Transport vehicle

Abstract

The invention provides a transport vehicle. A transport vehicle (1) is provided with a holding device (2) and a restricting device (3). The holding device (2) is provided with a pair of holding members (4) and a holding drive mechanism (5). The first holding member (14) is provided with a first extension part (41) and a first support part. The second holding member (15) is provided with a second extension portion (45) and a second support portion. The limiting device (3) is provided with a first limiting mechanism (6) and a second limiting mechanism (7). The posture of the first restricting mechanism (6) is changed between a first restricting posture (P1) for restricting the movement of the first holding member (14) and a first restriction release posture. The posture of the second restriction mechanism (7) is changed between a second restriction posture (Q1) for restricting the movement of the second holding member (15) and a second restriction release posture.

Description

Technical Field

[0001] The invention relates to a conveying vehicle for conveying articles. Background Art

[0002] For example, Japanese Patent Application Laid-Open No. 2009-040563 (Patent Document 1) discloses a technology related to a transport vehicle.

[0003] The transport vehicle (transport device 5) of patent document 1 is provided with a holding device (gripping mechanism portion 2) for holding an article (FOUP 1), a pair of pushing mechanisms (51), and a telescopic mechanism (100a). The holding device is provided with a pair of holding portions (15). Furthermore, the pair of holding portions (15) grips a flange portion (finger portion 16) provided on the upper portion of the article. In this way, the holding device is configured to suspend and support the article. The pair of pushing mechanisms (51) are provided in a manner to clamp the article held by the holding device. In this transport vehicle, by clamping the article held by the holding device with a pair of pushing mechanisms (51) during travel, the shaking of the article accompanying the travel of the transport vehicle is reduced. In addition, the telescopic mechanism (100a) is arranged on the lower side of the article held by the holding device when the transport vehicle is traveling so as to overlap the article when viewed in the vertical direction. This prevents the article from falling from the holding device. Summary of the Invention

[0004] The transport vehicle of Patent Document 1 is configured to support the article while it is suspended, as described above, supporting it from above. Alternatively, if the article lacks a flange, for example, the transport vehicle can support the bottom of the article while transporting it. Even in a transport vehicle that supports the bottom of the article while transporting it, there is a risk of the article shaking significantly or falling off the vehicle, depending on the magnitude of the vibration and inertial forces acting on the vehicle.

[0005] Therefore, a technology is desired that enables transporting articles while appropriately holding the articles in a transport vehicle including a holding device for holding and releasing the articles and a restricting device for restricting the articles held by the holding device from falling out.

[0006] The transport vehicle disclosed herein is a transport vehicle for transporting articles, comprising a holding device for holding and releasing the article, and a limiting device for limiting the falling off of the article held by the holding device; the holding device comprises a pair of holding parts for holding the article, and a holding driving mechanism for changing the posture of the pair of holding parts in a manner that the pair of holding parts are brought into a holding posture for holding the article by moving the pair of holding parts closer to each other and into a holding release posture for releasing the hold of the article by moving the pair of holding parts away from each other; the direction in which the pair of holding parts approach and move away is set as a holding direction, one side of the holding direction is set as a first holding direction side, the other side of the holding direction is set as a second holding direction side, one of the pair of holding parts arranged on the first holding direction side is set as a first holding part, and the other side of the pair of holding parts arranged on the second holding direction side is set as a second holding part; the first holding part comprises a first extending portion that is arranged on the first holding direction side relative to the article and extends in an up-down direction, and a holding driving mechanism for changing the posture of the pair of holding parts in a manner that the pair of holding parts are brought into a holding posture for holding the article by moving the pair of holding parts closer to each other and into a holding release posture for releasing the hold of the article The first extension portion is configured to protrude toward the second side of the holding direction and support the first support portion at the bottom of the article from the lower side; the second holding component includes a second extension portion that is configured at the second side of the holding direction relative to the article and extends in the up-down direction, and a second support portion that is configured to protrude from the second extension portion to the first side of the holding direction and support the bottom of the article from the lower side; the limiting device includes a first limiting mechanism and a second limiting mechanism; the first limiting mechanism is configured to change its posture into a first limiting posture for limiting the movement of the first holding component to the first side of the holding direction when the first holding component and the second holding component are in the holding posture and a first restriction release posture for releasing the restriction of the first holding component; the second limiting mechanism is configured to change its posture into a second limiting posture for limiting the movement of the second holding component to the second side of the holding direction and a second restriction release posture for releasing the restriction of the second holding component when the first holding component and the second holding component are in the holding posture.

[0007] According to this structure, since the first limiting mechanism for limiting the movement of the first holding member toward the first side in the holding direction and the second limiting mechanism for limiting the movement of the second holding member toward the second side in the holding direction are provided, it is possible to limit the distance between the first supporting portion and the second supporting portion in the holding direction from increasing due to deflection, shaking, etc. of the holding members. This can thereby prevent articles from falling off the pair of holding members.

[0008] Furthermore, according to this configuration, since the first limiting mechanism is in the first limiting posture and the second limiting mechanism is in the second limiting posture, the movement of the pair of holding members is limited, thereby minimizing shaking of articles being transported by the transport vehicle.

[0009] Furthermore, according to this structure, by changing the first limiting mechanism's position to the first limit release position and the second limiting mechanism's position to the second limit release position, the pair of holding members can be easily moved along the holding direction and changed between the holding position and the hold release position. Thus, the pair of holding members can appropriately hold and release an article.

[0010] Thus, according to this structure, the article can be transported while being appropriately held.

[0011] Further features and advantages of the transport vehicle will become apparent from the following description of exemplary and non-limiting embodiments described with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a schematic diagram of the conveying equipment.

[0013] Figure 2 It is a side view of the transport vehicle.

[0014] Figure 3 It is a side view schematically showing the transfer of articles by the holding device.

[0015] Figure 4 It is a side view schematically showing the first restriction mechanism in the first restriction release posture.

[0016] Figure 5 It is a side view schematically showing the first restriction mechanism in the first restriction posture.

[0017] Figure 6 It is a plan view schematically showing the arrangement of the restriction device in the first restriction release posture and the second restriction release posture.

[0018] Figure 7 It is a plan view schematically showing the arrangement of the restriction device in the first restriction posture and the second restriction posture.

[0019] Figure 8 It is a control block diagram.

[0020] Figure 9 It is a control flow graph. DETAILED DESCRIPTION

[0021] Regarding the embodiment of the transport vehicle, an example of application to the transport equipment 10 will be described based on the accompanying drawings. Figure 1As shown, the transport system 10 includes a transport vehicle 1 and a processing device 93 for processing articles W. The transport vehicle 1 transports articles W. The transport vehicle 1 travels along a travel path, transporting the articles W between transfer target locations 92. The transfer target locations 92 are, for example, storage shelves (not shown) for storing articles W and article support tables 94 of the processing device 93.

