Conveyance vehicle
The transport vehicle stabilizes articles by using a holding device with adjustable holding members and restriction mechanisms to prevent shaking and falling, addressing the instability issues of supporting articles from below.
Patent Information
- Application Number
- JP2024040115
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2024-03-14
- Publication Date
- 2025-09-29
- Estimated Expiration
- 2044-03-14
AI Technical Summary
Existing transport vehicles that support articles from below may experience significant shaking or cause articles to fall off due to vibrations and inertial forces, especially when the articles lack flanges.
A transport vehicle equipped with a holding device featuring a pair of holding members that support articles from below, utilizing a holding drive mechanism to adjust their position, and a restriction device with mechanisms to prevent movement of the holding members, thereby minimizing shaking and preventing articles from falling off.
The configuration effectively stabilizes articles during transport by restricting movement of the holding members, reducing shaking and ensuring secure holding and release of articles.
Smart Images
Figure 2025140604000001_ABST
Abstract
Description
[Technical Field]
[0001] The present invention relates to a transport vehicle for transporting articles. [Background technology]
[0002] For example, Japanese Patent Laid-Open Publication No. 2009-040563 (Patent Document 1) discloses a technology relating to a guided vehicle. In the following description of the background art, the reference numerals in parentheses refer to those in Patent Document 1.
[0003] The transport vehicle (transport device 5) of Patent Document 1 includes a holding device (gripping mechanism 2) for holding an article (FOUP 1), a pair of pressure mechanisms 51, and an extension mechanism 100a. The holding device includes a pair of gripping sections 15. The pair of gripping sections 15 grip flanges (finger sections 16) provided on the top of the article. In this manner, the holding device is configured to suspend and support the article. The pair of pressure mechanisms 51 are arranged to sandwich the article held by the holding device. In this transport vehicle, the article held by the holding device is sandwiched between the pair of pressure mechanisms 51 during travel, thereby reducing shaking of the article caused by travel of the transport vehicle. Furthermore, the extension mechanism 100a is positioned below the article held by the holding device so as to overlap the article in a vertical view during travel of the transport vehicle. This prevents the article from falling from the holding device. [Prior art documents] [Patent documents]
[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-040563 Summary of the Invention [Problem to be solved by the invention]
[0005] As described above, the transport vehicle of Patent Document 1 is configured to support an article by hanging it, i.e., to support the article from above. On the other hand, if the article does not have a flange, for example, the transport vehicle may support the bottom of the article. Even in a transport vehicle that transports an article while supporting its bottom in this way, depending on the magnitude of vibrations and inertial forces acting on the transport vehicle, the article may experience relatively large shaking or fall off the transport vehicle.
[0006] Therefore, there is a need for technology that can properly hold and transport items in a transport vehicle equipped with a holding device that holds and releases items, and a regulating device that prevents items held by the holding device from falling out. [Means for solving the problem]
[0007] A transport vehicle according to the present disclosure is a transport vehicle for transporting an article, and includes a holding device that holds and releases the article, and a restriction device that restricts the article held by the holding device from falling off, The holding device includes a pair of holding members that hold the article, and a holding drive mechanism that changes the position of the pair of holding members so that the pair of holding members are in a holding position that holds the article by bringing the pair of holding members closer to each other, and in a holding release position that releases the holding of the article by moving the pair of holding members away from each other, The direction in which the pair of holding members approach and move away from each other is defined as a holding direction, one side of the holding direction is defined as a holding direction first side, and the other side of the holding direction is defined as a holding direction second side, and the one of the pair of holding members that is arranged on the holding direction first side is defined as a first holding member, and the one that is arranged on the holding direction second side is defined as a second holding member, the first holding member includes a first extending portion that is disposed on a first side in the holding direction with respect to the article and that extends along the up-down direction, and a first supporting portion that is disposed so as to protrude from the first extending portion to a second side in the holding direction and that supports a bottom of the article from below, the second holding member includes a second extending portion that is disposed on the second side in the holding direction with respect to the article and that extends along the up-down direction, and a second supporting portion that is disposed so as to protrude from the second extending portion toward the first side in the holding direction and that supports a bottom of the article from below, The restriction device includes a first restriction mechanism and a second restriction mechanism, the first restriction mechanism is configured to change its position between a first restriction position in which the first holding member and the second holding member restrict movement of the first holding member toward the first side in the holding direction while the first holding member and the second holding member are in the holding position, and a first restriction release position in which the restriction on the first holding member is released, The second regulating mechanism is configured to change its position between a second regulating position in which the first holding member and the second holding member regulate the movement of the second holding member toward the second side in the holding direction while the first holding member and the second holding member are in the holding position, and a second regulating release position in which the regulation of the second holding member is released.
[0008] According to this configuration, since the first restriction mechanism restricts movement of the first holding member toward the first side in the holding direction and the second restriction mechanism restricts movement of the second holding member toward the second side in the holding direction are provided, it is possible to restrict an increase in the distance between the first support part and the second support part in the holding direction due to bending or rattle of the holding members, etc. This makes it possible to prevent the article from falling off the pair of holding members. Furthermore, with this configuration, the first regulating mechanism is in the first regulating position and the second regulating mechanism is in the second regulating position, thereby restricting the movement of each of the pair of holding members, making it easier to minimize the shaking of items during transport by the transport vehicle. Furthermore, with this configuration, by changing the position of the first restriction mechanism to the first release position and the position of the second restriction mechanism to the second release position, the pair of holding members can be easily moved along the holding direction and can be easily changed between the holding position and the release position, thereby making it possible to appropriately hold and release the article by the pair of holding members. In this manner, with this configuration, the article can be properly held and transported.
