tote cart

Abstract

The present application relates to a carrier for carrying an article, in which a state in which respective tip portions of a pair of support members are arranged above the connection portion and below the holding portion, and the article is positioned between the pair of tip portions, is set as a holding preparation state, and a state in which the pair of support members are closer to each other in a first direction than in the holding preparation state, and respective tip portions of the pair of support members or a portion connected to the tip portions contacts the support surface from below to support the article is set as a holding state. During the transition from the holding preparation state to the holding state, the respective tip portions swing around a fulcrum in a direction in which the tip portions move to the second side of the first direction and upward, and the support surface is lifted upward.

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 an article in a desired holding posture by a holding device regardless of the posture of the article at a transfer destination.

[0007] The present application is a vehicle for carrying 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 relative to the main body portion, the article having a held portion that is formed with a supported surface that is disposed parallel to the bottom surface of the article and faces downward, the holding device having a pair of support portions and a holding drive portion, the pair of support portions being respectively connected to support members that support the supported surface from below, the holding drive portion bringing the pair of support portions closer to and away from each other in a first direction, in each of the pair of support portions, a side of the support portion that is closer to the other support portion in the first direction is defined as a first direction first side, and a side of the support portion that is away from the other support portion in the first direction is defined as a first direction second side, the support members being swingably connected to the support portions about a connection portion that is connected to the support portions, the distal end portions of the pair of support members that are opposite to the connection portions are disposed upward of the connection portions and downward of the held portion, and the article is disposed between the pair of distal end portions at a distance greater than the width of the held portion in the first direction, a state in which the pair of support portions are closer to each other in the first direction and the distal end portions of the pair of support members or the members connected to the distal end portions contact the supported surface from below to support the article is defined as a holding state, and during the transition from the holding preparation state to the holding state, the distal end portions of the pair of support members swing about the connection portions in a direction in which the distal end portions move toward the first direction second side and face upward, and the supported surface is lifted upward.

[0008] According to the present structure, by causing the pair of support portions to transition from the holding preparation state to the holding state by approaching each other, the article disposed at the transfer destination portion can be held by the holding device. At this time, the article can be held by lifting the supported surface disposed in parallel with the bottom surface of the article upward by the tip portions of the pair of support members. Therefore, in the case where the posture of the article at the transfer destination portion is the same as the desired holding posture, the holding device is configured to lift the supported surface without changing the orientation, and thus the article can be held in the desired holding posture. Further, in the case where the posture of the article at the transfer destination portion is different from the desired holding posture, the holding device is configured to lift the supported surface while changing the orientation to the orientation in the desired holding posture, and thus the article can be held in the desired holding posture.

[0009] Thus, according to the present structure, the holding device is configured to hold the article by lifting the supported surface upward by the tip portions of the pair of support members, and thus the article can be held in the desired holding posture by the holding device regardless of the posture of the article at the transfer destination portion. Further, in the present structure, the operation of lifting the supported surface upward and the operation of approaching the pair of support portions can be performed in parallel, and thus the decrease in the processing efficiency of the article can be suppressed and the cart according to the present application can be realized.

[0010] 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

[0011] Figure 1 is a perspective view of the cart.

[0012] Figure 2 is a front view of the cart.

[0013] Figure 3 is a view showing a state in which an article is transferred between the holding device and the transfer destination portion.

[0014] Figure 4 is an explanatory view of the holding preparation state.

[0015] Figure 5 is an explanatory view of the holding preparation state.

[0016] Figure 6 is an explanatory view of the holding state.

[0017] Figure 7 is an explanatory view of the holding state.

[0018] Figure 8 is a perspective view of the support portion and its vicinity.

[0019] Figure 9 is a control block diagram.

[0020] Figure 10 is a perspective view of a support portion and its vicinity of another embodiment.

[0021] Figure 11 is a perspective view of a support portion and its vicinity of another embodiment.

[0022] Figure 12 is an explanatory view of a holding state of another embodiment.

[0023] Figure 13 is an explanatory view of a holding state of another embodiment. DETAILED DESCRIPTION

[0024] A first embodiment of a carrier will be described with reference to the drawings.

[0025] The carrier 1 travels along a movement path 2 in an article transport apparatus 100 exemplified in Figure 3 to transport an article 90. As shown in Figures 1 to 3 , the carrier 1 is provided with a main body portion 10 that moves along the movement path 2, a holding device 20 that holds the article 90, and a lifting device 50 that lifts the holding device 20 with respect to the main body portion 10. Here, a long-side direction of the movement path 2 (a direction in which the movement path 2 extends) is set as a path long-side direction L, and a width direction of the movement path 2 is set as a path width direction W. The path width direction W is a direction orthogonal to both the path long-side direction L and a vertical direction V. Further, a direction defined with the carrier 1 as a reference (i.e., a direction that changes in correspondence with a posture of the carrier 1) and a direction along the path long-side direction in a state where the carrier 1 is arranged in the movement path 2 is set as a vehicle body front-rear direction X, and a direction defined with the carrier 1 as a reference and a direction along the path width direction W in a state where the carrier 1 is arranged in the movement path 2 is set as a vehicle body left-right direction Y.

[0026] 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 a track 3. Specifically, the article transport apparatus 100 is provided with the track 3 (here, a pair of tracks 3 arranged at intervals along the path width direction W) arranged along the movement path 2, and the main body portion 10 moves along the track 3. Further, in the present embodiment, the track 3 is supported by being suspended from a ceiling 4, and the movement path 2 is formed along the ceiling 4. That is, in the present embodiment, the carrier 1 is a ceiling carrier that travels along the movement path 2 formed along the ceiling 4. In addition, the carrier 1 can also be a carrier other than a ceiling carrier.

[0027] As shown in Figure 1 and Figure 2As shown, the main body 10 has the traveling section 11 having the wheels 12 that roll on the traveling surfaces of the rails 3 (here, a pair of rails 3) and the cover section 14 that is coupled to the traveling section 11. The traveling surfaces of the rails 3 are surfaces that face upward V1 in the vertical direction V, and the wheels 12 rotate about axes orthogonal to the vertical direction V. The traveling section 11 has a traveling drive section 70 (for example, an electric motor such as a servo motor, see Figure 9 ) that rotates the wheels 12, and the wheels 12 are rotationally driven by the traveling drive section 70, whereby the traveling section 11 travels along the rails 3. As shown, Figure 2 in the present embodiment, the traveling section 11 has the guide wheels 13 that roll on the guide surfaces of the rails 3, and the traveling section 11 travels along the rails 3 in a state in which the guide wheels 13 are guided by the guide surfaces of the rails 3. The guide surfaces of the rails 3 are surfaces that face 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 about axes in the vertical direction V (idling in the present example). Figure 1 In the example shown, the main body 10 has a pair of traveling sections 11 arranged in the vehicle body front-rear direction X.

[0028] As shown, Figure 1 in the present embodiment, the cover section 14 is supported by the traveling section 11 in a state in which it is disposed below V2 in the vertical direction V with respect to the traveling section 11. The articles 90 in the state of being held by the holding device 20 are disposed in the internal space of the cover section 14 at the time of travel of the vehicle 1. As shown, Figure 1 in the present embodiment, the internal space of the cover section 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 disposed in the internal space of the cover section 14 are covered by the wall portion of the cover section 14 from at least both sides in the vehicle body front-rear direction X.

[0029] The kind of the articles 90 is not limited thereto, as shown, Figure 2 in the present embodiment, the articles 90 are containers that have 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 articles 90, and the taking in and out of the contents with respect to the articles 90 is performed 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 structure of the articles 90) can also be formed in the side surface 90b of the articles 90, but the articles 90 are configured in such a manner that the contents accommodated in the articles 90 cannot move to the outside of the articles 90 without passing through the opening portion 92. In the present embodiment, substrates 93 (an example of contents) such as glass substrates, semiconductor wafers, and the like are accommodated in the articles 90. Furthermore, in the present embodiment, the articles 90 are configured so that a plurality of substrates 93 can be accommodated in a state in which they are arranged in the up-down direction (a direction along the vertical direction V in a state in which the bottom surface 90c is disposed horizontally).

