the supported surface 91a from below V2 in the holding state.

[0083] In this embodiment, in the holding ready state, only a portion of the first support surface 22a and the entirety of the second support surface 22b are positioned V2 below the supported surface 91a. Specifically, in the holding ready state, the lower V2 portion of the target region 60 and the entirety of the second support surface 22b are positioned V2 below the supported surface 91a, and the upper V1 portion of the target region 60 is positioned V1 above the supported surface 91a. Moreover, in this embodiment, similar to the second and third embodiments, the holding state is achieved by the holding device 20 performing a posture change operation.

[0084] When transferring the article 90 from the transfer target portion 6 to the holding device 20, or when transferring the article 90 from the holding device 20 to the transfer target portion 6, the control unit 80, as in the second embodiment, controls the driving action of the driving unit 11, the posture switching action of the holding device 20, and the lifting action of the lifting device 50. However, in this embodiment, when the holding device 20 performs a posture switching action (i.e., posture change action) to switch the pair of support portions 21 from the first posture C1 to the second posture C2 in order to hold the article 90, the target area 60 of the first support surface 22a contacts the edge of the supported surface 91a from the second side A2 in the first direction. As the posture switching action proceeds, the posture of the article 90 changes from the horizontal posture S2 to the inclined posture S1, so that the portion on one side of the first direction A (the side from the second support surface 22b toward the first support surface 22a) is lifted (see reference). Figure 22 If the posture switching action is completed, then as follows: Figure 23 As shown, the posture of the article 90 is an inclined posture S1 in which the supported surface 91a is tilted in relation to the height difference between the first supported surface 22a and the second supported surface 22b.

[0085] On the other hand, when the holding device 20 performs a posture switching action to change the pair of support portions 21 from the second posture C2 to the first posture C1 in order to release the holding of the article 90, the posture of the article 90 changes as the posture switching action proceeds, causing the portion on one side of the first direction A (the side from the second support surface 22b toward the first support surface 22a) to drop (in other words, the angle of inclination of the bottom surface 90c relative to the horizontal plane becomes smaller) (see reference). Figure 22 If the posture switching action is completed, then as follows: Figure 21 As shown, the posture of item 90 becomes horizontal posture S2.

[0086] [Other Implementation Methods]

[0087] Next, other implementations of the transport vehicle will be described.

[0088] (1) In the above-described embodiments 2 to 4, the structure for achieving the holding state by performing a posture change operation through the holding device 20 was described as an example. However, this disclosure is not limited to such a structure. In the above-described embodiments 2 to 4, the structure for achieving the holding state by performing a posture change operation through the holding device 20, and then achieving the holding state by raising the holding device 20 through the lifting device 50, is also possible, similar to the first embodiment. In this case, similar to the first embodiment, in the holding preparation state, each of the pair of support surfaces 22 is positioned below the supported surface 91a by a total distance V2. By raising the holding device 20 from the holding state, the posture of the article 90 changes from a horizontal posture S2 to an inclined posture S1.

[0089] (2) The following structure is used as an example: In the second embodiment described above, the first inclined region 31 is formed as a planar shape; in the third embodiment described above, the first inclined region 31 is formed as a curved surface such that the angle of inclination relative to the horizontal plane gradually increases as it moves from the first side A1 in the first direction toward the second side A2 in the first direction, and then the angle of inclination gradually decreases. However, this disclosure is not limited to such a structure, and the first inclined region 31 may be formed as a curved surface as described above in the second embodiment, and the first inclined region 31 may be formed as a planar shape in the third embodiment.

[0090] (3) In the fourth embodiment described above, the object region 60 is described as having a curved structure in which the angle of inclination relative to the horizontal plane gradually increases as it moves from the first side A1 in the first direction toward the second side A2 in the first direction. However, this disclosure is not limited to such a structure, and the object region 60 may also be formed as a planar structure.

