tote cart

Abstract

The present application relates to a carrier for carrying an article, in which a width of a first direction (Z) of a holding portion (91) is set to a first width, and a holding drive portion (72) drives a pair of support portions (31, 32) to a first posture in which the pair of support portions (31, 32) are separated in a manner that the interval of the pair of support portions (31, 32) becomes larger than the first width, and a second posture (C2) in which the pair of support portions (31, 32) are approached in a manner that the interval of the pair of support portions (31, 32) becomes smaller than the first width. The holding device (20) is provided with a linkage mechanism (40) that is linked with a change in posture between the first posture and the second posture (C2) of the pair of support portions (31, 32) to change an inclination angle (A) of a device main body portion (21) with respect to a horizontal plane H.

Description

TECHNICAL FIELD

[0001] The present application relates to a carrier for carrying an article. BACKGROUND

[0002] An example of a carrier as described above is disclosed in Japanese Patent Application Publication No. 2012-64799 (Patent Document 1). Hereinafter, the reference numerals shown in brackets in the description of the background art are those of Patent Document 1. In Patent Document 1, as a carrier for carrying an article, a ceiling carrier (A) for carrying a housing container (4) is disclosed. The ceiling carrier (A) is provided with a traveling section (11) that travels along a traveling path (3), a holding section (10) that holds the housing container (4), and a lifting device that lifts the holding section (10) with respect to the traveling section (11).

[0003] In Patent Document 1, the housing container (4) is an open-type wafer cassette in which an opening (6) for allowing a substrate (5) to enter and exit is formed in a side surface. In order to prevent the substrate (5) from flying out of the opening (6) of the housing container (4) held by the holding section (10), a flying-out prevention mechanism (9) is provided in the ceiling carrier (A) of Patent Document 1, and the aforementioned flying-out prevention mechanism (9) is provided with a contact body (26) that is movable to a contact position at which the contact body (26) contacts the side surface of the substrate (5) and a separation position at which the contact body (26) is separated from the side surface of the substrate (5).

[0004] Vibration during traveling of the carrier is likely to be transmitted to the article held by the holding device, and therefore, regardless of the presence or absence of a mechanism such as the flying-out prevention mechanism of Patent Document 1, it is desirable that the article be held by the holding device in a holding posture in which the allowance with respect to vibration is easily ensured. In Patent Document 1, the article is a container having an opening portion in a side surface, and therefore, for example, a tilted posture in which the opening portion is directed upward diagonally is a holding posture in which the contents (substrate in Patent Document 1) are less likely to move from the opening portion to the outside of the article, that is, a holding posture in which the allowance with respect to vibration is easily ensured.

[0005] As described above, there are cases in which it is desirable that the article be held by the holding device in a specific holding posture (for example, the aforementioned tilted posture), but there are cases in which the desirable holding posture is not consistent with the posture of the article at the transfer destination (a position at which the article is transferred between the holding section). For example, in Patent Document 1, as shown in FIG. 1 of the document, the article is not disposed in the tilted posture but in a horizontal posture in which the opening portion is directed in the horizontal direction at the transfer destination. In such a case in which the desirable holding posture is not consistent with the posture of the article at the transfer destination, if a mechanism for changing the posture of the article in order to hold the article in the desirable holding posture is provided at the transfer destination, and if the posture change operation of the article is performed at the transfer destination in addition to the transfer operation of the article between the holding device and the transfer destination, there is a possibility that the processing efficiency of the article will decrease. Figure 5 As described above, there are cases in which it is desirable that the article be held by the holding device in a specific holding posture (for example, the aforementioned tilted posture), but there are cases in which the desirable holding posture is not consistent with the posture of the article at the transfer destination (a position at which the article is transferred between the holding section). For example, in Patent Document 1, as shown in FIG. 1 of the document, the article is not disposed in the tilted posture but in a horizontal posture in which the opening portion is directed in the horizontal direction at the transfer destination. In such a case in which the desirable holding posture is not consistent with the posture of the article at the transfer destination, if a mechanism for changing the posture of the article in order to hold the article in the desirable holding posture is provided at the transfer destination, and if the posture change operation of the article is performed at the transfer destination in addition to the transfer operation of the article between the holding device and the transfer destination, there is a possibility that the processing efficiency of the article will decrease. SUMMARY

[0006] Therefore, it is desirable to realize a technique capable of holding, by means of a holding device, an article that has been arranged at a transfer target site in a different posture from a desired holding posture, in the desired holding posture.

[0007] The cart of the present application is a cart that carries an article, characterized by comprising a main body portion 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 portion, the article comprising a held portion that is formed with a supported surface that is arranged in parallel with a bottom surface of the article, facing downward, the holding device comprising a pair of support portions that are arranged in line in a first direction, supporting the supported surface from below, a device main body portion that supports each of the pair of support portions so as to be movable in the first direction, and a holding drive portion that causes the pair of support portions to approach and separate from each other in the first direction, the width of the held portion in the first direction being a first width, the holding drive portion driving the pair of support portions so as to separate in a first posture in which the interval between the pair of support portions is greater than the first width, and approach in a second posture in which the interval between the pair of support portions is smaller than the first width, the holding device comprising a linkage mechanism that links a change in posture between the first posture and the second posture of the pair of support portions, and changes the inclination angle of the device main body portion with respect to the horizontal plane.

[0008] In this structure, at least a posture change operation that changes the posture of the pair of support portions from the first posture to the second posture from a state in which the pair of support portions is arranged such that at least a portion of each of the pair of support portions is positioned lower than the held portion, and the held portion of the article arranged at the transfer target site is positioned between the pair of support portions, thereby enabling the article arranged at the transfer target site to be held by the holding device. Also, in this structure, the linkage mechanism is configured such that the inclination angle of the device main body portion (the inclination angle with respect to the horizontal plane, hereinafter the same) in a state in which the posture of the pair of support portions is the first posture is a first angle described below, and the inclination angle of the device main body portion in a state in which the posture of the pair of support portions is the second posture is a second angle described below, thereby enabling the article arranged at the transfer target site in a different posture from a desired holding posture to be held by the holding device in the desired holding posture.

[0009] Here, the first angle is an angle corresponding to the posture of the article in the article transfer destination (for example, a horizontal posture in which the bottom surface is along the horizontal plane), for example, an angle at which the respective support surfaces of the pair of support portions are disposed in the same orientation as the supported surface of the article disposed in the article transfer destination. The first angle is thus set to an angle corresponding to the posture of the article in the article transfer destination, whereby after the posture change operation is started, the respective support surfaces of the pair of support portions can be appropriately moved to a position (hereinafter referred to as a "support position") in which the supported surface of the article disposed in the article transfer destination is contacted or faced from below.

[0010] Further, the second angle is an angle corresponding to the desired holding posture (for example, an inclined posture in which the bottom surface is inclined with respect to the horizontal plane), for example, an angle at which the respective support surfaces of the pair of support portions are disposed in the same orientation as the supported surface of the article in the desired holding posture. The second angle is thus set to an angle corresponding to the desired holding posture, whereby at the end of the posture change operation, the respective support surfaces of the pair of support portions can be disposed in the same orientation as the supported surface of the article in the desired holding posture at the support position, and the article can be held in the desired holding posture by the holding device.

[0011] As described above, according to the present structure, in the case where the desired holding posture is different from the posture of the article in the article transfer destination, the article can be held in the desired holding posture by the holding device.

[0012] Further features and advantages of the cart will be apparent from the following description of embodiments with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 is a perspective view of the cart.

[0014] Figure 2 is a front view of the cart.

[0015] Figure 3 is a view showing a state in which the article is transferred between the holding device and the article transfer destination.

[0016] Figure 4 is an explanatory view of the linkage mechanism of the first embodiment.

[0017] Figure 5 is an explanatory view of the linkage mechanism of the first embodiment.

[0018] Figure 6 is a view showing the holding device of the first embodiment and the article held by the holding device.

[0019] Figure 7 is a control block diagram.

[0020] Figure 8 This is an explanatory diagram of the linkage mechanism in the second embodiment.

[0021] Figure 9 This is an explanatory diagram of the linkage mechanism in the second embodiment.

[0022] Figure 10 This is an explanatory diagram of the linkage mechanism in the third embodiment.

[0023] Figure 11 This is an explanatory diagram of the linkage mechanism in the third embodiment.

[0024] Figure 12 This is an explanatory diagram of the linkage mechanism in other implementation methods.

[0025] Figure 13 This is an explanatory diagram of the linkage mechanism in other implementation methods.

[0026] Figure 14 This is an explanatory diagram of the linkage mechanism in other implementation methods.

[0027] Figure 15 This is an explanatory diagram of the linkage mechanism in other implementation methods. Detailed Implementation

[0028] [First Embodiment]

[0029] Refer to the attached diagram ( Figures 1 to 7 The first embodiment of the transport vehicle will be described.

[0030] Transport vehicle 1 in Figure 3 The item handling equipment 100, as illustrated, moves item 90 along the movement path 2. For example... Figures 1 to 3 As shown, the transport vehicle 1 includes a main body 10 that moves along a movement path 2, a holding device 20 that holds an item 90, and a lifting device 50 that raises and lowers the holding device 20 relative to the main body 10. Here, the long side direction (the direction in which the movement path 2 extends) of the movement path 2 is defined as the long side direction L, and the width direction of the movement path 2 is defined as the width direction W. The width direction W is a direction orthogonal to both the long side direction L and the vertical direction V. Furthermore, the direction defined based on the transport vehicle 1 (i.e., the direction that changes in accordance with the posture of the transport vehicle 1) and which is along the long side direction of the path when positioned on the movement path 2 is defined as the vehicle body front-to-back direction X, and the direction defined based on the transport vehicle 1 and which is along the width direction W when positioned on the movement path 2 is defined as the vehicle body left-to-right direction Y.

[0031] The movement path 2 can be physically formed or can be hypothetically set. In the present embodiment, the movement path 2 is physically formed with the rails 3. Specifically, the article transport apparatus 100 is provided with the rails 3 (here, a pair of rails 3 arranged at intervals in the path width direction W) arranged along the movement path 2, and the main body 10 moves along the rails 3. Further, in the present embodiment, the rails 3 are supported suspended from the ceiling 4, and the movement path 2 is formed along the ceiling 4. That is, in the present embodiment, the transport vehicle 1 is a ceiling transport vehicle that travels along the movement path 2 formed along the ceiling 4. In addition, the transport vehicle 1 can also be a transport vehicle other than a ceiling transport vehicle.