[0030] 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.

[0031] 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 an upper end in the lifting direction (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 portion 10 moves. That is, the first position P1 is a position of the holding device 20 when the vehicle 1 travels. 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 internal space of the cover portion 14. Further, 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 in which the holding device 20 performs holding and release of the article 90, in other words, a position of the holding device 20 at the time of transfer of the article 90 between the holding device 20 and the transfer destination portion 6. The second position P2 is set in correspondence with the height (position in the vertical direction V) of each transfer destination portion 6.

[0032] Figure 3 In the present embodiment, as an example of the transfer destination portion 6, a load port that is 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, processes the substrate 93 that has been taken out of the article 90. As shown in Figure 3 , the article 90 is disposed in the transfer destination portion 6 in a manner in which the opening portion 92 faces the processing device 5 side. In the present embodiment, the article 90 is disposed in the transfer destination portion 6 in a horizontal posture S2 in which the bottom surface 90c is along the horizontal plane. 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 portion 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 portion 6.

[0033] As shown in Figure 2The lifting device 50 is provided with a rotating body 51 that is rotationally driven, and a transmission member 52 that is wound and unwound from the rotating body 51 and is connected to the holding device 20, as shown schematically in simplified form. The lifting device 50 is also provided with the aforementioned lifting drive section 71 (see FIG. 1) that rotationally drives the rotating body 51. Figure 9 The rotating body 51 and the lifting drive section 71 are supported by the main body section 10, in this embodiment, at a portion above the internal space of the cover section 14, V1. For example, it can be configured as a structure in which the transmission member 52 is a belt and the rotating body 51 is a winding pulley that winds the belt, or a structure in which the transmission member 52 is a wire and the rotating body 51 is a winding drum that winds the wire. As shown in Figure 3 A connection section 52a provided at the end of the transmission member 52 that is unwound from the rotating body 51 is connected to the holding device 20. The lifting device 50 causes the rotating body 51 to rotate by the drive of the lifting drive section 71, and winds or unwinds the transmission member 52, thereby causing the holding section 20 to rise or fall (i.e., to be lifted). In this way, the lifting device 50 lifts the holding device 20 in a state in which the holding device 20 is suspended and supported.

[0034] As shown in Figure 2 and Figure 3 In this embodiment, the lifting device 50 is provided with a plurality of rotating bodies 51, and the transmission member 52 is wound around each of the plurality of rotating bodies 51. In the example shown in Figure 2 and Figure 3 The lifting device 50 is provided with three rotating bodies 51. Furthermore, the connection sections 52a of the plurality of transmission members 52 (three transmission members 52 in this example) are connected to the holding device 20. The plurality of connection sections 52a are connected to different portions of the holding device 20. In addition, Figure 2 and Figure 3 In order to show that the lifting device 50 is provided with a plurality of rotating bodies 51, the plurality of rotating bodies 51 are arranged on separate axes in Figure 3 In this embodiment, the connection section 52a of the transmission member 52 is arranged directly below the rotating body 51 around which the transmission member 52 is wound, but it can also be configured such that the portion of the transmission member 52 that is unwound from the rotating body 51 is wound around a guide rotating body (a guide pulley or the like), and the connection section 52a of the transmission member 52 is arranged directly below the guide rotating body.

[0035] As shown in Figure 4 and Figure 5 The article 90 is provided with a held section 91 that is formed with a supported surface 91a. The supported surface 91a is a surface that is arranged parallel to the bottom surface 90c of the article 90, and is a surface that faces downward, V2. As shown in Figure 4 and Figure 6As shown, the holding device 20 includes a pair of support portions 21 that are respectively connected to the support members 30 that support the support surface 91a from below V2, and the article 90 is held by the pair of support portions 21. Figure 2 In the example shown, the holding device 20 holds the article 90 from above V1. Hereinafter, the support member 30 connected to one of the pair of support portions 21 and the support member 30 connected to the other of the pair of support portions 21 will be referred to together as the pair of support members 30.

[0036] In this embodiment, the upper surface portion (e.g., a plate-shaped canopy portion) constituting the upper surface 90a of the article 90 is used as the holding portion 91. Figure 4 As shown, the holding portion 91 is formed with a protruding portion that protrudes outward (outward in the horizontal direction) relative to the side surface 90b of the article 90, and the lower surface of the protruding portion constitutes the supported surface 91a. In addition, the structure of the holding portion 91 is not limited to this. For example, it is also possible to form the holding portion 91 on the side surface portion constituting the side surface 90b of the article 90.

[0037] The retaining device 20 includes a retaining drive 72 (e.g., a solenoid, an electric motor, see reference 72) that allows a pair of support portions 21 to approach and move away from each other in the first direction A. Figure 9 The first direction A is the arrangement direction of the pair of support portions 21 (here, the horizontal direction along the horizontal plane), and the pair of support portions 21 are arranged apart along the first direction A. The pair of support portions 21 are movably supported on the main body of the holding device 20, which is connected to the transmission member 52 (specifically, the connecting portion 52a). Furthermore, the holding drive 72 moves each of the pair of support portions 21 along the first direction A, causing the pair of support portions 21 to approach and move apart from each other.

[0038] like Figure 2 As shown, in this embodiment, the holding device 20 holds the article 90 in an inclined posture S1 where the bottom surface 90c is tilted relative to the horizontal plane (for example, tilted at 5 degrees). Specifically, the holding device 20 holds the article 90 in a posture where the opening 92 faces obliquely upward (an example of the inclined posture S1). Furthermore, the direction towards the outside of the article 90 is set in the direction of movement of the container (in this embodiment, the substrate 93) when it is inserted or removed through the opening 92. The holding device 20 holds the article 90 in this way, as follows: 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 by the holding device 20 in an inclined posture S1.

[0039] Figure 2In the example shown, a pair of support portions 21 are positioned in the longitudinal direction X of the vehicle body (see reference). Figure 1 The retaining device 20 can be arranged in a direction in which the two parts approach and move away from each other (i.e., in the direction of the first direction A along the longitudinal direction X of the vehicle body). However, it is also possible for the retaining device 20 to be arranged with a pair of support portions 21 in a direction in the lateral direction Y of the vehicle body that approach and move away from each other (i.e., in the direction of the first direction A along the lateral direction Y of the vehicle body). Furthermore, Figures 1 to 3 In the example shown, the article 90 is held in the holding device 20 with the opening 92 facing the side of the vehicle body in the left-right direction Y. However, it is also possible for the article 90 to be held in the holding device 20 with the opening 92 facing the side of the vehicle body in the front-rear direction X. In addition, the transport vehicle 1 can also be configured to have a mechanism that allows the holding device 20 to rotate relative to the main body 10 about an axis in the vertical direction V. From the viewpoint of more effectively preventing the substrate 93 housed in the article 90 from moving from the opening 92 to the outside of the article 90 when the transport vehicle 1 is moving, it is preferable that the article 90 is held in the holding device 20 with the opening 92 facing the wall of the cover 14.

[0040] like Figure 8 As shown, the support member 30 is pivotally connected to the support portion 21 with the connecting portion 30a, which is connected to the support portion 21, as a fulcrum. At the connecting portion 30a, a component (e.g., a hinge) is provided that allows the support portion 21 and the support member 30 to be rotatably connected relative to each other about the aforementioned fulcrum. Taking the direction orthogonal to the first direction A (here, the horizontal direction) when viewed from above as the second direction B, the support member 30 is pivotally connected to the support portion 21 about an axis along the second direction B. In each pair of support portions 21, the side of the support portion 21 in the first direction A that is closer to the other is designated as the first side A1 of the first direction, and the side of the support portion 21 in the first direction A that is away from the other is designated as the second side A2 of the first direction. The end portion 30b of the support member 30 on the side opposite to the connecting portion 30a is positioned on the first side A1 of the first direction relative to the support portion 21 to which the support member 30 is connected. Thus, as... Figure 4 As shown, a pair of end portions 30b (one end portion 30b of a pair of support members 30 and the other end portion 30b) are disposed between a pair of support portions 21 in the first direction A.