[0091] (4) In the fourth embodiment described above, an example was given of a structure in which the first support surface 22a has an object region 60 that is inclined downwards in a direction V2 toward the first side A1 in the first direction. However, this disclosure is not limited to such a structure, and it is also possible to make a structure in which the first support surface 22a does not have an object region 60 (for example, the first support surface 22a, which is formed as a plane along the horizontal plane, is positioned above the second support surface 22b, which is formed as a plane along the horizontal plane, by a position V1 above it). In this case, the structure can be made in the same way as in the first embodiment: in the holding preparation state, the entirety of the first support surface 22a and the second support surface 22b is positioned below the supported surface 91a by a position change operation performed by the holding device 20 to achieve a holding state, and then the holding device 20 is raised by the lifting device 50 to achieve the holding state. In this case, instead of a flange portion, the upper surface portion of the article 90 can be made as the held portion 91 in the same way as in the first embodiment. Furthermore, in embodiments 2 to 4, the bottom surface of the article 90 may be configured as the holding part 91.

[0092] (5) In the first embodiment described above, the structure in which the lifting drive unit 71 makes the lifting speed of the holding device 20 in the first period lower than the lifting speed of the holding device 20 in the second period was described as an example. However, this disclosure is not limited to such a structure, and it is also possible to make the structure in which the lifting drive unit 71 makes the lifting speed of the holding device 20 in the first period the same as the lifting speed of the holding device 20 in the second period.

[0093] (6) 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 there is no contradiction. Regarding other structures, the embodiments disclosed in this specification are merely illustrative in all respects. Therefore, various changes can be made appropriately without departing from the spirit of this disclosure.

[0094] [Summary of the above embodiments]

[0095] The following is a summary of the transport vehicle described above.

[0096] A transport vehicle for transporting articles includes a main body that moves along a travel path, a holding device for holding the articles, and a lifting device for raising and lowering the holding device relative to the main body. The articles include a holding portion having a supported surface, the supported surface being a surface arranged parallel to the bottom surface of the article and facing downwards. The holding device includes a pair of support portions and a holding drive portion for bringing the pair of support portions closer together and further apart in a first direction. Each pair of support portions has a support surface that supports the held surface from below. The width of the held portion in the first direction is defined as a first width, and the holding drive portion drives the pair of support portions to move apart in a first posture such that the distance between the pair of support portions is greater than the first width. And bring them close to a second posture in which the interval between the pair of aforementioned support portions is smaller than the first width; the action of making the pair of aforementioned support portions into the second posture is defined as a posture change action, the state being that the pair of aforementioned support portions are in the first posture and the pair of aforementioned support portions are configured such that at least a portion of each of the pair of aforementioned support portions is located below the aforementioned held portion and the aforementioned held portion is located between the pair of aforementioned support portions, the posture change action is performed by at least the aforementioned holding device, and a holding state in which the respective aforementioned support surfaces of the pair of aforementioned support portions are connected to the aforementioned supported surface from below is achieved; the pair of aforementioned support portions are configured such that, in the aforementioned holding state, the aforementioned supported surface is tilted relative to the horizontal plane and the aforementioned supported surface is supported.

[0097] According to this structure, since the pair of support portions are configured such that, in the holding state, the supported surface, which is parallel to the bottom surface of the article, is inclined relative to the horizontal plane, the article can be held in an inclined position with its bottom surface tilted relative to the horizontal plane by the holding device. Furthermore, this holding state, where the article is held in an inclined position, can be maintained even when the article is positioned horizontally with its bottom surface along the horizontal plane at the transfer object location, by at least performing a posture change operation on the holding device to bring the respective support surfaces of the pair of support portions into contact with the supported surface. Therefore, according to this structure, an article can be held in an inclined position by a holding device using a relatively simple device structure that configures the pair of support portions such that, in the holding state, the supported surface is inclined relative to the horizontal plane to support the supported surface.

[0098] Here, preferably, the direction orthogonal to the aforementioned first direction when viewed from above is designated as the second direction, one side of the aforementioned second direction is designated as the first side of the second direction, and the aforementioned support surface has an inclined region, which is inclined in a first inclined direction downward as it moves toward the first side of the aforementioned second direction.

[0099] According to this structure, by achieving the holding state, an article can be held in an inclined posture with its bottom surface tilted in a direction corresponding to the first inclined direction by a holding device. In addition, this holding state in which the article is held in an inclined posture can be achieved even when the article is arranged in a horizontal posture on the transfer object part, by bringing the inclined area into contact with the supported surface and moving the supported surface along the inclined area, so that the posture of the article changes from a horizontal posture to an inclined posture.