[0009] Further features and advantages of the transport vehicle will become apparent from the following description of exemplary, non-limiting embodiments, which are given with reference to the drawings. [Brief explanation of the drawings]
[0010] [Figure 1] Schematic diagram of the transport equipment [Figure 2] Side view of the transport vehicle [Figure 3] FIG. 10 is a side view schematically illustrating the transfer of an article by a holding device. [Figure 4] FIG. 10 is a side view schematically illustrating the first restriction device in a first restriction release position. [Figure 5] FIG. 10 is a side view schematically illustrating the first restriction device in the first restriction position; [Figure 6] FIG. 10 is a plan view schematically showing the arrangement of the restriction device in the first restriction release position and the second restriction release position; [Figure 7] FIG. 10 is a plan view schematically showing the arrangement of the restriction device in the first restriction position and the second restriction position; [Figure 8] Control Block Diagram [Figure 9] Control Flow Diagram DETAILED DESCRIPTION OF THE INVENTION
[0011] An embodiment of the transport vehicle will be described with reference to the drawings, where the transport facility 10 is applied to the transport vehicle. As shown in FIG. 1, the transport facility 10 includes a transport vehicle 1 and a processing device 93 that processes an item W. The transport vehicle 1 transports the item W. The transport vehicle 1 also travels along a travel path to transport the item W between a transfer target location 92. The transfer target location 92 is provided, for example, on a storage shelf (not shown) that stores the item W, or an item support table 94 of the processing device 93.
[0012] In this example, the transport facility 10 is provided with a plurality of processing devices 93 (only one of which is shown in the example of FIG. 1). The transport vehicle 1 (here, each of the plurality of transport vehicles 1) transports the article W between the plurality of processing devices 93. The article support platform 94 supports the article W transferred from the transport vehicle 1. The article support platform 94 also supports the article W taken out from the processing device 93. The transport vehicle 1 stops at a position on its travel path corresponding to the transfer target location 92 (a position directly above the article support platform 94) and transfers the article W to and from the article support platform 94. In this example, the article W is a container. Specifically, the article W is a container (FOSB: Front Opening Shipping Box) that stores semiconductor substrates, but is not limited thereto. For example, the article W may be a (FOUP: Front Opening Unified Pod) or a reticle storage container (so-called reticle pod) that stores reticles. In the processing device 93, processing is performed on semiconductor substrates stored in an item W (container), but for example, processing may also be performed on the item W. The item support platform 94 is provided with a transport device that transports the item W between the inside of the processing device 93 and the transfer target location 92, but the description thereof is omitted here. Note that the item W may be something other than a container, such as a product or a machine part.
[0013] As shown in Figures 1 and 2, the travel path of the transport vehicle 1 is arranged along the ceiling. In this example, rails 16 are provided along the travel path. The transport vehicle 1 travels while being guided by rails 16 (here, a pair of rails 16) suspended and supported from the ceiling. In this way, the transport vehicle 1 is a so-called ceiling transport vehicle, but is not limited to this.
[0014] As shown in FIG. 2, the transport vehicle 1 includes a holding device 2 that holds and releases an article W, and a regulating device 3 that prevents the article W held by the holding device 2 from falling off. In this embodiment, the transport vehicle 1 further includes a traveling running section 11, a storage section 12 that is supported by the running section 11 and stores the holding device 2 and the article W held by the holding device 2 while the running section 11 is traveling, and an elevator 13 that raises and lowers the holding device 2 between the inside and outside of the storage section 12. The transport vehicle 1 also includes a control unit H that controls the running section 11, the holding device 2, the elevator 13, and the regulating device 3 (FIG. 8). Note that, hereinafter, the direction in which the transport vehicle 1 that transports the article W travels is referred to as the "holding direction X," and the direction perpendicular to the holding direction X when viewed from above is referred to as the "width direction Y." Moreover, one side of the holding direction X is referred to as a "first holding direction side X1," and the other side of the holding direction X is referred to as a "second holding direction side X2."
[0015] 2, the traveling unit 11 includes wheels 27 that roll on the rails 16 and a traveling motor M1. In this example, the traveling motor M1 drives at least one of the wheels 27 to provide a propulsive force for the transport vehicle 1 to move while being guided along the pair of rails 16. The storage unit 12, the holding device 2, and the lifting device 13 are each supported by the traveling unit 11, and are disposed below the traveling unit 11 with the rails 16 interposed therebetween.
[0016] As shown in Figures 1 and 3, the lifting device 13 raises and lowers the holding device 2 and the item W held by the holding device 2 between a storage position V1 and a transfer position V2 below the storage position V1. When the transport vehicle 1 is traveling, the lifting device 13 raises the item W held by the holding device 2 from the transfer position V2 to the storage position V1. In addition, when transferring the item W from the transport vehicle 1 to the transfer target location 92 on the item support platform 94, the lifting device 13 lowers the item W held by the holding device 2 from the storage position V1 to the transfer position V2. The storage position V1 is the position where the item W and the holding device 2 are stored in the storage section 12. The transfer position V2 is the position where the item W is placed at the transfer target location 92.
[0017] As shown in FIG. 2, the lifting device 13 includes a wound body 50, a belt 52 wound around the wound body 50 and connected to the holding device 2 at its tip, and a lifting motor (not shown) that rotates the wound body 50 to drive the belt 52. The lifting device 13 rotates the wound body 50 by driving the lifting motor, thereby winding and unwinding the belt 52. In this way, the lifting device 13 lifts and lowers the holding device 2 and the article W held by the holding device 2 relative to the storage section 12. In this example, when the storage section 2 is in the storage position V1, the entire lifting device 13 is stored in the storage section 12. The wound body 50 and the lifting motor are always disposed inside the storage section 12, regardless of the vertical position of the holding device 2.
[0018] As shown in FIGS. 1 and 2, the storage section 12 includes a cover section 17. The holding device 2 and the article W held by the holding device 2 are stored in a space surrounded by the cover section 17 at the storage position V1. The cover section 17 is arranged to cover the holding device 2 and the article W at the storage position V1 from both outer sides in the holding direction X and from the upper side. The cover section 17 includes a first cover section 17a, a second cover section 17b arranged on the second side X2 in the holding direction with the article W sandwiched between them and the first cover section 17a, and a connection section 17c connecting the first cover section 17a and the second cover section 17b. The connection section 17c connects the upper ends of the first cover section 17a and the second cover section 17b. The connection section 17c is supported by the running section 11 via a connecting shaft. Here, the connection portion 17c is disposed in a position along the holding direction X, and the first cover portion 17a and the second cover portion 17b are disposed in a position along the up-down direction. It is preferable that various devices such as an obstacle sensor can be disposed inside the cover portion 17.