[0041] The end portion 30b of the support member 30 can be formed of the same material as the main body of the support member 30 (the portion connecting the connecting portion 30a and the end portion 30b), or it can be formed of a different material. However, in this embodiment, as described later, the article 90 is held in the holding device 20 when the end portion 30b is in contact with the supported surface 91a from below (V2). Therefore, the end portion 30b is preferably formed of a material (e.g., rubber) that can adequately ensure the frictional force between the supported surface 91a and the end portion 30b. Furthermore, Figure 4 The shape of the end portion 30b is set as spherical in the figure, but the size and shape of each part in each figure are conceptual and the actual size and shape are not limited to this.

[0042] In this embodiment, one of the pair of support portions 21 and the support member 30 connected thereto, and the other of the pair of support portions 21 and the support member 30 connected thereto, are configured such that the plane orthogonal to the first direction A at the center position between the pair of support portions 21 is set as a plane of symmetry, and they are mirror-symmetrical to each other. Therefore, with Figure 8 The support portion 21 shown in the figure has a pair of support portions 21 and a support member 30 connected thereto, which can support the support portion 21. Figure 8 The structure shown in the figure is that the support portion 21 and the support member 30 connected thereto are flipped in the first direction A.

[0043] like Figure 8 As shown, in this embodiment, the support member 30 includes a pair of swinging members, namely a first swinging member 41 and a second swinging member 42, which are disposed separately in the second direction B. Thus, the connecting portion 30a connecting the support portion 21 and the support member 30 includes a first connecting portion 41a connecting the first swinging member 41 to the support portion 21 and a second connecting portion 42a connecting the second swinging member 42 to the support portion 21. If the end portion 30b of the first swinging member 41 is designated as the first end portion 41b, and the end portion 30b of the second swinging member 42 is designated as the second end portion 42b, then in this embodiment, the end portion 30b of the support member 30 includes the first end portion 41b of the first swinging member 41 and the second end portion 42b of the second swinging member 42. Hereinafter, when describing matters common to the first swing member 41 and the second swing member 42, they will be described as support member 30 without distinction. When describing matters common to the first end portion 41b and the second end portion 42b, they will be described as end portion 30b without distinction. When describing matters common to the first connecting portion 41a and the second connecting portion 42a, they will be described as connecting portion 30a without distinction.

[0044] The first swing member 41 is swingably (specifically, swingably about an axis in the second direction B) linked to the support portion 21 with the first link portion 41a as a fulcrum, and the second swing member 42 is swingably (specifically, swingably about an axis in the second direction B) linked to the support portion 21 with the second link portion 42a as a fulcrum. The shapes of the first swing member 41 and the second swing member 42 are not limited to this, and in the present embodiment, the first swing member 41 and the second swing member 42 are provided as rod-like members such as rods, and one end side in the longitudinal direction is linked to the support portion 21 via the link portion 30a. Hereinafter, the first swing member 41 provided on one of the pair of support members 30 and the first swing member 41 provided on the other of the pair of support members 30 will be collectively referred to as the pair of first swing members 41, and the second swing member 42 provided on one of the pair of support members 30 and the second swing member 42 provided on the other of the pair of support members 30 will be collectively referred to as the pair of second swing members 42.

[0045] Here, a state in which the respective tip portions 30b of the pair of support members 30 are disposed above the link portions 30a by a distance V1 and below the held portions 91 by a distance V2, and the article 90 (specifically, the article 90 disposed on the transfer destination portion 6) is positioned between the pair of tip portions 30b disposed at a larger interval than the width (hereinafter referred to as the "held portion width") of the first direction A of the held portions 91 is set as the holding preparation state. In the holding preparation state, each of the pair of tip portions 30b is disposed apart from the article 90. In the present embodiment, Figure 4 The state in which the support portion 21 and the support member 30 are indicated by solid lines is the holding preparation state.

[0046] In addition, the disposition of the tip portion 30b of the support member 30 above the link portion 30a by the distance V1 means that the tip portion 30b of the support member 30 is disposed above the link portion 30a that links the support member 30 and the support portion 21 by the distance V1. In the present embodiment, one of the pair of support members 30 and the other are disposed in a mirror-symmetrical relationship as described above, and therefore the link portion 30a that links one of the pair of support members 30 and the support portion 21 is disposed at the same height as the link portion 30a that links the other of the pair of support members 30 and the support portion 21. Furthermore, in the present embodiment, the disposition of the tip portion 30b of the support member 30 above the link portion 30a by the distance V1 means that the first tip portion 41b of the first swing member 41 is disposed above the first link portion 41a by the distance V1, and the second tip portion 42b of the second swing member 42 is disposed above the second link portion 42a by the distance V1.

[0047] Further, the end portions 30b of the support members 30 are arranged lower than the holding portion 91 by V2 means that the end portions 30b are arranged lower than the portion of the holding portion 91 with which the end portions 30b contact in the holding state of the holding portion 91 described later. In the present embodiment, the article 90 is arranged in the horizontal posture S2 at the transfer destination 6, so the holding portion 91 (specifically, the support surface 91a) is arranged in the horizontal plane in the state in which the article 90 is arranged at the transfer destination 6, and the pair of end portions 30b is arranged lower than the entire holding portion 91 by V2 in the holding preparation state. Further, in the present embodiment, the end portions 30b of the support members 30 are arranged lower than the holding portion 91 by V2 means that the first end portions 41b of the first swing members 41 are arranged lower than the holding portion 91 by V2, and the second end portions 42b of the second swing members 42 are arranged lower than the holding portion 91 by V2.

[0048] In the present embodiment, the article 90 being located between the pair of end portions 30b arranged at a larger interval than the holding portion width means that the article 90 is located between the pair of first end portions 41b (the first end portion 41b of one of the pair of first swing members 41 and the first end portion 41b of the other of the pair of first swing members 41) arranged at a larger interval than the holding portion width, and the article 90 is located between the pair of second end portions 42b (the second end portion 42b of one of the pair of second swing members 42 and the second end portion 42b of the other of the pair of second swing members 42) arranged at a larger interval than the holding portion width.

[0049] Further, the state in which the pair of support portions 21 are closer to each other in the first direction A than in the holding preparation state, and the respective end portions 30b of the pair of support members 30 or the members connected to the end portions 30b contact the support surface 91a from below V2 to support the article 90 is set as the holding state. In the present embodiment, in the holding state, the respective end portions 30b of the pair of support members 30 contact the support surface 91a from below V2. Further, in the present embodiment, in the holding state, the pair of support members 30 support the support surface 91a inclined with respect to the horizontal plane. In the present embodiment, Figure 6 The state in which the support portions 21 and the support members 30 are indicated by solid lines is the holding state. In the present embodiment, the support members 30 include the first swing members 41 and the second swing members 42. Thus, as shown in Figs. 8 and 9, in the holding state, the respective first end portions 41b of the pair of first swing members 41 and the respective second end portions 42b of the pair of second swing members 42 contact the support surface 91a from below V2. Figure 6 and Figure 7

[0050] The holding device 20 is arranged at the second position P2 described above (refer to Fig. 1). The holding device 20 is arranged at the second position P2 in the holding preparation state. Figure 3 ​In the state of being ready to hold, a pair of support portions 21 are configured at a height that enables the holding preparation state. Furthermore, when holding the article 90 based on the holding device 20, with the holding device 20 positioned in the second position P2, the pair of support portions 21 are driven, causing a transition from the holding preparation state to the holding state. When releasing the holding of the article 90 based on the holding device 20, with the holding device 20 in the second position P2, the pair of support portions 21 are driven, causing a transition from the holding state to the holding release state. The holding release state is the same as the holding preparation state; hereinafter, the holding release state will also be referred to as the holding preparation state.