[0100] In the structure in which the aforementioned support surface has the aforementioned inclined region as described above, it is preferable that each of the aforementioned support portions further has an abutting portion that abuts against the aforementioned retaining portion from the first side in the aforementioned second direction.

[0101] According to this structure, since the retaining part can be restricted from moving in the second direction to the first side on the support surface by the abutting part, the retaining state can be properly maintained even when the friction between the supported surface and the support surface is small.

[0102] Furthermore, preferably, in each of the aforementioned support portions, the side of the aforementioned support portion closer to the other in the aforementioned first direction is designated as the first side of the first direction, and at least a portion of the aforementioned inclined region is also inclined in a second inclined direction downwards as it moves toward the first side of the aforementioned first direction.

[0103] According to this structure, by performing a posture change action, the regions in the tilted region that are tilted in both the first and second tilted directions come into contact with the supported surface from the side opposite to the first side in the first direction. As the posture change action proceeds, the posture of the article can be changed such that the supported surface is along the tilted region.

[0104] In a structure in which at least a portion of the aforementioned inclined region is also inclined along the aforementioned second inclined direction, it is preferable that the aforementioned support surface has a first horizontal region along the horizontal plane on the first side of the aforementioned first direction relative to the aforementioned inclined region.

[0105] According to this structure, for example, during the posture change of an article with the supported surface along an inclined region, the posture of the article can be stably changed by using a first horizontal region as a region for supporting the supported surface. Furthermore, for example, by supporting a portion of the supported surface with the first horizontal region in a held state, the supported surface can be stably supported.

[0106] In the structure described above, where the support surface has the first horizontal region on the first side of the first direction relative to the inclined region, it is preferable that the side opposite to the first side of the first direction is designated as the second side of the first direction, and the side opposite to the first side of the second direction is designated as the second side of the second direction. At least the region of the inclined region that is close to the second side of the second direction relative to the central portion of the second direction has a first inclined region that is inclined in both the first and second inclined directions, and a second inclined region that is inclined in the first inclined direction but not in the second inclined direction, as it moves from the first side of the first direction toward the second side of the first direction.

[0107] According to this structure, by performing a posture change action to bring the first inclined region into contact with the supported surface from the first direction to the second side, the posture of the article can be changed as the posture change action proceeds, with the supported surface along the first inclined region. Furthermore, if the supported surface reaches the second inclined region, a holding state in which the article is positioned with the supported surface along the second inclined region can be achieved. Since the second inclined region is not inclined along the second inclined direction, it is easy to ensure a large contact area between the supported surface and the second inclined region, thereby enabling stable support of the supported surface in the holding state.

[0108] Furthermore, in a structure in which at least a portion of the aforementioned inclined region is also inclined along the aforementioned second inclined direction, it is preferable to designate the side opposite to the aforementioned first direction first side as the first side of the first direction, and the region in the aforementioned inclined region that is inclined along both the aforementioned first and second inclined directions is formed into a curved surface such that the angle of inclination relative to the horizontal plane gradually increases as it moves from the aforementioned first side of the first direction toward the aforementioned second side of the first direction, and then the angle of inclination gradually decreases.

[0109] According to this structure, compared with the case where the regions in the inclined region that are inclined in the first and second inclined directions are formed as planes, the posture change of the object that is accompanied by the posture change action can be made smooth, making the object less prone to vibration.

[0110] Furthermore, preferably, the aforementioned support surface has a second horizontal region along the horizontal plane on the first side of the aforementioned second direction relative to the aforementioned inclined region.

[0111] According to this structure, for example, during the posture change of an article with the supported surface along an inclined region, the posture of the article can be stably changed by using a second horizontal region as a region for supporting the supported surface. Furthermore, for example, in a held state, the supported surface can be stably supported by supporting a portion of the supported surface with the second horizontal region.

[0112] Furthermore, it is preferable to designate the support surface of one of the pair of aforementioned support portions as the first support surface and the support surface of the other of the pair of aforementioned support portions as the second support surface, with the first support surface being positioned above the second support surface.

[0113] According to this structure, by achieving the holding state, an article can be held in an inclined posture with the holding device in a direction that is tilted downwards along one side toward the first direction (the side from the first support surface toward the second support surface). Furthermore, this holding state, in which the article is held in an inclined posture, can be achieved even when the article is positioned horizontally on the transfer object site. This can be achieved by bringing the first and second support surfaces into contact with the supported surface, changing the article's posture from horizontal to inclined, so that the supported surface tilts accordingly to the height difference between the first and second support surfaces.

