Conveying device

Abstract

Provided is a transport device provided with: a container support table (3) for supporting a container (2); and a transport vehicle which is provided with a holding device for holding and releasing the container (2), and a lifting device for lifting the holding device, and which transports the container (2). The holding device is provided with: a first support section (41) and a second support section which are a pair of support sections (40); a holding drive section which changes the shape of the pair of support sections (40) between a holding shape (T1) in which the container (2) is held and a holding release shape (T2) in which the container (2) is released; a first engagement section (44) which is fixed to the first support section (41); and a second engagement section which is fixed to the second support section. The container support base (3) is provided with a container positioning part for positioning the container (2), a first engaged part (31), and a second engaged part. At least one of the holding device and the container support base (3) is provided with a first guide part (7) for guiding the first engaging part (44) toward the first engaged part (31), and a second guide part for guiding the second engaging part toward the second engaged part.

Description

Technical Field

[0001] The present invention relates to a conveying device, which comprises: a container support platform that supports a container; and a conveying vehicle that comprises a holding device for holding and releasing the container and a lifting device for lifting the holding device, and conveys the container. Background Art

[0002] For example, Japanese Patent Application Laid-Open No. 2016-94263 (Patent Document 1) discloses a technology related to a conveying device. In the following description of the background art, the reference numerals in parentheses are reference numerals of Patent Document 1.

[0003] The conveying equipment of Patent Document 1 includes a container support platform (support platform 4) supporting a container (conveyed object 6) and a conveying vehicle (ceiling conveying vehicle 1) conveying the container. The conveying vehicle includes a holding device (support mechanism 23) holding the container and a lifting device (lifting operation mechanism 24) lifting and lowering the holding device. In the conveying equipment, the container is transferred between the conveying vehicle and the container support platform by lifting and lowering the holding device between a conveying position, which is a position where the conveying vehicle conveys the container, and a transfer position corresponding to a container placed on the container support platform below the conveying position. Summary of the invention

[0004] In a conveying device such as Patent Document 1, a pair of supporting parts that support a supported part of a container is provided in a holding device. The pair of supporting parts change their shapes into a shape capable of supporting the supported part from the bottom and a shape in which the supported part is released by approaching and separating from each other. In addition, the supported part of the container is supported by the pair of supporting parts, so that the container is held by the holding device. Here, a positioning part for positioning the container is sometimes provided on the container support table. Therefore, in the case where the supported part is not properly supported by the pair of supporting parts, the container may not be properly transferred to the container support table.

[0005] Therefore, a conveying device capable of appropriately transferring containers between a container support and a conveying vehicle is desired.

[0006] The conveying equipment involved in the present disclosure is a conveying equipment comprising: a container support table that supports a container; and a conveying vehicle that has a holding device for holding and releasing the container and a lifting device for lifting the holding device, and conveys the container. The holding device comprises: a first supporting portion and a second supporting portion, which are a pair of supporting portions supporting a supported portion of the container; a holding driving portion, which changes the shape of the pair of supporting portions into a holding shape for holding the container and a holding release shape for releasing the holding of the container by bringing the pair of supporting portions closer to and away from each other; a first engaging portion, which is fixed to the first supporting portion; and a second engaging portion, which is fixed to the second supporting portion. The container support platform comprises: a container positioning portion, which positions the container; a first engaged portion, whose position relative to the container positioning portion is fixed, engaged with the first engaging portion to position the first engaging portion; and a second engaged portion, whose position relative to the container positioning portion is fixed, engaged with the second engaging portion to position the second engaging portion. The action of changing the pair of supporting parts from the holding release state to the holding state is regarded as the holding action, At least one of the aforementioned holding device and the aforementioned container support platform comprises: a first guiding portion, which guides the aforementioned first engaging portion moving along with the aforementioned holding action of the aforementioned first supporting portion toward the aforementioned first engaged portion; and a second guiding portion, which guides the aforementioned second engaging portion moving along with the aforementioned holding action of the aforementioned second supporting portion toward the aforementioned second engaged portion.

[0007] According to this configuration, by utilizing the movement of the first engaging portion and the second engaging portion accompanying the holding action of the first supporting portion and the second supporting portion of the holding device, the first engaging portion can be guided toward the first engaged portion by the first guiding portion so that the first engaging portion engages with the first engaged portion, and the second engaging portion can be guided toward the second engaged portion by the second guiding portion so that the second engaging portion engages with the second engaged portion. Thus, the first engaging portion and the second engaging portion can be positioned at appropriate positions, and further, the first supporting portion to which the first engaging portion is fixed and the second supporting portion to which the second engaging portion is fixed can be positioned at appropriate positions relative to the container positioned at the container positioning portion. Therefore, it is easy to properly support the container by a pair of supporting portions. Therefore, by the lifting device, the holding device can be lifted and lowered while properly holding the container. As described above, according to this configuration, the container can be appropriately transferred between the container support and the transport vehicle.

[0008] Further features and advantages of the conveying device become apparent from the following description of exemplary and non-limiting embodiments explained with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is a side view of the conveying equipment. Figure 2 It is a side view of the transport vehicle. Figure 3 is a side view schematically showing a holding device, a container support platform and a container. Figure 4 is a side view schematically showing a holding device, a container support platform and a container. Figure 5 It is a plan view schematically showing a pair of supporting parts and supported parts. Figure 6 It is a side view schematically showing a state in which the first engaging portion is engaged with the first engaged portion. Figure 7 It is a plan view of the first engaged portion and the first guide portion. Figure 8 It is a top view of the second engaged portion and the second guide portion. Fig. 9 This is a front cross-sectional view of the first engaged portion. Fig.10 It is a control block diagram. Fig.11 It is a plan view showing the first engaged portion and the first guide portion according to another embodiment. Fig.12 It is a plan view showing the first engaged portion and the first guide portion according to another embodiment. Fig.13 This is an enlarged view of a main part of a conveying device according to another embodiment. DETAILED DESCRIPTION

[0010] The following describes the embodiment of the conveying device with reference to the accompanying drawings. Figure 1 As shown, the conveying device 1 includes a container support 3 for supporting the container 2 and a conveying vehicle 6 for conveying the container 2. In this embodiment, the container support 3 is provided at a processing device 9. The processing device 9 is a device for processing the contents contained in the container 2. In addition, the conveying vehicle 6 travels along the travel path and conveys the container 2 toward the transfer target site. The transfer target site can be, for example, a storage rack (not shown) for accommodating the container 2 or the container support 3 of the processing device 9.

[0011] like Figure 1 and Figure 2 As shown, the travel path of the transport vehicle 6 is arranged along the ceiling. Here, a track 11 is provided along the travel path. In this example, the transport vehicle 6 is guided and travels by the track 11 (here, a pair of tracks 11) supported by the ceiling suspension. In this way, the transport vehicle 6 is a so-called ceiling transport vehicle, but is not limited to this.

