Carrier

Abstract

To achieve a carrying vehicle capable of properly gripping a container with a plurality of parts to be gripped.SOLUTION: A first guide body 33 includes a pair of first guide faces 331f and corrects the position of a gripping body part 31 in a second direction Y with respect to a first part 811 to be gripped by at least one of the pair of first guide faces 331f contacting the first part 811 to be gripped during the descending movement for gripping. A second guide body 34 includes a pair of second guide faces 342f and corrects the position of the gripping body part 31 in the second direction Y with respect to a target part 812 to be gripped by at least one of the pair of second guide faces 342f contacting the target part 812 to be gripped during the descending movement for gripping. The first guide body 33 and the second guide body 34 are spaced apart in at least one of a first direction X and the second direction Y.SELECTED DRAWING: Figure 9

Description

Technical Field

[0001] The present invention relates to a carrier vehicle that travels along a travel route and transports a container having a predetermined shape.

Background Art

[0002] For example, in a semiconductor manufacturing factory or the like, semiconductor wafers and glass substrates are transported by a carrier vehicle in a state of being housed in a dedicated container. The shape of such a container is predetermined according to standards. The carrier vehicle is configured to grip the container by a gripping method that matches the shape of the container. An example of such a carrier vehicle is disclosed in Japanese Patent Application Laid-Open No. 2005-064130 (Patent Document 1). Hereinafter, the reference numerals shown in parentheses in the description of the background art are those of Patent Document 1.

[0003] The carrier vehicle (1) disclosed in Patent Document 1 transfers the container (51) by gripping the gripped portion (53) of the container (51) with a gripping device (32). The gripping device (32) approaches the container (51) at the transfer target location from above and stops at an appropriate position for gripping. The gripping device (32) starts a gripping operation from this stop position and grips the gripped portion (53) of the container (51).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Incidentally, in the technology disclosed in Patent Document 1, the container (51) to be gripped has one gripped portion (53). However, in this field, there are containers having a plurality of gripped portions. In order to grip such a container having a plurality of gripped portions, it may be required to arrange the gripping device before the start of the gripping operation at an appropriate position with respect to the container with higher accuracy.

[0006] In view of the above circumstances, it is desired to realize a transport vehicle capable of appropriately gripping a container having a plurality of gripped portions.

Means for Solving the Problems

[0007] A transport vehicle that travels along a travel route and transports a container having a predetermined shape, a gripping device for gripping the container, a lifting device for lifting and lowering the gripping device, and is provided with The container includes a container body, and a first gripped portion and a second gripped portion which are a pair of gripped portions provided so as to protrude upward from the main body upper surface which is the upper surface of the container body and are gripped by the gripping device. Taking a specific direction parallel to the main body upper surface as the first direction, and a direction parallel to the main body upper surface and orthogonal to the first direction as the second direction, Each of the first gripped portion and the second gripped portion is formed to extend along the first direction and is arranged to be spaced apart from each other in the second direction. The gripping device includes a gripping main body portion suspended by the lifting device, a pair of gripping bodies supported by the gripping main body portion, a gripping drive portion for approaching and separating the pair of gripping bodies from each other in the second direction, a first guide body supported by the gripping main body portion independently of the pair of gripping bodies for guiding the gripping main body portion with respect to the first gripped portion, and a second guide body supported by the gripping main body portion independently of the pair of gripping bodies for guiding the gripping main body portion with respect to either the first gripped portion or the second gripped portion as a target gripped portion. An operation of lowering the gripping device by the elevating device to grip the pair of gripped parts by the pair of gripping bodies is defined as a downward gripping operation. The first guide body includes a pair of first guide surfaces that will be arranged separately on both sides in the second direction with respect to the first gripped part after completion of the downward gripping operation, and at least one of the pair of first guide surfaces is configured to correct the position of the gripping main body part in the second direction with respect to the first gripped part by contacting the first gripped part during the downward gripping operation. The second guide body includes a pair of second guide surfaces that will be arranged separately on both sides in the second direction with respect to the target gripped part after completion of the downward gripping operation, and at least one of the pair of second guide surfaces is configured to correct the position of the gripping main body part in the second direction with respect to the target gripped part by contacting the target gripped part during the downward gripping operation. The first guide body and the second guide body are arranged spaced apart from each other in at least one of the first direction and the second direction.

[0008] According to this configuration, during the downward gripping operation, the first guide body contacts the first gripped portion and the second guide body contacts the target gripped portion. When the first guide body contacts the first gripped portion, the position of the gripping main body portion in the second direction with respect to the first gripped portion is corrected. When the second guide body contacts the target gripped portion, the position of the gripping main body portion in the second direction with respect to the target gripped portion is corrected. Here, in this configuration, since the first guide body and the second guide body are arranged to be separated from each other in at least one of the first direction and the second direction, the gripping main body portion is positioned in the second direction with respect to the container at two locations separated from each other. As a result, based on the first gripped portion and the second gripped portion of the container, the position of the gripping main body portion in the second direction and the angle around the vertical axis can be corrected. Therefore, even when the position of the gripping device in the second direction and the angle around the vertical axis are deviated from the proper position with respect to the container, the deviation can be corrected by the downward gripping operation, and the gripping device can be arranged at the proper position with respect to the container. After that, the gripping device can start gripping the container. Therefore, according to this configuration, it is possible to appropriately grip a container having a plurality of gripped portions.

[0009] Further features and advantages of the technology according to the present disclosure will become more apparent from the following description of exemplary and non-limiting embodiments described with reference to the drawings.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Embodiments for Carrying out the Invention

[0011] The transport vehicle is configured to travel along a travel route and transport a container having a predetermined shape. Hereinafter, taking the case where the transport vehicle is applied to a transport facility as an example, embodiments of the transport vehicle will be described.

[0012] 〔First Embodiment〕 First, the first embodiment of the transport vehicle will be described.

[0013] As shown in FIGS. 1 and 2, the transport facility 100 includes a specified travel route R, a transport vehicle 1 that travels along the travel route R and transports the container 8, and a plurality of transfer target locations 9 provided along the travel route R.