[0022] In this example, a plurality of processing devices 93 are provided in the conveying equipment 10 ( Figure 1 In the example, only one of them is shown). The transport vehicle 1 (here, each of the multiple transport vehicles 1) transports the article W between the multiple processing devices 93. The article support table 94 supports the article W transferred from the transport vehicle 1. In addition, the article support table 94 supports the article W transported out from the inside of the processing device 93. The transport vehicle 1 stops at a position corresponding to the transfer object part 92 in the driving path (a position directly above the article support table 94) and transfers the article W between the transport vehicle 1 and the article support table 94. In this example, the article W is set as a container. Specifically, the article W is set as a container (FOSB: Front Opening Shipping Box; front opening transport box) for accommodating semiconductor substrates, but is not limited to this. For example, the article W can also be set as a FOUP (Front Opening Unified Pod; front opening unified box), a mask storage container (so-called mask box) for accommodating a mask (reticle), etc. In the processing device 93, semiconductor substrates stored in articles W (containers) are processed. However, other types of processing may also be performed on the articles W. A conveying device for conveying the articles W between the interior of the processing device 93 and the transfer target location 92 is provided on the article support table 94, but this is not described here. Furthermore, the articles W may be other items besides containers, such as finished products or machine parts.

[0023] like Figure 1 and Figure 2 As shown, the travel path of the transport vehicle 1 is configured along the ceiling. In this example, a track 16 is provided along the travel path. The transport vehicle 1 is guided and travels by the track 16 (here, a pair of tracks 16) supported by the ceiling suspension. Like this, the transport vehicle 1 is set as a so-called ceiling transport vehicle, but is not limited to this.

[0024] like Figure 2As shown, the transport vehicle 1 includes a holding device 2 for holding and releasing an article W, and a limiting device 3 for limiting the falling of the article W held by the holding device 2. In this embodiment, the transport vehicle 1 further includes a traveling portion 11, a receiving portion 12 supported by the traveling portion 11 and receiving the holding device 2 and the article W held by the holding device 2 during the traveling of the traveling portion 11, and a lifting device 13 for lifting the holding device 2 between inside and outside the receiving portion 12. In addition, the transport vehicle 1 includes a control unit H ( Figure 8 ). Hereinafter, the direction in which the transport vehicle 1 transporting the article W travels is referred to as the "holding direction X," and the direction perpendicular to the holding direction X when viewed in the vertical direction is referred to as the "width direction Y." Furthermore, one side of the holding direction X is referred to as the "holding direction first side X1," and the other side of the holding direction X is referred to as the "holding direction second side X2."

[0025] like Figure 2 As shown, the travel unit 11 includes wheels 27 that roll on rails 16 and a travel motor M1. In this example, the travel motor M1 drives at least one of the multiple wheels 27, providing propulsion force for the transport vehicle 1 to move along the pair of rails 16. The storage unit 12, the holding device 2, and the lifting device 13 are each supported by the travel unit 11 and are positioned below the travel unit 11, sandwiching the rails 16.

[0026] like Figure 1 and Figure 3 As shown, the lifting device 13 raises and lowers the holding device 2 and the article W held by the holding device 2 between a storage position V1 and a transfer position V2 below the storage position V1. The lifting device 13 raises the article W held by the holding device 2 from the transfer position V2 to the storage position V1 when the transport vehicle 1 is traveling. In addition, when the article W is transferred from the transport vehicle 1 to the transfer target portion 92 of the article support platform 94, the lifting device 13 lowers the article W held by the holding device 2 from the storage position V1 to the transfer position V2. The storage position V1 is a position in the storage section 12 where the article W and the holding device 2 are stored. The transfer position V2 is a position where the article W is placed on the transfer target portion 92.

[0027] like Figure 2As shown, the lifting device 13 includes a winding body 50, a belt 52 wound on the winding body 50 and connected to the holding device 2 at the front end, and a lifting motor (not shown) that rotates the winding body 50 and drives the belt 52. The lifting device 13 rotates the winding body 50 by driving the lifting motor to reel in and unwind the belt 52. As a result, the lifting device 13 lifts the holding device 2 and the article W held by the holding device 2 relative to the storage portion 12. In this example, when the holding device 2 is in the storage position V1, the entire lifting device 13 is stored in the storage portion 12. The winding body 50 and the lifting motor are always arranged inside the storage portion 12 regardless of the position of the holding device 2 in the vertical direction.

[0028] like Figure 1 and Figure 2 As shown, the storage section 12 includes a cover 17. The holding device 2 and the article W held by the holding device 2 are stored in a space surrounded by the cover 17 at the storage position V1. The cover 17 is configured to cover the holding device 2 and the article W at the storage position V1 from both outer sides and the upper side in the holding direction X. The cover 17 includes a first cover 17a, a second cover 17b that is disposed on the second side X2 in the holding direction relative to the first cover 17a, sandwiching the article W therebetween, and a connecting portion 17c that connects the first cover 17a and the second cover 17b. The connecting portion 17c connects the upper ends of the first cover 17a and the second cover 17b to each other. The connecting portion 17c is supported by the travel section 11 via a connecting shaft. Here, the connecting portion 17c is configured to be oriented along the holding direction X, and the first cover 17a and the second cover 17b are configured to be oriented along the upper and lower directions. It is preferred that various devices, such as obstacle sensors, can be disposed inside the cover 17.

[0029] like Figures 1 to 3 As shown, the holding device 2 includes a pair of holding members 4 for holding the article W, and a holding posture T1 ( Figure 2 ) and the pair of holding members 4 are separated from each other to be set to the holding release posture T2 ( Figure 3) in a manner that causes a pair of holding components 4 to change their posture. In addition, the holding device 2 further includes a locking portion 19 for positioning the holding device 2 at the transfer position V2. In addition, the holding direction X is set as the direction in which the pair of holding components 4 approach and move away. In the present embodiment, the holding direction X is set as the same direction as the direction in which the transport vehicle 1 travels, as described above. Here, the one of the pair of holding components 4 that is arranged on the first side X1 of the holding direction is set as the first holding component 14, and the one that is arranged on the second side X2 of the holding direction is set as the second holding component 15. In the present embodiment, the first holding component 14 and the second holding component 15 are configured to support the article W from the bottom side. The holding drive mechanism 5 changes the posture of the pair of holding components 4 by moving the pair of holding components 4 (the first holding component 14, the second holding component 15) in the holding direction X.