[0012] In this example, a plurality of processing devices 9 are provided in the conveying device 1 ( Figure 1In the example, only one of them is shown). The transport vehicle 6 transports the container 2 between the plurality of processing devices 9. Each of the plurality of processing devices 9 is provided with a container support table 3. The container support table 3 supports the container 2 transferred from the transport vehicle 6. In addition, the container 2 transported out of the processing device 9 is supported. The transport vehicle 6 stops at a position corresponding to the container support table 3 (a position directly above the container support table 3) on the driving path, and transfers the container 2 with the container support table 3. In this example, a container (FOSB: Front Opening Shipping Box) for accommodating semiconductor substrates is used as the container 2 to be transported, but it is not limited to this. For example, the container 2 may also be (FOUP: Front Opening Unified Pod) or an intermediate mask storage container (so-called intermediate mask box) for accommodating intermediate masks. In the processing device 9, the semiconductor substrates accommodated in the container 2 are processed. In addition, the container support table 3 is provided with a conveying device for conveying the container 2 in and out of the processing device 9, but the description of the conveying device is omitted. In addition, the container support table 3 described below may also be provided on a storage rack for storing the container 2. In this case, the storage rack may also be provided on the ground or may be suspended from the ceiling. In addition, the container support table 3 does not necessarily have to be provided with the conveying device as described above.

[0013] like Figure 1 and Figure 2 As shown, the transport vehicle 6 includes a holding device 4 for holding and releasing the container 2 and a lifting device 5 for lifting the holding device 4. In this embodiment, the transport vehicle 6 further includes a travel portion 16, a main body portion 19 connected to the travel portion 16 and accommodating the container 2, and a control portion H. The holding device 4 and the lifting device 5 are provided in the main body portion 19.

[0014] like Figure 2 As shown, the travel portion 16 includes wheels 17 that roll on the rails 11, and a travel motor M1. In this example, the travel motor M1 drives at least one of the plurality of wheels 17, and provides a propulsion force for the transport vehicle 6 to be guided and moved by the pair of rails 11. The main body 19 is supported by the travel portion 16, and is arranged below the travel portion 16 with the rails 11 interposed therebetween.

[0015] like Figure 1As shown, the lifting device 5 lifts and lowers the container 2 held by the holding device 4 between the storage position V1 and the descending position V2 which is lower than the storage position V1. When the transport vehicle 6 is traveling, the lifting device 5 raises the container 2 held by the holding device 4 from the descending position V2 to the storage position V1. In addition, when the lifting device 5 transfers the container 2 from the transport vehicle 6 to the container support platform 3, the lifting device 5 lowers the container 2 held by the holding device 4 from the storage position V1 to the descending position V2. The storage position V1 is the position where the main body 19 accommodates the container 2. Figure 1 and Figure 2 In the example, a cover 20 is provided on the main body 19. The cover 20 is installed in a manner to cover both outer sides of the main body 19 in the driving direction of the transport vehicle 6. In addition, the container 2 is accommodated in the storage space covered by the cover 20 below the main body 19. The storage position V1 is a position where the container 2 is accommodated in the storage space covered by the cover 20. The lowered position V2 is a position where the container 2 is supported by the container support platform 3. Figure 1 In the example of FIG. 1 , the descending position V2 is a position where the container 2 is placed in a predetermined area of ​​the container support 3 provided in the processing device 9. The specific structure of the container support 3 will be described later. In addition, the cover 20 may not necessarily be provided.

[0016] In this example, the holding device 4 is configured to be raised and lowered along with the raising and lowering of the container 2. Figure 2 In the example of , the lifting device 5 includes: a winding body 51 supported by the main body 19; a belt 52 wound on the winding body 51, and connected to the holding device 4 at the end thereof; and a lifting motor (not shown) that rotates the winding body 51 to drive the belt 52. The lifting device 5 rotates the winding body 51 by driving the lifting motor, and winds and unwinds the belt 52, thereby lifting the holding device 4 and the container 2 held by the holding device 4 relative to the main body 19.

[0017] like Figures 1 to 4As shown in FIG. 1 , the holding device 4 includes: a first supporting portion 41 and a second supporting portion 42, which are a pair of supporting portions 40 that support the supported portion 21 of the container 2; a holding driving portion 43 that changes the shape of the pair of supporting portions 40; a first engaging portion 44 that is fixed to the first supporting portion 41; and a second engaging portion 45 that is fixed to the second supporting portion 42. In addition, in the following description, the direction in which the pair of supporting portions 40 approach and separate is referred to as the first direction X, and the direction orthogonal to the first direction X when viewed in the up-down direction Z is referred to as the second direction Y. In addition, with respect to the supporting portion 40 in the holding state T1 for each of the pair of supporting portions 40, the side where the supporting portion 40 in the holding release state T2 is located is referred to as the first direction release side X2, and the opposite side thereof is referred to as the first direction holding side X1. In addition, one side of the second direction Y is referred to as the second direction first side Y1, and the opposite side thereof is referred to as the second direction second side Y2. Here, the first direction X and the second direction Y are directions along the horizontal plane. In addition, the first direction X is the same as the travel direction of the transport vehicle 6. In this embodiment, the first support portion 41 and the second support portion 42 are arranged to be separated along the first direction X so as to sandwich the container 2 in the storage position V1.

[0018] like Figure 3 and Figure 4As shown, the holding drive unit 43 changes the form of the pair of support parts 40 into a holding form T1 for holding the container 2 and a holding release form T2 for releasing the holding of the container 2 by bringing the pair of support parts 40 (the first support part 41 and the second support part 42) closer to and away from each other. In this embodiment, the holding drive unit 43 changes the form of the pair of support parts 40 from the holding release form T2 to the holding form T1 by bringing the pair of support parts 40 closer to each other. In addition, the holding drive unit 43 changes the form of the pair of support parts 40 from the holding form T1 to the holding release form T2 by separating the pair of support parts 40 from each other. In this example, the holding drive unit 43 includes a linear motion guide mechanism 54 that guides each of the pair of support parts 40 along the first direction X, and a driving motor (not shown). The pair of support parts 40 are supported by the linear motion guide mechanism 54 (here, a linear track). In addition, the pair of support parts 40 are connected to the driving motor via a ball screw (not shown). Moreover, by utilizing the driving motor to rotate the ball screw, the pair of support parts 40 are guided by the linear motion guide mechanism 54 and move in the first direction X at the same time. In this way, the pair of support parts 40 approach and separate from each other by moving in the first direction X, and the shape changes to the holding shape T1 and the holding release shape T2. In addition, when the container 2 being transported by the conveying vehicle 6 is transferred to the container support platform 3, the holding shape T1 of the pair of support parts 40 is maintained, and the container 2 is simultaneously lowered from the storage position V1 to the lowering position V2. Thereafter, the pair of support parts 40 are changed from the holding shape T1 to the holding release shape T2. Thus, the container 2 is supported on the container support platform 3. In addition, when the container 2 supported on the container support platform 3 is transferred to the conveying vehicle 6, after the pair of support parts 40 are changed from the holding release shape T2 to the holding shape T1, the container 2 is raised from the lowering position V2. Thus, the container 2 is supported on the pair of support parts 40. Thereafter, when the container 2 is further raised to the storage position V1, the transport vehicle 6 transports the container 2 to the next transport destination. Such a control configuration will be described in detail later.

[0019] like Figures 1 to 4 As shown in the figure, the first support part 41 includes a first arm part 61 and a first support plate part 62. The second support part 42 also includes a second arm part 63 and a second support plate part 64 similarly to the first support part 41. In this example, the first support part 41 and the second support part 42 have the same structure. Therefore, in the following, the structure of the first support part 41 is specifically described, and the structure of the second support part 42 is sometimes omitted.