[0014] The travel route R is set at a position spaced above the floor surface. In this example, the travel route R is configured using a rail Ra provided near the ceiling. The transport vehicle 1 is configured as a so - called ceiling transport vehicle and travels along the rail Ra. The transfer target locations 9 are arranged below the travel route R. The transport vehicle 1 is configured to transfer the container 8 to and from the transfer target locations 9 by raising and lowering the container 8.

[0015] In this embodiment, the conveying facility 100 includes a plurality of carrier vehicles 1. Each of the plurality of carrier vehicles 1 is configured to receive a conveyance command from a host control device (not shown) that comprehensively manages the facility and execute a task according to the conveyance command. For example, the conveyance command includes information on the source and destination of the container 8. The carrier vehicle 1 that has received the conveyance command conveys the container 8 from the source to the destination. The source and destination include the transfer target location 9.

[0016] There are various types of containers 8 handled by the conveying facility 100. In this example, the conveying facility 100 is used in a semiconductor manufacturing factory. Therefore, a substrate storage container (so-called FOUP: Front Opening Unified Pod) that houses substrates (such as wafers and panels) and a reticle storage container (so-called reticle pod) that houses reticles are used as the container 8. In this case, the carrier vehicle 1 conveys the container 8 such as the substrate storage container and the reticle storage container along the travel route R across each process.

[0017] In this embodiment, the transfer target location 9 includes a processing device 90 that performs processing on the container 8 and a mounting table 91 arranged adjacent to the processing device 90. In this specification, "processing on the container 8" means processing on the object to be contained (substrate or reticle) contained in the container 8. The carrier vehicle 1 receives the container 8 that has been processed by the processing device 90 from the mounting table 91, or delivers the container 8 that has not been processed by the processing device 90 to the mounting table 91. Note that the processing device 90 performs various processes such as thin film formation, photolithography, and etching.

[0018] As shown in FIG. 2, the carrier vehicle 1 includes a traveling device 20 that travels on the rail Ra and a housing portion 10 that houses the container 8. The carrier vehicle 1 also includes a gripping device 30 that grips the container 8 and a lifting device 40 that raises and lowers the gripping device 30.

[0019] The traveling device 20 is configured to move the entire carrier vehicle 1 along the traveling route R by traveling on the rail Ra. In the present embodiment, the traveling device 20 includes a plurality of traveling wheels 21 that roll on the rail Ra, and a traveling drive unit 20m that drives at least a part of the plurality of traveling wheels 21. For example, the traveling drive unit 20m is configured using an electric motor.

[0020] The housing part 10 is configured to be able to house the container 8 to be conveyed. In the present embodiment, the housing part 10 is suspended and supported by the traveling device 20 and is arranged below the rail Ra. The housing part 10 is configured to be able to house the container 8 gripped by the gripping device 30. When the carrier vehicle 1 conveys the container 8 along the traveling route R, the container 8 is housed in the housing part 10.

[0021] The lifting device 40 is configured to lift the gripping device 30 between the housing part 10 and the transfer target location 9 arranged below the traveling route R. In the present embodiment, the lifting device 40 includes a lifting belt 41 connected to the gripping device 30, and a lifting drive unit 40m that drives the lifting belt 41. The lifting drive unit 40m includes a rotating body around which the lifting belt 41 is wound, and a drive source that rotates the rotating body. When the rotating body rotates in the forward rotation direction or the reverse rotation direction, the lifting belt 41 is wound up or paid out. Thereby, the gripping device 30 connected to the lifting belt 41 moves up and down.

[0022] The gripping device 30 is configured to be able to grip the container 8. The gripping device 30 includes a gripping main body part 31 suspended by the lifting device 40, a pair of gripping bodies 32 supported by the gripping main body part 31, and a gripping drive unit 30m (see FIG. 5) that drives the pair of gripping bodies 32. The detailed configuration of the gripping device 30 will be described later.

[0023] Next, the container 8 will be described. As described above, the container 8 is a storage container for storing the object to be stored.

[0024] As shown in FIG. 3, the container 8 includes a container body 80 and a pair of gripped portions 81 provided so as to protrude upward from a main body upper surface 80f which is the upper surface of the container body 80. The pair of gripped portions 81 are configured to be gripped by the gripping device 30. One of the pair of gripped portions 81 is a first gripped portion 811, and the other is a second gripped portion 812. The container body 80 is a portion where the object to be contained is contained, and is formed in a box shape.

[0025] In this specification, a specific direction parallel to the main body upper surface 80f is defined as the "first direction X", and a direction parallel to the main body upper surface 80f and orthogonal to the first direction X is defined as the "second direction Y". In the present embodiment, the container 8 is oriented such that the second direction Y is along the traveling direction of the transport vehicle 1 and is gripped by the gripping device 30.

[0026] Each of the first gripped portion 811 and the second gripped portion 812 is formed to extend along the first direction X and is arranged to be spaced apart from each other in the second direction Y. In the present embodiment, each of the first gripped portion 811 and the second gripped portion 812 includes a strip-shaped gripped main body portion 81a which is arranged to be spaced upward from the main body upper surface 80f and extends along the first direction X, and a connecting portion 81b that connects the gripped main body portion 81a and the main body upper surface 80f.

[0027] A positioning recess 81c is formed on at least one upper surface of the first gripped portion 811 and the second gripped portion 812. When the gripping device 30 grips the gripped portion 81, a positioning body 37 (described later) of the gripping device 30 is engaged with the positioning recess 81c. That is, the positioning recess 81c has a function as positioning of the gripping device 30 with respect to the container 8. In the present embodiment, the positioning recess 81c is formed in each of the first gripped portion 811 and the second gripped portion 812. In the illustrated example, two positioning recesses 81c are formed in the gripped main body portion 81a of the first gripped portion 811. Two positioning recesses 81c are formed in the gripped main body portion 81a of the second gripped portion 812.

[0028] The plurality of connecting portions 81b that constitute one gripped portion 81 are arranged at intervals in the first direction X with respect to each other. In the illustrated example, three connecting portions 81b are arranged at equal intervals. Although details will be described later, the intervals between the plurality of connecting portions 81b are such that the gripping body 32 of the gripping device 30 can pass through.