[0030] like Figure 2 and Figure 3 As shown, the first holding component 14 includes a first extension portion 41 that is arranged on the first side X1 of the holding direction relative to the article W and extends in the up-down direction, and a first support portion 42 that is arranged to protrude from the first extension portion 41 to the second side X2 of the holding direction and supports the bottom 18 of the article W from the lower side. In addition, the first holding component 14 also includes a first connecting portion 43 that connects the first extension portion 41 to the holding drive mechanism 5. The first support portion 42 is provided in a manner that protrudes from the lower end of the first extension portion 41 to the second side X2 of the holding direction (the side on which the article W is arranged when viewed in the up-down direction). In this example, the first connecting portion 43 is arranged on the upper side of the held article W. The first connecting portion 43 is provided as a component along the holding direction X, and the end portion on the second side X2 of the holding direction is connected to the guide mechanism 24 described later. The first extension portion 41 is provided in a manner that extends downward from the end portion of the first connecting portion 43 on the first side X1 of the holding direction. In Figure 6 and Figure 7 In the example, the first extension portion 41 includes a plurality of (here, two) first pillars 22 that are separated and arranged in the width direction Y. The plurality of first pillars 22 are along the up-down direction and connect the first connecting portion 43 to the first supporting portion 42. The first supporting portion 42 includes a first supporting plate portion 42a that supports the bottom 18 of the article W from the lower side in the holding posture T1. The first supporting plate portion 42a is fixed to the first extension portion 41 (here, the first pillar 22) and is arranged so as to protrude from the first extension portion 41 toward the inner side of the holding direction X (the second side X2 of the holding direction) when viewed in the up-down direction. The first supporting plate portion 42a is provided as a plate-shaped member that is long in the width direction Y. In addition, a locking pin 53 ( Figure 6 ).

[0031] like Figure 2 and Figure 3 As shown, the second holding member 15 includes a second extension portion 45 that is arranged on the second side X2 in the holding direction relative to the article W and extends in the vertical direction, and a second support portion 46 that is arranged to protrude from the second extension portion 45 toward the first side X1 in the holding direction, thereby supporting the bottom 18 of the article W from below. The second holding member 15 also includes a second connecting portion 47 that connects the second extension portion 45 to the holding drive mechanism 5. In this embodiment, the second holding member 15 has the same structure as the first holding member 14. Therefore, the structure of the second holding member 15 will be partially briefly described. The second support portion 46 is provided to protrude from the lower end of the second extension portion 45 toward the first side X1 in the holding direction. In this example, the second connecting portion 47 is arranged above the held article W. The end of the second connecting portion 47 on the first side X1 in the holding direction is connected to the guide mechanism 24, which will be described later. The second extension portion 45 is provided so as to extend downward from the end portion of the second connection portion 47 on the second side X2 in the holding direction. Figure 6 and Figure 7 In the example, the second extension portion 45 includes a plurality (here, two) of second pillars 21 that are spaced apart and arranged in the width direction Y. The plurality of second pillars 21 extend in the vertical direction and connect the second connecting portion 47 to the second support portion 46. The second support portion 46 includes a second support plate portion 46a that supports the bottom portion 18 of the article W from the bottom in the holding posture T1. The second support plate portion 46a is fixed to the second extension portion 45 (here, the second pillar 21) and is arranged so as to protrude from the second extension portion 45 toward the inner side of the holding direction X (the first side X1 in the holding direction) when viewed in the vertical direction. In addition, the second support plate portion 46a is provided with an engaging pin 53 that protrudes upward.

[0032] like Figure 2 and Figure 3As shown, the holding drive mechanism 5 is positioned above the article W held by the pair of holding members 4 and is configured to apply a driving force to the first upper portion 114 (the portion of the first extension 41 above the article W) and the second upper portion 115 (the portion of the second extension 45 above the article W). In this example, the first upper portion 114 is the upper end of the first extension 41. Similarly, the second upper portion 115 is the upper end of the second extension 45. The first upper portion 114 is connected to the end of the first connecting portion 43 on the first side (X1) in the holding direction. Furthermore, the second upper portion 115 is connected to the end of the second connecting portion 47 on the second side (X2) in the holding direction. The holding drive mechanism 5 includes a guide mechanism 24 and a drive motor (not shown). The guide mechanism 24 (here, a linear guide) is configured to guide the movement of the first connecting portion 43 and the second connecting portion 47 in the holding direction (X). Furthermore, the first connecting portion 43 and the second connecting portion 47 are connected to the drive motor via a ball screw. With this structure, the driving force generated by the drive motor is transmitted to the first upper portion 114 and the second upper portion 115 via the ball screw, the first connecting portion 43, and the second connecting portion 47. Furthermore, the pair of retaining members 4 change their postures between a retaining posture T1 and a release posture T2 by approaching and separating from each other along the retaining direction X.

[0033] When the pair of retaining members 4 are in the retaining posture T1, the article W is supported from below by the first support plate 42a and the second support plate 46a. In this example, a plurality of engaging holes 18a are formed in the bottom 18 of the article W. Furthermore, when the article W is supported by the first support plate 42a and the second support plate 46a, the engaging holes 18a provided in the end region of the bottom 18 on the first side X1 of the retaining direction engage with the engaging pins 53 of the first support plate 42a, and the engaging holes 18a provided in the end region of the bottom 18 on the second side X2 of the retaining direction engage with the engaging pins 53 of the second support plate 46a. Here, at both ends of the bottom 18 in the retaining direction X, rail portions (upwardly recessed portions along the width direction Y) are formed for abutting and engaging with the first support plate 42a and the second support plate 46a, and the engaging holes 18a are formed in these rail portions. In addition, the bottom portion 18 is further provided with another engagement hole 18a ( Figure 3 ) In addition, in this embodiment, the article W is structured to be supported by the pair of holding members 4 on the bottom surface of the bottom portion 18, but the present invention is not limited to this.

[0034] In this example, if Figure 2 and Figure 3As shown, the engaging portion 19 is attached to each of the first holding member 14 and the second holding member 15 on one side thereof facing the width direction Y. Here, the engaging portion 19 is fixed to each of the lower end portions of the first extension portion 41 and the lower end portion of the second extension portion 45. The engaging portion 19 is a vertically elongated rod-shaped member, with its lower end portion positioned below the first support plate portion 42a and the second support plate portion 46a.