[0020] like Figure 2 , Figure 3 as well as Figure 4As shown, the first arm portion 61 is a plate-shaped member along the vertical direction Z and the second direction Y. The upper end of the first arm portion 61 is connected to the linear motion guide mechanism 54. In the example shown in the figure, the first arm portion 61 is connected to the linear motion guide mechanism 54 via the first connecting member 65. In addition, the first support plate portion 62 is connected to the lower end of the first arm portion 61. Figure 5 As shown, the first support plate portion 62 is a plate-shaped member along the first direction X and the second direction Y. In this example, the first arm portion 61 is arranged so as to overlap with the side surface (the surface facing the first direction X) of the container 2 at the storage position V1 when viewed in the first direction X. In addition, the lower end portion of the first arm portion 61 is arranged below the supported portion 21 of the container 2 at the storage position V1. The first support plate portion 62 is arranged so as to protrude toward the inner side (the side facing the container 2 at the storage position V1) in the first direction X relative to the lower end portion of the first arm portion 61, and is arranged so as to overlap with the supported portion 21 of the container 2 when viewed in the up-down direction Z.

[0021] In this example, the supported portion 21 of the container 2 is the bottom 25 of the container 2. More specifically, the supported portion 21 is the two end portions of the bottom 25 in the first direction X. The supported portion 21 is the entire region of the region overlapping with the first support plate portion 62 and the second support plate portion 64 when viewed in the up-down direction Z when the container 2 is supported by a pair of support portions 40. Here, the supported portion 21 overlapping with the first support plate portion 62 when viewed in the up-down direction Z is the first supported portion 21a, and the supported portion 21 overlapping with the second support plate portion 64 when viewed in the up-down direction Z is the second supported portion 21b. In addition, the shape of the supported portion 21 can be appropriately changed. For example, the supported portion 21 can also be formed in a manner that is more recessed upward than the bottom surface of the bottom 25 excluding the supported portion 21, or can be formed as a plate-shaped member that protrudes outward in the first direction X relative to the main body of the container 2 that contains the contents. In the example shown in the figure, the supported portion 21 and the bottom surface of the bottom portion 25 other than the supported portion 21 are simply flat. Figures 3 to 5 As shown, the third engaged portion 23 and the fourth engaged portion 24 are provided at the supported portion 21 of the container 2. The third engaged portion 23 is provided at the first supported portion 21a, and the fourth engaged portion 24 is provided at the second supported portion 21b. In the example shown in the figure, each of the third engaged portion 23 and the fourth engaged portion 24 is an insertion hole recessed upwardly from the supported portion 21. Figure 5 In the example of FIG. 1 , these insertion holes are formed in the central portion of each of the first supported portion 21a and the second supported portion 21b in the second direction Y. In addition, in the example shown in the figure, the container 2 is not provided with a flange protruding upward from the main body of the container 2, but the conveying device 1 of this embodiment can also use a container 2 provided with a flange.

[0022] like Figures 3 to 5 As shown in the figure, the first support part 41 includes a third engaging part 48 engaged with the third engaged part 23 of the supported part 21 provided on the container 2. In addition, the second support part 42 includes a fourth engaging part 49 engaged with the fourth engaged part 24 of the supported part 21 provided on the container 2. The third engaging part 48 is provided on the first support plate part 62 of the first support part 41. In addition, the fourth engaging part 49 is provided on the second support plate part 64 of the second support part 42. Here, the third engaging part 48 is a pin protruding upward from the first support plate part 62. Similarly, the fourth engaging part 49 is a pin protruding upward from the second support plate part 64. In the example shown in the figure, the third engaging portion 48 is engaged with the third engaged portion 23 by inserting a pin as the third engaging portion 48 into the insertion hole as the third engaged portion 23, and the fourth engaging portion 49 is engaged with the fourth engaged portion 24 by inserting a pin as the fourth engaging portion 49 into the insertion hole as the fourth engaged portion 24. Figure 5 In the example, the third engaging portion 48 is arranged at the central portion of the first supporting plate portion 62 in the second direction Y, and the fourth engaging portion 49 is arranged at the central portion of the second supporting plate portion 64 in the second direction Y.

[0023] like Figures 1 to 5 As shown in FIG. 1 , each of the first engaging portion 44 and the second engaging portion 45 is formed in a convex shape protruding toward the lower side. The first engaging portion 44 is supported by the first arm portion 61 of the first supporting portion 41 via the first holding member 46. In addition, the second engaging portion 45 is supported by the second arm portion 63 of the second supporting portion 42 via the second holding member 47. In this embodiment, as shown in FIG. Figure 5 As shown, the first engaging portion 44 and the second engaging portion 45 are arranged on the inner side of the first direction X than the two outer end edges of the pair of support portions 40 in the first direction X. In addition, the first engaging portion 44 and the second engaging portion 45 are arranged on the outer side of the second direction first side Y1 than the end edges of the second direction first side Y1 of the pair of support portions 40. In this example, the first engaging portion 44 is arranged on the first direction retaining side X1 and the second direction first side Y1 relative to the first arm portion 61 and the first support plate portion 62. The second engaging portion 45 is arranged on the first direction retaining side X1 and the second direction first side Y1 relative to the second arm portion 63 and the second support plate portion 64. Therefore, the first retaining component 46 and the second retaining component 47 are arranged in a manner of protruding toward the inner side of the first direction X (the first direction retaining side X1) and the second direction first side Y1 relative to the pair of support portions 40 ( Figure 5 ).

[0024] As described above, the first engaging portion 44 is fixed to the first supporting portion 41. Therefore, the first engaging portion 44 and the first supporting portion 41 move as a whole in the first direction X. The second engaging portion 45 is fixed to the second supporting portion 42. Therefore, the second engaging portion 45 and the second supporting portion 42 move as a whole in the first direction X. In the present embodiment, the first engaging portion 44 and the second engaging portion 45 have the same structure. The first engaging portion 44 is a rod-shaped body that is long in the up-down direction Z. Figures 2 to 4 as well as Figure 6 As shown in FIG. 1 , the first engaging portion 44 is arranged in a state where the lower end of the first engaging portion 44 is located below the first supporting plate portion 62 when the first engaging portion 44 is supported by the first arm portion 61. Similarly, the second engaging portion 45 is a rod-shaped body that is long in the vertical direction Z. The second engaging portion 45 is arranged in a state where the lower end of the second engaging portion 45 is located below the second supporting plate portion 64 when the second engaging portion 45 is supported by the second arm portion 63. In this embodiment, as shown in FIG. Figure 6 As shown, the lower portion of the first engaging portion 44 is formed in a tapered shape with a horizontal dimension that decreases as it goes downward over the entire circumferential direction. Thus, the first engaging portion 44 has a first engaging guide surface 71 formed in a tapered shape over the entire circumference in the circumferential direction. The lower portion of the second engaging portion 45 is formed in a tapered shape with a horizontal dimension that decreases as it goes downward over the entire circumferential direction. Thus, the second engaging portion 45 has a second engaging guide surface 81 formed in a tapered shape over the entire circumferential direction. Figure 3 and Figure 4 ). In addition, Figures 2 to 4 In the example of FIG. 4 , a pressing member 57 is provided in the holding device 4. The pressing member 57 is arranged between the pair of support parts 40 and below the holding drive part 43. The pressing member 57 abuts against the upper surface of the container 2 when the pair of support parts 40 support the container 2. The pressing member 57 can stably support the container 2 held by the holding device 4.