[0029] Next, the structure of the gripping device 30 will be described in detail. As shown in FIG. 2, the gripping device 30 is configured to be able to grip a pair of gripped portions 81 in the container 8. As an operation before gripping the pair of gripped portions 81, the gripping device 30 needs to approach the container 8 arranged at the transfer target location 9 from above. As described above, the lowering of the gripping device 30 is realized by the lifting device 40. Here, the operation of lowering the gripping device 30 by the lifting device 40 in order to grip the pair of gripped portions 81 with the pair of gripping bodies 32 is defined as the gripping lowering operation.

[0030] As shown in FIGS. 4 and 5, the gripping device 30 includes a gripping main body portion 31, a pair of gripping bodies 32, and a gripping drive portion 30m that moves the pair of gripping bodies 32 closer to and away from each other in the second direction Y. For example, the gripping drive portion 30m includes a linear motion mechanism that linearly moves the pair of gripping bodies 32, an electric motor as a drive source, and the like.

[0031] As shown in FIG. 4, in the present embodiment, each of the pair of gripping bodies 32 includes a plurality of gripping claws 320. In other words, one gripping body 32 is configured using a plurality of gripping claws 320. In the example shown in FIG. 4, two gripping claws 320 constitute one gripping body 32. The plurality (two in this example) of gripping claws 320 that constitute one gripping body 32 are arranged so as to be aligned along the first direction X, and are configured to grip one gripped portion 81 extending in the first direction X.

[0032] As shown in FIG. 5, each gripping claw 320 includes a supported portion 320a supported by the gripping main body portion 31, a base portion 320b extending downward from the supported portion 320a, and an extending portion 320c extending in the second direction Y from the base portion 320b. In this example, the entire gripping claw 320 is formed by the supported portion 320a, the base portion 320b, and the extending portion 320c to form an L shape when viewed in the first direction X.

[0033] In the present embodiment, the pair of gripping bodies 32 are driven by the gripping drive unit 30m from a state of being disposed between the first gripped portion 811 and the second gripped portion 812 in the second direction Y, and perform a separating operation (hereinafter simply referred to as "separating operation") of separating from each other along the second direction Y. In other words, the gripping device 30 disposes the pair of gripping bodies 32 between the first gripped portion 811 and the second gripped portion 812 in the second direction Y, and causes the pair of gripping bodies 32 to perform the separating operation. The gripping device 30 grips the container 8 by causing the pair of gripping bodies 32 to perform the separating operation. Thus, in the present embodiment, the gripping device 30 is configured to grip the first gripped portion 811 and the second gripped portion 812 from the inside in the second direction Y by the pair of gripping bodies 32.

[0034] As shown by the phantom line in FIG. 5, in the separating operation, each of the pair of gripping bodies 32 moves in the second direction Y by a specified moving amount M. The extending portion 320c of the gripping claw 320 is disposed at a position facing the gripped main body portion 81a of the gripped portion 81 from below due to the separating operation. From this state, when the entire gripping device 30 is lifted by the lifting device 40, the first gripped portion 811 is placed on the extending portion 320c of one of the pair of gripping bodies 32, and the second gripped portion 812 is placed on the extending portion 320c of the other of the pair of gripping bodies 32. In this way, the gripping device 30 grips the container 8.

[0035] In the present embodiment, the gripping device 30 includes a positioning body 37 that engages with the positioning recess 81c to position the gripping device 30 with respect to the positioning recess 81c. The positioning body 37 is provided so as to protrude downward from the bottom 31a of the gripping main body portion 31. The tip of the positioning body 37 has a shape corresponding to the positioning recess 81c.

[0036] As described above, the positioning body 37 is engaged with the positioning recess 81c when the gripping device 30 grips the gripped portion 81. In the present embodiment, since two positioning recesses 81c are provided in each of the pair of gripped portions 81, a total of four positioning recesses 81c are provided in the container 8. The gripping device 30 only needs to include a positioning body 37 that engages with at least one of these four positioning recesses 81c. In this example, the gripping device 30 includes only one positioning body 37 (see FIG. 4). However, without being limited thereto, the gripping device 30 may include two or more positioning bodies 37 up to the number of positioning recesses 81c provided in the container 8.

[0037] As shown in FIGS. 4 to 6, the gripping device 30 includes a first guiding body 33 that is supported by the gripping main body portion 31 independently of the pair of gripping bodies 32 and guides the gripping main body portion 31 with respect to the first gripped portion 811, and a second guiding body 34 that is supported by the gripping main body portion 31 independently of the pair of gripping bodies 32 and guides the gripping main body portion 31 with respect to either the first gripped portion 811 or the second gripped portion 812 as a target gripped portion. In this example, the target gripped portion is the second gripped portion 812. The second guiding body 34 is configured to guide the gripping main body portion 31 with respect to the second gripped portion 812 with the second gripped portion 812 as the target gripped portion.

[0038] The first guide body 33 is configured to guide the gripping main body portion 31 with respect to the first gripped portion 811 before the gripping device 30 grips the container 8. The second guide body 34 is configured to guide the gripping main body portion 31 with respect to the target gripped portion (second gripped portion 812) before the gripping device 30 grips the container 8. By guiding the gripping main body portion 31 with respect to the first gripped portion 811 and the target gripped portion (second gripped portion 812) by the first guide body 33 and the second guide body 34, the gripping device 30 can be arranged at an appropriate position with respect to the container 8. Thereafter, the gripping device 30 arranged at the appropriate position can perform an appropriate gripping operation on the container 8.

[0039] The first guide body 33 and the second guide body 34 are arranged so as to be separated from each other in at least one of the first direction X and the second direction Y. In the present embodiment, the first guide body 33 and the second guide body 34 are arranged so as to be separated from each other in the first direction X and are also arranged so as to be separated from each other in the second direction Y. In other words, the first guide body 33 and the second guide body 34 are arranged at diagonal positions when viewed in the vertical direction (see FIG. 6). With the above configuration, the first guide body 33 and the second guide body 34 can be arranged as far apart from each other as possible. Since the gripping main body portion 31 is positioned by the first guide body 33 and the second guide body 34, it will be positioned with respect to the container 8 at two locations that are as far apart as possible. Thereby, it becomes easy to arrange the gripping device 30 at an appropriate position with respect to the container 8.