[0051] When holding the article 90 based on the holding device 20, during the transition of the pair of support members 30 from the holding preparation state to the holding state, their respective end portions 30b swing about the fulcrum in a direction moving towards the second side A2 in the first direction and towards the upper V1, lifting the supported surface 91a upward V1. Specifically, as described above, in the holding preparation state, the respective end portions 30b of the pair of support members 30 are positioned V1 above the connecting portion 30a and V2 below the held portion 91. Therefore, by bringing the pair of support portions 21 closer to each other in the first direction A from the holding preparation state, each of the pair of end portions 30b can be moved from below the supported surface 91a of the article 90 towards the first side A1 in the first direction to a position contacting the side surface 90b of the article 90. Figure 4 The position of the end portion 30b is indicated by the double-dotted line. That is, by bringing the pair of support portions 21 closer to each other in the first direction A from the holding ready state, an intermediate state is achieved in which each of the pair of end portions 30b contacts the side 90b of the article 90 of the transfer object portion 6 (specifically, the portion of the side 90b that is V2 below the supported surface 91a). Figure 4 (The middle support portion 21 and the support member 30 are indicated by double-dotted lines). In this embodiment, in the intermediate state, each of the pair of first end portions 41b and each of the pair of second end portions 42b contacts the side surface 90b of the article 90.

[0052] The height of the pair of end portions 30b in the ready state is set such that the gap between the end portions 30b and the supported surface 91a in the intermediate state is of a desired size. From the viewpoint of shortening the time required for the transition between the ready state and the holding state, this gap is preferably set to be small, but the height of the pair of end portions 30b in the ready state can also be set such that the gap is zero (i.e., the end portions 30b contact the supported surface 91a in the intermediate state). In this case, each of the pair of end portions 30b moves to a position that contacts the side 90b of the article 90 while contacting the supported surface 91a.

[0053] If the pair of support portions 21 are brought closer together from their intermediate state in the first direction A, the respective end portions 30b of the pair of support members 30 swing around a fulcrum in a direction moving towards the second side A2 in the first direction and towards the upward V1. In this embodiment, the respective first end portions 41b of the pair of first swinging members 41 swing around a fulcrum in a direction moving towards the second side A2 in the first direction and towards the upward V1, and the respective second end portions 42b of the pair of second swinging members 42 swing around a fulcrum in a direction moving towards the second side A2 in the first direction and towards the upward V1. Furthermore, Figure 6 In the diagram, the support portion 21 and the support component 30 in the intermediate state are represented by a double-dotted line. Figure 7 In the diagram, the end portion 30b in the intermediate state is indicated by a double-dotted line. As the pair of support members 30 approach each other in the first direction A and swing as described above, the pair of end portions 30b (in this embodiment, a pair of first end portions 41b and a pair of second end portions 42b) move upward V1 from the same position in the first direction A. Consequently, the supported surface 91a is lifted upward V1 due to the upward movement of the pair of end portions 30b, maintaining this state. Figure 6 The state in which the middle support 21 and the support component 30 are represented by solid lines is realized.

[0054] When the article 90 based on the holding device 20 is released, during the transition from the holding state to the holding ready state, the end portions 30b of each of the pair of support members 30 swing about the fulcrum in a direction moving towards the first side A1 in the first direction and towards the downward V2, causing the supported surface 91a to descend downward V2. Specifically, this causes the pair of support portions 21 to move from the holding state (…) in the first direction A… Figure 6 When the middle support portion 21 and the support member 30 (in the state indicated by solid lines) separate from each other, the respective end portions 30b of the pair of support members 30 swing around a fulcrum in a direction moving towards the first side A1 in the first direction and towards the downward V2. In this embodiment, the respective first end portions 41b of the pair of first swing members 41 swing around a fulcrum in a direction moving towards the first side A1 in the first direction and towards the downward V2, and the respective second end portions 42b of the pair of second swing members 42 swing around a fulcrum in a direction moving towards the first side A1 in the first direction and towards the downward V2. Since the pair of support portions 21 swing as described above while separating from each other in the first direction A, the pair of end portions 30b (in this embodiment, a pair of first end portions 41b and a pair of second end portions 42b) move downward V2 from the same position in the first direction A. Therefore, the supported surface 91a descends downwards by V2 due to the downward movement of the pair of end portions 30b. If the supported surface 91a descends to the point where the article 90 is positioned at the transfer object portion 6, then the intermediate state ( Figure 4The state in which the middle support 21 and the support component 30 are represented by double-dotted lines is realized.

[0055] If the pair of support portions 21 are further separated from each other in the first direction A, each of the pair of end portions 30b moves from the second side A2 in the first direction below the supported surface 91a of the article 90 disposed in the transfer object portion 6 until the interval between these pair of end portions 30b becomes larger than the width of the holding portion, and the holding preparation state is realized.

[0056] As described above, when holding the article 90 based on the holding device 20, the pair of support members 30 swing, causing the supported surface 91a of the article 90 to be lifted upward V1. When releasing the holding of the article 90 based on the holding device 20, the pair of support members 30 swing, causing the supported surface 91a of the article 90 to be lowered downward V2. Furthermore, in this embodiment, no actuator is provided to drive the swinging of the pair of support members 30. In order to properly hold and release the article 90 based on the holding device 20, the force application mechanism 61 and the limiting mechanism 62 (see below) are used. Figure 8 It is installed on the transport vehicle 1 (specifically, the holding device 20).

[0057] The force-applying mechanism 61 is a mechanism that applies force to the support member 30 toward the end portion 30b in a direction that moves toward the first side A1 in the first direction and swings downward V2. The direction in which the end portion 30b moves toward the first side A1 in the first direction and swings downward V2 is... Figure 8 The direction in which the middle and end portion 30b swings from the position indicated by the double-dotted line to the position indicated by the solid line. Additionally, in Figure 8 Referenced later Figure 10 and Figure 11 In the diagram, the support component 30 in the ready state is represented by a solid line, and the support component 30 in the held state is represented by a double-dotted line. For example... Figure 8 As shown, in this embodiment, force-applying mechanisms 61 for applying force to the first swing member 41 and 61 for applying force to the second swing member 42 are respectively provided. The force-applying mechanisms 61 can be, for example, mechanisms using spring components such as torsion coil springs. Furthermore, in the following reference... Figure 10 and Figure 11 The diagram of the force-applying mechanism 61 is omitted.

[0058] The limiting mechanism 62 restricts the swing range of the support member 30 to a range where the end portion 30b is positioned above V1 at a predetermined height H compared to the connecting portion 30a. The predetermined height H is set as the height of the end portion 30b relative to the connecting portion 30a in the ready state (i.e., the difference in the vertical V position between the connecting portion 30a and the end portion 30b). A lower limit height is set at a height above V1 relative to the connecting portion 30a at the predetermined height H. The limiting mechanism 62 restricts the swing range of the support member 30 to the aforementioned range by limiting the movement of the end portion 30b downwards V2 relative to the lower limit height. The limiting mechanism 62 is, for example, as shown in the example... Figure 8 The diagram schematically illustrates a mechanism that restricts the movement of the end portion 30b downwards by V2 relative to the lower limit height by means of the tension of a rope-like member connected at one end to the support portion 21 and at the other end to the support member 30. Alternatively, although the diagram is omitted, it is a mechanism that restricts the movement of the end portion 30b downwards by V2 relative to the lower limit height by means of the contact between the contact member fixed to the support portion 21 and the contact member 30.

[0059] like Figure 8 As shown, in this embodiment, a limiting mechanism 62 for limiting the swing range of the first swing member 41 and a limiting mechanism 62 for limiting the swing range of the second swing member 42 are respectively provided. The limiting mechanism 62 for limiting the swing range of the first swing member 41 restricts the swing range of the first swing member 41 to a range where the first end portion 41b is positioned above the first connecting portion 41a by a height V1 or higher than a first predetermined height H1. Regarding the first swing member 41, the aforementioned lower limit height is a height V1 above the first connecting portion 41a by a height V1. Furthermore, the limiting mechanism 62 for limiting the swing range of the second swing member 42 restricts the swing range of the second swing member 42 to a range where the second end portion 42b is positioned above the second connecting portion 42a by a height V1 or higher than a second predetermined height H2. Regarding the second swing member 42, the aforementioned lower limit height is a height V1 above the second connecting portion 42a by a height V2. Figure 5 As shown, in this embodiment, the first specified height H1 and the second specified height H2, which are two specified heights H, are set to different sizes.