[0025] like Figures 3 to 6As shown in FIG. 1 , the container support 3 includes: a container positioning portion 30 for positioning the container 2; a first engaged portion 31, whose position relative to the container positioning portion 30 is fixed, engaged with the first engaging portion 44 to position the first engaging portion 44; and a second engaged portion 32, whose position relative to the container positioning portion 30 is fixed, engaged with the second engaging portion 45 to position the second engaging portion 45. The first engaged portion 31 and the second engaged portion 32 are arranged on the container support 3 in a manner corresponding to the first engaging portion 44 and the second engaging portion 45 of the pair of support portions 40 for the holding form T1. Specifically, the first engaged portion 31 and the second engaged portion 32 are arranged to be separated in the first direction X with the container positioning portion 30 sandwiched therebetween. In addition, the first engaged portion 31 and the second engaged portion 32 are arranged on the first side Y1 in the second direction relative to the container positioning portion 30. The container positioning portion 30, the first engaged portion 31, and the second engaged portion 32 are respectively provided on the upper surface of the container support 3. In this example, the container positioning portion 30 includes a plurality of pins (e.g., motion pins) for positioning the container 2 placed on the container support 3. In the example shown in the figure, the container positioning portion 30 (i.e., a plurality of pins) is provided on the support body portion 29 provided on the upper surface of the container support 3. Figure 5 As shown, a plurality of engagement holes 22 for engaging with each of a plurality of pins are formed at the bottom 25 of the container 2. In addition, when the pins serving as the container positioning portion 30 are engaged with the engagement holes 22, the container 2 is supported on the container support 3 (here, the support body 29).

[0026] like Figures 6 to 9As shown, each of the first engaged portion 31 and the second engaged portion 32 is formed in a concave shape that opens toward the upper side. Moreover, when the pair of support portions 40 is in a state of maintaining the form T1, the first engaged portion 31 can be engaged with the convex first engaging portion 44, and the second engaged portion 32 can be engaged with the convex second engaging portion 45. Specifically, the first engaging portion 44 can be inserted from the upper side and engaged with the first engaged portion 31, and the second engaging portion 45 can be inserted from the upper side and engaged with the second engaged portion 32. In addition, in the following, for such an engaged state, sometimes it is only indicated as "engaged state". In addition, sometimes a state that is not an "engaged state" is only indicated as "non-engaged state". In the present embodiment, the first engaged portion 31 and the second engaged portion 32 are also opened toward the first direction release side X2. Therefore, the first engaged portion 31 and the second engaged portion 32 in the engaged state are not restricted from moving toward the first direction release side X2. Therefore, along with the change of the pair of support portions 40 from the holding form T1 to the holding release form T2, each of the first engaged portion 31 and the second engaged portion 32 in the engaged state can move toward the first direction release side X2. In addition, along with the change of the pair of support portions 40 from the holding release form T2 to the holding form T1, each of the first engaged portion 31 and the second engaged portion 32 in the non-engaged state can move toward the first direction holding side X1. Here, each of the first engaged portion 31 and the second engaged portion 32 is not open toward the first direction holding side X1. Therefore, if the first engaging portion 44 is engaged with the first engaged portion 31, it is restricted from further moving toward the first direction holding side X1 thereafter. Similarly, if the second engaging portion 45 is engaged with the second engaged portion 32, it is restricted from further moving toward the first direction holding side X1. In this way, the first engaging portion 44 and the second engaging portion 45 in the engaged state are positioned. In addition, in this example, at each of the first engaged portion 31 and the second engaged portion 32, the movement of the first engaging portion 44 and the second engaging portion 45 in the second direction Y is also restricted.

[0027] like Figure 1 , Figure 3 , Figure 4 as well as Figure 6As shown, in this example, the container support platform 3 has a first guide member 12 and a second guide member 13. The first engaged portion 31 is formed in the first guide member 12. The second engaged portion 32 is formed in the second guide member 13. In each of the first guide member 12 and the second guide member 13, a groove portion 14 opened on the upper side is formed. Here, the groove portion 14 is formed in a manner that is open only on the upper side. The first guide member 12 and the second guide member 13 are provided on the upper surface of the container support platform 3, and are separately arranged along the first direction X with the support body portion 29 clamped therebetween. In the example shown in the figure, such a groove portion 14 is formed in a manner that includes the entire area of ​​the movement trajectory of the first engaging portion 44 or the second engaging portion 45 in the first direction X, whereby the first engaging portion 44 or the second engaging portion 45 inserted into the groove portion 14 from the upper side can move along the first direction X. Figure 7 In the example of , a first engaged portion 31 is formed at the end of the first direction retaining side X1 of the groove portion 14 of the first guide member 12. The shape of the first engaged portion 31 as viewed in the up-down direction Z is formed in a shape (here, an arc shape) corresponding to the shape of the first engaging portion 44 as viewed in the up-down direction Z. In addition, the size of the first engaged portion 31 as viewed in the up-down direction Z is set in a manner corresponding to the size of the first engaging portion 44 as viewed in the up-down direction Z. Figure 8 In the example, a second engaged portion 32 is formed at the end of the first direction retaining side X1 of the groove portion 14 of the second guide member 13. The shape of the second engaged portion 32 as viewed in the up-down direction Z is formed in a shape (here, an arc shape) corresponding to the shape of the second engaging portion 45 as viewed in the up-down direction Z. In addition, the size of the second engaged portion 32 as viewed in the up-down direction Z is set in a manner corresponding to the size of the second engaging portion 45 as viewed in the up-down direction Z. In addition, the structures of the first guide member 12 and the second guide member 13 are identical to each other. Therefore, the structure of the first guide member 12 is specifically described, and the description of the structure of the second guide member 13 is sometimes omitted.

[0028] like Figure 7 and Figure 8As shown, the action of changing the pair of support parts 40 from the holding release state T2 to the holding state T1 is the holding action, and at least one of the holding device 4 and the container support 3 includes: a first guide portion 7 that guides the first engaging portion 44 that moves along with the holding action of the first support part 41 toward the first engaged portion 31; and a second guide portion 8 that guides the second engaging portion 45 that moves along with the holding action of the second support part 42 toward the second engaged portion 32. In this embodiment, the container support 3 includes the first guide portion 7 and the second guide portion 8. Specifically, the first guide portion 7 is formed on the first guide member 12, and the second guide portion 8 is formed on the second guide member 13. In addition, the holding device 4 also includes the first guide portion 7 and the second guide portion 8. Specifically, the first guide portion 7 is formed on the first engaging portion 44, and the second guide portion 8 is formed on the second engaging portion 45. In the present embodiment, the first guide portion 7 guides the first engaging portion 44 that moves along with the holding operation of the first supporting portion 41 and also guides the first engaging portion 44 that moves along with the descending operation of the holding device 4. Here, the former guidance is performed by the first guide portion 7 provided on the container support 3, and the latter guidance is performed by the cooperation of the first guide portion 7 provided on the container support 3 and the first guide portion 7 provided on the holding device 4. In addition, the second guide portion 8 guides the second engaging portion 45 that moves along with the holding operation of the second supporting portion 42 and also guides the second engaging portion 45 that moves along with the descending operation of the holding device 4. Here, the former guidance is performed by the second guide portion 8 provided on the container support 3, and the latter guidance is performed by the cooperation of the second guide portion 8 provided on the container support 3 and the second guide portion 8 provided on the holding device 4.