[0019] As shown in FIGS. 1 to 3 , the holding device 2 includes a pair of holding members 4 that hold an article W, and a holding drive mechanism 5 that changes the position of the pair of holding members 4 so that the pair of holding members 4 approach each other to assume a holding position T1 ( FIG. 1 ) that holds the article W, and the pair of holding members 4 move apart to assume a holding release position T2 ( FIG. 3 ) that releases the holding of the article W. The holding device 2 also includes an engagement portion 19 that positions the holding device 2 at the transfer position V2. The holding direction X is the direction in which the pair of holding members 4 approach and move apart. In this embodiment, the holding direction X is the same as the traveling direction of the transport vehicle 1, as described above. Here, of the pair of holding members 4, the one positioned on the holding direction first side X1 is referred to as the first holding member 14, and the one positioned on the holding direction second side X2 is referred to as the second holding member 15. In this embodiment, the first holding member 14 and the second holding member 15 are configured to support the article W from below. The holding drive mechanism 5 moves the pair of holding members 4 (first holding member 14, second holding member 15) in the holding direction X, thereby changing the posture of the pair of holding members 4.
[0020] As shown in FIGS. 2 and 3 , the first holding member 14 includes a first extending portion 41 that is disposed on the first holding direction side X1 relative to the article W and extends in the up-down direction, and a first support portion 42 that is disposed so as to protrude from the first extending portion 41 toward the second holding direction side X2 and supports the bottom 18 of the article W from below. The first holding member 14 also includes a first connecting portion 43 that connects the first extending portion 41 to the holding drive mechanism 5. The first support portion 42 is disposed so as to protrude from the lower end of the first extending portion 41 toward the second holding direction side X2 (the side on which the article W is disposed as viewed in the up-down direction). In this example, the first connecting portion 43 is disposed above the held article W. The first connecting portion 43 is a member that extends along the holding direction X, and an end portion on the second holding direction side X2 is connected to a guide mechanism 24, which will be described later. The first extending portion 41 is provided to extend downward from the end of the first connecting portion 43 on the first side X1 in the holding direction. In the example of FIGS. 5 and 6, the first extending portion 41 includes a plurality of (here, two) first support columns 22 arranged separately in the width direction Y. The plurality of first support columns 22 extend along the up-down direction and connect the first connecting portion 43 and the first supporting portion 42. The first supporting portion 42 includes a first supporting plate portion 42a that supports the bottom portion 18 of the article W from below in the holding posture T1. The first supporting plate portion 42a is fixed to the first extending portion 41 (here, the first supporting column 22) and is arranged to protrude inward in the holding direction X (the second side X2 in the holding direction) from the first extending portion 41 when viewed in the up-down direction. The first supporting plate portion 42a is a plate-shaped member that is long in the width direction Y. Additionally, the first support plate portion 42a is provided with an engagement pin 53 that protrudes upward (FIG. 6).
[0021] As shown in FIGS. 2 and 3 , the second holding member 15 includes a second extending portion 45 that is disposed on the second holding direction side X2 relative to the article W and extends in the vertical direction, and a second support portion 46 that is disposed so as to protrude from the second extending portion 45 toward the first holding direction side X1 and supports the bottom portion 18 of the article W from below. The second holding member 15 also includes a second connecting portion 47 that connects the second extending 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 configuration of the second holding member 15 will be described in a simplified manner. The second supporting portion 46 is disposed so as to protrude from the lower end of the second extending portion 45 toward the first holding direction side X1. In this example, the second connecting portion 47 is disposed above the held article W. The end of the second connecting portion 47 on the first holding direction side X1 is connected to a guide mechanism 24, which will be described later. The second extending portion 45 is provided to extend downward from the end of the second connecting portion 47 on the second side X2 in the holding direction. In the example of FIGS. 6 and 7, the second extending portion 45 includes a plurality of (here, two) second support columns 21 arranged separately in the width direction Y. The plurality of second support columns 21 extend along the up-down direction and connect the second connecting portion 47 and 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 below in the holding posture T1. The second support plate portion 46a is fixed to the second extending portion 45 (here, the second support column 21) and is arranged to protrude inward in the holding direction X (the first side X1 in the holding direction) from the second extending portion 45 when viewed in the up-down direction. In addition, the second support plate portion 46a is provided with an engagement pin 53 that protrudes upward.
[0022] As shown in FIGS. 2 and 3 , the holding drive mechanism 5 is disposed above the article W held by the pair of holding members 4, and is configured to apply a driving force to a first upper portion 114, which is a portion of the first extension portion 41 above the article W, and a second upper portion 115, which is a portion of the second extension portion 45 above the article W. In this example, the first upper portion 114 is the upper end portion of the first extension portion 41. Similarly, the second upper portion 115 is the upper end portion of the second extension portion 45. An end portion of the first connection portion 43 on the first side X1 in the holding direction is connected to the first upper portion 114. Furthermore, an end portion of the second connection portion 47 on the second side X2 in the holding direction is connected to the second upper portion 115. 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 connection portion 43 and the second connection portion 47 in the holding direction X. Additionally, the first connecting portion 43 and the second connecting portion 47 are connected to the drive motor via a ball screw. With this configuration, the driving force generated by driving 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. The pair of holding members 4 move toward and away from each other along the holding direction X, thereby changing their position between a holding position T1 and a holding release position T2.
[0023] When the pair of holding members 4 are in the holding posture T1, the article W is supported from below by the first support plate portion 42a and the second support plate portion 46a. In this example, a plurality of engagement holes 18a are formed in the bottom portion 18 of the article W. When the article W is supported by the first support plate portion 42a and the second support plate portion 46a, the engagement holes 18a provided in the end region of the bottom portion 18 on the first side X1 in the holding direction engage with the engagement pins 53 of the first support plate portion 42a, and the engagement holes 18a provided in the end region of the bottom portion 18 on the second side X2 in the holding direction engage with the engagement pins 53 of the second support plate portion 46a. Here, rail portions (portions recessed upward along the width direction Y) are formed on both ends of the bottom portion 18 in the holding direction X to abut and fit against the first support plate portion 42a and the second support plate portion 46a, and the engagement holes 18a are formed in the rail portions. The bottom 18 also has another engagement hole 18a formed therein for engaging with an engagement pin 53 provided in the transfer target location 92 (FIG. 3). In this embodiment, the article W is supported on the bottom surface of the bottom 18 by a pair of holding members 4, but this is not limiting.