[0060] With the force-applying mechanism 61 and the limiting mechanism 62 as described above, the force-applying mechanism 61 can apply a force to the end portion 30b in the direction of moving towards the first side A1 in the first direction and swinging downward V2, and the limiting mechanism 62 can limit the movement of the end portion 30b downward V2 compared to the lower limit height. Thus, in the ready state, as... Figure 4 and Figure 5As shown, it is possible to appropriately maintain the state in which the end portion 30b is positioned above the connecting portion 30a by a predetermined height H (in this embodiment, the first end portion 41b is positioned above the first connecting portion 41a by a first predetermined height H1, and the second end portion 42b is positioned above the second connecting portion 42a by a second predetermined height H2). On the other hand, in the maintained state, as... Figure 6 As shown, by means of the force acting on the end portion 30b corresponding to the force of the force application mechanism 61, a pair of end portions 30b (in this embodiment, a pair of first end portions 41b and a pair of second end portions 42b) can be pushed against the article 90 in such a way that the article 90 is clamped from both sides in the first direction A, so that the holding state can be properly maintained.

[0061] Furthermore, during the transition from the holding preparation state to the holding state (specifically, during the transition from the intermediate state to the holding state), the end portion 30b is pushed against the article 90 by a force acting on the end portion 30b corresponding to the force applied by the force mechanism 61. Simultaneously, the reaction force generated by the contact with the article 90 causes the end portion 30b to swing in the direction of moving towards the second side A2 in the first direction and towards the upward direction V1 (i.e., the direction of resisting the force applied by the force mechanism 61), thereby lifting the supported surface 91a. On the other hand, during the transition from the holding state to the holding preparation state (specifically, during the transition from the holding state to the intermediate state), the end portion 30b is pushed against the article 90 by a force acting on the end portion 30b corresponding to the force applied by the force mechanism 61. Simultaneously, the end portion 30b is swinged in the direction of moving towards the first side A1 in the first direction and towards the downward direction V2, thereby lowering the supported surface 91a. Therefore, during the transition between the prepared state and the held state (specifically, during the transition between the intermediate state and the held state), the supported surface 91a can be raised and lowered stably.

[0062] However, as Figure 3 As shown, in this embodiment, the article 90 of the transfer target part 6 is in a horizontal position S2. Therefore, with the article 90 positioned in the transfer target part 6, the supported surface 91a is arranged along the horizontal plane. Correspondingly, in the ready state, a pair of end portions 30b (in this embodiment, a pair of first end portions 41b and a pair of second end portions 42b) are positioned at the same height (see reference). Figure 4 , Figure 5 Furthermore, in the ready state, in each of the pair of support members 30, the first end portion 41b and the second end portion 42b are configured at the same position in the first direction A.

[0063] On the other hand, such as Figure 6 and Figure 7As shown, in the present embodiment, in the holding state, at each of the pair of support members 30, the second end portion 42b is disposed higher than the first end portion 41b at the same position in the first direction A. Also, in the holding state, the pair of first end portions 41b is disposed at the same height, and the pair of second end portions 42b is disposed at the same height. Thus, in the holding state, the supported surface 91a is supported by the pair of support members 30 in a posture inclined with respect to the second direction B. The inclination angle of the supported surface 91a with respect to the horizontal plane (in the present embodiment, the inclination angle with respect to the second direction B) is determined in correspondence with the difference in height between the first end portion 41b and the second end portion 42b, and is, for example, 5 degrees. The side on which the second end portion 42b is disposed with respect to the first end portion 41b in the second direction B (the left side of the article 90) is referred to as the second direction first side, and in the holding state, the supported surface 91a is supported by the pair of support members 30 in a posture inclined in a direction toward the upper side VI as the second direction first side is approached. Also, the article 90 is held by the holding device 20 in a posture in which the opening portion 92 faces the second direction first side in a plan view, and thus the article 90 is held by the holding device 20 in an inclined posture SI in which the opening portion 92 faces obliquely upward. Figure 7 As shown, in the present embodiment, in the holding state, at each of the pair of support members 30, the second end portion 42b is disposed higher than the first end portion 41b at the same position in the first direction A. Also, in the holding state, the pair of first end portions 41b is disposed at the same height, and the pair of second end portions 42b is disposed at the same height. Thus, in the holding state, the supported surface 91a is supported by the pair of support members 30 in a posture inclined with respect to the second direction B. The inclination angle of the supported surface 91a with respect to the horizontal plane (in the present embodiment, the inclination angle with respect to the second direction B) is determined in correspondence with the difference in height between the first end portion 41b and the second end portion 42b, and is, for example, 5 degrees. The side on which the second end portion 42b is disposed with respect to the first end portion 41b in the second direction B (the left side of the article 90) is referred to as the second direction first side, and in the holding state, the supported surface 91a is supported by the pair of support members 30 in a posture inclined in a direction toward the upper side VI as the second direction first side is approached. Also, the article 90 is held by the holding device 20 in a posture in which the opening portion 92 faces the second direction first side in a plan view, and thus the article 90 is held by the holding device 20 in an inclined posture SI in which the opening portion 92 faces obliquely upward.

[0064] The pair of first end portions 41b and the pair of second end portions 42b are disposed as described above in the holding preparation state and the holding state, and thus in the case where the holding and the release of the article 90 by the holding device 20 are performed, the supported surface 91a can be raised and lowered so that the inclination angle of the supported surface 91a with respect to the second direction B is changed. In the present embodiment, in the case where the holding of the article 90 by the holding device 20 is performed, the supported surface 91a is raised so that the inclination angle of the supported surface 91a with respect to the second direction B is increased from 0 degrees, and the article 90 disposed in the horizontal posture S2 at the transfer destination site 6 is held by the holding device 20 in the inclined posture SI. Also, in the case where the release of the article 90 by the holding device 20 is performed, the supported surface 91a is lowered so that the inclination angle of the supported surface 91a with respect to the second direction B is reduced to 0 degrees, and the article 90 held by the holding device 20 in the inclined posture SI is placed at the transfer destination site 6 in the horizontal posture S2.

[0065] As shown in Figure 4 and Figure 5 In the present embodiment, the first link portion 41a is disposed lower than the second link portion 42a, and the length of the first swing member 41 from the first link portion 41a to the first end portion 41b is longer than the length of the second swing member 42 from the second link portion 42a to the second end portion 42b. Also, in the present embodiment, as shown in Figure 4 and Figure 5As shown, the limiting mechanism 62 is configured such that, in the holding ready state, the first end portion 41b and the second end portion 42b are positioned at the same height in the first direction A. Thus, in the holding ready state, the first end portion 41b and the second end portion 42b are positioned at the same height in the first direction A, so in the holding state, as... Figure 6 and Figure 7 As shown, the second end portion 42b is positioned at the same position as the first end portion 41b in the first direction A, and is positioned V1 above the first end portion 41b, and is supported by the support surface 91a in an inclined posture relative to the second direction B.

[0066] like Figure 9 As shown, the goods handling equipment 100 includes a control unit 80 that controls the movement of the transport vehicle 1. The control unit 80 includes a processing unit such as a CPU and peripheral circuits such as a memory. Through the cooperation of these hardware components and the programs executed on the processing unit, the various functions of the control unit 80 are realized. The control unit 80 can be installed on the transport vehicle 1 or installed independently of it. Furthermore, if the control unit 80 comprises multiple separate hardware components capable of communicating with each other, some of the hardware may be installed on the transport vehicle 1, while the remaining hardware may be installed independently of the transport vehicle 1.