[0035] Here, when the article W is transferred from the transport vehicle 1 to the transfer target portion 92, the holding device 2 and the article W at the storage position V1 are lowered to the transfer position V2 by means of the lifting device 13. In this example, a transfer target portion 92 serving as a loading platform on which only the article W is loaded is provided on the article support platform 94. In addition, a guide component 91 is arranged adjacent to the transfer target portion 92. The guide component 91 is provided as a component having an upper surface opening and a groove shape along the holding direction X. Moreover, in the transfer position V2, the engaging portion 19 is configured to engage with the guide component 91 from the upper side. In addition, in the transfer position V2, the article W is placed on the transfer target portion 92, and the engaging hole 18a of the bottom 18 engages with the corresponding engaging pin 53 formed on the transfer target portion 92. Then, if the first supporting plate portion 42a and the second supporting plate portion 46a are lowered to a position lower than the bottom portion 18, the support of the article W by the first supporting plate portion 42a and the second supporting plate portion 46a is released. Then, the pair of holding parts 4 are separated from each other to form a holding release posture T2. At this time, the engaging portion 19 moves along the holding direction X while being guided by the guide member 91. In addition, when the article W is transferred from the transfer object portion 92 to the transport vehicle 1, the actions in the opposite order to the above are performed. In the example shown in the figure, a pair of guide members 91 are also provided to correspond to the pair of engaging portions 19. Moreover, by the engaging portion 19 being guided by the guide member 91, the holding device 2 can be properly positioned relative to the transfer object portion 92, thereby enabling the article W to be properly transferred. Such a transfer action is performed with the help of the control unit H.

[0036] like Figure 2 and Figures 4 to 7 As shown, the limiting device 3 includes a first limiting mechanism 6 and a second limiting mechanism 7. Furthermore, the first limiting mechanism 6 and the second limiting mechanism 7 are disposed in the housing portion 12. More specifically, the first limiting mechanism 6 and the second limiting mechanism 7 are disposed in the cover portion 17. Furthermore, the first limiting mechanism 6 and the second limiting mechanism 7 are disposed outwardly of the pair of holding members 4 in the holding direction X. Furthermore, in this embodiment, the limiting device 3 further includes a first supporting mechanism 8 and a second supporting mechanism 9.

[0037] like Figures 4 to 7As shown, the first limiting mechanism 6 is configured to change its posture between a first limiting posture P1, which limits movement of the first holding member 14 toward the first side X1 in the holding direction, and a first restriction-released posture P2, which releases the restriction on the first holding member 14, when the first holding member 14 and the second holding member 15 are in the holding posture T1. In this embodiment, the first limiting mechanism 6 is configured to change its posture independently of the posture changes of the first holding member 14 and the second holding member 15. Specifically, the first limiting mechanism 6 is configured to change its posture between the first limiting posture P1 and the first restriction-released posture P2 when the first holding member 14 and the second holding member 15 are in the holding posture T1. In this embodiment, when in the first limiting posture P1, the first limiting mechanism 6 presses the first holding member 14 from the outside in the holding direction X (to the first side X1 in the holding direction). Thus, the first limiting mechanism 6 restricts movement of the first holding member 14 toward the first side X1 in the holding direction. Furthermore, the first limiting mechanism 6 is positioned so as not to press against the holding drive mechanism 5. In this example, the first limiting mechanism 6 is provided on the first cover portion 17a. More specifically, the first limiting mechanism 6 is provided at the lower end portion of the first cover portion 17a. In this specification, the term "pressing" does not limit the magnitude of the pushing force and includes simply "abutting."

[0038] In this embodiment, the first restricting mechanism 6 presses the portion of the first extension portion 41 below the first upper portion 114 or the first support portion 42 in the state of the first restricting posture P1. Figure 2 and Figure 5 As shown, in the first limiting posture P1, the first limiting mechanism 6 presses the portion of the first extension portion 41 below the first upper portion 114, more specifically, the lower end portion (first lower end portion 41a) of the first extension portion 41 that overlaps with the article W when viewed in the holding direction X. In the illustrated example, the first limiting mechanism 6 presses the portion of the first extension portion 41 immediately above the first support portion 42. In this example, the first limiting mechanism 6 includes a first pressing member 61, a first support member 62 that supports the first pressing member 61, and a first moving mechanism 96. In the first limiting posture P1, the first pressing member 61 is positioned to protrude toward the second side X2 in the holding direction relative to the first cover portion 17a, and is in contact with the surface of the article W held by the holding device 2 that faces the first side X1 in the holding direction. On the other hand, in the first restriction release posture P2, the first pressing member 61 is arranged inside the first cover portion 17a and is thereby arranged at a position away from the article W held by the holding device 2 in the holding direction X. The first moving mechanism 96 changes the posture of the first pressing member 61 between the first restriction posture P1 and the first restriction release posture P2 by moving the first pressing member 61 in the holding direction X.

[0039] like Figure 6 and Figure 7 As shown, the second limiting mechanism 7 is configured to change its posture to a second limiting posture Q1, which limits movement of the second holding member 15 toward the second side X2 in the holding direction, and a second restriction-released posture Q2, which releases the restriction on the second holding member 15, when the first holding member 14 and the second holding member 15 are in the holding posture T1. In this embodiment, the second limiting mechanism 7 is configured to change its posture independently of the posture changes of the first holding member 14 and the second holding member 15. Specifically, the second limiting mechanism 7 is configured to change its posture to the second limiting posture Q1 and the second restriction-released posture Q2 when the first holding member 14 and the second holding member 15 are in the holding posture T1. In this embodiment, when in the second limiting posture Q1, the second limiting mechanism 7 presses the second holding member 15 from the outside in the holding direction X (to the second side X2 in the holding direction). Thus, the second limiting mechanism 7 limits movement of the second holding member 15 toward the second side X2 in the holding direction. Furthermore, the second limiting mechanism 7 is positioned so as not to press the holding drive mechanism 5. In this example, the second restriction mechanism 7 is provided on the second cover portion 17b. More specifically, the second restriction mechanism 7 is provided on the lower end portion of the second cover portion 17b.

[0040] The second limiting mechanism 7 presses the portion of the second extension portion 45 that is lower than the second upper portion 115 or the second support portion 46 in the second limiting posture Q1. Figure 2 As shown, in the second limiting posture Q1, the second limiting mechanism 7 presses the portion of the second extending portion 45 below the second upper portion 115, more specifically, the lower end portion (second lower end portion 45a) of the second extending portion 45 that overlaps the article W when viewed in the holding direction X. In the illustrated example, the second limiting mechanism 7 presses the portion of the second extending portion 45 immediately above the second supporting portion 46. In this example, the second limiting mechanism 7 includes a second pressing member 71, a second supporting member 72 that supports the second pressing member 71, and a second moving mechanism 106. In the second limiting posture Q1, the second pressing member 71 protrudes toward the first holding direction side X1 relative to the second cover portion 17b, and abuts against the surface of the article W held by the holding device 2 that faces the second holding direction side X2. On the other hand, in the second restriction release posture Q2, the second pressing member 71 is arranged inside the second cover portion 17b and is thereby arranged at a position spaced apart from the article W held by the holding device 2 in the holding direction X. The second moving mechanism 106 moves the second pressing member 71 in the holding direction X to change the posture of the second pressing member 71 between the second restriction posture Q1 and the second restriction release posture Q2.