[0114] In a structure in which the first support surface is positioned above the second support surface as described above, it is preferable that, in each of the pair of support portions, the side of the support portion closer to the other in the first direction is designated as the first side in the first direction, and the first support surface has an object region that is inclined downward in a direction toward the first side in the first direction.

[0115] According to this structure, by performing a posture change action to make the object area in the first support surface contact the supported surface from the first direction to the first side, the posture of the article can be changed as the posture change action proceeds, so that the supported surface tilts in accordance with the height difference between the first support surface and the second support surface.

[0116] In the structure where the first support surface has the object area as described above, it is preferable to designate the side opposite to the first side in the first direction as the second side in the first direction, and the object area is formed as a curved surface such that the angle of inclination relative to the horizontal plane gradually increases from the first side in the first direction toward the second side in the first direction and then gradually decreases.

[0117] According to this structure, compared with the case where the object area is formed as a plane, the posture change of the object that is accompanied by the posture change action can be made smooth, making the object less prone to vibration.

[0118] Furthermore, preferably, the aforementioned lifting device includes a lifting drive unit that raises and lowers the aforementioned holding device; by performing the aforementioned posture change operation through the aforementioned holding device, a holding state is achieved in which the respective support surfaces of the pair of aforementioned support portions are facing each other from below relative to the supported surfaces; then, the aforementioned lifting device raises the aforementioned holding device by means of the aforementioned lifting drive unit to achieve the aforementioned holding state; during the period when the aforementioned holding device is raised and lowered, there is a first period in which the posture of the aforementioned article changes as the state changes between the aforementioned holding state and the aforementioned holding state, and a second period in which the aforementioned holding device is raised and lowered in the aforementioned holding state; the aforementioned lifting drive unit makes the raising and lowering speed of the aforementioned holding device in the first period lower than the raising and lowering speed of the aforementioned holding device in the second period.

[0119] According to this structure, by making the lifting speed of the holding device in the first period lower than that in the second period, the article is less likely to vibrate in the first period, which is more prone to vibration due to changes in the article's posture compared to the second period.

[0120] Furthermore, it is preferable that the aforementioned article is a container with an opening on the side; the aforementioned holding device holds the aforementioned article in a posture with the aforementioned opening facing diagonally upward.

[0121] According to this structure, when the article is a container with an opening on the side, the article can be held in a position where the contents contained therein are not easily moved from the opening to the outside of the article by the holding device.

[0122] The transport vehicle disclosed herein is sufficient as long as it can achieve at least one of the aforementioned effects.

[0123] Explanation of reference numerals in the attached figures

[0124] 1: Conveyor vehicle

[0125] 2: Movement Path

[0126] 10: Main body

[0127] 20: Holding device

[0128] 21: Support section

[0129] 22: Support surface

[0130] 22a: First support surface

[0131] 22b: Second support surface

[0132] 23: Butt part

[0133] 30: Sloping area

[0134] 31: First inclined region

[0135] 32: Second tilted region

[0136] 41: Level 1 area

[0137] 42: Level 2 area

[0138] 50: Lifting device

[0139] 60: Object area

[0140] 71: Lifting Drive Unit

[0141] 72: Maintain drive unit

[0142] 90: Items

[0143] 90b: Side view

[0144] 90c: Bottom surface

[0145] 91: The part that is kept

[0146] 91a: Supported surface

[0147] 92: Opening

[0148] A: Direction 1

[0149] A1: First direction, first side

[0150] A2: First direction, second side

[0151] B: Direction 2

[0152] B1: Second direction, first side

[0153] B2: Second direction, second side

[0154] C1: First Posture

[0155] C2: Second Posture

[0156] D1: First tilt direction

[0157] D2: Second tilt direction

[0158] V1: Above

[0159] V2: Below

[0160] ΔA: First width.