[0067] The control unit 80 controls the drive of the travel drive unit 70 to cause the main body 10 to move along the travel path 2. Specifically, the control unit 80 controls the drive of the travel drive unit 70 to cause the travel unit 11 to move along the track 3. In this embodiment, the movement of the main body 10 is achieved by the movement of the travel unit 11. When the control unit 80 moves the item 90 held by the holding part 20 to the transfer object part 6, the travel unit 11 moves while the holding part 20 holds the item 90. In addition, the control unit 80 controls the drive of the lifting drive unit 71 to cause the lifting device 50 to lift the holding part 20. As described above, the holding device 20 holds the item 90 in an inclined position S1, so as Figure 3 As shown, the article 90, held in the holding device 20, rises and falls in an inclined posture S1. Furthermore, the control unit 80 controls the drive of the holding drive unit 72 to cause the holding device 20 to perform a holding action to hold the article 90 and a holding release action to release the holding of the article 90. The holding action of the article 90 is an action that causes the pair of support parts 21 to move closer together from the holding preparation state along the first direction A to the holding state; the holding release action of the article 90 is an action that causes the pair of support parts 21 to move away from each other from the holding state along the first direction A to the holding preparation state.

[0068] In the case where the article 90 is transported from the transport target site 6 to the holding device 20 (i.e., in the case where the article 90 is carried out of the transport target site 6), the control section 80 causes the traveling section 11 to perform a traveling operation to travel the cart 1 to a position corresponding to the transport target site 6 (here, a position above the transport target site 6 by V1 and overlapping the transport target site 6 in plan view), and then causes the lifting device 50 to perform a lifting operation to lower the holding device 20 not holding the article 90 from the first position PI to the second position P2. When the holding device 20 reaches the second position P2, the control section 80 causes the holding device 20 to perform a holding operation of the article 90, and then causes the lifting device 50 to perform a lifting operation to raise the holding device 20 from the second position P2 to the first position PI. Thus, the holding device 20 holding the article 90 is raised to the first position PI.

[0069] On the other hand, in the case where the article 90 is transported from the holding device 20 to the transport target site 6 (i.e., in the case where the article 90 is carried into the transport target site 6), the control section 80 causes the traveling section 11 to perform a traveling operation to travel the cart 1 to a position corresponding to the transport target site 6, and then causes the lifting device 50 to perform a lifting operation to lower the holding device 20 holding the article 90 from the first position PI to the second position P2. When the holding device 20 reaches the second position P2, the control section 80 causes the holding device 20 to perform a holding release operation of the article 90, and then causes the lifting device 50 to perform a lifting operation to raise the holding device 20 from the second position P2 to the first position PI. Thus, the holding device 20 not holding the article 90 is raised to the first position PI in a state where the article 90 is left in the transport target site 6.

[0070] 〔Other Embodiments〕

[0071] Next, other embodiments of the cart will be described.

[0072] (1) In the above-described embodiments, the case where the respective tip portions 30b of the pair of support members 30 are in contact with the supported surface 91a from below V2 in the holding state was described as an example. However, the present application is not limited to this structure, and can be configured such that a member linked to the respective tip portions 30b of the pair of support members 30 is in contact with the supported surface 91a from below V2 in the holding state. An example of such a structure is shown in Figure 10 FIG. 6. Figure 10 In the example shown in FIG. 6, the linking member 43 is in contact with the "member linked to the tip portion" with respect to the supported surface 91a from below V2.

[0073] Figure 10In the illustrated example, as with the above-described embodiment, the support member 30 is provided with a pair of swing members, i.e., a first swing member 41 and a second swing member 42, which are disposed apart in the second direction B. Also, the first end portion 41b and the second end portion 42b are linked by the linking member 43. Figure 10 In the illustrated example, the linking member 43 is formed in a rod shape (specifically, a quadrangular prism shape) extending in the second direction B, and an upper surface (a support surface that supports the supported surface 91a from below V2) of the linking member 43 is also formed in the second direction B. Thus, in the holding state, the linking member 43 is in continuous contact with the supported surface 91a in the second direction B. At least the upper surface of the linking member 43 is preferably formed of a material (e.g., rubber) that can appropriately ensure the frictional force between the supported surface 91a and the linking member 43. Alternatively, the linking member 43 can be configured in a structure in which recesses and protrusions are alternately formed in the upper surface of the linking member 43 in the second direction B, such that, in the holding state, the linking member 43 contacts the supported surface 91a at a plurality of positions arranged in the second direction B.

[0074] Figure 10 In the illustrated example, as with the above-described embodiment, in the holding state, the second end portion 42b is disposed higher V1 than the first end portion 41b at the same position in the first direction A as the first end portion 41b. Thus, in the holding state, the upper surface of the linking member 43 is disposed obliquely with respect to the horizontal plane corresponding to the difference in height between the first end portion 41b and the second end portion 42b, and the article 90 is held by the holding device 20 in an inclined posture S1. Further, Figure 10 In the illustrated example, as with the above-described embodiment, in the holding preparation state, the first end portion 41b and the second end portion 42b are disposed at the same height at the same position in the first direction A. Thus, the distance of separation between the first end portion 41b and the second end portion 42b differs between the holding preparation state and the holding state, and the linking member 43 links the first end portion 41b and the second end portion 42b in a manner that allows the above-described change in the distance of separation between the holding preparation state and the holding state. For example, the linking member 43 can be configured as an elastic member such as rubber, the above-described change in the distance of separation can be allowed by the extension and contraction deformation of the linking member 43, or the structure of the link between at least one of the first end portion 41b and the second end portion 42b and the linking member 43 can be configured to have flexibility that allows relative movement, thereby allowing the above-described change in the distance of separation.

[0075] (2) In the above embodiment, an example has been described where the first connecting portion 41a is positioned V2 below the second connecting portion 42a, and the length of the first swing member 41 (specifically, the length of the first swing member 41 from the first connecting portion 41a to the first end portion 41b) is longer than the length of the second swing member 42 (specifically, the length of the second swing member 42 from the second connecting portion 42a to the second end portion 42b). However, this application is not limited to such a structure, and it is also possible to set a structure where the first connecting portion 41a and the second connecting portion 42a are positioned at the same height, a structure where the length of the first swing member 41 is equal to the length of the second swing member 42, or a structure combining these structures. Figure 11 This illustrates an example of a structure where the first connecting part 41a is positioned at the same height as the second connecting part 42a, and the length of the first swing member 41 is equal to the length of the second swing member 42. For example, when the tilt angle of the supported surface 91a relative to the second direction B is 0 degrees in both the ready state and the held state, it is possible to use... Figure 11 The support component 30 is shown in the figure.

[0076] Will use Figure 11 An example of the retaining device 20 of the support member 30 shown is in Figure 12 In the above embodiment, in the holding state, opposite to a pair of support members 30 that support the supported surface 91a at an angle relative to the horizontal plane (i.e., the holding device 20 holds the article 90 in an inclined posture S1), Figure 12 In the example shown, in the holding state, a pair of support members 30 are supported by the support surface 91a in a manner that is along the horizontal plane (i.e., the holding device 20 holds the article 90 in a horizontal position S2). Figure 12 The holding device 20 shown in the figure can be used, for example, to hold an article 90, which is positioned in a horizontal position S2 at the transfer object part 6, in a horizontal position S2 by means of the holding device 20.

[0077] Will use Figure 11 Another example of the retaining device 20 of the support member 30 shown in the figure is... Figure 13 express. Figure 12 In the example shown, similar to the embodiment described above, one of the pair of support portions 21 and the support member 30 connected thereto, and the other of the pair of support portions 21 and the support member 30 connected thereto, are configured to be mirror images of each other. Figure 13 The example shown is not configured in this way. Specifically, one of the pair of support members 30 is designated as the first support member 31, and the other of the pair of support members 30 is designated as the second support member 32. Figure 13In the example shown in FIG. 1, the length of the first support member 31 (specifically, the length from the joint portion 30a to the end portion 30b of the first support member 31) is longer than the length of the second support member 32 (specifically, the length from the joint portion 30a to the end portion 30b of the second support member 32). In addition, the length of the first support member 31 is the length of the first swing member 41 and the second swing member 42 provided to the first support member 31, and the length of the second support member 32 is the length of the first swing member 41 and the second swing member 42 provided to the second support member 32. Further, in the example shown in FIG. 1, the length of the first support member 31 is longer than the length of the second support member 32. Figure 13 In the example shown in FIG. 1, the joint portion 30a that joins the first support member 31 and the support portion 21 is disposed at the same height as the joint portion 30a that joins the second support member 32 and the support portion 21.