[0032] As shown in Figure 1 and Figure 2 , the main body 10 is provided with a traveling portion 11 provided with wheels 12 that roll on a traveling surface of the rails 3 (here, a pair of rails 3), and a cover portion 14 coupled to the traveling portion 11. The traveling surface of the rails 3 is a surface facing upward V1 in the vertical direction V, and the wheels 12 rotate around an axis orthogonal to the vertical direction V. The traveling portion 11 is provided with a traveling drive portion 70 (for example, an electric motor such as a servo motor, see Figure 7 ) that rotates the wheels 12, and the wheels 12 are rotationally driven by the traveling drive portion 70, whereby the traveling portion 11 travels along the rails 3. As shown in Figure 2 , in the present embodiment, the traveling portion 11 is provided with guide wheels 13 that roll on a guide surface of the rails 3, and the traveling portion 11 travels along the rails 3 in a state in which the guide wheels 13 are guided by the guide surface of the rails 3. The guide surface of the rails 3 is a surface facing inward in the path width direction W (toward one side of the central position in the path width direction W between the pair of rails 3), and the guide wheels 13 rotate around an axis in the vertical direction V (idling in the present example). Figure 1 As shown in the example of , in the present embodiment, the main body 10 is provided with a pair of traveling portions 11 arranged in the vehicle body front-rear direction X.

[0033] As shown in Figure 1 , in the present embodiment, the cover portion 14 is supported to the traveling portion 11 in a state in which it is arranged below V2 in the vertical direction V with respect to the traveling portion 11. In the traveling of the transport vehicle 1, the articles 90 held in the state of the holding device 20 are arranged in the internal space of the cover portion 14. As shown in Figure 1 , in the present embodiment, the internal space of the cover portion 14 is closed on both sides in the vehicle body front-rear direction X and is open on at least one side in the vehicle body left-right direction Y. Thus, the articles 90 arranged in the internal space of the cover portion 14 are covered by the wall portion of the cover portion 14 from at least both sides in the vehicle body front-rear direction X.

[0034] The kind of the articles 90 is not limited thereto, and as shown in Figure 2In the present embodiment, the article 90 is a container having an opening portion 92 in the side surface 90b. The opening portion 92 is provided for the purpose of allowing the contents to be taken in and out with respect to the article 90, and the contents are taken in and out with respect to the article 90 via the opening portion 92. An opening other than the opening portion 92 (for example, an opening for lightening, washing, or an opening formed on the article 90 by construction) can also be formed in the side surface 90b of the article 90, but the article 90 is configured in such a manner that the contents housed in the article 90 cannot move to the outside of the article 90 without passing through the opening portion 92. In the present embodiment, a substrate 93 (an example of the contents) such as a glass substrate or a semiconductor wafer is housed in the article 90. Furthermore, in the present embodiment, the article 90 is configured to be capable of housing a plurality of substrates 93 in a row in the up-down direction (a direction along the vertical direction V in a state where the bottom surface 90c is disposed horizontally).

[0035] In the present embodiment, the article 90 does not have a lid that closes the opening portion 92. For example, an open wafer cassette can be used as the article 90. The article 90 can also be configured to have a lid that closes the opening portion 92. In this case, for example, a front opening unified pod (FOUP) can be used as the article 90.

[0036] The lifting device 50 has a lifting drive section 71 (for example, an electric motor such as a servo motor, refer to Figure 7 ) for lifting the holding device 20. The lifting device 50 lifts the holding device 20 between a first position P1 (refer to Figure 2 and Figure 3 ), and a second position P2 (refer to Figure 3 ) that is lower than the first position P1 in the vertical direction V. The first position P1 is a position of the upper end in the lifting direction (the vertical direction V). The first position P1 is a position of the holding device 20 in the vertical direction V in the case where the main body section 10 moves. That is, the first position P1 is a position of the holding device 20 at the time of travel of the transport vehicle 1. In the present embodiment, the first position P1 is a position of the holding device 20 in which the article 90 in a state of being held by the holding device 20 is disposed in the inner space of the cover section 14. Furthermore, the second position P2 is a position of the holding device 20 in the vertical direction V in the case where the holding device 20 performs holding and release of the article 90. That is, the second position P2 is a position of the holding device 20 at the time of transfer of the article 90 between the holding device 20 and the transfer target site 6, in other words, at the time of transfer of the article 90 between the holding device 20 and the transfer target site 6. The second position P2 is set in correspondence with the height (position in the vertical direction V) of each transfer target site 6.

[0037] Figure 3In the present embodiment, as an example of the transfer destination site 6, a load port disposed adjacent to the processing device 5 is shown. The processing device 5 is a device that makes the article 90 a processing target, and in the present embodiment, performs processing with respect to the substrate 93 that has been taken out of the article 90. As shown in FIG. 1, the article 90 is disposed in the transfer destination site 6 with the opening portion 92 facing the processing device 5 side. In the present embodiment, the article 90 is disposed in the transfer destination site 6 in a horizontal posture S2 in which the bottom surface 90c is along the horizontal plane H. The horizontal posture S2 is a posture in which the opening portion 92 faces the horizontal direction, so by disposing the article 90 in the transfer destination site 6 in the horizontal posture S2, it becomes easy to perform the in-and-out of the substrate 93 with respect to the article 90 via the opening portion 92 in the transfer destination site 6. Figure 3 As shown in FIG. 1, the article 90 is disposed in the transfer destination site 6 with the opening portion 92 facing the processing device 5 side. In the present embodiment, the article 90 is disposed in the transfer destination site 6 in a horizontal posture S2 in which the bottom surface 90c is along the horizontal plane H. The horizontal posture S2 is a posture in which the opening portion 92 faces the horizontal direction, so by disposing the article 90 in the transfer destination site 6 in the horizontal posture S2, it becomes easy to perform the in-and-out of the substrate 93 with respect to the article 90 via the opening portion 92 in the transfer destination site 6.

[0038] As shown in FIG. 1, the article 90 is disposed in the transfer destination site 6 with the opening portion 92 facing the processing device 5 side. In the present embodiment, the article 90 is disposed in the transfer destination site 6 in a horizontal posture S2 in which the bottom surface 90c is along the horizontal plane H. The horizontal posture S2 is a posture in which the opening portion 92 faces the horizontal direction, so by disposing the article 90 in the transfer destination site 6 in the horizontal posture S2, it becomes easy to perform the in-and-out of the substrate 93 with respect to the article 90 via the opening portion 92 in the transfer destination site 6. Figure 2 In the present embodiment, as an example of the transfer destination site 6, a load port disposed adjacent to the processing device 5 is shown. The processing device 5 is a device that makes the article 90 a processing target, and in the present embodiment, performs processing with respect to the substrate 93 that has been taken out of the article 90. As shown in FIG. 1, the article 90 is disposed in the transfer destination site 6 with the opening portion 92 facing the processing device 5 side. In the present embodiment, the article 90 is disposed in the transfer destination site 6 in a horizontal posture S2 in which the bottom surface 90c is along the horizontal plane H. The horizontal posture S2 is a posture in which the opening portion 92 faces the horizontal direction, so by disposing the article 90 in the transfer destination site 6 in the horizontal posture S2, it becomes easy to perform the in-and-out of the substrate 93 with respect to the article 90 via the opening portion 92 in the transfer destination site 6. Figure 7 As shown in FIG. 1, the article 90 is disposed in the transfer destination site 6 with the opening portion 92 facing the processing device 5 side. In the present embodiment, the article 90 is disposed in the transfer destination site 6 in a horizontal posture S2 in which the bottom surface 90c is along the horizontal plane H. The horizontal posture S2 is a posture in which the opening portion 92 faces the horizontal direction, so by disposing the article 90 in the transfer destination site 6 in the horizontal posture S2, it becomes easy to perform the in-and-out of the substrate 93 with respect to the article 90 via the opening portion 92 in the transfer destination site 6. Figure 3 As shown in FIG. 1, the article 90 is disposed in the transfer destination site 6 with the opening portion 92 facing the processing device 5 side. In the present embodiment, the article 90 is disposed in the transfer destination site 6 in a horizontal posture S2 in which the bottom surface 90c is along the horizontal plane H. The horizontal posture S2 is a posture in which the opening portion 92 faces the horizontal direction, so by disposing the article 90 in the transfer destination site 6 in the horizontal posture S2, it becomes easy to perform the in-and-out of the substrate 93 with respect to the article 90 via the opening portion 92 in the transfer destination site 6.

[0039] As shown in FIG. 1, the article 90 is disposed in the transfer destination site 6 with the opening portion 92 facing the processing device 5 side. In the present embodiment, the article 90 is disposed in the transfer destination site 6 in a horizontal posture S2 in which the bottom surface 90c is along the horizontal plane H. The horizontal posture S2 is a posture in which the opening portion 92 faces the horizontal direction, so by disposing the article 90 in the transfer destination site 6 in the horizontal posture S2, it becomes easy to perform the in-and-out of the substrate 93 with respect to the article 90 via the opening portion 92 in the transfer destination site 6. Figure 2 Figure 3 As shown in FIG. 1, the article 90 is disposed in the transfer destination site 6 with the opening portion 92 facing the processing device 5 side. In the present embodiment, the article 90 is disposed in the transfer destination site 6 in a horizontal posture S2 in which the bottom surface 90c is along the horizontal plane H. The horizontal posture S2 is a posture in which the opening portion 92 faces the horizontal direction, so by disposing the article 90 in the transfer destination site 6 in the horizontal posture S2, it becomes easy to perform the in-and-out of the substrate 93 with respect to the article 90 via the opening portion 92 in the transfer destination site 6. Figure 2 Figure 3 As shown in FIG. 1, the article 90 is disposed in the transfer destination site 6 with the opening portion 92 facing the processing device 5 side. In the present embodiment, the article 90 is disposed in the transfer destination site 6 in a horizontal posture S2 in which the bottom surface 90c is along the horizontal plane H. The horizontal posture S2 is a posture in which the opening portion 92 faces the horizontal direction, so by disposing the article 90 in the transfer destination site 6 in the horizontal posture S2, it becomes easy to perform the in-and-out of the substrate 93 with respect to the article 90 via the opening portion 92 in the transfer destination site 6. Figure 2 Figure 3 ​​​In order to indicate that the lifting device 50 is provided with a plurality of rotating bodies 51, the plurality of rotating bodies 51 are arranged on separate shafts, but the plurality of rotating bodies 51 can also be arranged coaxially. Further, Figure 3 In the present embodiment, the link portion 60a of the transmission member 60 is arranged directly below the rotating body 51 on which the transmission member 60 is wound, but the configuration can also be such that the portion of the transmission member 60 that is led out from the rotating body 51 is wound around a guide rotating body (guide pulley or the like), and the link portion 60a of the transmission member 60 is arranged directly below the guide rotating body.