[0029] like Fig. 9As shown, in this embodiment, the first guide portion 7 includes at least one of a guide surface (first engagement guide surface 71) formed at the lower portion of the first engagement portion 44, whose horizontal dimension decreases as it goes downward, and a guide surface (first engaged guide surface 72) formed at the upper portion of the first engaged portion 31, whose horizontal dimension increases as it goes upward. In addition, the second guide portion 8 includes at least one of a guide surface (second engagement guide surface 81) formed at the lower portion of the second engagement portion 45, whose horizontal dimension decreases as it goes downward, and a guide surface (second engaged guide surface 82) formed at the upper portion of the second engaged portion 32, whose horizontal dimension increases as it goes upward. In this example, the first guide portion 7 includes both the first engagement guide surface 71 and the first engaged guide surface 72. Similarly, the second guide portion 8 includes both a second engaging guide surface 81 and a second engaged guide surface 82. In addition, the structures of the first guide portion 7 and the second guide portion 8 are identical to each other. Therefore, the specific structure of the first guide portion 7 will be described, and the description of the structure of the second guide portion 8 will be omitted. As described above, the first engaging guide surface 71 is formed in a tapered shape in the entire circumferential direction of the lower portion of the first engaging portion 44, with the horizontal dimension becoming smaller toward the lower side. In the example shown in the figure, the portion of the first engaging portion 44 where the first engaging guide surface 71 is arranged is in the shape of a truncated cone when viewed in the horizontal direction. In addition, the first engaged guide surface 72 is formed in the groove portion 14 of the first guide member 12 where the first engaged portion 31 is formed. Fig. 9 In the example of FIG. 4 , the groove 14 of the first engaging portion 44 is formed in such a way that the upper portion is wider than the lower portion in the horizontal direction when viewed in the first direction X, and more specifically, is in a Y-shaped shape. Furthermore, the first engaging guide surface 72 is formed in the upper portion of the Y-shaped groove 14. Figure 6 and Figure 7 In the example of , the first engaged guide surface 72 is formed in an arc shape corresponding to the shape of the first engaged portion 31. Figure 7 and Figure 8 In the example of FIG. 1 , the cross-sectional shape of the groove portion 14 of each of the first guide member 12 and the second guide member 13 is a Y-shaped shape when viewed in the first direction X regardless of the position in the first direction X.

[0030] In this embodiment, if Figure 7 As shown, the first guide portion 7 includes a pair of first guide surfaces 74 connected to the first engaged portion 31 and formed in a tapered shape that expands along the second direction Y as it moves toward the first direction release side X2. Figure 8As shown, the second guide portion 8 has a pair of second guide surfaces 84, which are connected to the second engaged portion 32 and are formed in a tapered shape that expands along the second direction Y as it moves toward the first direction release side X2. In addition, as described above, the structures of the first guide portion 7 and the second guide portion 8 are identical to each other. Therefore, the description of the specific structure of the second guide surface 84 is omitted. In this example, a pair of first guide surfaces 74 are separately arranged along the second direction Y with the groove portion 14 sandwiched therebetween. In addition, in this example, a pair of first guide surfaces 74 are continuously formed from the first engaged portion 31 and the first engaged guide surface 72. Figure 7 In the example of , a pair of first guide surfaces 74 are formed continuously from both ends of the first engaged portion 31 and the first engaged guide surface 72 in the second direction Y and the end of the first direction release side X2 toward the first direction release side X2. In this example, the pair of first guide surfaces 74 are further formed in a tapered shape that expands along the second direction Y toward the upper side. In this way, the first guide surface 74 is an inclined surface that expands along the second direction Y toward the first direction release side X2 and the upper side.

[0031] In this example, if Figure 7 As shown in FIG. 1 , the first guide member 12 further includes a first release-side positioning portion 33 and a first release-side guiding portion 35. Figure 8As shown in the figure, the second guide member 13 is further provided with a second release side positioning portion 36 and a second release side guide portion 38. The first release side positioning portion 33, the first release side guide portion 35, the second release side positioning portion 36 and the second release side guide portion 38 are respectively formed in the groove portion 14. In addition, the configurations of the first release side positioning portion 33 and the first release side guide portion 35 are the same as the configurations of the second release side positioning portion 36 and the second release side guide portion 38. Therefore, the description of the specific configurations of the second release side positioning portion 36 and the second release side guide portion 38 is omitted. In the example shown in the figure, the first release side positioning portion 33 is formed at the end portion of the groove portion 14 of the first guide member 12 on the first direction release side X2. As described above, the groove portion 14 is opened only on the upper side. Therefore, when the first engaging portion 44 is inserted into the end of the first direction release side X2 of the groove portion 14, the first engaging portion 44 is restricted by the first release side positioning portion 33 to move further toward the first direction release side X2 than the first release side positioning portion 33. Similarly, the second engaging portion 45 is also restricted by the second release side positioning portion 36 to move further toward the first direction release side X2 than the second release side positioning portion 36. In addition, the first release side positioning portion 33 is formed in an arc shape corresponding to the shape and size of the first engaging portion 44, similarly to the first engaged portion 31. In addition, the first release side guide portion 35 is formed in the groove portion 14 of the first guide member 12 in a manner that connects a pair of first guide surfaces 74 to the first release side positioning portion 33. That is, a pair of first release side guide portions 35 are formed in the groove portion 14. The end of the first direction release side X2 of a pair of first release side guide portions 35 is formed in a tapered shape that expands along the second direction Y as it moves toward the first direction holding side X1, and guides the first engaging portion 44 that moves from the first direction holding side X1 to the first release side positioning portion 33. In addition, the portion of the pair of first release side guide portions 35 that is closer to the first direction holding side X1 than the end of the first direction release side X2 is formed in a manner along the first direction X. In addition, a tapered guide surface (first release side guide surface 34) whose horizontal dimension increases toward the upper side is formed in the entire area of ​​the first release side positioning portion 33 and the upper portion of the first release side guide portion 35. The first engaged guide surface 72 may also be a surface that includes the first release side guide surface 34. As Figure 8 As shown, a tapered guide surface (second release side guide surface 37) whose horizontal dimension increases as it goes upward is also formed in the entire area of ​​the upper portion of the second release side positioning portion 36 and the second release side guide portion 38. The second engaged guide surface 82 may also be a surface including the second release side guide surface 37.