[0024] 2 and 3, in this example, the engagement portion 19 is attached to the surface of each of the first holding member 14 and the second holding member 15 that faces one side in the width direction Y. Here, the engagement portion 19 is fixed to the lower end of each of the first extending portion 41 and the second extending portion 45. The engagement portion 19 is a rod-shaped member that is long in the vertical direction, and its lower end portion is located below the first support plate portion 42a and the second support plate portion 46a.
[0025] Here, when transferring the article W from the transport vehicle 1 to the transfer target location 92, the holding device 2 and the article W from the storage position V1 are lowered to the transfer position V2 by the lifting device 13. In this example, the transfer target location 92 is provided on the article support platform 94 as a platform on which only the article W is placed. A guide member 91 is also disposed adjacent to the transfer target location 92. The guide member 91 is a member that has an open upper surface and is formed with a groove shape along the holding direction X. At the transfer position V2, the engaging portion 19 is configured to engage with the guide member 91 from above. At the transfer position V2, the article W is placed at the transfer target location 92, and the engaging hole 18a of the bottom 18 engages with the corresponding engaging pin 53 formed at the transfer target location 92. Thereafter, when the first support plate portion 42a and the second support plate portion 46a descend to a position below the bottom portion 18, the support of the article W by the first support plate portion 42a and the second support plate portion 46a is released. Then, the pair of holding members 4 move away from each other, thereby assuming the holding release position T2. At this time, the engaging portion 19 moves along the holding direction X while being guided by the guide member 91. Furthermore, when the article W is to be transferred from the transfer target location 92 to the transport vehicle 1, the operations are performed in the reverse order to the above. In the illustrated example, a pair of guide members 91 are also provided corresponding to the pair of engaging portions 19. Then, by guiding the engaging portions 19 by the guide member 91, the holding device 2 can be properly positioned with respect to the transfer target location 92, thereby properly transferring the article W. Such a transfer operation is performed under the control of the control unit H.
[0026] As shown in FIGS. 2 and 4 to 7 , the regulating device 3 includes a first regulating mechanism 6 and a second regulating mechanism 7. The first regulating mechanism 6 and the second regulating mechanism 7 are disposed in the storage section 12. More specifically, the first regulating mechanism 6 and the second regulating mechanism 7 are provided in the cover section 17. The first regulating mechanism 6 and the second regulating mechanism 7 are disposed on the outer side of the pair of holding members 4 in the holding direction X. In this embodiment, the regulating device 3 further includes a first support mechanism 8 and a second support mechanism 9.
[0027] As shown in FIGS. 4 to 7 , the first restriction mechanism 6 is configured to change its position between a first restriction position P1 in which movement of the first holding member 14 toward the first side X1 in the holding direction is restricted when the first holding member 14 and the second holding member 15 are in the holding position T1, and a first unrestricted position P2 in which the restriction on the first holding member 14 is released. In this embodiment, the first restriction mechanism 6 is configured to change its position independently of the positional changes of the first holding member 14 and the second holding member 15. Specifically, the first restriction mechanism 6 is configured to change its position between the first restriction position P1 and the first unrestricted position P2 when the first holding member 14 and the second holding member 15 are in the holding position T1. In this embodiment, the first restriction mechanism 6 presses the first holding member 14 from the outside in the holding direction X (the first side X1 in the holding direction) when in the first restriction position P1. This causes the first restriction mechanism 6 to restrict movement of the first holding member 14 toward the first side X1 in the holding direction. The first restriction mechanism 6 is disposed in a position where it does not press the holding / driving mechanism 5. In this example, the first restriction mechanism 6 is provided on the first cover portion 17a. More specifically, the first restriction mechanism 6 is provided on the lower end portion of the first cover portion 17a. In this specification, the meaning of the word "press" includes simply "contact" regardless of the magnitude of the pressing force.
[0028] In this embodiment, when in the first restricting position P1, the first restricting mechanism 6 presses the portion of the first extending portion 41 below the first upper portion 114 or the first support portion 42. In this example, as shown in FIGS. 2 and 5 , when in the first restricting position P1, the first restricting mechanism 6 presses the portion of the first extending portion 41 below the first upper portion 114, more specifically, the lower end portion (first lower end portion 41a) of the first extending portion 41 that overlaps with the article W when viewed from the holding direction X. In the illustrated example, the first restricting mechanism 6 presses the portion of the first extending portion 41 immediately above the first support portion 42. In this example, the first restricting 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 restricting position P1, the first pressing member 61 is in a position where it protrudes toward the second side X2 in the holding direction relative to the first cover portion 17a, and is in contact with a surface of the article W held in the holding device 2 that faces the first side X1 in the holding direction. On the other hand, in the first release position P2, the first pressing member 61 is in a position where it is disposed inside the first cover portion 17a, and is thereby disposed at a position separated in the holding direction X from the article W held in the holding device 2. The first moving mechanism 96 moves the first pressing member 61 in the holding direction X, thereby changing the position of the first pressing member 61 between the first restricting position P1 and the first release position P2.
[0029] As shown in FIGS. 6 and 7 , the second restriction mechanism 7 is configured to change its position between a second restriction position Q1 in which movement of the second holding member 15 toward the holding direction second side X2 is restricted when the first holding member 14 and the second holding member 15 are in the holding position T1, and a second restriction release position Q2 in which the restriction on the second holding member 15 is released. In this embodiment, the second restriction mechanism 7 is configured to change its position independently of the positional changes of the first holding member 14 and the second holding member 15. Specifically, the second restriction mechanism 7 is configured to change its position between the second restriction position Q1 and the second restriction release position Q2 when the first holding member 14 and the second holding member 15 are in the holding position T1. In this embodiment, the second restriction mechanism 7 presses the second holding member 15 from the outside in the holding direction X (the holding direction second side X2) when in the second restriction position Q1. This causes the second restriction mechanism 7 to restrict movement of the second holding member 15 toward the holding direction second side X2. The second restriction mechanism 7 is disposed in a position where it does not press the holding / driving 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.