[0040] In the present embodiment, a common lifting drive portion 71 that rotationally drives the plurality of rotating bodies 51 is provided, and the amount of the transmission member 60 led out from the rotating body 51 and the amount of the transmission member 60 wound around the rotating body 51 during the lifting operation of the holding device 20 are the same between the plurality of transmission members 60. Therefore, the holding device 20 is lifted in a manner in which the posture thereof is maintained during the lifting operation of the holding device 20 by the lifting device 50 (but, except during the state transition between the holding possible state and the holding state described later).

[0041] As shown in FIG. 1, the article 90 is provided with a held portion 91 formed with a supported surface 91a. The supported surface 91a is a surface arranged in parallel with a bottom surface 90c of the article 90 and is a surface facing downward V2. In addition, the "surface arranged in parallel with the bottom surface 90c" is used as a concept including a surface arranged on the same plane as the bottom surface 90c, in addition to a surface arranged at a position different from the bottom surface 90c in the normal direction of the bottom surface 90c. Figure 4 As shown in FIG. 1, the article 90 is provided with a held portion 91 formed with a supported surface 91a. The supported surface 91a is a surface arranged in parallel with a bottom surface 90c of the article 90 and is a surface facing downward V2. In addition, the "surface arranged in parallel with the bottom surface 90c" is used as a concept including a surface arranged on the same plane as the bottom surface 90c, in addition to a surface arranged at a position different from the bottom surface 90c in the normal direction of the bottom surface 90c. Figure 2 As shown in FIG. 1, the article 90 is provided with a held portion 91 formed with a supported surface 91a. The supported surface 91a is a surface arranged in parallel with a bottom surface 90c of the article 90 and is a surface facing downward V2. In addition, the "surface arranged in parallel with the bottom surface 90c" is used as a concept including a surface arranged on the same plane as the bottom surface 90c, in addition to a surface arranged at a position different from the bottom surface 90c in the normal direction of the bottom surface 90c. Figure 4 As shown in FIG. 1, the article 90 is provided with a held portion 91 formed with a supported surface 91a. The supported surface 91a is a surface arranged in parallel with a bottom surface 90c of the article 90 and is a surface facing downward V2. In addition, the "surface arranged in parallel with the bottom surface 90c" is used as a concept including a surface arranged on the same plane as the bottom surface 90c, in addition to a surface arranged at a position different from the bottom surface 90c in the normal direction of the bottom surface 90c.

[0042] As shown in FIG. 1, the article 90 is provided with a held portion 91 formed with a supported surface 91a. The supported surface 91a is a surface arranged in parallel with a bottom surface 90c of the article 90 and is a surface facing downward V2. In addition, the "surface arranged in parallel with the bottom surface 90c" is used as a concept including a surface arranged on the same plane as the bottom surface 90c, in addition to a surface arranged at a position different from the bottom surface 90c in the normal direction of the bottom surface 90c. Figure 2 As shown in FIG. 1, the article 90 is provided with a held portion 91 formed with a supported surface 91a. The supported surface 91a is a surface arranged in parallel with a bottom surface 90c of the article 90 and is a surface facing downward V2. In addition, the "surface arranged in parallel with the bottom surface 90c" is used as a concept including a surface arranged on the same plane as the bottom surface 90c, in addition to a surface arranged at a position different from the bottom surface 90c in the normal direction of the bottom surface 90c. Figures 4 to 6 As shown in FIG. 1, the article 90 is provided with a held portion 91 formed with a supported surface 91a. The supported surface 91a is a surface arranged in parallel with a bottom surface 90c of the article 90 and is a surface facing downward V2. In addition, the "surface arranged in parallel with the bottom surface 90c" is used as a concept including a surface arranged on the same plane as the bottom surface 90c, in addition to a surface arranged at a position different from the bottom surface 90c in the normal direction of the bottom surface 90c. Figure 2In the example shown, the item 90 is held from above V1. Each of the pair of supports 30 has a support surface 30a facing upward V1 (see reference). Figure 4 The support surface 30a is brought into contact with the supported surface 91a, and the supported surface 91a is supported from below V2. In this embodiment, the held portion 91 is a flange portion, and each of the pair of support portions 30 is supported from below V2 with the supported surface 91a inserted into the space between the held portion 91 and the upper surface portion of the article 90. Hereinafter, the support surface 30a of one of the pair of support portions 30 (the first support portion 31) and the support surface 30a of the other of the pair of support portions 30 (the second support portion 32) are collectively referred to as the pair of support surfaces 30a.

[0043] like Figure 4 As shown, a pair of support portions 30 are arranged along a first direction Z, and the holding device 20 includes a main body 21 capable of movably supporting each of the pair of support portions 30 along the first direction Z. In this embodiment, the first direction Z is a direction inclined at the same angle as the horizontal plane H and the inclination angle A described later (see reference). Figure 5 When the tilt angle A is 0 degrees, it is in the horizontal direction (refer to...). Figure 4 Each of a pair of support portions 30 is supported on the device body portion 21 in a manner at least capable of moving the support surface 30a along the first direction Z. For example, the support portion 30 may be entirely supported on the device body portion 21 in a manner capable of moving along the first direction Z, or it may be supported on the device body portion 21 in a manner capable of pivoting about an axis orthogonal to both the first direction Z and the vertical direction V. In this embodiment, the support portion 30 is such that its entirety is supported on the device body portion 21 in a manner capable of moving along the first direction Z.

[0044] The retaining device 20 includes a retaining drive 72 (e.g., a solenoid, an electric motor, see reference) that causes a pair of support portions 30 to approach and move away from each other along a first direction Z. Figure 7 Furthermore, bringing the pair of support portions 30 closer together and further apart along the first direction Z means that at least the support surfaces 30a of one and the other of the pair of support portions 30 bring them closer together and further apart along the first direction Z. The holding drive 72 changes at least one of the positions and orientations of the pair of support portions 30, bringing the pair of support portions 30 closer together and further apart along the first direction Z. In this embodiment, the holding drive 72 moves the pair of support portions 30 closer together and further apart along the first direction Z (i.e., changes their positions in the first direction Z), bringing the pair of support portions 30 closer together and further apart along the first direction Z. Figure 4The width of the first direction Z of the held portion 91 is set to a first width ΔZ, and the holding drive portion 72 drives the pair of support portions 30 to a first posture CI in which the pair of support portions 30 are separated in a manner that the interval of the pair of support portions 30 becomes larger than the first width ΔZ (see Fig. 10). Figure 4 , a second posture C2 in which the pair of support portions 30 are approached in a manner that the interval of the pair of support portions 30 becomes smaller than the first width ΔZ (see Fig. 11). Figure 5 Figure 6 ).

[0045] Figures 4 to 6 In the example shown in Fig. 1, the first support portion 31 and the second support portion 32 of the pair of support portions 30 are guided in the first direction Z by a guide mechanism 43. Although detailed description is omitted, the guide mechanism 43 is a linear motion mechanism having a guide rail extending in the first direction Z and a guide block engaged with the guide rail, the guide rail is fixed to the device main body portion 21, and the guide block is fixed to each of the pair of support portions 30. Further, in the example shown in Fig. 1, the holding drive portion 72 fixed to the device main body portion 21 drives the pair of support portions 30 via a drive mechanism 42. Although detailed description is omitted, the drive mechanism 42 is a roller screw mechanism, and the rotational motion of a rotational shaft driven to rotate by the holding drive portion 72 is converted into the respective linear motions of the pair of support portions 30. Figures 4 to 6

[0046] Here, a state in which the pair of support portions 30 are in the first posture CI and the pair of support portions 30 are arranged such that at least a part of each of the pair of support portions 30 is positioned lower than the held portion 91 by V2 and the held portion 91 is positioned between the pair of support portions 30 is referred to as a holding preparation state. In the holding preparation state, at least a part of each of the pair of support surfaces 30a is arranged lower than the supported surface 91a by V2. In the present embodiment, in the holding preparation state, the entire of each of the pair of support surfaces 30a is arranged lower than the supported surface 91a by V2. In the present embodiment, the holding preparation state is achieved in a state in which the holding device 20 is arranged at a second position P2 in which at least a part of each of the pair of support surfaces 30a is arranged lower than the supported surface 91a by V2. Figure 4 The state shown in Fig. 1 is the holding preparation state. The second position P2 is a position of the holding device 20 in which at least a part of each of the pair of support surfaces 30a is arranged lower than the supported surface 91a by V2. That is, the holding preparation state is achieved in a state in which the holding device 20 is arranged at the second position P2, and in the state in which the holding device 20 is arranged at the second position P2, a posture change operation of changing the posture of the pair of support portions 30 from the first posture CI to the second posture C2 (hereinafter referred to as a "holding posture change operation") and a posture change operation of changing the posture of the pair of support portions 30 from the second posture C2 to the first posture CI (hereinafter referred to as a "holding release posture change operation") are performed.

[0047] ​​In the prepared state, at least the holding device 20 performs a holding posture change action, thereby achieving a holding state in which the respective support surfaces 30a of the pair of support parts 30 are in contact with the supported surface 91a from below V2. Figures 4 to 6 In the example shown, the holding device 20 performs a holding posture change action while maintaining the ready state, thereby maintaining the possible state where the respective support surfaces 30a of the pair of support parts 30 face each other from below V2 relative to the supported surface 91a (see reference). Figure 5 After this is achieved, the lifting device 50 raises the holding device 20 by means of the lifting drive unit 71, thereby maintaining the state (see reference). Figure 6 This is achieved. In a possible configuration, at least one of the pair of supporting surfaces 30a is positioned V2 downwards relative to the supported surface 91a. (As...) Figure 6 As shown, in the holding state, the article 90 is held in a posture along the support surface 30a with the supported surface 91a parallel to the bottom surface 90c. Alternatively, the holding device 20 can be configured such that in the holding preparation state, the holding state is achieved by performing a holding posture change action (i.e., the holding state is achieved when the holding posture change action ends).