[0032] In this embodiment, if Fig.10As shown, the control unit H controls the travel unit 16, the lifting device 5 and the holding drive unit 43. The control unit H is connected to the upper controller C that controls the conveying equipment 1 as a whole in a manner that can communicate with each other. The control unit H is configured in a manner that controls the travel unit 16, the lifting device 5 and the holding drive unit 43 in accordance with the content of the instruction obtained from the upper controller C. The control unit H performs conveying control for conveying containers 2 between multiple processing devices 9 and transfer control for transferring containers 2 between the container support table 3. In the conveying control, the control unit H controls the travel unit 16 (travel motor M1) according to the conveying instruction from the upper controller C so that the conveying vehicle 6 goes to the processing device 9 that is the transfer object. Then, the control unit H stops the conveying vehicle 6 at the parking position corresponding to the container support table 3 of the processing device 9 that is the transfer object (the position directly above the support body 29 of the container support table 3).

[0033] After that, the control unit H performs transfer control on the transport vehicle 6 that has stopped. Here, the control for transferring the container 2 placed on the container support 3 to the transport vehicle 6 is described. The control unit H controls the lifting device 5 so that the holding device 4 descends toward the container support 3. At this time, the pair of support parts 40 is in the holding release state T2. Figure 6 As shown in FIG. 1 , the control unit H lowers the holding device 4 so that the first support plate portion 62 and the second support plate portion 64 are positioned below the bottom 25 (supported portion 21) of the container 2 supported by the supporting body portion 29. When the holding device 4 is lowered in this manner, the first engaging portion 44 of the first supporting portion 41 is inserted into the first release side positioning portion 33 ( Figure 6 ). Similarly, the second engaging portion 45 of the second support portion 42 is inserted into the second release side positioning portion 36 formed in the groove portion 14 of the second guide member 13. Thereafter, the control unit H controls the holding drive unit 43 to perform a holding action. That is, the control unit H controls the holding drive unit 43 so that the pair of support portions 40 changes form from the holding release form T2 to the holding form T1. Here, along with the change in form of the pair of support portions 40, the first engaging portion 44 and the second engaging portion 45 move from the first direction release side X2 to the first direction holding side X1 in the moving path of the groove portion 14. If the pair of support portions 40 changes form to the holding form T1, the first engaging portion 44 engages with the first engaged portion 31 of the first guide member 12. Specifically, the first engaging portion 44 moves from the first release side positioning portion 33 along the first direction X and abuts against the end portion of the first direction holding side X1 of the groove portion 14 of the first guide member 12 serving as the first engaged portion 31 ( Figure 6). Similarly, the second engaging portion 45 also moves from the second releasing side positioning portion 36 along the first direction X, and abuts against the end of the groove portion 14 of the second guide member 13 as the second engaged portion 32 on the first direction holding side X1. Next, the control unit H controls the lifting device 5 to raise the holding device 4. As a result, the pair of supporting portions 40 rises, and the supported portion 21 of the container 2 is supported by the pair of supporting portions 40. Figure 6 As shown, in the present embodiment, the first support portion 41 and the second support portion 42 which are in the holding state T1 by the holding action are raised by the lifting device 5 at a lower side than the supported portion 21 of the container 2, so that the third engaging portion 48 is engaged with the third engaged portion 23, and the fourth engaging portion 49 is engaged with the fourth engaged portion 24. Specifically, the third engaging portion 48 of the first support plate portion 62 is engaged with the third engaged portion 23 formed on the first supported portion 21a of the container 2. Similarly, the fourth engaging portion 49 of the second support plate portion 64 is engaged with the fourth engaged portion 24 formed on the second supported portion 21b of the container 2. Thus, the container 2 is supported by a pair of support portions 40. The control unit H controls the lifting device 5 to continue to raise the holding device 4. Thus, the container 2 is lifted relative to the container support platform 3 (here, the support body portion 29) from the lowered position V2 ( Figure 1 ) moves to the storage position V1 ( Figure 2 ).

[0034] When the container 2 supported by the container support 3 rises to the storage position V1, the control unit H causes the transport vehicle 6 to travel according to the next transport instruction.

[0035] [Other implementation methods] (1) In the above-mentioned embodiment, the following structure is described as an example, but it is not limited to this: the first guide component 12 further includes a first release side positioning portion 33 and a first release side guide portion 35, and in the groove portion 14, the first release side positioning portion 33 is formed in an arc shape corresponding to the shape and size of the first engaging portion 44, and the second guide component 13 further includes a second release side positioning portion 36 and a second release side guide portion 38, and in the groove portion 14, the second release side positioning portion 36 is formed in an arc shape corresponding to the shape and size of the second engaging portion 45. The shape and size of the first release side positioning portion 33 and the second release side positioning portion 36 can be appropriately changed according to needs. Fig.11 An example of this is shown in Fig.11 In the embodiment, the shape of the first release side positioning portion 33 is an arc shape corresponding to the shape of the first engaging portion 44, but the dimension of the first release side positioning portion 33 in the second direction Y is larger than the dimension of the first engaging portion 44 in the second direction Y. Therefore, the entire area of ​​the first release side guide portion 35 in the first direction X is formed in a tapered shape that becomes narrower in the second direction Y as it moves toward the first direction holding side X1. In addition, as Fig.12As an example of the present invention, the groove 14 of the first guide member 12 may be formed in a manner that opens toward the first direction release side X2 in addition to the upper side. In this way, the first release side guide 35 may not be formed on the first guide member 12. The second guide member 13 may also be configured in the same manner as the first guide member 12.

[0036] (2) In the above-mentioned embodiment, the following configuration is described as an example, but is not limited thereto: each of the first engaging portion 44 and the second engaging portion 45 is formed in a convex shape protruding toward the lower side, and each of the first engaged portion 31 and the second engaged portion 32 is formed in a concave shape opening toward the upper side. Alternatively, each of the first engaging portion 44 and the second engaging portion 45 is formed in a concave shape opening toward the lower side, and each of the first engaged portion 31 and the second engaged portion 32 is formed in a convex shape protruding toward the upper side. Fig.13 An example of this is shown in Fig.13 In the embodiment, the first guide member 12 is mounted on the first support portion 41. Moreover, the groove portion 14 of the first guide member 12 is open toward the lower side. When the pair of support portions 40 is in the holding release state T2, the convex first engaged portion 31 engages with the end portion of the first direction holding side X1 of the groove portion 14. Moreover, as the pair of support portions 40 change their form from the holding release state T2 to the holding state T1, the first guide member 12 moves from the first direction release side X2 to the first direction holding side X1. Moreover, if the pair of support portions 40 becomes the holding state T1, the convex first engaged portion 31 engages with the first engaging portion 44 formed at the end portion of the first direction release side X2 of the groove portion 14. In this way, the mechanism of the first engaging portion 44 engaging with the first engaged portion 31 and the mechanism of the second engaging portion 45 engaging with the second engaged portion 32 can be appropriately changed.

[0037] (3) In the above-mentioned embodiment, the following configuration is described as an example, but the present invention is not limited thereto: both the holding device 4 and the container support 3 include the first guide portion 7 and the second guide portion 8, the first guide portion 7 is formed on both the first engaging portion 44 and the first engaged portion 31, and the second guide portion 8 is formed on both the second engaging portion 45 and the second engaged portion 32. In this case, the first guide portion 7 and the second guide portion 8 may be provided only on the container support 3 side. For example, the following configuration may be adopted: the first engaged guide surface 72 as the first guide portion 7 is formed on the first engaged portion 31, and the second engaged guide surface 82 as the second guide portion 8 is formed on the second engaged portion 32, while the first engaging guide surface 71 is not formed on the first engaging portion 44, and the second engaging guide surface 81 is not formed on the second engaging portion 45. In this case, the shape of the lower portion of the first engaging portion 44 and the second engaging portion 45 may be a columnar shape (a circular column, a polygonal column, etc.).