[0030] In the second restricting position Q1, the second restricting mechanism 7 presses the portion of the second extending portion 45 below the second upper portion 115 or the second support portion 46. In this example, as shown in FIG. 2 , in the second restricting position Q1, the second restricting 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 with the article W when viewed from the holding direction X. In the illustrated example, the second restricting mechanism 7 presses the portion of the second extending portion 45 immediately above the second support portion 46. In this example, the second restricting mechanism 7 includes a second pressing member 71, a second support member 72 that supports the second pressing member 71, and a second moving mechanism 106. In the second restricting position Q1, the second pressing member 71 is in a position where it protrudes toward the first side X1 in the holding direction relative to the second cover portion 17b and is in contact with a surface of the article W held by the holding device 2 that faces the second side X2 in the holding direction. On the other hand, in the second release position Q2, the second pressing member 71 is in a position where it is disposed inside the second cover portion 17b and is thereby disposed at a position separated in the holding direction X from the article W held by the holding device 2. The second moving mechanism 106 moves the second pressing member 71 in the holding direction X to change the position of the second pressing member 71 between the second restricting position Q1 and the second release position Q2.
[0031] In this embodiment, as described above, the second restriction mechanism 7 is configured to press the second holding member 15 at the same vertical position as the first restriction mechanism 6, but this is not limited to this. For example, the second restriction mechanism 7 may press the second holding member 15 at a position above the first restriction mechanism 6, or may press the second holding member 15 at a position below the first restriction mechanism 6. The vertical position at which the first restriction mechanism 6 presses the first holding member 14 (here, the first extension portion 41) can also be changed as appropriate.
[0032] As shown in FIGS. 4 to 7 , when the first restriction mechanism 6 is in the first restriction position P1, the first support mechanism 8 is disposed at a first overlap position S1 below the first holding member 14 and overlapping with the first holding member 14 in a vertical view. When the first restriction mechanism 6 is in the first restriction release position P2, the first support mechanism 8 is disposed at a first non-overlapping position S2 not overlapping with the first holding member 14 in a vertical view. In this example, the first support mechanism 8 is configured to move between the first overlap position S1 and the first non-overlapping position S2 along the holding direction X. The first support mechanism 8 includes a first overlapping portion 81 that overlaps with the first holding member 14 in the first overlap position S1 in a vertical view, 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. That is, in this example, the first moving mechanism 96 is shared by both the first restriction mechanism 6 and the first support mechanism 8. Here, the first overlapping portion 81 is disposed adjacent to the first base portion 82 on the second holding direction side X2. In the illustrated example, 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 each formed as a plate-like member that is elongated in the width direction Y. In this example, the first overlapping portion 81 and the first base portion 82 are moved integrally along the holding direction X by a first moving mechanism 96. At the first overlapping position S1, the first overlapping portion 81 and the first base portion 82 are positioned so as to protrude inward in the holding direction X (the second holding direction side X2) relative to the first cover portion 17a. On the other hand, at the first non-overlapping position S2, the first overlapping portion 81 and the first base portion 82 are disposed on the first holding direction side X1 relative to the first overlapping position S1, and are entirely housed within the first cover portion 17a. At the first non-overlapping position S2, the first overlapping portion 81 does not necessarily have to be housed in the first cover portion 17a as long as it is disposed at a position that does not overlap with the first holding member 14 in a vertical view. In the example of Figures 5 and 7, at the first overlapping position S1, the first overlapping portion 81 is disposed below the first support portion 42 and overlaps with at least a portion of the first support portion 42 in a vertical view.More specifically, at the first overlapping position S1, the first overlapping portion 81 is configured so as not to overlap, in a vertical view, the first support plate portion 42a of the first support portion 42 on which the article W is placed, but to overlap, in a vertical view, a portion closer to the first side X1 in the holding direction than the first support plate portion 42a. Note that, at the first overlapping position S1, the first overlapping portion 81 may be configured so as to overlap, for example, the entire first support portion 42 in a vertical view, or may be configured so as to overlap only the first support plate portion 42a.
[0033] 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 a retraction motor (not shown). In the example shown, the first base portion 82 is supported from above by the link member 64 included in the link mechanism 97. The link mechanism 97 transmits the driving force of the retraction motor to the first base portion 82. As described above, the first pressing member 61 is supported on the first base portion 82 via the first support member 62. Furthermore, as described above, the first overlapping portion 81 is formed continuously from the first base portion 82. Therefore, the first pressing member 61 and the first overlapping portion 81 move together in the holding direction X by the first moving mechanism 96, i.e., move forward and backward relative to the first cover portion 17a. In the example shown, a plurality of first pressing members 61 (here, two) are provided, separated in the width direction Y.