[0048] In this embodiment, the article 90 is a container through which the substrate 93 enters and exits via an opening 92 formed on the side 90b. Therefore, when the transport vehicle 1 moves, as... Figure 2 As shown, by positioning the article 90 in an inclined posture S1 where the bottom surface 90c is tilted relative to the horizontal plane H (specifically, an inclined posture S1 where the opening 92 faces obliquely upwards), it is difficult for the substrate 93 housed in the article 90 to move from the opening 92 to the outside of the article 90. Therefore, in this embodiment, the inclined posture S1 where the opening 92 faces obliquely upwards is the desired holding posture. On the other hand, in this embodiment, as... Figure 3 and Figure 4 As shown, the article 90 on the transfer target portion 6 is in a horizontal position S2. In this embodiment, the holding device 20 includes the linkage mechanism 40 described later, thereby enabling the holding device 20 to hold the article 90, which is positioned in a horizontal position S2 on the transfer target portion 6, in an inclined position S1. Figure 3 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 in the holding device 20 in an inclined posture S1.

[0049] Figures 4 to 6 The example shown illustrates the case where the retaining device 20 is positioned along the left-right direction Y of the vehicle body when viewed from above in the first direction Z (when viewed along the vertical direction V). However, the retaining device 20 can also be positioned along the front-rear direction X of the vehicle body when viewed from above in the first direction Z. Furthermore,Figures 4 to 6 In the above, the case where the article 90 is held by the holding device 20 in a posture in which the opening portion 92 faces the one side in the vehicle body left-right direction Y is exemplified, but the article 90 can be held by the holding device 20 in a posture in which the opening portion 92 faces the one side in the vehicle body front-rear direction X. In addition, the cart 1 can also be configured to have a mechanism that rotates the holding device 20 with respect to the main body portion 10 about an axis in the vertical direction V. From the viewpoint of more surely preventing the substrate 93 housed in the article 90 from moving from the opening portion 92 to the outside of the article 90 at the time of travel of the cart 1, it is preferable to be configured such that the article 90 is held by the holding device 20 in a posture in which the opening portion 92 faces the wall portion of the cover portion 14.

[0050] The linkage mechanism 40 is a mechanism that changes the inclination angle A of the device main body portion 21 with respect to the horizontal plane H in linkage with the posture change between the first posture CI and the second posture C2 of the pair of support portions 30. The inclination angle A is the inclination angle of the reference plane (may also be an imaginary plane) provided to the device main body portion 21 with respect to the horizontal plane H. The pair of support surfaces 30a are disposed on the same plane at least in the state in which the posture of the pair of support portions 30 is the second posture C2 (refer to Figure 5 ), and in the present embodiment, the plane parallel to the pair of support surfaces 30a in the state in which the posture of the pair of support portions 30 is the second posture C2 is set as the reference plane of the device main body portion 21. Therefore, the inclination angle A is the angle shown in Figure 5 . In the present embodiment, the pair of support surfaces 30a are also disposed on the same plane in the state in which the posture of the pair of support portions 30 is the first posture CI (refer to Figure 4 ), so the reference plane of the device main body portion 21 is also parallel to the pair of support surfaces 30a in the state in which the posture of the pair of support portions 30 is the first posture CI.

[0051] The article 90 is held by the holding device 20 in a posture in which the opening portion 92 faces the horizontal direction in the case where the inclination angle A is 0 degrees, the obliquely upward direction in the case where the inclination angle A is a positive acute angle, and the obliquely downward direction in the case where the inclination angle A is a negative acute angle (a posture in which the opening portion 92 faces the left side in Figure 4 ). As shown in Figure 6 , in the present embodiment, the linkage mechanism 40 is configured such that the inclination angle A in the state in which the posture of the pair of support portions 30 is the second posture C2 is a positive acute angle (for example, 5 degrees), and the holding device 20 holds the article 90 in the inclined posture SI in which the opening portion 92 faces the obliquely upward direction in the state in which the pair of support portions 30 is driven to the second posture C2 by the holding driving portion 72 (specifically, in the state in which the holding is achieved).

[0052] Here, the inclination angle A in the state where the posture of the pair of support portions 30 is the first posture CI is set as a first angle, and the inclination angle A in the state where the posture of the pair of support portions 30 is the second posture C2 is set as a second angle. In the case where the holding device 20 performs the posture change operation for holding, the inclination angle A is changed from the first angle to the second angle by the linkage mechanism 40. Further, in the case where the holding device 20 performs the posture change operation for holding release, the inclination angle A is changed from the second angle to the first angle by the linkage mechanism 40. In the present embodiment, the second angle is larger than the first angle, and the linkage mechanism 40 is configured to make the inclination angle A larger as the interval of the pair of support portions 30 (specifically, the interval of the pair of support surfaces 30a) becomes smaller.

[0053] The first angle is set as an angle corresponding to the posture of the article 90 of the transfer target site 6. In the present embodiment, as shown in FIG. 6, the pair of support surfaces 30a respectively set an angle at which the pair of support surfaces 30a are disposed in the same orientation as the supported surface 91a of the article 90 disposed in the transfer target site 6 as the first angle. In the present embodiment, the posture of the article 90 of the transfer target site 6 is the horizontal posture S2, and thus the first angle is 0 degrees. This makes the first angle the angle of the transfer target site 6 corresponding to the posture of the article 90, and thus, as will be described later, the pair of support surfaces 30a can be moved to the support position of the article 90 of the transfer target site 6. Figure 4 Figure 4 As can be understood from FIG. 6, after the posture change operation for holding is started, the pair of support surfaces 30a can be appropriately moved to a position where the pair of support surfaces 30a contact or face the supported surface 91a of the article 90 disposed in the transfer target site 6 below the supported surface 91a (hereinafter referred to as a "support position").

[0054] Further, in the case where the pair of support portions 30 are configured to approach and separate from each other in the first direction Z by swinging each of the pair of support portions 30, and the like, there is a case where the pair of support surfaces 30a are not disposed on the same plane in the state where the posture of the pair of support portions 30 is the first posture CI. In this case, as in the example shown in FIG. 5, in the structure where the first direction Z is a direction inclined at the same angle as the inclination angle A with respect to the horizontal plane H, the first direction Z can be set as the first angle along the angle of the supported surface 91a of the article 90 disposed in the transfer target site 6. On the other hand, in the structure where the first direction Z is a direction along the horizontal plane H regardless of the inclination angle A (in the structure where the first direction Z is a direction orthogonal to the paper surface, that is, the structure where the pair of support portions 30 are arranged in a direction orthogonal to the paper surface) in FIG. 5, the respective width directions of the pair of support surfaces 30a (directions along the support surfaces 30a and orthogonal to the first direction Z) can be set as the first angle along the angle of the supported surface 91a of the article 90 disposed in the transfer target site 6. Figures 4 to 6 Figure 4

[0055] ​​​The second angle is set to an angle corresponding to the desired holding posture. In this embodiment, each of the pair of support surfaces 30a is configured with the same orientation as the supported surface 91a of the article 90 in the desired holding posture, and this is set as the second angle. In this embodiment, the desired holding posture is an inclined posture S1 with the opening 92 facing obliquely upward, so the second angle is set to an angle (a positive acute angle) that is the same as the angle of inclination of the article 90 in the desired holding posture relative to the horizontal plane H of the supported surface 91a. Thus, by setting the second angle to an angle corresponding to the desired holding posture, such as... Figure 5 As shown, at the end of the posture change action, the pair of support surfaces 30a are able to achieve a state in which they are configured in the aforementioned support position with the same orientation as the supported surface 91a of the article 90 in the desired held posture. As a result, as Figure 6 As shown, the item 90 can be lifted from the transfer object part 6 in a desired holding posture and held by means of the holding device 20.

[0056] Next, the linkage mechanism 40 of this embodiment will be described in detail. As described above, the lifting device 50 raises and lowers the holding device 20 while it is suspended by a plurality of transmission components 60. Figure 4 As shown, the plurality of transmission components 60 include a first transmission component 61 connected to the first support portion 31 and a second transmission component 62 connected to the main body portion 21. The portion of the first transmission component 61 that extends from the rotating body 51 is connected to the first support portion 31 via a guide body 41 (such as a guide pulley) fixed to the main body portion 21. Furthermore, the linkage mechanism 40 is configured to link with the posture change between the first posture C1 and the second posture C2 of the pair of support portions 30, thereby changing the length of the portion of the first transmission component 61 disposed between the guide body 41 and the first support portion 31, i.e., the object length D.

[0057] The portion of the first transmission member 61 relative to the guide body 41 on the side facing the rotating body 51 extends in the vertical direction V. Conversely, the portion of the first transmission member 61 disposed between the guide body 41 and the first support portion 31 extends in a direction intersecting the vertical direction V. Figure 4 In the example shown, the first direction (Z) extends. Therefore, when the rotation drive of the rotating body 51 by the lifting drive unit 71 stops, and the length of the portion of the first transmission member 61 that extends from the rotating body 51 is fixed (i.e., when the lifting action of the holding device 20 stops), the tilt angle A can be changed in accordance with the change in the object length D. Specifically, the tilt angle A can be changed so that as the object length D increases, the portion of the device body 21 to which the guide body 41 is fixed moves upward V1 (see reference). Figure 5This causes the tilt angle A to change, so that as the object length D shortens, the portion of the main body 21 to which the guide 41 is fixed moves downward V2 (see reference). Figure 4 ).

[0058] In this embodiment, the linkage mechanism 40 is configured such that as the interval between the pair of support portions 30 decreases, the object length D increases, and as the object length D increases, the tilt angle A increases. This achieves a structure where the tilt angle A increases as the interval between the pair of support portions 30 decreases. Specifically, the guide body 41 is configured such that the tilt angle A increases as the portion of the device main body 21 to which the guide body 41 is fixed moves upward V1. Furthermore, the first transmission member 61 is connected to the first support portion 31, causing the object length D to increase as the interval between the pair of support portions 30 decreases. Therefore, when the holding device 20 performs a holding posture change operation, as this operation proceeds, the object length D increases, causing the portion of the device main body 21 to which the guide body 41 is fixed to move upward V1. Consequently, the tilt angle A changes from a first angle to a second angle larger than the first angle (see reference). Figure 5 Furthermore, when the holding device 20 performs a posture change action to release the holding, as this action proceeds, the object length D shortens. Consequently, the portion of the device main body 21 to which the guide 41 is fixed moves downwards V2, thereby changing the tilt angle A from a second angle to a first angle smaller than the second angle (see reference). Figure 4 ).