[0078] Further, in the example shown in FIG. 1, the length of the first support member 31 is longer than the length of the second support member 32. Figure 12 In the example shown in FIG. 1, the joint portion 30a that joins the first support member 31 and the support portion 21 is disposed at the same height as the joint portion 30a that joins the second support member 32 and the support portion 21. Figure 13 In the example shown in FIG. 1, in the held state, the pair of support members 30 are supported by the support surface 91a obliquely with respect to the first direction A. The oblique angle of the support surface 91a with respect to the first direction A is determined in correspondence with the difference in height between the end portion 30b of the first support member 31 and the end portion 30b of the second support member 32. Figure 13 The holding device 20 shown in FIG. 1 can be used, for example, in a case where the article 90 that is disposed in the horizontal posture S2 at the transfer destination 6 is held by the holding device 20 in the inclined posture S1 with the bottom surface 90c inclined with respect to the first direction A. In addition, in the example shown in FIG. 1, the holding device 20 can be used in a case where the article 90 that is disposed in the horizontal posture S2 at the transfer destination 6 is held by the holding device 20 in the inclined posture S1 with the top surface 90b inclined with respect to the first direction A. Figure 13 In the example shown in FIG. 1, the joint portion 30a that joins the first support member 31 and the support portion 21 can be disposed at a different height from the joint portion 30a that joins the second support member 32 and the support portion 21. In this case, the length of the first support member 31 can be made equal to the length of the second support member 32.

[0079] Thus, according to the technology of the present application, by making the difference in height between the first end portion 41b and the second end portion 42b different between the holding preparation state and the holding state, it is possible to make the inclination angle of the supported surface 91a with respect to the second direction B different between the holding preparation state and the holding state, and by making the difference in height between the end portion 30b of the first support member 31 and the end portion 30b of the second support member 32 different between the holding preparation state and the holding state, it is possible to make the inclination angle of the supported surface 91a with respect to the first direction A different between the holding preparation state and the holding state. Furthermore, by making these differences in height the same between the holding preparation state and the holding state, it is also possible to make the posture of the supported surface 91a the same between the holding preparation state and the holding state. Thus, even if the posture of the article 90 of the transfer target portion 6 is either of the inclined posture SI and the horizontal posture S2, it is possible to apply the technology of the present application, and even if the holding posture (desired holding posture) of the article 90 based on the holding device 20 is either of the inclined posture SI and the horizontal posture S2, it is possible to apply the technology of the present application.

[0080] (3) In the above-described embodiment, the structure in which the support member 30 is provided with a pair of swing members, i.e., the first swing member 41 and the second swing member 42, which are arranged apart from each other in the second direction B, was described as an example. However, the present application is not limited to this structure, and for example, the support member 30 can be configured to be provided with one plate-shaped member instead of the pair of swing members.

[0081] (4) In the above-described embodiment, the structure in which the actuator that drives the pair of support members 30 is not provided was described as an example. However, the present application is not limited to this structure, and the actuator that swings the pair of support members 30 can be provided. In the case where the actuator that swings the pair of support members 30 is provided, at least one of the biasing mechanism 61 and the restriction mechanism 62 in the above-described embodiment can be provided.

[0082] (5) In addition, 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 there is no contradiction. As for other structures, the embodiments disclosed in this specification are merely examples in all respects. Thus, various changes can be appropriately made within the scope of the gist of the present application.

[0083] 〔Summary of the above-described embodiments〕

[0084] Hereinafter, a summary of the cart described in the above-described content will be described.

[0085] A carrier that carries an article, the carrier being characterized by a main body that moves along a movement path, a holding device that holds the article, and a lifting device that lifts the holding device relative to the main body, the article having a held portion that is formed with a supported surface that is disposed parallel to a bottom surface of the article and faces downward, the holding device having a pair of support portions, a holding drive portion, the pair of support portions being respectively coupled to a support member that supports the supported surface from below, the holding drive portion bringing the pair of support portions closer to and away from each other in a first direction, in each of the pair of support portions, a side of the support portion that is closer to the other support portion in the first direction is set as a first direction first side, and a side of the support portion that is away from the other support portion in the first direction is set as a first direction second side, the support member is coupled to the support portion so as to be swingable about a coupling portion that is coupled to the support portion as a fulcrum, a distal end portion of each of the pair of support members that is on a side opposite to the coupling portion is disposed upward of the coupling portion and downward of the held portion, and the article is disposed between the pair of distal end portions that are disposed at a larger interval than a width of the held portion in the first direction, a state in which the pair of support portions are closer to each other in the first direction than in the holding ready state, and the distal end portion of each of the pair of support members or a member coupled to the distal end portion contacts the supported surface from below to support the article is set as a holding state, and during a transition from the holding ready state to the holding state, the distal end portion of each of the pair of support members swings about the fulcrum in a direction in which the distal end portion moves toward the first direction second side and faces upward, and the supported surface is lifted upward.

[0086] According to the present structure, by bringing the pair of support portions closer to each other from the holding ready state to the holding state, the article disposed at the transfer destination portion can be held by the holding device. At this time, the supported surface disposed parallel to the bottom surface of the article can be lifted upward by the distal end portion of each of the pair of support members to hold the article. Therefore, in a case where the posture of the article at the transfer destination portion is the same as a desired holding posture, the holding device is configured to lift the supported surface without changing the orientation, and thus the article can be held in the desired holding posture. In addition, in a case where the posture of the article at the transfer destination portion is different from the desired holding posture, the holding device is configured to lift the supported surface while changing the orientation to the orientation in the desired holding posture, and thus the article can be held in the desired holding posture.

[0087] Thus, according to the present structure, the holding device is configured in such a manner that the article is held with the supported surface being lifted upward by the respective tip portions of the pair of support members, whereby the article can be held in the desired holding posture by the holding device regardless of the posture of the article at the transfer destination. Also, in the present structure, the operation of lifting the supported surface upward can be performed in parallel with the operation of bringing the pair of support members closer together, so that the efficiency of handling the article can be improved and the cart according to the present application can be realized.

[0088] Here, preferably, a direction orthogonal to the aforementioned first direction in plan view is set as a second direction, the aforementioned support member includes a pair of swing members, i.e., a first swing member and a second swing member, disposed apart in the aforementioned second direction, the aforementioned link portion includes a first link portion linking the aforementioned first swing member with the aforementioned support portion and a second link portion linking the aforementioned second swing member with the aforementioned support portion, the aforementioned first link portion is disposed lower than the aforementioned second link portion, the aforementioned tip portion of the aforementioned first swing member is set as a first tip portion, the aforementioned tip portion of the aforementioned second swing member is set as a second tip portion, and the length of the aforementioned first swing member from the aforementioned first link portion to the aforementioned first tip portion is longer than the length of the aforementioned second swing member from the aforementioned second link portion to the aforementioned second tip portion.

[0089] According to the present structure, the difference in height between the first tip portion and the second tip portion can be made different between the holding preparation state and the holding state, so that the supported surface can be lifted in such a manner that the angle of inclination of the supported surface with respect to the second direction changes, and the article disposed at the transfer destination can be held by the holding device. Thus, by applying the present structure in a case where the posture of the article at the transfer destination and the desired holding posture are different in the angle of inclination of the bottom surface with respect to the second direction, the article disposed at the transfer destination can be held in the desired holding posture by the holding device. For example, by applying the present structure in a case where the posture of the article at the transfer destination is a horizontal posture in which the bottom surface is along a horizontal plane and the desired holding posture is an inclined posture in which the bottom surface is inclined with respect to the second direction, the article disposed at the transfer destination in the horizontal posture can be held in the inclined posture in which the bottom surface is inclined with respect to the second direction by the holding device.

[0090] Further, preferably, one of the pair of aforementioned support members is set as a first support member, the other of the pair of aforementioned support members is set as a second support member, and the length of the aforementioned first support member from the aforementioned link portion to the aforementioned tip portion is longer than the length of the aforementioned second support member from the aforementioned link portion to the aforementioned tip portion.