[0041] In this embodiment, the second limiting mechanism 7 is configured to press the second holding member 15 at the same vertical position as the first limiting mechanism 6, as described above. However, this is not limiting. For example, the second limiting mechanism 7 may press the second holding member 15 at a position above the first limiting mechanism 6 or at a position below the first limiting mechanism 6. Furthermore, the vertical position at which the first limiting mechanism 6 presses the first holding member 14 (here, the first extending portion 41) may be appropriately changed.

[0042] like Figures 4 to 7 As shown, when the first restricting mechanism 6 is in the first restricting posture P1, the first support mechanism 8 is positioned in a first overlapping position S1, below the first holding member 14 and overlapping with the first holding member 14 as viewed in the vertical direction. When the first restricting mechanism 6 is in the first restriction release posture P2, the first support mechanism 8 is positioned in a first non-overlapping position S2, not overlapping with the first holding member 14 as viewed in the vertical direction. In this example, the first support mechanism 8 is configured to move along the holding direction X between the first overlapping position S1 and the first non-overlapping position S2. The first support mechanism 8 includes a first overlapping portion 81 that overlaps with the first holding member 14 at the first overlapping position S1 as viewed in the vertical direction, a first base portion 82 that supports the first overlapping portion 81, and a first moving mechanism 96 that moves the first overlapping portion 81 and the first base portion 82 along the holding direction X. In other words, in this example, the first moving mechanism 96 is shared by both the first restricting mechanism 6 and the first support mechanism 8. Here, the first overlapping portion 81 is adjacent to the first base portion 82 on the second side X2 in the holding direction. In addition, in the example shown in the figure, the first overlapping portion 81 is formed continuously from the first base portion 82. The first overlapping portion 81 and the first base portion 82 are respectively set as plate-shaped parts that are long in the width direction Y. In this example, the first overlapping portion 81 and the first base portion 82 are moved as a whole along the holding direction X by means of the first moving mechanism 96. In the first overlapping position S1, the first overlapping portion 81 and the first base portion 82 are in a posture of protruding toward the inner side (the second side X2 in the holding direction) of the holding direction X relative to the first cover portion 17a. On the other hand, in the first non-overlapping position S2, the first overlapping portion 81 and the first base portion 82 are arranged on the first side X1 in the holding direction relative to the first overlapping position S1, and are in a state where the first overlapping portion 81 and the first base portion 82 are housed as a whole inside the first cover portion 17a. In addition, in the first non-overlapping position S2, the first overlapping portion 81 only needs to be arranged at a position that does not overlap with the first holding member 14 when viewed in the vertical direction, and does not necessarily need to be accommodated in the first cover portion 17a. Figure 5 and Figure 7In the example shown in FIG. 1 , in the first overlapping position S1, the first overlapping portion 81 is positioned below the first support portion 42 and overlaps at least a portion of the first support portion 42 as viewed in the vertical direction. More specifically, in the first overlapping position S1, the first overlapping portion 81 is configured so as not to overlap with the first support plate portion 42a of the first support portion 42 on which the article W is placed as viewed in the vertical direction, but to overlap with a portion of the first support plate portion 42a that is closer to the first side X1 in the holding direction than the first support plate portion 42a as viewed in the vertical direction. Furthermore, in the first overlapping position S1, the first overlapping portion 81 may be configured to overlap with the entire first support portion 42 as viewed in the vertical direction, or may be configured to overlap only with the first support plate portion 42a.

[0043] In this example, the first moving mechanism 96 is provided on the first cover portion 17a. The first moving mechanism 96 includes a link mechanism 97 and an advance and retreat motor (not shown). In the illustrated example, the first base portion 82 is supported from the upper side by a link member 64 included in the link mechanism 97. The link mechanism 97 transmits the driving force generated by the advance and retreat motor to the first base portion 82. As described above, the first pushing member 61 is supported by the first base portion 82 via the first supporting member 62. In addition, the first overlapping portion 81 is formed continuously from the first base portion 82 as described above. Therefore, the first pushing member 61 and the first overlapping portion 81 move as a whole in the holding direction X with the aid of the first moving mechanism 96, that is, they move forward and backward relative to the first cover portion 17a. In the illustrated example, the first pushing member 61 is separated in the width direction Y and is provided in plurality (here two).

[0044] like Figure 6 and Figure 7As shown, when the second restricting mechanism 7 is in the second restricting posture Q1, the second support mechanism 9 is positioned at a second overlapping position R1, below the second holding member 15 and overlapping the second holding member 15 as viewed in the vertical direction. When the second restricting mechanism 7 is in the second restriction release posture Q2, the second support mechanism 9 is positioned at a second non-overlapping position R2, not overlapping the second holding member 15 as viewed in the vertical direction. In this example, the second support mechanism 9 is configured to move along the holding direction X between the second overlapping position R1 and the second non-overlapping position R2. The second support mechanism 9 includes a second overlapping portion 101 that overlaps the second holding member 15 at the second overlapping position R1 as viewed in the vertical direction, a second base portion 102 that supports the second overlapping portion 101, and a second moving mechanism 106 that moves the second overlapping portion 101 and the second base portion 102 along the holding direction X. In other words, in this example, the second moving mechanism 106 is shared by both the second restricting mechanism 7 and the second support mechanism 9. Here, the second overlapping portion 101 is adjacent to the second base portion 102 on the first side X1 in the holding direction. In addition, in the example shown in the figure, the second overlapping portion 101 is formed continuously from the second base portion 102. The second overlapping portion 101 and the second base portion 102 are respectively set as plate-shaped parts that are long in the width direction Y. In this example, the second overlapping portion 101 and the second base portion 102 move as a whole along the holding direction X with the help of the second moving mechanism 106. In the second overlapping position R1, the second overlapping portion 101 and the second base portion 102 are in a posture of protruding toward the inner side (the first side X1 in the holding direction) of the holding direction X relative to the second cover portion 17b. On the other hand, in the second non-overlapping position R2, the second overlapping portion 101 and the second base portion 102 are arranged on the second side X2 in the holding direction relative to the second overlapping position R1, and are in a state where they are accommodated as a whole inside the second cover portion 17b. In addition, in the second non-overlapping position R2, the second overlapping portion 101 only needs to be arranged at a position not overlapping with the second holding member 15 when viewed in the up-down direction, and does not necessarily need to be accommodated in the second cover portion 17b. Figure 7 In the example shown in FIG. 1 , at the second overlapping position R1, the second overlapping portion 101 is positioned below the second supporting portion 46 and overlaps at least a portion of the second supporting portion 46 as viewed in the vertical direction. More specifically, at the second overlapping position R1, the second overlapping portion 101 is configured so as not to overlap with the second support plate portion 46a of the second supporting portion 46 on which the article W is placed as viewed in the vertical direction, but to overlap with a portion of the second support plate portion 46a that is closer to the first side X1 in the holding direction than the second support plate portion 46a as viewed in the vertical direction. Furthermore, at the second overlapping position R1, the second overlapping portion 101 may be configured to overlap with the entire second supporting portion 46 as viewed in the vertical direction, or may be configured to overlap only with the second support plate portion 46a.