[0034] As shown in FIGS. 6 and 7 , when the second restriction mechanism 7 is in the second restriction position Q1, the second support mechanism 9 is disposed at a second overlap position R1 below the second holding member 15 and overlapping with the second holding member 15 in a vertical direction. When the second restriction mechanism 7 is in the second restriction release position Q2, the second support mechanism 9 is disposed at a second non-overlapping position R2 not overlapping with the second holding member 15 in a vertical direction. In this example, the second support mechanism 9 is configured to move between the second overlap position R1 and the second non-overlapping position R2 along the holding direction X. The second support mechanism 9 includes a second overlapping portion 101 that overlaps with the second holding member 15 in the second overlap position R1 in a 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. That is, in this example, the second moving mechanism 106 is shared by both the second restriction mechanism 7 and the second support mechanism 9. Here, the second overlapping portion 101 is disposed adjacent to the second base portion 102 on the first side X1 in the holding direction. In the illustrated example, 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 each formed as a plate-like member that is elongated in the width direction Y. In this example, the second overlapping portion 101 and the second base portion 102 are moved integrally along the holding direction X by the second moving mechanism 106. At the second overlapping position R1, the second overlapping portion 101 and the second base portion 102 are positioned so as to protrude inward in the holding direction X (first side X1 in the holding direction) relative to the second cover portion 17b. On the other hand, at the second non-overlapping position R2, the second overlapping portion 101 and the second base portion 102 are disposed on the second side X2 in the holding direction relative to the second overlapping position R1, and are entirely housed within the second cover portion 17b. At the second non-overlapping position R2, the second overlapping portion 101 does not necessarily have to be housed in the second cover portion 17b as long as it is disposed at a position that does not overlap with the second holding member 15 in an up-down view. In the example of Fig. 7, at the second overlapping position R1, the second overlapping portion 101 is disposed below the second support portion 46 and overlaps with at least a portion of the second support portion 46 in an up-down view.More specifically, at the second overlapping position R1, the second overlapping portion 101 is configured so as not to overlap, in a vertical view, the second support plate portion 46a of the second support portion 46 on which the article W is placed, but to overlap, in a vertical view, a portion closer to the first side X1 in the holding direction than the second support plate portion 46a. Note that, at the second overlapping position R1, the second overlapping portion 101 may be configured so as to overlap, for example, the entire second support portion 46 in a vertical view, or may be configured so as to overlap only the second support plate portion 46a.
[0035] In this example, the second moving mechanism 106 has the same configuration as the first moving mechanism 96. The second moving mechanism 106 is provided on the second cover portion 17b. The second moving mechanism 106 includes a link mechanism 97 and a retraction motor (not shown). In the example shown, the second base portion 102 is supported from above by the link member 64 included in the link mechanism 97. The link mechanism 97 transmits the driving force of the retraction motor to the first base portion 82. As described above, the second pressing member 71 is supported on the second base portion 102 via the second support member 72. Furthermore, as described above, the second overlapping portion 101 is formed continuously from the second base portion 102. Therefore, the second pressing member 71 and the second overlapping portion 101 move together in the holding direction X by the second moving mechanism 106, i.e., move forward and backward relative to the second cover portion 17b. In the illustrated example, a plurality of (here, two) second pressing members 71 are provided, separated in the width direction Y. Note that the number of each of the first pressing member 61 and the second pressing member 71 may be one, or different numbers of each may be provided.
[0036] 8, the control unit H controls the traveling unit 11, the holding device 2, the lifting device 13, and the regulating device 3, and is configured to be able to communicate with a host controller C that manages the entire conveyance facility 10. The control unit H and the host controller C include, for example, a processor such as a microcomputer, peripheral circuits such as a memory, etc. Each function is realized by cooperation between this hardware and a program executed on a processor such as a computer.
[0037] Here, the control of transferring an article W placed at a transfer target location 92 to the transport vehicle 1 will be described. The control unit H causes the traveling unit 11 to travel to a position corresponding to the predetermined transfer target location 92 (here, a position set on the article support platform 94 on the rail 16) in accordance with a transfer command received from the upper controller C. Then, as shown in FIG. 9 , 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). Thereafter, the control unit H controls the holding device 2 to hold the article W on the pair of holding members 4 (S02). In this example, the control unit H lowers the pair of holding members 4 from the storage position V1 while maintaining the holding posture T1, and also changes the posture of the pair of holding members 4 from the holding posture T1 to the holding release posture T2 at a predetermined height above the transfer position V2. Then, when the pair of holding members 4 in the holding release position T2 are positioned at the transfer position V2, more specifically, when the first support plate portion 42a and the second support plate portion 46a of the pair of holding members 4 are positioned below the article W at the transfer position V2, the control unit H changes the position of the pair of holding members 4 from the holding release position T2 to the holding position T1. Thereafter, 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 positioned at the storage position V1, i.e., stored in the storage unit 12, the control unit H executes a restricting position process (S04). The restricting position process is a process in which the control unit H changes the position of the first restricting mechanism 6 in the first restricting position P2 to the first restricting position P1 and changes the position of the second restricting mechanism 7 in the second restricting position Q2 to the second restricting position Q1. As a result, the first holding member 14 is pressed by the first pressing member 61 from the first side X1 in the holding direction. 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 41a of the first extending portion 41, and the second pressing member 71 presses the second lower end 45a of the second extending portion 45. In this way, the lower end portions of the first extending portion 41 and the second extending portion 45, which are relatively prone to opening in the holding direction X, are pressed from both outer sides in the holding direction X by the first pressing member 61 and the second pressing member 71, thereby effectively preventing the pair of holding members 4 from spreading outward in the holding direction X.Therefore, it is possible to reliably prevent the article W from falling off the pair of holding members 4. Furthermore, when the holding device 2 and the article W in the storage position V1 are to be lowered to the transfer position V2, the control unit H executes a restriction position release process. In the restriction position release process, the control unit H changes the position of the first restriction mechanism 6 in the first restriction position P1 to the first restriction release position P2, and also changes the position of the second restriction mechanism 7 in the second restriction position Q1 to the second restriction release position Q2, while keeping the pair of holding members 4 in the holding position T1. Thereafter, the control unit H lowers the holding device 2 and the article W. Note that the timing at which the first restriction mechanism 6 and the second restriction mechanism 7 change their positions may be the same or different.
[0038] Other Embodiments Next, other embodiments of the conveying equipment will be described.
[0039] (1) In the above embodiment, the lifting device 13 is configured to lift and lower 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, but this is not limited to this. The lifting device 13 may also lift and lower 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, the lifting device 13 can be configured in this way when 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. Note that the transport vehicle 1 may also be configured without the lifting device 13. In this way, when the holding device 2 does not move up and down, in conjunction with the change in position of the pair of holding members 4 from the holding release position T2 to the holding position T1, the first restricting mechanism 6 in the first restricting release position P2 may change its position to the first restricting position P1, and the second restricting mechanism 7 in the second restricting release position Q2 may change its position to the second restricting position Q1. Furthermore, the guided vehicle 1 may be a rail-guided vehicle that travels on laid rails, in addition to a trackless guided vehicle.