[0059] In this embodiment, the first direction Z is a direction inclined relative to the horizontal plane H at the same angle as the tilt angle A, such as... Figure 4 As shown, the first support portion 31 is disposed between the guide body 41 and the second support portion 32 in the first direction Z. Therefore, as Figure 5 As shown, when the tilt angle A is a positive acute angle, the first support portion 31 is positioned above the second support portion 32 at a height V1 corresponding to the tilt angle A, and the respective support surfaces 30a of the first support portion 31 and the second support portion 32 are aligned with the supported surface 91a of the article 90 in the desired holding posture (see reference). Figure 6 The same orientation configuration. It is also possible, unlike such a structure, for the first direction Z to be a direction along the horizontal plane H independent of the tilt angle A. Figure 4 (The structure in the first direction Z is the direction orthogonal to the plane of the paper). In this case, for example, the portion of the first transmission member 61 on the side closer to the connecting portion 60a than the guide body 41 is configured to be connected to the first support portion 31 via a guide body other than the guide body 41, thereby connecting with... Figure 4As shown in the example in FIG. 1, the object length D can be configured to increase as the interval between the pair of support portions 30 decreases. In the configuration in which the first direction Z is a direction along the horizontal plane H regardless of the inclination angle A, in the case where the inclination angle A is a positive acute angle, the respective support surfaces 30a of the pair of support portions 30 are inclined with respect to the horizontal plane H in a manner in which one side (specifically, the side closer to the guide body 41) in the width direction (a direction along the support surface 30a and a direction orthogonal to the first direction Z) is disposed upward V1 more than the other side, and the respective support surfaces 30a of the pair of support portions 30 are disposed in the same orientation as the supported surface 91a of the article 90 in the desired holding posture.

[0060] As shown in the example in FIG. 1, the object length D can be configured to increase as the interval between the pair of support portions 30 decreases. In the configuration in which the first direction Z is a direction along the horizontal plane H regardless of the inclination angle A, in the case where the inclination angle A is a positive acute angle, the respective support surfaces 30a of the pair of support portions 30 are inclined with respect to the horizontal plane H in a manner in which one side (specifically, the side closer to the guide body 41) in the width direction (a direction along the support surface 30a and a direction orthogonal to the first direction Z) is disposed upward V1 more than the other side, and the respective support surfaces 30a of the pair of support portions 30 are disposed in the same orientation as the supported surface 91a of the article 90 in the desired holding posture. Figure 2 Figure 3 As shown in the example in FIG. 1, the object length D can be configured to increase as the interval between the pair of support portions 30 decreases. In the configuration in which the first direction Z is a direction along the horizontal plane H regardless of the inclination angle A, in the case where the inclination angle A is a positive acute angle, the respective support surfaces 30a of the pair of support portions 30 are inclined with respect to the horizontal plane H in a manner in which one side (specifically, the side closer to the guide body 41) in the width direction (a direction along the support surface 30a and a direction orthogonal to the first direction Z) is disposed upward V1 more than the other side, and the respective support surfaces 30a of the pair of support portions 30 are disposed in the same orientation as the supported surface 91a of the article 90 in the desired holding posture.

[0061] As shown in the example in FIG. 1, the object length D can be configured to increase as the interval between the pair of support portions 30 decreases. In the configuration in which the first direction Z is a direction along the horizontal plane H regardless of the inclination angle A, in the case where the inclination angle A is a positive acute angle, the respective support surfaces 30a of the pair of support portions 30 are inclined with respect to the horizontal plane H in a manner in which one side (specifically, the side closer to the guide body 41) in the width direction (a direction along the support surface 30a and a direction orthogonal to the first direction Z) is disposed upward V1 more than the other side, and the respective support surfaces 30a of the pair of support portions 30 are disposed in the same orientation as the supported surface 91a of the article 90 in the desired holding posture. Figure 7 As shown in the example in FIG. 1, the object length D can be configured to increase as the interval between the pair of support portions 30 decreases. In the configuration in which the first direction Z is a direction along the horizontal plane H regardless of the inclination angle A, in the case where the inclination angle A is a positive acute angle, the respective support surfaces 30a of the pair of support portions 30 are inclined with respect to the horizontal plane H in a manner in which one side (specifically, the side closer to the guide body 41) in the width direction (a direction along the support surface 30a and a direction orthogonal to the first direction Z) is disposed upward V1 more than the other side, and the respective support surfaces 30a of the pair of support portions 30 are disposed in the same orientation as the supported surface 91a of the article 90 in the desired holding posture.

[0062] ​The control section 80 causes the main body 10 to perform the moving action of moving along the moving path 2 by controlling the drive of the traveling drive section 70. Specifically, the control section 80 causes the traveling section 11 to perform the traveling action of traveling along the track 3 by controlling the drive of the traveling drive section 70. In the present embodiment, the moving action of the main body 10 is realized by the traveling action of the traveling section 11. The control section 80 causes the traveling section 11 to perform the traveling action in a state in which the holding device 20 holds the article 90 in the case of carrying the article 90 held by the holding device 20 to the transfer destination 6. Further, the control section 80 causes the lifting device 50 to perform the lifting action of lifting the holding device 20 by controlling the drive of the lifting drive section 71. As described above, the holding device 20 holds the article 90 in the inclined posture SI, so the article 90 held in the state of the holding device 20 is lifted in the inclined posture SI as shown in FIG. 8. Further, the control section 80 causes the holding device 20 to perform the posture changing action between the first posture CI and the second posture C2 of the pair of support sections 30 by controlling the drive of the holding drive section 72. Figure 3

[0063] In the case of transferring the article 90 from the transfer destination 6 to the holding device 20 (i.e., in the case of carrying the article 90 out of the transfer destination 6), the control section 80 causes the traveling section 11 to perform the traveling action of causing the cart 1 to travel to a position corresponding to the transfer destination 6 (here, a position above V1 from the transfer destination 6 and overlapping the transfer destination 6 when viewed from above) and then causes the lifting device 50 to perform the lifting action of lowering the holding device 20 in a state in which the postures of the pair of support sections 30 are changed to the first posture CI from the first position PI to the second position P2. When the holding device 20 reaches the second position P2, the holding preparation state is realized (refer to FIG. 9). Next, the control section 80 causes the holding device 20 to perform the holding posture changing action of changing the postures of the pair of support sections 30 from the first posture CI to the second posture C2, and the state transitions from the holding preparation state to the holding possible state (refer to FIG. 10). Figure 4 Figure 5

[0064] In the state in which the holding possible state is realized, the control section 80 causes the lifting device 50 to perform the lifting action of lifting the holding device 20 from the second position P2 to the first position PI, and thereby the state transitions from the holding possible state to the holding state (refer to FIG. 11). Figure 6 ​​​Afterwards, the holding device 20, which holds the item 90 in the desired holding posture (here, tilted 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 posture of the transfer object part 6 (here, horizontal posture S2). When the holding device 20 reaches a predetermined position V1 above the second position P2, the posture of the item 90 is the desired holding posture (here, tilted posture S1). Then, the holding device 20, which holds the item 90 in the desired holding posture, is raised from this predetermined position to the first position P1. To minimize vibration of the article 90, preferably, the lifting speed of the holding device 20 during the period when the posture of the article 90 changes as it transitions between the possible holding state and the holding state (in other words, during the period when the holding device 20 rises and falls between the second position P2 and the aforementioned predetermined position) is lower than the lifting speed of the holding device 20 during the period when the holding device 20 rises and falls in the holding state (in other words, during the period when the holding device 20 rises and falls between the aforementioned predetermined position and the first position P1).

[0065] On the other hand, when the item 90 is transferred from the holding device 20 to the transfer target part 6 (i.e., when the item 90 is moved into the transfer target part 6), after the control unit 80 causes the traveling unit 11 to travel the transport vehicle 1 to the position corresponding to the transfer target part 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. At this time, when the holding device 20 lowers to the aforementioned predetermined position, the bottom surface 90c of the item 90 (here, the end of the bottom surface 90c opposite to the opening 92) contacts the transfer target part 6. Then, as the holding device 20 lowers to the second position P2, the posture of the item 90 changes from the desired holding posture (here, the tilted posture S1) to the posture of the transfer target part 6 (here, the horizontal posture S2) (see reference). Figure 5 That is, as the holding device 20 descends from the predetermined position to the second position P2, the state transitions from the holding state to the holding possible state.

[0066] While maintaining the possible state, the control unit 80 causes the holding device 20 to perform a holding release posture change operation that changes the posture of the pair of support parts 30 from the second posture C2 to the first posture C1 (see reference). Figure 4 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 position of the transfer object part 6 (here, the horizontal position S2) remains in the transfer object part 6, only the holding device 20 rises to the first position P1.

[0067] In addition, it is also possible to configure such that, in the state of being held, one of the pair of support surfaces 30a contacts the supported surface 91a from below V2, whereby the posture of the article 90 is a posture between the posture of the transfer target site 6 and the desired holding posture. Further, it is also possible to configure such that, at the end of the holding posture changing operation, the state of both of the pair of support surfaces 30a contacting the supported surface 91a from below V2 is achieved. In this case, in the case of transferring the article 90 from the transfer target site 6 to the holding device 20, by the execution of the holding posture changing operation, the posture of the article 90 changes from the posture of the transfer target site 6 to the desired holding posture, and at the time when the holding device 20 is raised from the second position P2, the article 90 is held in the desired holding posture in the holding device 20. Further, in this case, in the case of transferring the article 90 from the holding device 20 to the transfer target site 6, by the execution of the raising and lowering operation of causing the holding device 20 to be lowered from the first position PI to the second position P2, the holding device 20 is lowered to the second position P2 in the state of the holding state, and thereafter, by the execution of the holding release posture changing operation, the posture of the article 90 changes from the desired holding posture to the posture of the transfer target site 6.

[0068] [2nd Embodiment]

[0069] A 2nd embodiment of the cart will be described with reference to the drawings Figure 8 and Figure 9 . Hereinafter, regarding the cart of the present embodiment, the points of difference from the 1st embodiment will be described. Regarding aspects not specifically described, the same as the 1st embodiment, the same reference numerals are attached, and detailed description will be omitted.

[0070] As shown in Figure 8 and Figure 9 , in the present embodiment, the holding device 20 is provided with a link portion 22 linked to the raising and lowering device 50. All of the transmission members 60 provided in the raising and lowering device 50 are linked to the link portion 22. In the present embodiment, as in the above-described 1st embodiment, the amount of pay-out of the transmission members 60 from the rotating body 51 at the time of the raising and lowering operation of the holding device 20, and the amount of winding of the transmission members 60 toward the rotating body 51 are the same as each other among the plurality of transmission members 60. Therefore, the posture of the link portion 22 also does not change at the time of the execution of the holding posture changing operation and the holding release posture changing operation.