[0091] According to the present structure, compared with the case where the length from the joint portion to the end portion of the first support member and the length from the joint portion to the end portion of the second support member are the same, it is easy to change the height difference between the end portion of the first support member and the end portion of the second support member in the holding preparation state and the holding state. Thus, by applying the present structure to the case where the posture of the article arranged in the article transfer destination portion is a posture in which the inclination angle of the bottom surface with respect to the first direction is different from the desired holding posture, it is possible to hold the article arranged in the article transfer destination portion by the holding device in the desired holding posture. For example, by applying the present structure to the case where the posture of the article arranged in the article transfer destination portion is a horizontal posture in which the bottom surface is along the horizontal plane and the desired holding posture is an inclined posture in which the bottom surface is inclined with respect to the first direction, it is possible to hold the article arranged in the article transfer destination portion in the horizontal posture by the holding device in the inclined posture in which the bottom surface is inclined with respect to the first direction.

[0092] Further, preferably, a direction orthogonal to the aforementioned first direction in plan view is set as a second direction, the aforementioned support member has a pair of swing members, i.e., a first swing member and a second swing member, arranged apart in the aforementioned second direction, the aforementioned end portion of the aforementioned first swing member is set as a first end portion, the aforementioned end portion of the aforementioned second swing member is set as a second end portion, the aforementioned first end portion and the aforementioned second end portion are joined by a joint member, and in the aforementioned holding state, the aforementioned joint member continuously contacts the aforementioned supported surface in the aforementioned second direction or contacts the aforementioned supported surface at a plurality of portions arranged in the aforementioned second direction.

[0093] According to the present structure, compared with the case where the joint member that joins the first end portion and the second end portion is not provided, it is possible to ensure that the support area of the supported surface in the holding state is wider, and it is easy to stably support the supported surface.

[0094] In the cart of each of the above structures, preferably, a force applying mechanism and a restriction mechanism are provided, the force applying mechanism applies a force to the support member in a direction in which the end portion moves to the first side in the first direction and swings downward, and the restriction mechanism restricts the swing range of the support member to a range in which the end portion is arranged above the joint portion by a prescribed height or more.

[0095] According to the present structure, the force in the direction of moving to the first direction first side and swinging downward can be applied to the tip portion by the force applying mechanism, and the tip portion can be restricted from moving to the position lower than the position at the prescribed height from the connection portion by the restricting mechanism. Thus, the tip portion of the support member can be appropriately maintained in the state of being disposed above the prescribed height from the connection portion in the holding preparation state in which the tip portion is disposed away from the article. Further, at the time of transition from the holding preparation state to the holding state, the tip portion is pushed against the article by the force applied to the tip portion in correspondence with the force of the force applying mechanism, and at the same time, the supported surface is lifted by swinging the tip portion in the direction of moving to the first direction second side and upward (i.e., the direction against the force of the force applying mechanism) by the reaction force generated by the contact with the article. Thus, at the time of transition from the holding preparation state to the holding state, the supported surface can be stably lifted. Further, in the holding state, the pair of tip portions can be pushed against the article in a manner of sandwiching the article from both sides in the first direction by the force applied to the tip portions in correspondence with the force of the force applying mechanism, so the holding state can be appropriately maintained.

[0096] Further, preferably, the article is a container having an opening portion in a side surface, and the holding device holds the article in a posture in which the opening portion is directed obliquely upward.

[0097] 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 contents accommodated in the article are difficult to move from the opening portion to the outside of the article by the holding device.

[0098] The cart of the present application can have at least one of the above-described effects.

[0099] Explanation of Reference Numerals

[0100] 1: Cart

[0101] 2: Movement path

[0102] 10: Main body portion

[0103] 20: Holding device

[0104] 21: Support portion

[0105] 30: Support member

[0106] 30a: Connection portion

[0107] 30b: Tip portion

[0108] 31: First support member

[0109] 32: Second support member

[0110] 41: First swinging member

[0111] 41a: first link portion

[0112] 41b: first end portion

[0113] 42: second oscillating member

[0114] 42a: second link portion

[0115] 42b: second end portion

[0116] 43: link member (member linked to end portion)

[0117] 50: lifting device

[0118] 61: biasing mechanism

[0119] 62: restricting mechanism

[0120] 90: article

[0121] 90b: side surface

[0122] 90c: bottom surface

[0123] 91: held portion

[0124] 91a: supported surface

[0125] 92: opening portion

[0126] A: first direction

[0127] A1: first side in first direction

[0128] A2: second side in first direction

[0129] B: second direction

[0130] H: prescribed height

[0131] V1: upward

[0132] V2: downward

Claims

1. A cart that carries an article, the cart 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 relative to the main body, wherein the article has a held portion that has a supported surface that is a surface arranged parallel to a bottom surface of the article, and the supported surface faces downward, wherein the holding device has a pair of support portions that are respectively connected to support members that support the supported surface from below, and a holding drive portion that causes the pair of support portions to approach and separate from each other in a first direction, wherein each of the pair of support portions has a first direction first side that is a side of the support portion that approaches the other support portion in the first direction, and a first direction second side that is a side of the support portion that separates from the other support portion in the first direction, and the support member is connected to the support portion so as to be swingable about a connection portion that connects the support portion as a fulcrum, wherein a distal end portion of each of the pair of support members, which is on a side opposite to the connection portion, is arranged upward of the connection portion and downward of the held portion, and the article is arranged between the pair of distal end portions arranged at a larger interval than a width of the held portion in the first direction, wherein a state in which the pair of support members contact the held portion from below at the distal end portion or a portion connected to the distal end portion in the held portion in the first direction is a holding state, and a state in which the pair of support members are arranged in the first direction so as to be closer to each other than in the holding state is a holding preparation state, and wherein, during a transition from the holding preparation state to the holding state, the distal end portion of each of the pair of support members swings about the fulcrum in a direction in which the distal end portion moves toward the first direction second side and upward, and the supported surface is lifted upward.

2. The cart according to claim 1, wherein a direction orthogonal to the first direction in a plan view is a second direction, wherein the support member has a pair of swing members, that is, a first swing member and a second swing member, arranged apart in the second direction, wherein the connection portion has a first connection portion that connects the first swing member to the support portion, and a second connection portion that connects the second swing member to the support portion, wherein the first connection portion is arranged downward of the second connection portion, wherein the distal end portion of the first swing member is a first distal end portion, and the distal end portion of the second swing member is a second distal end portion, and wherein a length of the first swing member from the first connection portion to the first distal end portion is longer than a length of the second swing member from the second connection portion to the second distal end portion.

3. The cart according to claim 1, wherein one of the pair of support members is a first support member, and the other of the pair of support members is a second support member, and wherein a length of the first support member from the connection portion to the distal end portion is longer than a length of the second support member from the connection portion to the distal end portion. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 4. The cart according to any one of claims 1 to 3, wherein a direction orthogonal to the aforementioned first direction in a plan view is set as a second direction, the aforementioned support member is provided with a pair of swing members, i.e., a first swing member and a second swing member, which are arranged apart in the aforementioned second direction, the aforementioned end portion of the aforementioned first swing member is set as a first end portion, and the aforementioned end portion of the aforementioned second swing member is set as a second end portion, the aforementioned first end portion and the aforementioned second end portion are connected by a connecting member, in the aforementioned state of retention, the aforementioned connecting member continuously contacts the aforementioned supported surface in the aforementioned second direction, or contacts the aforementioned supported surface at a plurality of portions arranged in the aforementioned second direction.

5. The cart according to any one of claims 1 to 3, wherein a force applying mechanism and a restricting mechanism are provided, the aforementioned force applying mechanism applies a force to the aforementioned support member in a direction in which the aforementioned end portion moves to the first side in the aforementioned first direction and swings downward, the aforementioned restricting mechanism restricts the swing range of the aforementioned support member to a range in which the aforementioned end portion is arranged higher than the aforementioned connecting portion by a prescribed height or more.

6. The cart according to any one of claims 1 to 3, wherein the aforementioned article is a container having an opening portion in a side surface, the aforementioned retention device retains the aforementioned article in a posture in which the aforementioned opening portion faces obliquely upward.

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