[0040] The first guide body 33 includes a pair of first guide surfaces 331f that will be separately arranged on both sides in the second direction Y with respect to the first gripped portion 811 after the completion of the gripping downward movement. The first guide body 33 is configured to correct the position of the gripping main body portion 31 in the second direction Y with respect to the first gripped portion 811 by at least one of the pair of first guide surfaces 331f contacting the first gripped portion 811 during the gripping downward movement. That is, the first guide body 33 guides the gripping main body portion 31 with respect to the first gripped portion 811 by bringing at least one of the pair of first guide surfaces 331f into contact with the first gripped portion 811 during the gripping downward movement. By this guidance, after the completion of the gripping downward movement, the first gripped portion 811 is arranged between the pair of first guide surfaces 331f in the second direction Y. Thereby, the position of the gripping main body portion 31 in the second direction Y with respect to the first gripped portion 811 is corrected.

[0041] The second guide body 34 includes a pair of second guide surfaces 342f that will be separately arranged on both sides in the second direction Y with respect to the target gripped portion (second gripped portion 812) after the completion of the gripping downward movement. The second guide body 34 is configured to correct the position of the gripping main body portion 31 in the second direction Y with respect to the target gripped portion (second gripped portion 812) by at least one of the pair of second guide surfaces 342f contacting the target gripped portion (second gripped portion 812) during the gripping downward movement. That is, the second guide body 34 guides the gripping main body portion 31 with respect to the target gripped portion (second gripped portion 812) by bringing at least one of the pair of second guide surfaces 342f into contact with the target gripped portion (second gripped portion 812) during the gripping downward movement. By this guidance, after the completion of the gripping downward movement, the target gripped portion (second gripped portion 812) is arranged between the pair of second guide surfaces 342f in the second direction Y. Thereby, the position of the gripping main body portion 31 in the second direction Y with respect to the target gripped portion (second gripped portion 812) is corrected.

[0042] FIG. 7 shows an enlarged view of the first guide body 33 and the second guide body 34. The first guide body 33 and the second guide body 34 have the same structure. Therefore, in FIG. 7, the first guide body 33 and the second guide body 34 are shown as one.

[0043] In this embodiment, the first guide body 33 includes a first opposing surface 330f that faces the first gripped portion 811 in the vertical direction after the completion of the gripping downward movement. The pair of first guide surfaces 331f is continuous with the first opposing surface 330f. The first guide surfaces 331f extend in the second direction Y from both ends of the first opposing surface 330f in the second direction Y. During the gripping downward movement, the pair of first guide surfaces 331f guides the first gripped portion 811 (specifically, the gripped main body portion 81a) to the first opposing surface 330f while contacting the first gripped portion 811.

[0044] In this embodiment, each of the pair of first guide surfaces 331f is formed in a planar shape that slopes in a direction approaching each other as it goes upward. In this example, the upper end portions of each of the pair of first guide surfaces 331f are continuous with the first opposing surface 330f. With the above configuration, when the gripping downward movement continues with either one of the pair of first guide surfaces 331f in contact with the gripped main body portion 81a, the gripped main body portion 81a moves relative to the pair of first guide surfaces 331f toward the intermediate position (here, the first opposing surface 330f) of the pair of first guide surfaces 331f in the second direction Y. Therefore, the position of the first guide body 33 in the second direction Y is corrected, and thus the position of the gripping main body portion 31 in the second direction Y is corrected.

[0045] In this embodiment, each of the pair of first guide surfaces 331f is arranged along the first direction X during the gripping downward movement. As also shown in FIGS. 4 and 6, each of the pair of first guide surfaces 331f has an extending portion that extends in a direction orthogonal to the direction in which they are aligned with each other. The extending portions of each of the pair of first guide surfaces 331f are arranged along the first direction X in the posture of the gripping device 30 during the gripping downward movement. This makes it easier to appropriately correct the angle of the gripping main body portion 31 around the vertical axis with respect to the container 8.

[0046] The second guide body 34 also has the same configuration as the first guide body 33. That is, as shown in FIG. 7, in the present embodiment, the second guide body 34 includes a second opposing surface 340f that faces the target gripped portion (second gripped portion 812) in the vertical direction after the completion of the gripping downward movement. The pair of second guide surfaces 342f are continuous with the second opposing surface 340f. The second guide surfaces 342f extend in the second direction Y from both ends of the second opposing surface 340f in the second direction Y. During the gripping downward movement, the pair of second guide surfaces 342f guide the target gripped portion (second gripped portion 812) to the second opposing surface 340f while contacting the target gripped portion (specifically, the gripped main body portion 81a of the second gripped portion 812).

[0047] In the present embodiment, each of the pair of second guide surfaces 342f is formed in a planar shape inclined in a direction approaching each other as it goes upward. In this example, the upper end portions of each of the pair of second guide surfaces 342f are continuous with the second opposing surface 340f. With the above configuration, when the gripping downward movement is continued with either one of the pair of second guide surfaces 342f in contact with the gripped main body portion 81a, the gripped main body portion 81a moves relative to the pair of second guide surfaces 342f toward the intermediate position (here, the second opposing surface 340f) of the pair of second guide surfaces 342f in the second direction Y. Therefore, the position of the second guide body 34 in the second direction Y is corrected, and thus the position of the gripping main body portion 31 in the second direction Y is corrected.

[0048] In the present embodiment, each of the pair of second guide surfaces 342f is arranged along the first direction X during the gripping downward movement. As also shown in FIGS. 4 and 6, each of the pair of second guide surfaces 342f has an extending portion that extends in a direction orthogonal to the direction in which they are arranged side by side. The extending portions of each of the pair of second guide surfaces 342f are arranged along the first direction X in the posture of the gripping device 30 during the gripping downward movement. This makes it easier to appropriately correct the angle of the gripping main body portion 31 around the vertical axis with respect to the container 8.

[0049] Next, with reference to FIGS. 7 and 8, the relationship between the first guide body 33, the second guide body 34, and the positioning body 37 will be described. Each of the first guide body 33, the second guide body 34, and the positioning body 37 is provided on the gripping main body portion 31 (see also FIG. 4), and functions to position the gripping main body portion 31 at an appropriate position with respect to the container 8 to be gripped. In a state where the gripping main body portion 31 is positioned at the appropriate position, the gripping device 30 starts a gripping operation with respect to the container 8.