[0071] In this embodiment, the main body 21 of the device is connected to the lifting device 50 via the connecting part 22. Although detailed description is omitted, the connecting part 22 includes a support mechanism for supporting the main body 21 (here, a support mechanism that allows the main body 21 to swing freely around the axis R described later). The main body 21 is supported by the connecting part 22 connected to the lifting device 50, thereby connecting it to the lifting device 50 via the connecting part 22. Furthermore, the linkage mechanism 40 is configured to link with the posture change between the first posture C1 and the second posture C2 of the pair of support parts 30, causing the tilt angle of the main body 21 relative to the connecting part 22 to change. As described above, the posture of the connecting part 22 does not change; therefore, here, the surface (set on the surface of the connecting part 22) that serves as the reference for the tilt angle of the main body 21 relative to the connecting part 22 is set to the horizontal plane H. Thus, the tilt angle of the main body 21 relative to the connecting part 22 and the tilt angle A of the main body 21 relative to the horizontal plane H (refer to...) Figure 9 ).

[0072] like Figure 8 As shown, in this embodiment, the main body 21 of the device is connected to the connecting part 22 in a way that allows it to swing about an axis R. This axis R is an axis orthogonal to both the first direction Z and the vertical direction V. A first support part 31 is disposed in the first direction Z between the axis R and the second support part 32. Furthermore, as... Figure 9 As shown, in the direction in which the second support portion 32 moves downward V2, the main body portion 21 of the device swings relative to the connecting portion 22 about the axis R, thereby changing towards the side where the tilt angle A increases. That is, when the tilt angle A is a positive acute angle, the second support portion 32 is positioned V2 below the height corresponding to the tilt angle A, compared to the first support portion 31.

[0073] In this embodiment, the linkage mechanism 40 is configured such that the second support portion 32 moves downward V2 as the interval between the pair of support portions 30 decreases. Therefore, when the holding device 20 performs a holding posture change operation, as this operation proceeds, the second support portion 32 moves downward V2, causing the main body 21 of the device to swing about the axis R in the direction where the tilt angle A increases, thus changing the tilt angle A from a first angle to a second angle larger than the first angle. Furthermore, when the holding device 20 performs a holding release posture change operation, as this operation proceeds, the second support portion 32 moves upward V1, causing the main body 21 of the device to swing about the axis R in the direction where the tilt angle A decreases, thus changing the tilt angle A from a second angle to a first angle smaller than the second angle.

[0074] exist Figure 8In the illustrated example, the holding device 20 is provided with a force applying mechanism 44 that applies a force to the device main body 21 in the direction in which the second support portion 32 moves upward Vl (i.e., in the direction in which the inclination angle A decreases). Figure 8 In the illustrated example, the force applying mechanism 44 is schematically represented by a spring member, but the structure of the force applying mechanism 44 is not particularly limited as long as it can apply a force to the device main body 21 in the desired direction (here, the direction in which the inclination angle A decreases), and for example, the force applying mechanism 44 can be configured as a mechanism that uses an elastic member that applies a force to the lower surface of the device main body 21 upward Vl. In the link portion 22, a guide member 45 having a guide surface 45a that faces downward V2 is fixed, and a guided portion 46 provided at the upper portion of the second support portion 32 is pushed against the guide surface 45a from below V2 by the force of the force applying mechanism 44. Thus, the movement (specifically, the swing about the axis R) of the device main body 21 in the direction in which the inclination angle A decreases is restricted by the guide member 45, and thus the inclination angle A is determined in correspondence with the height of the portion at which the guided portion 46 of the guide surface 45a abuts.

[0075] Further, the guide surface 45a is inclined in the direction in which it faces downward V2 toward the central portion of the pair of support portions 30 in the first direction Z. Thus, as the interval of the pair of support portions 30 decreases, the height of the portion at which the guided portion 46 of the guide surface 45a abuts decreases, and thus the device main body 21 can be swung relative to the link portion 22 in the direction in which the second support portion 32 moves downward V2 (i.e., in the direction in which the inclination angle A increases) (see Figure 9 ). Further, as the interval of the pair of support portions 30 increases, the height of the portion at which the guided portion 46 of the guide surface 45a abuts increases, and thus the device main body 21 can be swung relative to the link portion 22 in the direction in which the second support portion 32 moves upward Vl (i.e., in the direction in which the inclination angle A decreases) (see Figure 8 ).

[0076] [3rd Embodiment]

[0077] A 3rd embodiment of the truck will be described with reference to the drawings ( Figure 10 and Figure 11 ). Hereinafter, the truck of the present embodiment will be described focusing on the points of difference from the 1st embodiment. As for aspects not specifically described, the same as the 1st embodiment, the same reference numerals are used, and detailed description will be omitted.

[0078] As Figure 10 and Figure 11As shown, in the present embodiment, the holding drive section 72 is provided with a drive shaft 47 that is rotationally driven by the drive source 49. The drive shaft 47 is connected to a drive motor as the drive source 49. Also, the drive shaft 47 is driven in a manner to rotate about the shaft center by the drive source 49. In the present embodiment, the holding drive section 72 is configured to be linked to the rotation of the drive shaft 47, and to cause the pair of support sections 30 to approach and separate from each other in the first direction Z. In the present example, the drive shaft 47 is a roller screw, and the rotational movement of the drive shaft that is rotationally driven by the holding drive section 72 is converted into linear movement of each of the pair of support sections 30. Here, the drive shaft 47 is disposed with the shaft center in the first direction Z. Also, the central portion of the drive shaft 47 with respect to the direction along which the shaft center (first direction Z) is formed with external threads in opposite directions on one side and the other side in a spiral manner. Further, the end portion on one side along the direction of the shaft center of the drive shaft 47 (first direction Z) is connected to the drive source 49. Specifically, the end portion of the drive shaft 47 in the first direction Z is connected to the output shaft of the drive motor. In addition, the drive source 49 is not limited to a drive motor, and may, for example, be constituted by a rotary actuator or the like that is driven by air pressure, electromagnetic force, or the like.

[0079] In the present embodiment, an internally threaded hole 34 is formed integrally with each of the pair of support sections 30. The internally threaded hole 34 is formed to be threadedly engaged with the external threads formed on the outer peripheral surface of the drive shaft 47. Also, the internally threaded hole 34 of each of the first support section 31 and the second support section 32 is threadedly engaged with a portion of the external threads of the drive shaft 47 that is in a different direction. Thus, in the case where the drive shaft 47 is rotated in the first direction, the first support section 31 and the second support section 32 approach each other, and in the case where the drive shaft 47 is rotated in the second direction opposite to the first direction, the first support section 31 and the second support section 32 separate from each other.

[0080] The linkage mechanism 40 is provided with a linkage rotation body 48 that rotates in linkage with the rotation of the drive shaft 47. The linkage rotation body 48 is connected to rotate integrally with the drive shaft 47, and is configured to rotate about the shaft center of the drive shaft 47 in linkage with the drive shaft 47. In the present example, the linkage rotation body 48 is disposed at a position on the outer side of the drive shaft 47 in the first direction Z (both end sides of the drive shaft 47 in the first direction Z with respect to the pair of support sections 30) than the position at which the pair of support sections 30 are threadedly engaged. Specifically, the linkage rotation body 48 is disposed between the drive source 49 and the first support section 31 of the drive shaft 47. In addition, in the present example, the linkage rotation body 48 is a pulley. Also, the linkage rotation body 48 (pulley) is fixed to the portion of the drive shaft 47 between the drive source 49 and the first support section 31 in the same manner as the shaft center of the drive shaft 47.

[0081] In the present embodiment, the rotation body 51 of the first transmission member 61 is wound around the linkage rotation body 48 from the extended portion that is released. As shown, the rotation body 51 of the first transmission member 61 is wound around the linkage rotation body 48 from the extended portion that is released. As shown, the rotation body 51 of the first transmission member 61 is wound around the linkage rotation body 48 from the extended portion that is released. Figure 10The link portion 60a provided at the end side of the extended portion that is drawn out from the rotating body 51 is linked to the link rotating body 48, and the portion of the first transmission member 61 on the rotating body 51 side relative to the link portion 60a is wound around the link rotating body 48. Also, the link mechanism 40 is configured to change the length between the rotating body 51 and the link rotating body 48 of the first transmission member 61 by the link rotating body 48 that rotates in conjunction with the rotation of the drive shaft 47 for the posture change between the first posture CI and the second posture C2 of the pair of support portions 30. Hereinafter, the length between the rotating body 51 and the link rotating body 48 of the first transmission member 61 is referred to as the second target length E.

[0082] The first transmission member 61 that is wound around both the rotating body 51 and the link rotating body 48 extends in the vertical direction V between the rotating body 51 and the link rotating body 48. Therefore, in a state in which the rotation of the rotating body 51 is stopped by the lift drive portion 71 and the length of the portion of the first transmission member 61 that is drawn out from the rotating body 51 is maintained (i.e., in a state in which the lift operation of the holding device 20 is stopped), the inclination angle A can be changed in correspondence with a change in the second target length E. Specifically, the inclination angle A is changed in such a manner that the portion of the drive shaft 47 on which the link rotating body 48 is fixed moves upward V1 as the second target length E becomes shorter (see FIG. 6A), and the inclination angle A is changed in such a manner that the portion of the drive shaft 47 on which the link rotating body 48 is fixed moves downward V2 as the second target length E becomes longer. Figure 11

[0083] In the present embodiment, the link mechanism 40 is configured to change the second target length E as the interval of the pair of support portions 30 becomes smaller, and the inclination angle A changes as the second target length E becomes shorter. Thus, a structure in which the inclination angle A becomes larger as the interval of the pair of support portions 30 becomes smaller is realized. Specifically, in a case in which the holding device 20 performs the posture change operation for holding, as the interval of the pair of support portions 30 becomes smaller, the first transmission member 61 is wound around the link rotating body 48, and the second target length E becomes shorter. Thus, the portion of the drive shaft 47 on which the link rotating body 48 is fixed moves upward V1, and accordingly the inclination angle A changes from the first angle to a second angle that is larger than the first angle (see FIG. 6A). On the other hand, in a case in which the holding device 20 performs the posture change operation for holding release, as the interval of the pair of support portions 30 becomes larger, the first transmission member 61 is drawn out from the link rotating body 48, and the second target length E becomes longer. Thus, the portion of the drive shaft 47 on which the link rotating body 48 is fixed moves downward V2, and accordingly the inclination angle A changes from the second angle to the first angle that is smaller than the second angle (see FIG. 6B). Figure 11 Figure 10

[0084] ​​​Here, by adjusting the diameter of the linkage rotating body 48, the angle difference between the first angle and the second angle can be appropriately set. For example, in the case of using a linkage rotating body 48 having a large diameter, the amount of winding of the first transmission member 61 caused by the linkage rotating body 48 in the case where the drive shaft 47 is rotated one revolution in the first direction is larger than in the case of using a linkage rotating body 48 having a small diameter. Thus, the angle difference between the first angle and the second angle also becomes larger. On the other hand, in the case of using a linkage rotating body 48 having a small diameter, the angle difference between the first angle and the second angle becomes smaller than in the case of using a linkage rotating body 48 having a large diameter. Therefore, it is preferable to set the diameter of the linkage rotating body 48 in correspondence with the necessary angle difference between the first angle and the second angle.