[0038] (4) In the above-mentioned embodiment, the following configuration is described as an example, but the present invention is not limited thereto: the first engaging portion 44 and the second engaging portion 45 are arranged on the inner side of the first direction X than the outer ends of the pair of support portions 40 in the first direction X. For example, the first engaging portion 44 and the second engaging portion 45 may be arranged on the outer side of the first direction X than the outer ends of the pair of support portions 40 in the first direction X. In addition, only one of the first engaging portion 44 and the second engaging portion 45 may be arranged on the inner side of the first direction X than the outer ends of the pair of support portions 40 in the first direction X. In this way, the configuration of each of the first engaging portion 44 and the second engaging portion 45 can be appropriately changed.

[0039] (5) In the above-mentioned embodiment, the following configuration is described as an example, but the present invention is not limited thereto: the first guide portion 7 includes a pair of first guide surfaces 74 connected to the first engaged portion 31 and formed in a tapered shape that expands along the second direction Y toward the first direction release side X2, and the second guide portion 8 includes a pair of second guide surfaces 84 connected to the second engaged portion 32 and formed in a tapered shape that expands along the second direction Y toward the first direction release side X2. It is also possible to have a configuration in which the first guide portion 7 does not include a pair of first guide surfaces 74, and the second guide portion 8 does not include a pair of second guide surfaces 84. In addition, it is also possible to have a configuration in which the pair of first guide surfaces 74 are arranged along the first direction X and parallel to each other, and the pair of second guide surfaces 84 are arranged along the first direction X and parallel to each other. In this way, each of the first guide surface 74 and the second guide surface 84 does not necessarily need to be formed in a tapered shape.

[0040] (6) In the above-mentioned embodiment, the following configuration is described as an example, but the present invention is not limited thereto: the first support portion 41 includes the third engaging portion 48 engaged with the third engaged portion 23 of the supported portion 21 provided in the container 2, and the second support portion 42 includes the fourth engaging portion 49 engaged with the fourth engaged portion 24 of the supported portion 21 provided in the container 2. The first support portion 41 may not include the third engaging portion 48, and the second support portion 42 may not include the fourth engaging portion 49. On the other hand, in this example, the first support portion 41 includes one third engaging portion 48, and the second support portion 42 includes one fourth engaging portion 49, but the first support portion 41 may include a plurality of third engaging portions 48, and the second support portion 42 may include a plurality of fourth engaging portions 49. In addition, in this example, the third engaging portion 48 is provided on the first supporting plate portion 62, and the fourth engaging portion 49 is provided on the second supporting plate portion 64, but the third engaging portion 48 may be provided on the first arm portion 61, and the fourth engaging portion 49 may be provided on the second arm portion 63. In this case, the positions where the third engaged portion 23 and the fourth engaged portion 24 of the container 2 are formed can be appropriately changed according to the places where the third engaging portion 48 and the fourth engaging portion 49 are provided.

[0041] (7) In addition, the configurations disclosed in the above-mentioned embodiments can also be combined with the configurations disclosed in other embodiments (including the combination of the embodiments described as other embodiments) as long as no contradiction occurs. With regard to other configurations, the embodiments disclosed in this specification are merely illustrative in all points. Therefore, various changes can be appropriately made without departing from the scope of the present disclosure.

[0042] [Summary of the above embodiments] Hereinafter, the transportation equipment described above will be summarized and described.

[0043] The conveying equipment involved in the present disclosure is a conveying equipment comprising: a container support table that supports a container; and a conveying vehicle that has a holding device for holding and releasing the container and a lifting device for lifting the holding device, and conveys the container. The holding device comprises: a first supporting portion and a second supporting portion, which are a pair of supporting portions supporting a supported portion of the container; a holding driving portion, which changes the shape of the pair of supporting portions into a holding shape for holding the container and a holding release shape for releasing the holding of the container by bringing the pair of supporting portions closer to and away from each other; a first engaging portion, which is fixed to the first supporting portion; and a second engaging portion, which is fixed to the second supporting portion. The container support platform comprises: a container positioning portion, which positions the container; a first engaged portion, whose position relative to the container positioning portion is fixed, engaged with the first engaging portion to position the first engaging portion; and a second engaged portion, whose position relative to the container positioning portion is fixed, engaged with the second engaging portion to position the second engaging portion. The action of changing the pair of supporting parts from the holding release state to the holding state is regarded as the holding action, At least one of the aforementioned holding device and the aforementioned container support platform comprises: a first guiding portion, which guides the aforementioned first engaging portion moving along with the aforementioned holding action of the aforementioned first supporting portion toward the aforementioned first engaged portion; and a second guiding portion, which guides the aforementioned second engaging portion moving along with the aforementioned holding action of the aforementioned second supporting portion toward the aforementioned second engaged portion.

[0044] According to this configuration, by utilizing the movement of the first engaging portion and the second engaging portion accompanying the holding action of the first supporting portion and the second supporting portion of the holding device, the first engaging portion can be guided toward the first engaged portion by the first guiding portion so that the first engaging portion engages with the first engaged portion, and the second engaging portion can be guided toward the second engaged portion by the second guiding portion so that the second engaging portion engages with the second engaged portion. Thus, the first engaging portion and the second engaging portion can be positioned at appropriate positions, and further, the first supporting portion to which the first engaging portion is fixed and the second supporting portion to which the second engaging portion is fixed can be positioned at appropriate positions relative to the container positioned at the container positioning portion. Therefore, it is easy to properly support the container by a pair of supporting portions. Therefore, by the lifting device, the holding device can be lifted and lowered while properly holding the container. As described above, according to this configuration, the container can be appropriately transferred between the container support and the transport vehicle.

[0045] Here, preferably, each of the first engaging portion and the second engaging portion is formed in a convex shape protruding toward the lower side. Each of the first engaged portion and the second engaged portion is formed in a concave shape opened toward the upper side.

[0046] According to this structure, the first engaging portion fixed to the first supporting portion engages with the first engaged portion of the container support platform from the upper side. In addition, the second engaging portion fixed to the second supporting portion engages with the second engaged portion of the container support platform from the upper side. Therefore, the first engaging portion and the second engaging portion can be positioned at appropriate positions with a relatively simple structure. Moreover, each of the first engaging portion and the second engaging portion is formed in a convex shape, so that, for example, compared with the case where they are formed in a concave shape, it is easy to seek miniaturization and lightness of the holding device.

[0047] In addition, it is suitable that the first guide portion includes at least one of a guide surface formed at the lower part of the first engaging portion and having a tapered shape whose size in the horizontal direction decreases as it goes downward, and a guide surface formed at the upper part of the first engaged portion and having a tapered shape whose size in the horizontal direction increases as it goes upward, The second guide portion comprises at least one of a guide surface formed at the lower portion of the second engaging portion and having a tapered dimension in the horizontal direction which decreases as it approaches the lower side, and a guide surface formed at the upper portion of the second engaged portion and having a tapered dimension in the horizontal direction which increases as it approaches the upper side.