[0050] Here, the maximum value of the deviation in the second direction Y between the first guide body 33 and the first gripped portion 811, where at least one of the pair of first guide surfaces 331f can contact the first gripped portion 811, is defined as the first allowable deviation amount L1 (see FIG. 7). Also, the maximum value of the deviation in the second direction Y between the second guide body 34 and the target gripped portion (second gripped portion 812), where at least one of the pair of second guide surfaces 342f can contact the target gripped portion, is defined as the second allowable deviation amount L2 (see FIG. 7). Further, the maximum value of the deviation in the second direction Y between the positioning body 37 and the positioning recess 81c, where the positioning body 37 can engage with the positioning recess 81c, is defined as the positioning allowable deviation amount L37 (see FIG. 8).

[0051] As shown in FIG. 7, in the present embodiment, with the first guide body 33 and the first gripped portion 811 not displaced in the second direction Y, the first opposing surface 330f of the first guide body 33 and the first gripped portion 811 face each other in the vertical direction Z. When the first guide body 33 and the first gripped portion 811 are not displaced in the second direction Y, the first gripped portion 811 does not contact either of the pair of first guide surfaces 331f (or may contact partially).

[0052] In this embodiment, the length in the second direction Y of each of the pair of first guide surfaces 331f is the first allowable deviation amount L1. When the deviation amount in the second direction Y between the first guide body 33 and the first gripped portion 811 is equal to or less than the first allowable deviation amount L1, with the downward gripping movement, either one of the pair of first guide surfaces 331f comes into contact with the first gripped portion 811. Then, when the downward gripping movement is continued, the first gripped portion 811 is guided to the first opposing surface 330f by the contacting first guide surface 331f. Thereby, the first guide body 33 and the first gripped portion 811 relatively move, and the gripping main body portion 31 is positioned at an appropriate position with respect to the container 8.

[0053] In this embodiment, with the second guide body 34 and the target gripped portion (second gripped portion 812) not being displaced in the second direction Y, the second opposing surface 340f of the second guide body 34 and the target gripped portion (second gripped portion 812) face each other in the vertical direction Z. When the second guide body 34 and the target gripped portion (second gripped portion 812) are not displaced in the second direction Y, the target gripped portion (second gripped portion 812) does not contact either of the pair of second guide surfaces 342f (or may partially contact).

[0054] In this embodiment, the length in the second direction Y of each of the pair of second guide surfaces 342f is the second allowable deviation amount L2. When the deviation amount in the second direction Y between the second guide body 34 and the target gripped portion (second gripped portion 812) is equal to or less than the second allowable deviation amount L2, with the downward gripping movement, either one of the pair of second guide surfaces 342f comes into contact with the target gripped portion (second gripped portion 812). Then, when the downward gripping movement is continued, the target gripped portion (second gripped portion 812) is guided to the second opposing surface 340f by the contacting second guide surface 342f. Thereby, the second guide body 34 and the target gripped portion (second gripped portion 812) relatively move, and the gripping main body portion 31 is positioned at an appropriate position with respect to the container 8.

[0055] As shown in FIG. 8, the positioning body 37 (specifically, the tip of the positioning body 37) and the positioning concave portion 81c have an engaging concave and convex shape with each other, and both are formed in a tapered shape or a hemispherical shape that contracts downward. In the present embodiment, with the positioning body 37 and the positioning concave portion 81c not displaced in the second direction Y, the center C3 of the positioning body 37 coincides with the center C8 of the positioning concave portion 81c.

[0056] In the present embodiment, half of the length of the positioning concave portion 81c in the second direction Y is the positioning allowable displacement amount L37. When the displacement amount of the positioning body 37 and the positioning concave portion 81c in the second direction Y is equal to or less than the positioning allowable displacement amount L37, the positioning body 37 and the positioning concave portion 81c come into contact with each other as the gripping downward movement is performed. Then, when the gripping downward movement is continued, the positioning body 37 and the positioning concave portion 81c relatively move so that the center C3 of the positioning body 37 coincides with the center C8 of the positioning concave portion 81c. Thereby, the gripping main body portion 31 is positioned at an appropriate position with respect to the container 8.

[0057] In the present embodiment, the first guide body 33 and the second guide body 34 are formed such that the first allowable displacement amount L1 and the second allowable displacement amount L2 (see FIG. 7) are larger than the positioning allowable displacement amount L37 (see FIG. 8). In other words, the length in the second direction Y of each of the first guide surface 331f and the second guide surface 342f is larger than the positioning allowable displacement amount L37. Thus, even when the gripping main body portion 31 is displaced in the second direction Y with respect to the first gripped portion 811 and the target gripped portion (second gripped portion 812) to such an extent that the positioning body 37 cannot engage with the positioning concave portion 81c, the first guide body 33 and the second guide body 34 can appropriately guide the first gripped portion 811 and the target gripped portion (second gripped portion 812). Therefore, it is possible to keep the displacement between the positioning body 37 and the positioning concave portion 81c within a range where the positioning body 37 can engage with the positioning concave portion 81c (that is, equal to or less than the positioning allowable displacement amount L37).

[0058] As shown in FIG. 9, in the present embodiment, the gripping device 30 includes a first support mechanism 35 that supports the first guide body 33 and a second support mechanism 36 that supports the second guide body 34.

[0059] The first support mechanism 35 is provided on the gripping main body portion 31 and is configured to support the first guide body 33 with respect to the gripping main body portion 31.

[0060] In the present embodiment, the first support mechanism 35 is configured to allow the first guide body 33 to move in the vertical direction Z within a predetermined first range 35S with respect to the gripping main body portion 31 while restricting the movement of the first guide body 33 in the first direction X and the second direction Y with respect to the gripping main body portion 31.