[0085] [Other Embodiments]

[0086] Next, other embodiments of the cart will be described.

[0087] (1) In the above-described first embodiment, the structure in which the tilt angle A becomes larger as the interval of the pair of support portions 30 becomes smaller is realized by configuring the linkage mechanism 40 such that the object length D becomes longer as the interval of the pair of support portions 30 becomes smaller, and the tilt angle A becomes larger as the object length D becomes longer, but the structure in which the tilt angle A becomes larger as the interval of the pair of support portions 30 becomes smaller can also be realized by configuring the linkage mechanism 40 such that the object length D becomes shorter as the interval of the pair of support portions 30 becomes smaller, and the tilt angle A becomes larger as the object length D becomes shorter. An example of such a structure is shown in Figure 12 .

[0088] Figure 12 In the example shown in Figure 4 , the configuration positions of the first transmission member 61 and the guide body 41 and the configuration position of the second transmission member 62 are reversed (the configuration positions on the left and right in the drawing are reversed) with respect to the example shown in Figure 4 , the second support portion 32 is disposed between the first support portion 31 and the guide body 41 in the first direction Z. Figure 12 In the example shown in Figure 13 , the guide body 41 is disposed such that the portion of the device main body portion 21 to which the guide body 41 is fixed moves downward V2 as the tilt angle A becomes larger. Also, the first transmission member 61 is linked to the first support portion 31 such that the object length D becomes shorter as the interval of the pair of support portions 30 becomes smaller. Thus, in the case where the holding device 20 performs the holding posture changing operation, as the operation proceeds, the object length D becomes shorter, and thus the portion of the device main body portion 21 to which the guide body 41 is fixed moves downward V2, and thus the tilt angle A changes from the first angle to the second angle that is larger than the first angle (see Figure 13). Further, in the case where the holding device 20 performs the posture changing operation for holding release, as the operation proceeds, the object length D becomes longer, and thus the portion of the device main body portion 21 to which the guide body 41 is fixed moves upward V1, and thus the inclination angle A changes from the second angle to a first angle smaller than the second angle (see FIG. 6). Figure 12

[0089] (2) In the above-described second embodiment, the linkage mechanism 40 is configured so that as the interval of the pair of support portions 30 becomes smaller, the second support portion 32 moves downward V2, and thus a structure in which as the interval of the pair of support portions 30 becomes smaller, the inclination angle A becomes larger is realized, but the linkage mechanism 40 can also be configured so that as the interval of the pair of support portions 30 becomes smaller, the first support portion 31 moves upward V1, and thus a structure in which as the interval of the pair of support portions 30 becomes smaller, the inclination angle A becomes larger is realized.

[0090] For example, Figure 8 In the example shown in FIG. 8, the configuration position of the shaft center R is changed to the right side in the drawing with respect to the second support portion 32, the second support portion 32 is disposed between the first support portion 31 and the shaft center R in the first direction Z, and instead of the guide member 45, a guide member (first support portion guide member) that moves the first support portion 31 upward V1 as the interval of the pair of support portions 30 becomes smaller is fixed to the link portion 22. In this case, for example, the first support portion guide member has a guide surface (a surface facing upward V1) that is abutted by a guided portion provided on the upper portion of the first support portion 31 from above V1, and the guide surface can be configured to be inclined in a direction facing upward V1 toward the center portion of the pair of support portions 30 in the first direction Z. By inclining the guide surface in this way, as the interval of the pair of support portions 30 becomes smaller, the height of the portion at which the guided portion of the guide surface is abutted becomes higher, and thus the device main body portion 21 can be swung with respect to the link portion 22 about the shaft center R in the direction in which the first support portion 31 moves upward V1 (that is, in the direction in which the inclination angle A becomes larger). Further, as the interval of the pair of support portions 30 becomes larger, the height of the portion at which the guided portion of the guide surface is abutted becomes lower, and thus the device main body portion 21 can be swung with respect to the link portion 22 about the shaft center R in the direction in which the first support portion 31 moves downward V2 (that is, in the direction in which the inclination angle A becomes smaller).

[0091] (3) In the above-described third embodiment, the linkage mechanism 40 is configured so that as the interval of the pair of support portions 30 becomes smaller, the second object length E becomes shorter, and as the second object length E becomes shorter, the inclination angle A becomes larger, but is not limited thereto. For example, the linkage mechanism 40 can also be configured so that as the interval of the pair of support portions 30 becomes smaller, the second object length E becomes longer, and as the second object length E becomes longer, the inclination angle A becomes larger.

[0092] For example, in​Figure 10 In the example shown, the arrangement position of the first transmission member 61 and the linkage rotation body 48 and the arrangement position of the second transmission member 62 can be switched. In this case, as shown in FIG. 6B, the arrangement position of the first transmission member 61 and the linkage rotation body 48 and the arrangement position of the second transmission member 62 are switched, and the linkage rotation body 48 is arranged on the side of the drive shaft 47 opposite the side on which the second support portion 32 is arranged. Figure 14 Figure 15 As shown in FIG. 6A, the linkage rotation body 48 is arranged on the side of the drive shaft 47 opposite the side on which the second support portion 32 is arranged. Also, in the case where the holding device 20 performs the holding posture change operation, as the interval between the pair of support portions 30 becomes smaller, the first transmission member 61 is unwound from the linkage rotation body 48, and the second object length E becomes longer. Due to this, the portion of the drive shaft 47 to which the linkage rotation body 48 is fixed moves downward V2, and correspondingly, the inclination angle A changes from the first angle to a second angle that is larger than the first angle. On the other hand, in the case where the holding device 20 performs the holding release posture change operation, as the interval between the pair of support portions 30 becomes larger, the first transmission member 61 is wound around the linkage rotation body 48, and the second object length E becomes shorter. Due to this, the portion of the drive shaft 47 to which the linkage rotation body 48 is fixed moves upward VI, and correspondingly, the inclination angle A changes from the second angle to the first angle that is smaller than the second angle.

[0093] (4) In the above-described third embodiment, the structure in which the linkage rotation body 48 is linked to the drive shaft 47 was described as an example. However, the structure is not limited to this, and for example, the linkage rotation body 48 can be arranged on another shaft other than the drive shaft 47, and the rotation of the drive shaft 47 can be transmitted to the linkage rotation body 48 via a power transmission mechanism. As the power transmission mechanism, for example, a mechanism using a gear, a mechanism using a belt, or the like can be used. In the case where the power transmission mechanism is a mechanism using a gear, for example, by adjusting the ratio of the number of teeth of two gears that mesh with each other, the ratio of the amounts of rotation of the linkage rotation body 48 and the drive shaft 47 can be appropriately set. Also, in the case where the power transmission mechanism is a mechanism using a belt, for example, by adjusting the ratio of the diameters of two pulleys around which the belt is wound, the ratio of the amounts of rotation of the linkage rotation body 48 and the drive shaft 47 can be appropriately set. By adjusting the ratio of the amounts of rotation of the linkage rotation body 48 and the drive shaft 47 in this way, the angle difference between the first angle and the second angle can be appropriately set.

[0094] (5) In the above-described embodiments, the structure in which the posture of the article 90 of the transfer target portion 6 is the horizontal posture S2, and the desired holding posture is the inclined posture SI was described as an example. However, the present application is not limited to this structure, and for example, the posture of the article 90 of the transfer target portion 6 can be an inclined posture SI in which the inclination angle of the bottom surface 90c of the desired holding posture with respect to the horizontal plane H is different from the inclination angle of the horizontal posture S2 with respect to the horizontal plane H.

[0095] ​(6) In the above-described embodiments, the case where the linkage mechanism 40 is configured so that the inclination angle A increases as the interval between the pair of support portions 30 decreases has been described as an example. However, the present application is not limited to this structure, and the linkage mechanism 40 can also be configured so that the inclination angle A decreases as the interval between the pair of support portions 30 decreases. This structure is used in the case where the posture of the article 90 of the transfer target portion 6 is a tilted posture SI, and the desired holding posture is a tilted posture SI or a horizontal posture S2 in which the inclination angle of the bottom surface 90c with respect to the horizontal plane H is smaller than in the tilted posture SI.

[0096] (7) Furthermore, the structures disclosed in the above-described embodiments can be applied in combination with the structures disclosed in other embodiments (including combinations of the embodiments described as other embodiments with each other) as long as no contradiction arises. As for other structures, the embodiments disclosed in this specification are merely illustrative in all respects. Therefore, various changes can be appropriately made within the scope of the gist of the present application.

[0097] 〔Summary of the above-described embodiments〕

[0098] Hereinafter, a summary of the cart described in the above will be described.

[0099] A cart that carries an article, the cart characterized by comprising a main body portion that moves along a movement path, a holding device that holds the article, a lifting device that lifts the holding device with respect to the main body portion, the article comprising a held portion that is formed with a supported surface that is arranged in parallel with a bottom surface of the article and faces downward, the holding device comprising a pair of support portions that are arranged in line in a first direction and support the supported surface from below, a device main body portion that supports each of the pair of support portions so as to be movable in the first direction, and a holding drive portion that causes the pair of support portions to approach and depart from each other in the first direction, the width of the held portion in the first direction being a first width, the holding drive portion driving the pair of support portions so as to depart in a first posture in which the interval between the pair of support portions becomes larger than the first width, and approach in a second posture in which the interval between the pair of support portions becomes smaller than the first width, the holding device comprising a linkage mechanism that changes the inclination angle of the device main body portion with respect to a horizontal plane in linkage with the change in posture between the first posture and the second posture of the pair of support portions.