Claims

1. A transport vehicle that transports an article, characterized by comprising: a main body that moves along a movement path; a holding device that holds the article; and a lifting device that lifts the holding device with respect to the main body. The article has a held portion that is formed with a held surface that is a surface arranged in parallel with a bottom surface of the article and that faces downward. The holding device has a pair of support portions each having a support surface that supports the held surface from below, and a holding drive portion that causes the pair of support portions to approach and separate from each other in a first direction. The width of the held portion in the first direction is set as a first width. The holding drive portion drives the pair of support portions to separate to a first posture in which the interval of the pair of support portions is larger than the first width, and to approach to a second posture in which the interval of the pair of support portions is smaller than the first width. An operation that causes the pair of support portions to become the second posture from a state in which the pair of support portions is in the first posture and in which the pair of support portions is arranged such that at least a part of each of the pair of support portions is positioned lower than the held portion and the held portion is positioned between the pair of support portions is set as a posture change operation. The posture change operation is performed by at least the holding device, and a state in which the support surfaces of the pair of support portions contact the held surface from below is achieved. The pair of support portions is configured to support the held surface by inclining the held surface with respect to a horizontal plane in the holding state.

2. The transport vehicle according to claim 1, characterized in that: a direction orthogonal to the first direction in a plan view is set as a second direction, and one side of the second direction is set as a second direction first side, the support surface has an inclined region that is inclined in a first inclined direction that faces downward as it faces the second direction first side.

3. The transport vehicle according to claim 2, characterized in that: each of the pair of support portions further has an abutting portion that abuts against the held portion from the second direction first side.

4. The transport vehicle according to claim 2, characterized in that: in each of the pair of support portions, a side closer to the other support portion in the first direction is set as a first direction first side, at least a part of the inclined region is also inclined in a second inclined direction that faces downward as it faces the first direction first side.

5. The transport vehicle according to claim 3, characterized in that: in each of the pair of support portions, a side closer to the other support portion in the first direction is set as a first direction first side, at least a part of the inclined region is also inclined in a second inclined direction that faces downward as it faces the first direction first side.

6. The transport vehicle according to claim 4, characterized in that: the support surface has a first horizontal region that is along a horizontal plane on the first direction first side with respect to the inclined region.

7. The transport vehicle according to claim 5, characterized in that: ​ The aforementioned support surface has a first horizontal region along a horizontal plane on a first side of the aforementioned first direction.

8. The transport vehicle according to claim 6, wherein The side opposite to the first side of the first direction is set as a second side of the first direction, and the side opposite to the first side of the second direction is set as a second side of the second direction. At least a region of the aforementioned inclined region, which is on the second side of the second direction with respect to the center part of the second direction, has a first inclined region inclined in both the first inclined direction and the second inclined direction, and a second inclined region inclined in the first inclined direction and not inclined in the second inclined direction, in order from the first side of the first direction toward the second side of the first direction.

9. The transport vehicle according to claim 7, wherein The side opposite to the first side of the first direction is set as a second side of the first direction, and the side opposite to the first side of the second direction is set as a second side of the second direction. At least a region of the aforementioned inclined region, which is on the second side of the second direction with respect to the center part of the second direction, has a first inclined region inclined in both the first inclined direction and the second inclined direction, and a second inclined region inclined in the first inclined direction and not inclined in the second inclined direction, in order from the first side of the first direction toward the second side of the first direction.

10. The transport vehicle according to claim 4, wherein The side opposite to the first side of the first direction is set as a second side of the first direction. A region of the aforementioned inclined region, which is inclined in both the first inclined direction and the second inclined direction, is formed in a curved surface shape in which an inclination angle with respect to a horizontal plane gradually increases and then gradually decreases as it goes from the first side of the first direction toward the second side of the first direction.

11. The transport vehicle according to claim 5, wherein The side opposite to the first side of the first direction is set as a second side of the first direction. A region of the aforementioned inclined region, which is inclined in both the first inclined direction and the second inclined direction, is formed in a curved surface shape in which an inclination angle with respect to a horizontal plane gradually increases and then gradually decreases as it goes from the first side of the first direction toward the second side of the first direction.

12. The transport vehicle according to claim 6, wherein The side opposite to the first side of the first direction is set as a second side of the first direction. A region of the aforementioned inclined region, which is inclined in both the first inclined direction and the second inclined direction, is formed in a curved surface shape in which an inclination angle with respect to a horizontal plane gradually increases and then gradually decreases as it goes from the first side of the first direction toward the second side of the first direction.