[0061] In the present embodiment, the first guide body 33 includes a first shaft portion 33a that penetrates the bottom portion 31a of the gripping main body portion 31 in the vertical direction Z, and a first guide portion 33b connected to the lower end of the first shaft portion 33a. The first support mechanism 35 includes a first bearing 35a that supports the first shaft portion 33a of the first guide body 33 so as to be movable in the vertical direction Z. The upper end of the first bearing 35a is configured to abut against a part of the first shaft portion 33a from below. In this example, a diameter-expanded portion 33a1 that expands in the horizontal direction is provided on a part of the first shaft portion 33a. By the diameter-expanded portion 33a1 abutting against the upper end of the first bearing 35a, the first shaft portion 33a is prevented from falling out of the gripping main body portion 31. Note that the first opposing surface 330f and the pair of first guide surfaces 331f described above are formed on the first guide portion 33b of the first guide body 33.

[0062] In the illustrated example, the first range 35S in which the first guide body 33 is movable in the vertical direction Z is set to the range from the upper end of the first bearing 35a to the upper end of the gripping main body portion 31. However, this is merely exemplary, and the first range 35S may be set with reference to other portions. For example, the first range 35S may be set to the range from the first guide portion 33b to the bottom portion 31a of the gripping main body portion 31 in a state where the first guide body 33 protrudes to the maximum protrusion limit.

[0063] In the present embodiment, the second support mechanism 36 is configured to allow the second guide body 34 to move in the vertical direction Z within a predetermined second range 36S with respect to the gripping main body 31 while restricting the movement of the second guide body 34 in the first direction X and the second direction Y with respect to the gripping main body 31.

[0064] In the present embodiment, the second guide body 34 includes a second shaft portion 34a that penetrates the bottom portion 31a of the gripping main body 31 in the vertical direction Z, and a second guide portion 34b connected to the lower end of the second shaft portion 34a. The second support mechanism 36 includes a second bearing 36a that supports the second shaft portion 34a of the second guide body 34 so as to be movable in the vertical direction Z. The upper end of the second bearing 36a is configured to abut against a part of the second shaft portion 34a from below. In this example, a diameter-expanded portion 34a1 that extends in the horizontal direction is provided on a part of the second shaft portion 34a. By the diameter-expanded portion 34a1 abutting against the upper end of the second bearing 36a, the second shaft portion 34a is prevented from falling out of the gripping main body 31. In addition, the second opposing surface 340f and the pair of second guide surfaces 342f described above are formed on the second guide portion 34b of the second guide body 34.

[0065] In the illustrated example, the second range 36S in which the second guide body 34 is movable in the vertical direction Z is set to the range from the upper end of the second bearing 36a to the upper end of the gripping main body 31. However, this is merely exemplary, and the second range 36S may be set with reference to other portions. For example, the second range 36S may be set to the range from the second guide portion 34b to the bottom portion 31a of the gripping main body 31 in a state where the second guide body 34 protrudes to the maximum protrusion limit.

[0066] Next, with reference to FIGS. 9 to 11, a case where the first guide body 33 and the second guide body 34 guide the first gripped portion 811 and the target gripped portion (second gripped portion 812) along with the downward movement for gripping will be described. In FIGS. 9 to 11, members that are unnecessary for the description, such as the positioning body 37, are omitted.

[0067] Hereinafter, the range of the relative position in the vertical direction Z of the gripping device 30 with respect to the container 8, where the first gripped portion 811 and the second gripped portion 812 can be gripped by a pair of gripping bodies 32, is defined as the vertical reference range. In the present embodiment, the gripping device 30 is arranged within the vertical reference range in a state where each of the pair of gripping bodies 32 is arranged within the vertical gripping range Sz set between the container body 80 and the gripped main body portion 81a in the vertical direction Z. In other words, the range in the vertical direction Z of the gripping device 30 such that each of the pair of gripping bodies 32 is arranged within the vertical gripping range Sz is the above-described vertical reference range.

[0068] Also, hereinafter, the range of the relative position in the second direction Y of the gripping device 30 with respect to the container 8, where the first gripped portion 811 and the second gripped portion 812 can be gripped by a pair of gripping bodies 32, is defined as the second direction reference range. In the present embodiment, the gripping device 30 is set within the second direction reference range in a state where each of the pair of gripping bodies 32 is arranged within the second direction gripping range Sy set based on the position of the gripped portion 81. In other words, the range in the second direction Y of the gripping device 30 such that each of the pair of gripping bodies 32 is arranged within the second direction gripping range Sy is the above-described second direction reference range. In this example, the second direction gripping range Sy is set to a range that is separated inward in the second direction Y from the gripped portion 81 (specifically, the end portion on the outer side in the second direction Y of the gripped portion 81) by a distance based on the movement amount M (see FIG. 5) by which the gripping body 32 moves in the second direction Y for the gripping operation.

[0069] As shown in FIG. 9, the first guide body 33 starts guiding the first gripped portion 811 from a state where the gripping device 30 is positioned above the vertical reference range. That is, during the downward gripping operation, the first guide body 33 contacts the first gripped portion 811 from a state where the gripping body 32 is positioned above the vertical gripping range Sz and starts guiding the first gripped portion 811. The first gripped portion 811 contacts one of the pair of first guide surfaces 331f and moves relative to the first guide surface 331f in the second direction Y along the first guide surface 331f.

[0070] Similarly, the second guide body 34 starts guiding the target gripped part (second gripped part 812) from a state where the gripping device 30 is positioned above the vertical reference range. That is, during the downward gripping operation, the second guide body 34 contacts the target gripped part (second gripped part 812) from a state where the gripping body 32 is positioned above the vertical gripping range Sz, and starts guiding the target gripped part (second gripped part 812). The target gripped part (second gripped part 812) contacts one of the pair of second guide surfaces 342f, and moves in the second direction Y relative to the second guide surface 342f along the second guide surface 342f.

[0071] As shown in FIG. 10, the first guide body 33 guides the first gripped part 811 from the first guide surface 331f to the first opposing surface 330f. Thereby, the first gripped part 811 is in a state of facing the first opposing surface 330f in the vertical direction Z. Similarly, the second guide body 34 guides the target gripped part (second gripped part 812) from the second guide surface 342f to the second opposing surface 340f. Thereby, the target gripped part (second gripped part 812) is in a state of facing the second opposing surface 340f in the vertical direction Z.