[0040] (2) In the above embodiment, the first restriction mechanism 6 presses a portion of the first extension portion 41 below the first upper portion 114 in the first restriction position P1, and the second restriction mechanism 7 presses a portion of the second extension portion 45 below the second upper portion 115 in the second restriction position Q1. However, this is not limiting. The first restriction mechanism 6 may press the first support portion 42 in the first restriction position P1, and the second restriction mechanism 7 may press the second support portion 46 in the second restriction position Q1. In this way, it is preferable that the portions pressed by the first restriction mechanism 6 and the second restriction mechanism 7 can be changed as appropriate.
[0041] (3) In the above embodiment, the restriction device 3 is described as having a configuration including the first support mechanism 8 and the second support mechanism 9, but this is not limiting. The restriction device 3 may also be configured without the first support mechanism 8 and the second support mechanism 9. Furthermore, in the above embodiment, the first support mechanism 8 shares the first movement mechanism 96 with the first restriction mechanism 6, thereby changing its posture in conjunction with the first restriction mechanism 6, and the second support mechanism 9 shares the second movement mechanism 106 with the second restriction mechanism 7, thereby changing its posture in conjunction with the second restriction mechanism 7. However, this is not limiting. The posture of the first support mechanism 8 may be changed by a mechanism different from that of the first restriction mechanism 6, and the posture of the second support mechanism 9 may be changed by a mechanism different from that of the second restriction mechanism 7.
[0042] (4) In the above embodiment, the first and second restriction mechanisms 6 and 7 are provided on the cover 17 of the storage unit 12, but this is not limiting. The first and second restriction mechanisms 6 and 7 may be provided on a portion other than the storage unit 12, such as the travel unit 11.
[0043] (5) The configurations disclosed in the above-described embodiments can be applied in combination with configurations disclosed in other embodiments, as long as no contradiction occurs. Regarding other configurations, the embodiments disclosed in this specification are examples in all respects and can be modified as appropriate within the scope of the present disclosure.
[0044] Summary of the above embodiment The above-described transport vehicles will now be summarized.
[0045] A transport vehicle according to the present disclosure is a transport vehicle for transporting an article, and includes a holding device that holds and releases the article, and a restriction device that restricts the article held by the holding device from falling off, The holding device includes a pair of holding members that hold the article, and a holding drive mechanism that changes the position of the pair of holding members so that the pair of holding members are in a holding position that holds the article by bringing the pair of holding members closer to each other, and in a holding release position that releases the holding of the article by moving the pair of holding members away from each other, The direction in which the pair of holding members approach and move away from each other is defined as a holding direction, one side of the holding direction is defined as a holding direction first side, and the other side of the holding direction is defined as a holding direction second side, and the one of the pair of holding members that is arranged on the holding direction first side is defined as a first holding member, and the one that is arranged on the holding direction second side is defined as a second holding member, the first holding member includes a first extending portion that is disposed on a first side in the holding direction with respect to the article and that extends along the up-down direction, and a first supporting portion that is disposed so as to protrude from the first extending portion to a second side in the holding direction and that supports a bottom of the article from below, the second holding member includes a second extending portion that is disposed on the second side in the holding direction with respect to the article and that extends along the up-down direction, and a second supporting portion that is disposed so as to protrude from the second extending portion toward the first side in the holding direction and that supports a bottom of the article from below, The restriction device includes a first restriction mechanism and a second restriction mechanism, the first restriction mechanism is configured to change its position between a first restriction position in which the first holding member and the second holding member restrict movement of the first holding member toward the first side in the holding direction while the first holding member and the second holding member are in the holding position, and a first restriction release position in which the restriction on the first holding member is released, The second regulating mechanism is configured to change its position between a second regulating position in which the first holding member and the second holding member regulate the movement of the second holding member toward the second side in the holding direction while the first holding member and the second holding member are in the holding position, and a second regulating release position in which the regulation of the second holding member is released.
[0046] According to this configuration, since the first restriction mechanism restricts movement of the first holding member toward the first side in the holding direction and the second restriction mechanism restricts movement of the second holding member toward the second side in the holding direction are provided, it is possible to restrict an increase in the distance between the first support part and the second support part in the holding direction due to bending or rattle of the holding members, etc. This makes it possible to prevent the article from falling off the pair of holding members. Furthermore, with this configuration, the first regulating mechanism is in the first regulating position and the second regulating mechanism is in the second regulating position, thereby restricting the movement of each of the pair of holding members, making it easier to minimize the shaking of items during transport by the transport vehicle. Furthermore, with this configuration, by changing the position of the first restriction mechanism to the first release position and the position of the second restriction mechanism to the second release position, the pair of holding members can be easily moved along the holding direction and can be easily changed between the holding position and the release position, thereby making it possible to appropriately hold and release the article by the pair of holding members. In this manner, with this configuration, the article can be properly held and transported.
[0047] wherein the holding drive mechanism is disposed above the article held by the pair of holding members, and is configured to apply a drive force to a first upper portion, which is a portion of the first extension portion above the article, and a second upper portion, which is a portion of the second extension portion above the article, the first restriction mechanism, in the first restriction posture, presses the first support portion or a portion of the first extension portion that is lower than the first upper portion; It is preferable that the second restriction mechanism presses the second support portion or a portion of the second extension portion below the second upper portion in the second restriction position.
[0048] In a configuration in which the holding drive mechanism applies a driving force to the first and second extension portions above the article, as in the present configuration, the first and second extension portions tend to be configured to extend long in the vertical direction, which can easily lead to an increase in the distance between the first and second support portions in the holding direction due to deflection or rattle of the holding members. However, with the present configuration, the first restriction mechanism presses a portion of the first holding member below the first upper portion, and the second restriction mechanism presses a portion of the second holding member below the second upper portion, thereby appropriately restricting the pair of holding members from spreading outward (away from each other) in the holding direction. Therefore, it is possible to reliably prevent the article from falling off the pair of holding members.