13. The transport vehicle according to claim 7, wherein The side opposite to the first side of the first direction is set as a second side of the first direction. The region in the aforementioned inclined region that is inclined in both the aforementioned first inclined direction and the aforementioned second inclined direction is formed in a curved surface shape that gradually increases in inclination angle with respect to the horizontal plane as it goes from the first side of the first direction toward the second side of the first direction and then gradually decreases in the inclination angle.

14. The transport vehicle according to claim 8, wherein the second side of the first direction is set as the side opposite the first side of the first direction, the region in the aforementioned inclined region that is inclined in both the aforementioned first inclined direction and the aforementioned second inclined direction is formed in a curved surface shape that gradually increases in inclination angle with respect to the horizontal plane as it goes from the first side of the first direction toward the second side of the first direction and then gradually decreases in the inclination angle.

15. The transport vehicle according to claim 9, wherein the second side of the first direction is set as the side opposite the first side of the first direction, the region in the aforementioned inclined region that is inclined in both the aforementioned first inclined direction and the aforementioned second inclined direction is formed in a curved surface shape that gradually increases in inclination angle with respect to the horizontal plane as it goes from the first side of the first direction toward the second side of the first direction and then gradually decreases in the inclination angle.

16. The transport vehicle according to any one of claims 2 to 15, wherein the aforementioned support surface has a second horizontal region that is horizontal with respect to the aforementioned inclined region on the first side of the second direction.

17. The transport vehicle according to claim 1, wherein the aforementioned support surface provided by one of the pair of aforementioned support portions is set as a first support surface, and the aforementioned support surface provided by the other of the pair of aforementioned support portions is set as a second support surface, the aforementioned first support surface is disposed higher than the aforementioned second support surface.

18. The transport vehicle according to claim 17, wherein in each of the pair of aforementioned support portions, the side of the aforementioned first direction that is closer to the other of the pair of aforementioned support portions is set as a first side of the first direction, the aforementioned first support surface has an object region that is inclined in a direction that goes downward as it goes toward the first side of the first direction.

19. The transport vehicle according to claim 18, wherein the second side of the first direction is set as the side opposite the first side of the first direction, the aforementioned object region is formed in a curved surface shape that gradually increases in inclination angle with respect to the horizontal plane as it goes from the first side of the first direction toward the second side of the first direction and then gradually decreases in the inclination angle.

20. The transport vehicle according to any one of claims 1 to 15, 17 to 19, wherein the aforementioned lifting device has a lifting drive portion that lifts the aforementioned holding device; the aforementioned posture changing operation is performed by the aforementioned holding device to achieve a state in which the aforementioned support surface of each of the pair of aforementioned support portions is opposed to the aforementioned supported surface from below, and then the aforementioned holding device is lifted by the aforementioned lifting drive portion of the aforementioned lifting device to achieve the aforementioned held state; The period during which the holding device is raised includes a first period in which the posture of the article changes as the state transitions between the state in which the article can be held and the state in which the article is held, and a second period in which the holding device is raised in the state in which the article is held. The raising drive portion raises the holding device at a lower speed in the first period than in the second period.

21. The transport vehicle according to claim 16, wherein The raising device includes a raising drive portion that raises the holding device. The posture changing operation is performed by the holding device to achieve a state in which the respective support surfaces of the pair of support portions face the supported surface from below, and then the holding device is raised by the raising device with the raising drive portion to achieve the state in which the article is held. The period during which the holding device is raised includes a first period in which the posture of the article changes as the state transitions between the state in which the article can be held and the state in which the article is held, and a second period in which the holding device is raised in the state in which the article is held. The raising drive portion raises the holding device at a lower speed in the first period than in the second period.

22. The transport vehicle according to any one of claims 1 to 15 and 17 to 19, wherein The article is a container having an opening in a side surface. The holding device holds the article in a posture in which the opening faces obliquely upward.

23. The transport vehicle according to claim 16, wherein The article is a container having an opening in a side surface. The holding device holds the article in a posture in which the opening faces obliquely upward.

24. The transport vehicle according to claim 20, wherein The article is a container having an opening in a side surface. The holding device holds the article in a posture in which the opening faces obliquely upward.

25. The transport vehicle according to claim 21, wherein The article is a container having an opening in a side surface. The holding device holds the article in a posture in which the opening faces obliquely upward.

Images