[0072] As shown in FIG. 11, even after the first opposing surface 330f and the first gripped part 811 are arranged to face each other, the downward gripping operation continues, so that the first guide body 33 is pushed upward by the first gripped part 811 and moves upward with respect to the gripping main body part 31 with the first range 35S as a limit. That is, the first guide body 33 retracts into the gripping main body part 31. Thereby, the gripping body 32 can be appropriately arranged within the vertical gripping range Sz.

[0073] Similarly, even after the second opposing surface 340f and the target gripped part (second gripped part 812) are arranged to face each other, the downward gripping operation continues, so that the second guide body 34 is pushed upward by the target gripped part (second gripped part 812) and moves upward with respect to the gripping main body part 31 with the second range 36S as a limit. That is, the second guide body 34 retracts into the gripping main body part 31. Thereby, the gripping body 32 can be appropriately arranged within the vertical gripping range Sz.

[0074] In the state shown in FIG. 11, the gripping device 30 is disposed within the vertical reference range and within the second direction reference range. Thereafter, the gripping device 30 grips the pair of gripped portions 81 by moving each of the pair of gripping bodies 32 away from each other along the second direction Y.

[0075] As described above with reference to FIGS. 9 to 11, in the present embodiment, the first guide body 33 is configured to guide the gripping main body portion 31 in the second direction Y with respect to the first gripped portion 811 such that the gripping device 30 is within the second direction reference range when the gripping device 30 is within the vertical reference range. That is, the first guide body 33 is configured to guide the gripping main body portion 31 with respect to the first gripped portion 811 such that the pair of gripping bodies 32 are disposed within the vertical gripping range Sz and within the second direction gripping range Sy.

[0076] Similarly, the second guide body 34 is configured to guide the gripping main body portion 31 in the second direction Y with respect to the target gripped portion (second gripped portion 812) such that the gripping device 30 is within the second direction reference range when the gripping device 30 is within the vertical reference range. That is, the second guide body 34 is configured to guide the gripping main body portion 31 with respect to the target gripped portion (second gripped portion 812) such that the pair of gripping bodies 32 are disposed within the vertical gripping range Sz and within the second direction gripping range Sy.

[0077] 〔Second Embodiment〕 Next, a second embodiment of the transport vehicle will be described. In the second embodiment, the configurations of the first guide body 33 and the second guide body 34 are different from those in the first embodiment. Hereinafter, the second embodiment will be described centering on the differences from the first embodiment. For points not particularly described, they are the same as those in the first embodiment.

[0078] Here, one side of the first direction X is defined as "first direction first side X1", and the other side of the first direction X is defined as "first direction second side X2".

[0079] FIG. 12 is a view looking from below at the engagement state between the first gripped part 811 and the first guide body 33, and the engagement state between the target gripped part (second gripped part 812) and the second guide body 34. In FIG. 12, only the main configurations of the present embodiment are shown, and other configurations that are unnecessary for explanation are omitted.

[0080] As shown in FIG. 12, in the present embodiment, the first guide body 33 includes a third guide surface 333f that will be disposed on the first side X1 in the first direction with respect to the first gripped part 811 after completion of the downward gripping operation. The third guide surface 333f is formed in a planar shape that is inclined in a direction toward the second side X2 in the first direction as it goes upward. In this example, the third guide surface 333f is formed so as to be continuous with each of the pair of first guide surfaces 331f. With such a configuration, after completion of the downward gripping operation, the first guide body 33 is disposed so as to surround the end portion on the first side X1 in the first direction of the first gripped part 811 from both the first side X1 in the first direction and the second direction Y.

[0081] In the present embodiment, the second guide body 34 includes a fourth guide surface 344f that will be disposed on the second side X2 in the first direction with respect to the target gripped part (second gripped part 812) after completion of the downward gripping operation. The fourth guide surface 344f is formed in a planar shape that is inclined in a direction toward the first side X1 in the first direction as it goes upward. In this example, the fourth guide surface 344f is formed so as to be continuous with each of the pair of second guide surfaces 342f. With such a configuration, after completion of the downward gripping operation, the second guide body 34 is disposed so as to surround the end portion on the second side X2 in the first direction of the target gripped part (second gripped part 812) from both the second side X2 in the first direction and the second direction Y.

[0082] Then, at least one of the contact of the third guide surface 333f with the first gripped portion 811 and the contact of the fourth guide surface 344f with the target gripped portion (second gripped portion 812) corrects the position of the gripping main body portion 31 (not shown) in the first direction X with respect to the first gripped portion 811 and the target gripped portion (second gripped portion 812). In the present embodiment, the correction of the position of the gripping main body portion 31 in the first direction X is realized by both the contact of the third guide surface 333f with the first gripped portion 811 and the contact of the fourth guide surface 344f with the target gripped portion (second gripped portion 812).

[0083] Note that, by the downward gripping operation, not only the third guide surface 333f but also one of the pair of first guide surfaces 331f comes into contact with the first gripped portion 811, and not only the fourth guide surface 344f but also one of the pair of second guide surfaces 342f comes into contact with the target gripped portion (second gripped portion 812). Therefore, in the present embodiment, not only the position of the gripping main body portion 31 in the first direction X but also the position of the gripping main body portion 31 in the second direction Y is corrected. As a result, the first gripped portion 811 and the target gripped portion (second gripped portion 812) shown by the virtual lines in FIG. 12 move relative to the first gripped portion 811 and the target gripped portion (second gripped portion 812) along the first direction X and the second direction Y as shown by the solid lines with the downward gripping operation.

[0084] 〔Other Embodiments〕 Next, other embodiments of the transport vehicle will be described.

[0085] (1) In the above embodiment, an example in which the gripping device 30 includes the first support mechanism 35 that supports the first guide body 33 movably in the vertical direction Z and the second support mechanism 36 that supports the second guide body 34 movably in the vertical direction Z has been described. However, without being limited to such an example, the first guide body 33 and the second guide body 34 may be fixed so as not to move in the vertical direction Z with respect to the gripping main body portion 31.