[0045] In this example, the structure of the second moving mechanism 106 is set to be the same as the structure of the first moving mechanism 96. The second moving mechanism 106 is arranged in the second cover part 17b. The second moving mechanism 106 includes a connecting rod mechanism 97 and an advance and retreat motor (not shown). In the example shown in the figure, the second base 102 is supported from the upper side by the connecting rod member 64 included in the connecting rod mechanism 97. The connecting rod mechanism 97 transmits the driving force generated by the advance and retreat motor to the second base 102. As described above, the second pushing member 71 is supported by the second base 102 via the second supporting member 72. In addition, the second overlapping portion 101 is formed continuously from the second base 102 as described above. Therefore, the second pushing member 71 and the second overlapping portion 101 move as a whole in the holding direction X with the help of the second moving mechanism 106, that is, they move forward and backward relative to the second cover part 17b. In the example shown in the figure, a plurality of (here, two) second pressing members 71 are provided spaced apart in the width direction Y. Note that one first pressing member 61 and one second pressing member 71 may be provided, or different numbers of the first pressing members 61 and the second pressing members 71 may be provided.

[0046] like Figure 8 As shown, the control unit H controls the travel unit 11, the holding device 2, the lifting device 13, and the limiting device 3, and is configured to be able to communicate with the host controller C that manages the entire conveyor system 10. The control unit H and the host controller C include, for example, a processor such as a microcomputer and peripheral circuits such as memory. Furthermore, each function is achieved through the cooperation of this hardware and a program executed on the processor such as a computer.

[0047] Here, the control of transferring the article W placed on the transfer target portion 92 to the transport vehicle 1 will be described. The control unit H, in accordance with the transport instruction received from the host controller C, causes the travel unit 11 to travel to a position corresponding to the specified transfer target portion 92 (here, a portion of the track 16 set above the article support 94). Then, as shown in FIG. Figure 9As shown, the control unit H controls the lifting device 13 to lower the holding device 2, which is not holding the article W, from the storage position V1 to the transfer position V2 (S01). Then, the control unit H controls the holding device 2 to hold the article W (S02). In this example, the control unit H lowers the pair of holding components 4 from the storage position V1 in the original state of the holding posture T1, and changes the posture of the pair of holding components 4 from the holding posture T1 to the holding release posture T2 at a predetermined height above the transfer position V2. Then, if the pair of holding components 4 in the holding release posture T2 are arranged at the transfer position V2, or more specifically, if the first supporting plate portion 42a and the second supporting plate portion 46a of the pair of holding components 4 are arranged below the article W at the transfer position V2, the control unit H changes the posture of the pair of holding components 4 from the holding release posture T2 to the holding posture T1. Then, the control unit H raises the holding device 2 and the article W held by the holding device 2 from the transfer position V2 to the storage position V1 (S03). Then, when the holding device 2 and the article W are arranged in the storage position V1, that is, stored in the storage portion 12, the control unit H performs the restriction posture processing (S04). The restriction posture processing is a process in which the control unit H changes the posture of the first restriction mechanism 6 in the first restriction release posture P2 to the first restriction posture P1 and changes the posture of the second restriction mechanism 7 in the second restriction release posture Q2 to the second restriction posture Q1. As a result, the first holding member 14 is pushed by the first pressing member 61 from the first side X1 of the holding direction.

[0048] Furthermore, the second holding member 15 is pressed by the second pressing member 71 from the second side X2 in the holding direction. In this example, the first pressing member 61 presses the first lower end portion 41a of the first extension portion 41, and the second pressing member 71 presses the second lower end portion 45a of the second extension portion 45. Since the lower end portions of the first extension portion 41 and the second extension portion 45, which are relatively easy to open in the holding direction X, are pressed from both outsides in the holding direction X by the first pressing member 61 and the second pressing member 71, the pair of holding members 4 can be effectively restricted from expanding outward in the holding direction X. Thus, the article W can be reliably restricted from falling off the pair of holding members 4. Furthermore, the control unit H executes the restricted posture release process when the holding device 2 and the article W in the storage position V1 are lowered to the transfer position V2. During the restriction posture release process, the control unit H, while maintaining the pair of retaining members 4 in the retaining posture T1, causes the first restricting mechanism 6, which is in the first restriction posture P1, to change to the first restriction release posture P2, and also causes the second restricting mechanism 7, which is in the second restriction posture Q1, to change to the second restriction release posture Q2. The control unit H then lowers the retaining device 2 and the article W. The timing for the first restricting mechanism 6 and the second restricting mechanism 7 to change positions can be the same or different.

[0049] [Other Implementation Methods]

[0050] Next, other embodiments of the transport vehicle will be described.

[0051] (1) In the above-mentioned embodiment, the structure in which the lifting device 13 lifts the holding device 2 and the article W held by the holding device 2 between the storage position V1 and the transfer position V2 below the storage position V1 is described as an example, but the present invention is not limited to this. The lifting device 13 can also lift the holding device 2 and the article W held by the holding device 2 between the storage position V1 and the transfer position V2 set above the storage position V1. For example, in the case where the transport vehicle 1 is a trackless transport vehicle such as an AGV (Automated Guided Vehicle) or an AMR (Autonomous Mobile Robot) that carries and transports the article W, the lifting device 13 can be set to such a structure. In addition, it is also possible to set a structure in which the lifting device 13 is not provided on the transport vehicle 1. In the case where the holding device 2 is not raised or lowered, the following structure may be adopted: in conjunction with the change in the holding position of the pair of holding members 4 from the holding release position T2 to the holding position T1, the first limiting mechanism 6 in the first limit release position P2 is changed to the first limit position P1, and the second limiting mechanism 7 in the second limit release position Q2 is changed to the second limit position Q1. In addition, the transport vehicle 1 may be a trackless transport vehicle or a tracked transport vehicle that travels on laid tracks.