[0048] According to this configuration, during the lowering of the holding device for holding or releasing the container, the first engaging portion and the second engaging portion can be guided toward the appropriate position by the first guide portion and the second guide portion. Thus, the first supporting portion to which the first engaging portion is fixed and the second supporting portion to which the second engaging portion is fixed can be positioned at appropriate positions relative to the container positioning portion. Therefore, it is easy to appropriately perform the actions of holding and releasing the container by the holding device.

[0049] In addition, it is suitable that the direction in which the pair of supporting parts approach and separate is the first direction, The first engaging portion and the second engaging portion are arranged on the inner side of the pair of supporting portions in the first direction relative to both outer side end edges in the first direction.

[0050] According to this configuration, it is easy to miniaturize the holding device in the first direction. Therefore, the container supported by the container support can be easily held and released without being hindered by obstacles around the container support.

[0051] In addition, preferably, the container support comprises the first guide portion and the second guide portion. The direction in which the pair of the supporting parts approach and separate is a first direction, the direction orthogonal to the first direction when viewed in the up-down direction is a second direction, and the side where the supporting part in the holding release state relative to the supporting part in the holding state of each of the pair of the supporting parts is located is a first direction release side, The first engaged portion and the second engaged portion are also opened toward the first direction release side. The first guide portion includes a pair of first guide surfaces connected to the first engaged portion and formed in a tapered shape that expands in the second direction toward the first direction release side. The second guide portion includes a pair of second guide surfaces connected to the second engaged portion and formed in a tapered shape that expands in the second direction toward the first direction release side.

[0052] According to the present structure, the following structure can be simply realized: by utilizing the movement of the first engaging part and the second engaging part in the first direction accompanied by the holding action of the first supporting part and the second supporting part, the first engaging part can be guided toward the first engaged part by the first guiding part so that the first engaging part and the first engaged part are engaged, and the second engaging part can be guided toward the second engaged part by the second guiding part so that the second engaging part and the second engaged part are engaged.

[0053] In addition, preferably, the first supporting portion includes a third engaging portion engaged with a third engaged portion provided on the supported portion of the container. The second supporting portion includes a fourth engaging portion engaged with a fourth engaged portion of the supported portion provided on the container. At a lower side than the supported portion of the container, the first supporting portion and the second supporting portion, which have become the holding form through the holding action, are raised by the lifting device, so that the third engaging portion is engaged with the third engaged portion, and the fourth engaging portion is engaged with the fourth engaged portion.

[0054] According to this configuration, the pair of supporting parts are appropriately supported relative to the container positioned on the container positioning part, so that the third engaging part can be easily engaged with the third engaged part and the fourth engaging part can be easily engaged with the fourth engaged part. Moreover, the third engaging part is engaged with the third engaged part, and the fourth engaging part is engaged with the fourth engaged part, so that the held container can be maintained in an appropriate shape and raised relative to the container support platform at the same time.

[0055] The conveying equipment according to the present disclosure only needs to achieve at least one of the above-mentioned effects. Figures and Instructions

[0056] 1: Conveying equipment 2: Container 3: Container support 4: Holding device 5: Lifting device 6: Transport vehicle 7: First guide section 8: Second guide section 21: Supported part 23: The third engaged part 24: The fourth engaged part 30: Container positioning unit 31: First engaged portion 32: Second engaged portion 40: Support 41: First support part 42: Second support part 43: Maintain drive unit 44: 1st engagement part 45: Second engagement portion 48: The third engagement part 49: 4th engagement part 71: First engagement guide surface 72: First engaged guide surface 74: 1st guide surface 81: Second engagement guide surface 82: Second engaged guide surface 84: Second guide surface T1: Maintaining the form T2: Keep the release form X: 1st direction X2: Release side in the first direction Y: 2nd direction Z: Up and down direction.

Claims

1. A conveying device, comprising: a container support platform that supports a container; and a conveying vehicle that has a holding device for holding and releasing the container and a lifting device for lifting the holding device, and conveys the container. The conveying device has the following characteristics: The holding device comprises: a first supporting portion and a second supporting portion, which are a pair of supporting portions supporting a supported portion of the container; a holding driving portion, which changes the shape of the pair of supporting portions into a holding shape for holding the container and a holding release shape for releasing the holding of the container by bringing the pair of supporting portions closer to and away from each other; a first engaging portion, which is fixed to the first supporting portion; and a second engaging portion, which is fixed to the second supporting portion. The container support platform comprises: a container positioning portion, which positions the container; a first engaged portion, whose position relative to the container positioning portion is fixed, engaged with the first engaging portion to position the first engaging portion; and a second engaged portion, whose position relative to the container positioning portion is fixed, engaged with the second engaging portion to position the second engaging portion. The action of changing the pair of support parts from the holding release state to the holding state is referred to as the holding action, At least one of the holding device and the container support platform comprises: a first guiding portion, which guides the first engaging portion moving along with the holding action of the first supporting portion toward the first engaged portion; and a second guiding portion, which guides the second engaging portion moving along with the holding action of the second supporting portion toward the second engaged portion.

2. The conveying device according to claim 1, wherein: Each of the first engaging portion and the second engaging portion is formed in a convex shape protruding toward the lower side, Each of the first engaged portion and the second engaged portion is formed in a concave shape opened toward the upper side.

3. The conveying device according to claim 2, wherein: The first guide portion includes at least one of a guide surface formed at a lower portion of the first engaging portion and having a tapered shape whose horizontal dimension decreases as it goes downward, and a guide surface formed at an upper portion of the first engaged portion and having a tapered shape whose horizontal dimension increases as it goes upward. The second guide portion includes at least one of a guide surface formed at a lower portion of the second engaging portion and having a tapered dimension that decreases in the horizontal direction as it goes downward, and a guide surface formed at an upper portion of the second engaged portion and having a tapered dimension that increases in the horizontal direction as it goes upward.

4. The conveying device according to claim 3, wherein: The direction in which the pair of support parts approach and separate is defined as a first direction, The first engaging portion and the second engaging portion are arranged on the inner side of the pair of support portions in the first direction relative to both outer side edges in the first direction.

5. The conveying device according to any one of claims 2 to 4, wherein: The container support comprises the first guide portion and the second guide portion. The direction in which the pair of support parts approach and separate is a first direction, the direction orthogonal to the first direction when viewed in the up-down direction is a second direction, and the side where the support part in the holding release state relative to the support part in the holding state for each of the pair of support parts is located is a first direction release side, The first engaged portion and the second engaged portion are also opened toward the first direction release side. The first guide portion includes a pair of first guide surfaces connected to the first engaged portion and formed in a tapered shape that expands in the second direction toward the first direction release side. The second guide portion includes a pair of second guide surfaces connected to the second engaged portion and formed in a tapered shape that expands in the second direction toward the first direction release side.

6. The conveying device according to claim 1, wherein: The first supporting portion includes a third engaging portion engaged with a third engaged portion provided on the supported portion of the container. The second supporting portion includes a fourth engaging portion engaged with a fourth engaged portion provided on the supported portion of the container. The first supporting portion and the second supporting portion, which are formed into the holding form by the holding action, are raised by the lifting device at a lower side than the supported portion of the container, so that the third engaging portion is engaged with the third engaged portion, and the fourth engaging portion is engaged with the fourth engaged portion.

Images