[0100] In the present structure, at least the posture changing operation of changing the posture of the pair of supporting portions from the first posture to the second posture is performed from a state in which the pair of supporting portions is arranged such that at least a part of each of the pair of supporting portions is positioned lower than the held portion, and the held portion of the article arranged at the transfer destination is positioned between the pair of supporting portions, whereby the article arranged at the transfer destination can be held by the holding device. Also, in the present structure, the linkage mechanism is configured such that the inclination angle of the device main body portion (the inclination angle with respect to the horizontal plane, hereinafter the same) in a state in which the posture of the pair of supporting portions is the first posture is the first angle described below, and the inclination angle of the device main body portion in a state in which the posture of the pair of supporting portions is the second posture is the second angle described below, whereby the article arranged at the transfer destination in a posture different from the desired holding posture can be held by the holding device in the desired holding posture.

[0101] Here, the first angle is an angle corresponding to the posture of the article at the transfer destination (for example, a horizontal posture in which the bottom surface is along the horizontal plane), for example, an angle in which the supporting surface of each of the pair of supporting portions is arranged in the same orientation as the supported surface of the article arranged at the transfer destination. By setting the first angle as an angle corresponding to the posture of the article at the transfer destination in this way, after the start of the posture changing operation, the supporting surface of each of the pair of supporting portions can be appropriately moved to a position (hereinafter referred to as a "supporting position") below the supported surface of the article arranged at the transfer destination, in contact with or facing the supported surface.

[0102] Further, the second angle is an angle corresponding to the desired holding posture (for example, an inclined posture in which the bottom surface is inclined with respect to the horizontal plane), for example, an angle in which the supporting surface of each of the pair of supporting portions is arranged in the same orientation as the supported surface of the article in the desired holding posture. By making the second angle an angle corresponding to the desired holding posture in this way, at the end of the posture changing operation, the supporting surface of each of the pair of supporting portions can be arranged in the same orientation as the supported surface of the article in the desired holding posture in the above-described supporting position, and the article can be held by the holding device in the desired holding posture.

[0103] As described above, according to the present structure, in the case where the desired holding posture is different from the posture of the article at the transfer destination, the article can be held by the holding device in the desired holding posture.

[0104] Here, preferably, the aforementioned lifting device is provided with a plurality of rotating bodies that are rotationally driven, and transmission members that are wound and unwound from each of the plurality of rotating bodies and linked to the aforementioned holding device, and lifts the aforementioned holding device in a state of being suspended by the plurality of aforementioned transmission members, and among the plurality of aforementioned transmission members, a first transmission member linked to a first support portion that is one of a pair of aforementioned support portions, and a second transmission member linked to the aforementioned device main body portion, a portion of the aforementioned first transmission member that is unwound from the aforementioned rotating body is linked to the aforementioned first support portion via a guide body fixed to the aforementioned device main body portion, and the aforementioned linkage mechanism is configured to change the posture of the pair of aforementioned support portions between the aforementioned first posture and the aforementioned second posture in linkage, and change the length of the portion of the aforementioned first transmission member that is disposed between the aforementioned guide body and the aforementioned first support portion.

[0105] According to the present structure, the linkage mechanism can be configured to change the length of the portion of the first transmission member that is disposed between the guide body and the first support portion in linkage, and the portion of the device main body portion that is fixed to the guide body is lifted, and the inclination angle of the device main body portion with respect to the horizontal plane is changed.

[0106] Further, preferably, the aforementioned lifting device is provided with a plurality of rotating bodies that are rotationally driven, and transmission members that are wound and unwound from each of the plurality of rotating bodies and linked to the aforementioned holding device, and lifts the aforementioned holding device in a state of being suspended by the plurality of aforementioned transmission members, and the aforementioned holding driving portion is provided with a driving shaft that is rotationally driven by a driving source, and is configured to link the pair of aforementioned support portions to approach and separate from each other in the aforementioned first direction in linkage with the rotation of the aforementioned driving shaft, and the aforementioned linkage mechanism is provided with a linkage rotating body that rotates in linkage with the rotation of the aforementioned driving shaft, and among the plurality of aforementioned transmission members, a first transmission member, and a second transmission member linked to the aforementioned device main body portion, an extended portion of the aforementioned first transmission member that is unwound from the aforementioned rotating body is wound around the aforementioned linkage rotating body, and the aforementioned linkage mechanism is configured to wind and unwind the aforementioned first transmission member in linkage with the aforementioned linkage rotating body that rotates in linkage with the rotation of the aforementioned driving shaft for changing the posture of the pair of aforementioned support portions between the aforementioned first posture and the aforementioned second posture, and change the length between the aforementioned rotating body of the aforementioned first transmission member and the aforementioned linkage rotating body.

[0107] According to the present structure, the linkage mechanism can be configured to change the length of the portion of the first transmission member that is disposed between the guide body and the first support portion in linkage, and the portion of the device main body portion that is fixed to the guide body is lifted, and the inclination angle of the device main body portion with respect to the horizontal plane is changed.

[0108] Further, preferably, the aforementioned holding device is provided with a linking portion linked to the aforementioned lifting device, the aforementioned device main portion is linked to the aforementioned lifting device via the aforementioned linking portion, and the aforementioned linkage mechanism is configured to change the inclination angle of the aforementioned device main portion with respect to the aforementioned linking portion in linkage with the change in posture between the aforementioned first posture and the aforementioned second posture of the pair of aforementioned support portions.

[0109] According to the present structure, the linkage mechanism can be configured to change the inclination angle of the device main portion with respect to the horizontal surface in correspondence with the change in the inclination angle of the device main portion with respect to the linking portion. In the present structure, it is not necessary to change the posture of the linking portion, which is the portion of the holding device linked to the lifting device, so the linkage mechanism can be provided to the holding device without changing the lifting device.

[0110] Further, preferably, the aforementioned article is a container having an opening portion in a side surface, and the aforementioned holding device holds the aforementioned article in a posture in which the aforementioned opening portion faces diagonally upward in a state in which the pair of aforementioned support portions are driven into the aforementioned second posture.

[0111] According to the present structure, in the case where the article is a container having an opening portion in a side surface, the article can be held in a posture in which the contents accommodated in the article are difficult to move from the opening portion to the outside of the article by means of the holding device.

[0112] The cart of the present application can have at least one of the above-described effects.

[0113] Explanation of Reference Signs

[0114] 1: cart

[0115] 2: movement path

[0116] 10: main portion

[0117] 20: holding device

[0118] 21: device main portion

[0119] 22: linking portion

[0120] 30: support portion

[0121] 30a: support surface

[0122] 31: first support portion

[0123] 40: linkage mechanism

[0124] 41: guide body

[0125] 47: drive shaft

[0126] 48: linkage rotating body

[0127] 49: drive source

[0128] 50: lifting device

[0129] 51: rotating body

[0130] 60: transmission member

[0131] 60a: connecting portion

[0132] 61: first transmission member

[0133] 62: second transmission member

[0134] 72: holding drive portion

[0135] 90: article

[0136] 90b: side surface

[0137] 90c: bottom surface

[0138] 91: held portion

[0139] 91a: supported surface

[0140] 92: opening portion

[0141] A: inclination angle

[0142] C1: first posture

[0143] C2: second posture

[0144] H: horizontal plane

[0145] Z: first direction

[0146] ΔZ: first width

Claims

1. A cart that carries an article, characterized by comprising a main body that moves along a movement path, a holding device that holds the article, 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 supported 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 supporting portions that are arranged in line in a first direction, and that support the supported surface from below, a device main body that supports each of the pair of supporting portions so as to be movable in the first direction, and a holding drive portion that causes the pair of supporting portions to approach and separate from each other in the first direction, a width of the held portion in the first direction is set as a first width, the holding drive portion drives the pair of supporting portions into a first posture in which the pair of supporting portions are separated from each other in a manner such that a distance between the pair of supporting portions becomes larger than the first width, and into a second posture in which the pair of supporting portions are brought close to each other in a manner such that the distance between the pair of supporting portions becomes smaller than the first width, the holding device has a linkage mechanism that links a change in posture between the first posture and the second posture of the pair of supporting portions, and changes an inclination angle of the device main body with respect to a horizontal plane.

2. The cart according to claim 1, characterized in that the lifting device has a plurality of rotating bodies that are rotationally driven, and transmission members that are wound and unwound from each of the plurality of rotating bodies, and that are linked to the holding device so as to lift the holding device in a state in which the holding device is suspended by the plurality of transmission members, the plurality of transmission members include a first transmission member that is linked to a first supporting portion that is one of the pair of supporting portions, and a second transmission member that is linked to the device main body, a portion of the first transmission member that is unwound from the rotating body is linked to the first supporting portion via a guide body that is fixed to the device main body, the linkage mechanism is configured to link a change in posture between the first posture and the second posture of the pair of supporting portions, and to change a length of a portion of the first transmission member that is arranged between the guide body and the first supporting portion.

3. The cart according to claim 1, characterized in that the lifting device has a plurality of rotating bodies that are rotationally driven, and transmission members that are wound and unwound from each of the plurality of rotating bodies, and that are linked to the holding device so as to lift the holding device in a state in which the holding device is suspended by the plurality of transmission members, the holding drive portion has a drive shaft that is rotationally driven by a drive source, and is configured to link a rotation of the drive shaft, and to cause the pair of supporting portions to approach and separate from each other in the first direction, the linkage mechanism has a linkage rotating body that rotates in linkage with the rotation of the drive shaft, the plurality of transmission members include a first transmission member, and a second transmission member that is linked to the device main body, ​ The extension portion of the first transmission member, which is extended from the rotating body, is wound around the link rotating body, The link mechanism is configured to change the length between the rotating body of the first transmission member and the link rotating body by winding and unwinding the first transmission member by the link rotating body, and the link rotating body rotates in conjunction with the rotation of the drive shaft for changing the posture between the first posture and the second posture of the pair of support portions.

4. The cart according to claim 1, wherein The holding device has a link portion linked to the lifting device, The device main body portion is linked to the lifting device via the link portion, The link mechanism is configured to change the inclination angle of the device main body portion with respect to the link portion in conjunction with the change in posture between the first posture and the second posture of the pair of support portions.

5. The cart according to any one of claims 1 to 4, wherein The article is a container having an opening portion in a side surface, The holding device holds the article in a posture in which the opening portion faces obliquely upward in a state in which the pair of support portions are driven to the second posture.

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