[0052] (2) In the above embodiment, the first limiting mechanism 6 presses the portion of the first extension portion 41 below the first upper portion 114 in the first limiting posture P1, and the second limiting mechanism 7 presses the portion of the second extension portion 45 below the second upper portion 115 in the second limiting posture Q1. However, the present invention is not limited to this configuration. Alternatively, the first limiting mechanism 6 may press the first support portion 42 in the first limiting posture P1, and the second limiting mechanism 7 may press the second support portion 46 in the second limiting posture Q1. In this manner, the portions pressed by the first limiting mechanism 6 and the second limiting mechanism 7 may be appropriately changed.

[0053] (3) In the above embodiment, the structure in which the limiting device 3 includes the first supporting mechanism 8 and the second supporting mechanism 9 is described as an example, but the present invention is not limited to this. The limiting device 3 may also be configured not to include the first supporting mechanism 8 and the second supporting mechanism 9. In addition, in the above embodiment, the structure in which the first supporting mechanism 8 and the first limiting mechanism 6 share the first moving mechanism 96, thereby changing the posture in conjunction with the first limiting mechanism 6, and the second supporting mechanism 9 and the second limiting mechanism 7 share the second moving mechanism 106, thereby changing the posture in conjunction with the second limiting mechanism 7 is described as an example, but the present invention is not limited to this. The first supporting mechanism 8 may change its posture by means of a mechanism different from the first limiting mechanism 6, and the second supporting mechanism 9 may also change its posture by means of a mechanism different from the second limiting mechanism 7.

[0054] (4) In the above embodiment, the first limiting mechanism 6 and the second limiting mechanism 7 are provided in the cover portion 17 of the housing portion 12. However, the present invention is not limited thereto. The first limiting mechanism 6 and the second limiting mechanism 7 may be provided in a portion other than the housing portion 12, such as the travel portion 11.

[0055] (5) The structures disclosed in the above-mentioned embodiments may be combined with the structures disclosed in other embodiments as long as no contradiction occurs. With regard to other structures, the embodiments disclosed in this specification are all illustrative in all respects and can be appropriately modified without departing from the scope of the present disclosure.

[0056] [Summary of the above implementation methods]

[0057] Hereinafter, the transport vehicle described above will be summarized and described.

[0058] The transport vehicle disclosed herein is a transport vehicle for transporting articles, comprising a holding device for holding and releasing the article, and a limiting device for limiting the falling off of the article held by the holding device; the holding device comprises a pair of holding parts for holding the article, and a holding driving mechanism for changing the posture of the pair of holding parts in a manner that the pair of holding parts are brought into a holding posture for holding the article by moving the pair of holding parts closer to each other and into a holding release posture for releasing the hold of the article by moving the pair of holding parts away from each other; the direction in which the pair of holding parts approach and move away is set as a holding direction, one side of the holding direction is set as a first holding direction side, the other side of the holding direction is set as a second holding direction side, one of the pair of holding parts arranged on the first holding direction side is set as a first holding part, and the other side of the pair of holding parts arranged on the second holding direction side is set as a second holding part; the first holding part comprises a first extending portion that is arranged on the first holding direction side relative to the article and extends in an up-down direction, and a holding driving mechanism for changing the posture of the pair of holding parts in a manner that the pair of holding parts are brought into a holding posture for holding the article by moving the pair of holding parts closer to each other and into a holding release posture for releasing the hold of the article The first extension portion is configured to protrude toward the second side of the holding direction and support the first support portion at the bottom of the article from the lower side; the second holding component includes a second extension portion that is configured at the second side of the holding direction relative to the article and extends in the up-down direction, and a second support portion that is configured to protrude from the second extension portion to the first side of the holding direction and support the bottom of the article from the lower side; the limiting device includes a first limiting mechanism and a second limiting mechanism; the first limiting mechanism is configured to change its posture into a first limiting posture for limiting the movement of the first holding component to the first side of the holding direction when the first holding component and the second holding component are in the holding posture and a first restriction release posture for releasing the restriction of the first holding component; the second limiting mechanism is configured to change its posture into a second limiting posture for limiting the movement of the second holding component to the second side of the holding direction and a second restriction release posture for releasing the restriction of the second holding component when the first holding component and the second holding component are in the holding posture.

[0059] According to this structure, since the first limiting mechanism for limiting the movement of the first holding member toward the first side in the holding direction and the second limiting mechanism for limiting the movement of the second holding member toward the second side in the holding direction are provided, it is possible to limit the distance between the first supporting portion and the second supporting portion in the holding direction from increasing due to deflection, shaking, etc. of the holding members. This can thereby prevent articles from falling off the pair of holding members.

[0060] Furthermore, according to this configuration, since the first limiting mechanism is in the first limiting posture and the second limiting mechanism is in the second limiting posture, the movement of the pair of holding members is limited, thereby minimizing shaking of articles being transported by the transport vehicle.

[0061] Furthermore, according to this structure, by changing the first limiting mechanism's position to the first limit release position and the second limiting mechanism's position to the second limit release position, the pair of holding members can be easily moved along the holding direction and changed between the holding position and the hold release position. Thus, the pair of holding members can appropriately hold and release an article.

[0062] Thus, according to this structure, the article can be transported while being appropriately held.

[0063] Here, preferably, the aforementioned holding drive mechanism is arranged on the upper side of the aforementioned article held by the pair of aforementioned holding parts, and is constructed to impart driving force to the portion of the aforementioned first extension portion that is upper than the aforementioned article, i.e., the first upper portion, and the portion of the aforementioned second extension portion that is upper than the aforementioned article, i.e., the second upper portion; the aforementioned first limiting mechanism pushes the portion of the aforementioned first extension portion that is lower than the aforementioned first upper portion or the aforementioned first supporting portion when in the state of the aforementioned first limiting posture; and the aforementioned second limiting mechanism pushes the portion of the aforementioned second extension portion that is lower than the aforementioned second upper portion or the aforementioned second supporting portion when in the state of the aforementioned second limiting posture.

[0064] In a configuration such as this, where the holding drive mechanism applies a driving force to the first and second extensions above the article, the first and second extensions tend to extend vertically. Consequently, the distance between the first and second support portions in the holding direction can easily increase due to flexure or oscillation of the holding member. However, with this configuration, since the first limiting mechanism presses the portion of the first holding member below the first upper portion, and the second limiting mechanism presses the portion of the second holding member below the second upper portion, the pair of holding members can be appropriately limited from expanding outward in the holding direction (away from each other). Consequently, it is possible to reliably prevent articles from falling off the pair of holding members.