[0049] The regulating device further includes a first support mechanism and a second support mechanism, the first support mechanism is disposed at a first overlapping position below the first holding member and overlapping with the first holding member in a vertical direction view when the first restriction mechanism is in the first restriction posture, and is disposed at a first non-overlapping position not overlapping with the first holding member in a vertical direction view when the first restriction mechanism is in the first restriction release posture; It is preferable that the second support mechanism be arranged at a second overlapping position below the second holding member and overlapping with the second holding member in a vertical view when the second regulating mechanism is in the second regulating position, and that the second support mechanism be arranged at a second non-overlapping position not overlapping with the second holding member in a vertical view when the second regulating mechanism is in the second deregulating position.
[0050] According to this configuration, even if the holding member or the entire holding device falls off the transport vehicle, the support mechanisms (first support mechanism, second support mechanism) can support the holding member or the holding device from below. Therefore, even if such an event occurs, it is possible to make it difficult for the article to fall off the transport vehicle. Furthermore, according to this configuration, the first support mechanism is positioned in a first non-overlapping position when the first regulating mechanism is in the first deregulating position, and the second support mechanism is positioned in a second non-overlapping position when the second regulating mechanism is in the second deregulating position. Therefore, for example, when the holding device is operated in the vertical direction, interference between the article or the holding device and the first support mechanism and the second support mechanism can be easily avoided.
[0051] The apparatus further includes a traveling section that travels, a storage section that is supported by the traveling section and that stores the holding device and the item held by the holding device while the traveling section is traveling, and a lifting device that lifts and lowers the holding device between the inside of the storage section and the outside of the storage section, It is preferable that the first restriction mechanism and the second restriction mechanism are disposed in the housing portion.
[0052] According to this configuration, by raising and lowering the holding device, an article can be transferred between a transfer target location located above or below the transport vehicle. Furthermore, when the holding device and the article are stored in the storage section, the first and second restricting mechanisms restrict the pair of holding members from moving outward in the holding direction. Therefore, the article stored in the storage section can be appropriately prevented from falling off the pair of holding members.
[0053] It is sufficient for the transport vehicle according to the present disclosure to achieve at least one of the above-described effects. [Explanation of symbols]
[0054] 1: Transport vehicle 2: Holding device 3: Regulating device 4: Holding member 5: Holding drive mechanism 6: First Regulatory Mechanism 7: Second Regulatory Mechanism 8:First support mechanism 9:Second support mechanism 11: Running part 12: Storage section 13: Lifting device 14: 1st holding member 15: Second holding member 18: Bottom 41: The 1st extension 42: First Support Section 45: The 2nd extension 46: Second Support Section 114:Part 1 115: 2nd upper part P1: First Regulation Posture P2: First regulation release posture Q1: Second Regulation Posture Q2: Second Regulation Release Posture R1: 2nd repetition position R2: 2nd non-repeated position S1: 1st repetition position S2: 1st non-repeated position T1: Maintain posture T2: Maintain the release posture W : Item X: Maintain direction X1: Keep direction 1st side X2: Keep direction 2nd side
Claims
1. A transport vehicle for transporting an article, comprising: a holding device that holds and releases the article; and a restricting device that restricts the article held by the holding device from falling off; The holding device includes a pair of holding members that hold the article, and a holding drive mechanism that changes the position of the pair of holding members so that the pair of holding members are in a holding position that holds the article by bringing the pair of holding members closer to each other, and in a holding release position that releases the holding of the article by moving the pair of holding members away from each other, The direction in which the pair of holding members approach and move away from each other is defined as a holding direction, one side of the holding direction is defined as a holding direction first side, and the other side of the holding direction is defined as a holding direction second side, and of the pair of holding members, the one arranged on the holding direction first side is defined as a first holding member, and the one arranged on the holding direction second side is defined as a second holding member, the first holding member includes a first extending portion that is disposed on a first side in the holding direction with respect to the article and that extends along the up-down direction, and a first supporting portion that is disposed so as to protrude from the first extending portion toward a second side in the holding direction and that supports a bottom of the article from below, the second holding member includes a second extending portion that is disposed on the second side in the holding direction with respect to the article and that extends along the up-down direction, and a second supporting portion that is disposed so as to protrude from the second extending portion toward the first side in the holding direction and that supports a bottom of the article from below, the restriction device includes a first restriction mechanism and a second restriction mechanism, the first restriction mechanism is configured to change its position between a first restriction position in which the first holding member and the second holding member restrict movement of the first holding member toward the first side in the holding direction while the first holding member and the second holding member are in the holding position, and a first restriction release position in which the restriction on the first holding member is released, The second regulating mechanism is configured to change its position between a second regulating position in which the first holding member and the second holding member regulate the movement of the second holding member toward the second side in the holding direction while the first holding member and the second holding member are in the holding position, and a second regulating release position in which the regulation of the second holding member is released.
2. the holding drive mechanism is disposed above the article held by the pair of holding members, and is configured to apply a drive force to a first upper portion that is a portion of the first extension portion that is above the article, and a second upper portion that is a portion of the second extension portion that is above the article, the first restriction mechanism, in the first restriction posture, presses the first support portion or a portion of the first extension portion that is lower than the first upper portion; The transporting vehicle according to claim 1 , wherein the second restricting mechanism presses the second support portion or a portion of the second extension portion below the second upper portion when in the second restricting position.
3. the restriction device further includes a first support mechanism and a second support mechanism, the first support mechanism is disposed at a first overlapping position below the first holding member and overlapping with the first holding member in a vertical direction view when the first restriction mechanism is in the first restriction posture, and is disposed at a first non-overlapping position not overlapping with the first holding member in a vertical direction view when the first restriction mechanism is in the first restriction release posture; The transport vehicle described in claim 1 or 2, wherein the second support mechanism is positioned at a second overlapping position below the second holding member and overlapping with the second holding member in a vertical view when the second regulating mechanism is in the second regulating position, and is positioned at a second non-overlapping position not overlapping with the second holding member in a vertical view when the second regulating mechanism is in the second regulating release position.
4. The apparatus further includes a traveling section that travels, a storage section that is supported by the traveling section and that stores the holding device and the item held by the holding device while the traveling section is traveling, and a lifting device that lifts and lowers the holding device between inside and outside the storage section, The transport vehicle according to claim 1 or 2, wherein the first restriction mechanism and the second restriction mechanism are disposed in the storage section.
Citation Information
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