[0065] In addition, preferably, the aforementioned limiting device further includes a first supporting mechanism and a second supporting mechanism; the aforementioned first supporting mechanism is arranged at a first overlapping position that is lower than the aforementioned first holding member and overlaps with the aforementioned first holding member when viewed in the up-down direction when the aforementioned first limiting mechanism is in the aforementioned first limiting posture, and is arranged at a first non-overlapping position that does not overlap with the aforementioned first holding member when viewed in the up-down direction when the aforementioned first limiting mechanism is in the aforementioned first limiting release posture; the aforementioned second supporting mechanism is arranged at a second overlapping position that is lower than the aforementioned second holding member and overlaps with the aforementioned second holding member when viewed in the up-down direction when the aforementioned second limiting mechanism is in the aforementioned second limiting posture, and is arranged at a second non-overlapping position that does not overlap with the aforementioned second holding member when viewed in the up-down direction when the aforementioned second limiting mechanism is in the aforementioned second limiting release posture.

[0066] According to this structure, even if the entire holding member or holding device falls off the transport vehicle, the holding member or holding device can be supported from below by the support mechanism (first support mechanism, second support mechanism). Therefore, even in such a situation, it is difficult for the article to fall off the transport vehicle.

[0067] In addition, according to this structure, since the first supporting mechanism is arranged in the first non-overlapping position when the first limiting mechanism is in the first limiting release posture, and the second supporting mechanism is arranged in the second non-overlapping position when the second limiting mechanism is in the second limiting release posture, it is possible to easily avoid interference between the article, the holding device and the first supporting mechanism and the second supporting mechanism, for example, when the holding device is moved in the up and down directions.

[0068] In addition, it is preferred that the vehicle further comprises a traveling portion for traveling, a storage portion supported by the traveling portion and for storing the holding device and the articles held by the holding device during the traveling of the traveling portion, and a lifting device for lifting the holding device between inside and outside the storage portion; the first limiting mechanism and the second limiting mechanism are arranged in the storage portion.

[0069] According to this structure, by raising and lowering the holding device, articles can be transferred between a transfer target location located below or above the transport vehicle. Furthermore, when the holding device and articles are contained within the containment portion, the first and second limiting mechanisms can restrict the outward movement of the pair of holding members in the holding direction. This effectively prevents articles contained within the containment portion from falling from the pair of holding members.

[0070] The transport vehicle according to the present disclosure only needs to be able to achieve at least one of the above-mentioned effects.

[0071] Description of Reference Numerals

[0072] 1: Transport vehicle

[0073] 2: Holding device

[0074] 3: Restriction device

[0075] 4: Keep the parts

[0076] 5: Maintain the drive mechanism

[0077] 6: First Restriction Agency

[0078] 7: Second Restriction Agency

[0079] 8: First support mechanism

[0080] 9: Second support mechanism

[0081] 11: Driving Department

[0082] 12: Containment

[0083] 13: Lifting device

[0084] 14: First holding component

[0085] 15: Second holding component

[0086] 18: Bottom

[0087] 41: Extension 1

[0088] 42: First support part

[0089] 45: Second extension

[0090] 46: Second support part

[0091] 114: Part 1

[0092] 115: 2nd upper part

[0093] P1: 1st restricted posture

[0094] P2: First restriction release posture

[0095] Q1: Second restricted posture

[0096] Q2: Second restriction release posture

[0097] R1: 2nd overlapping position

[0098] R2: 2nd non-overlapping position

[0099] S1: 1st overlapping position

[0100] S2: 1st non-overlapping position

[0101] T1: Maintain posture

[0102] T2: Maintain the release posture

[0103] W: Item

[0104] X: Maintain direction

[0105] X1: Keep direction side 1

[0106] X2: Keep direction to the second side

Claims

1. A transport vehicle for transporting articles, characterized in that: A holding device for holding and releasing the aforementioned article, and a restricting device for restricting the aforementioned article held by the aforementioned holding device from falling off; The holding device includes a pair of holding members for holding the article, and a holding drive mechanism for changing the posture of the pair of holding members so that the pair of holding members are brought closer to each other to a holding posture for holding the article and are moved away from each other to a holding release posture for releasing the article; The direction in which the pair of holding members approach and separate is defined as a holding direction, one side of the holding direction is defined as a first holding direction side, the other side of the holding direction is defined as a second holding direction side, the one of the pair of holding members disposed on the first holding direction side is defined as a first holding member, and the one disposed on the second holding direction side is defined as a second holding member; The first holding member includes a first extending portion that is arranged on a first side in the holding direction relative to the article and extends in the vertical direction, and a first supporting portion that is arranged to protrude from the first extending portion to a second side in the holding direction and supports the bottom of the article from below. The second holding member includes a second extending portion arranged on the second side in the holding direction relative to the article and extending in the vertical direction, and a second supporting portion arranged to protrude from the second extending portion toward the first side in the holding direction and to support the bottom of the article from below. The aforementioned limiting device comprises a first limiting mechanism and a second limiting mechanism; The first limiting mechanism is configured to change its posture between a first limiting posture for limiting movement of the first holding member to the first side in the holding direction when the first holding member and the second holding member are in the holding posture, and a first restriction releasing posture for releasing the restriction of the first holding member. The second limiting mechanism is configured to change its posture into a second limiting posture for limiting the movement of the second holding member toward the second side of the holding direction when the first holding member and the second holding member are in the holding posture, and a second limiting release posture for releasing the restriction of the second holding member.

2. The transport vehicle according to claim 1, wherein: The holding drive mechanism is disposed above the article held by the pair of holding members and is configured to apply a driving force to a first upper portion of the first extending portion, which is a portion above the article, and to a second upper portion of the second extending portion, which is a portion above the article. The first limiting mechanism presses a portion of the first extending portion that is lower than the first upper portion or the first supporting portion in the state of the first limiting posture; The second restricting mechanism presses a portion of the second extending portion that is lower than the second upper portion or the second supporting portion in the state of the second restricting posture.

3. The transport vehicle according to claim 1 or 2, characterized in that: The aforementioned limiting device further comprises a first supporting mechanism and a second supporting mechanism; The first supporting mechanism is arranged at a first overlapping position below the first holding member and overlapping with the first holding member when viewed in the vertical direction when the first limiting mechanism is in the first limiting posture, and is arranged at a first non-overlapping position not overlapping with the first holding member when viewed in the vertical direction when the first limiting mechanism is in the first restriction releasing posture; The second supporting mechanism is arranged at a second overlapping position which is lower than the second holding member and overlaps with the second holding member when viewed in the up-down direction when the second limiting mechanism is in the second limiting posture, and is arranged at a second non-overlapping position which does not overlap with the second holding member when viewed in the up-down direction when the second limiting mechanism is in the second limiting release posture.

4. The transport vehicle according to claim 1 or 2, characterized in that: The invention also comprises a traveling portion for traveling, a storage portion supported by the traveling portion and for storing the holding device and the article held by the holding device during traveling of the traveling portion, and a lifting device for lifting the holding device between inside the storage portion and outside the storage portion; The first limiting mechanism and the second limiting mechanism are arranged in the housing portion.

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