[0086] (2) In the above embodiment, an example has been described in which the target gripped portion is the second gripped portion 812, and the second guide body 34 is configured to correct the position of the gripping main body portion 31 in the second direction Y with respect to the second gripped portion 812. However, without being limited to such an example, the target gripped portion may be the first gripped portion 811, and the second guide body 34 may be configured to correct the position of the gripping main body portion 31 in the second direction Y with respect to the first gripped portion 811. In this case, the position of the gripping main body portion 31 in the second direction Y with respect to the first gripped portion 811 will be corrected by both the first guide body 33 and the second guide body 34.

[0087] (3) In the above embodiment, an example has been described in which the first guide body 33 and the second guide body 34 are arranged to be separated from each other in the first direction X and also in the second direction Y. However, without being limited to such an example, the first guide body 33 and the second guide body 34 may be separated from each other only in one of the first direction X and the second direction Y. In this case, the first guide body 33 and the second guide body 34 may be integrally formed of the same member. For example, the upper portion of the first guide portion 33b (the portion above the first opposing surface 330f) and the upper portion of the second guide portion 34b (the portion above the second opposing surface 340f) may be connected by a connecting portion integrally formed with the first guide portion 33b and the second guide portion 34b.

[0088] (4) In the above embodiment, an example has been described in which the gripping device 30 is configured to grip the first gripped portion 811 and the second gripped portion 812 from the inside in the second direction Y by causing the pair of gripping bodies 32 to move apart. However, without being limited to such an example, the gripping device 30 may be configured to grip the first gripped portion 811 and the second gripped portion 812 from the outside in the second direction Y by causing the pair of gripping bodies 32 to move closer.

[0089] (5) Note that the configurations disclosed in the above-described embodiments can also be applied in combination with the configurations disclosed in other embodiments as long as there is no contradiction. Regarding other configurations as well, all the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications can be made as appropriate within the scope not departing from the gist of the present disclosure.

[0090] 〔Outline of the above embodiment〕 Hereinafter, the carrier described above will be described.

[0091] A carrier that travels along a travel route and transports a container having a predetermined shape, a gripping device that grips the container, and a lifting device that raises and lowers the gripping device. The container includes a container body, and a first gripped portion and a second gripped portion that are a pair of gripped portions provided so as to protrude upward from the main body upper surface that is the upper surface of the container body and are gripped by the gripping device. Taking a specific direction parallel to the main body upper surface as the first direction, and a direction parallel to the main body upper surface and orthogonal to the first direction as the second direction, each of the first gripped portion and the second gripped portion is formed to extend along the first direction and is arranged to be spaced apart from each other in the second direction. The gripping device includes a gripping main body portion suspended by the lifting device, a pair of gripping bodies supported by the gripping main body portion, a gripping drive portion that moves the pair of gripping bodies closer to and away from each other in the second direction, a first guide body that is supported by the gripping main body portion independently of the pair of gripping bodies and guides the gripping main body portion with respect to the first gripped portion, and a second guide body that is supported by the gripping main body portion independently of the pair of gripping bodies and guides the gripping main body portion with respect to either the first gripped portion or the second gripped portion as a target gripped portion. The operation of lowering the gripping device by the lifting device to grip the pair of gripped portions by the pair of gripping bodies is defined as a gripping lowering operation. The first guide body includes a pair of first guide surfaces that are to be separated and arranged on both sides in the second direction with respect to the first gripped portion after completion of the downward gripping operation. At least one of the pair of first guide surfaces is configured to correct the position of the gripping main body portion in the second direction with respect to the first gripped portion by contacting the first gripped portion during the downward gripping operation. The second guide body includes a pair of second guide surfaces that are to be separated and arranged on both sides in the second direction with respect to the target gripped portion after completion of the downward gripping operation. At least one of the pair of second guide surfaces is configured to correct the position of the gripping main body portion in the second direction with respect to the target gripped portion by contacting the target gripped portion during the downward gripping operation. The first guide body and the second guide body are arranged to be separated from each other in at least one of the first direction and the second direction.

[0092] According to this configuration, during the downward gripping operation, the first guide body contacts the first gripped portion and the second guide body contacts the target gripped portion. When the first guide body contacts the first gripped portion, the position of the gripping main body portion in the second direction with respect to the first gripped portion is corrected. When the second guide body contacts the target gripped portion, the position of the gripping main body portion in the second direction with respect to the target gripped portion is corrected. Here, in this configuration, since the first guide body and the second guide body are arranged to be separated from each other in at least one of the first direction and the second direction, the gripping main body portion is positioned in the second direction with respect to the container at two locations separated from each other. As a result, based on the first gripped portion and the second gripped portion of the container, the position of the gripping main body portion in the second direction and the angle around the vertical axis can be corrected. Therefore, even if the position of the gripping device in the second direction and the angle around the vertical axis are deviated from the proper position with respect to the container, the deviation can be corrected by the downward gripping operation, and the gripping device can be arranged at the proper position with respect to the container. Thereafter, the gripping device can start gripping the container. Therefore, according to this configuration, it is possible to appropriately grip a container having a plurality of gripped portions.

[0093] The gripping device includes a first support mechanism that supports the first guide body and a second support mechanism that supports the second guide body. The first support mechanism is configured to restrict movement of the first guide body in the first direction and the second direction with respect to the gripping main body portion, and to allow the first guide body to move vertically within a predetermined first range with respect to the gripping main body portion. The second support mechanism is preferably configured to restrict movement of the second guide body in the first direction and the second direction with respect to the gripping main body portion, and to allow the second guide body to move vertically within a predetermined second range with respect to the gripping main body portion.

[0094] According to this configuration, even when there is an error in the amount of descent of the gripping device during the gripping descent operation, the first guide body can be appropriately brought into contact with the first gripped portion, and the second guide body can be appropriately brought into contact with the target gripped portion. Therefore, it is easy to appropriately correct the position and angle of the gripping main body portion with respect to the container.

[0095] The target gripped portion is preferably the second gripped portion.

[0096] According to this configuration, the first guide body configured to contact the first gripped portion and the second guide body configured to contact the target gripped portion (second gripped portion) are arranged to be separated from each other in the second direction. Therefore, it is easy to ensure a large distance between the first guide body and the second guide body. Therefore, according to this configuration, it is easy to appropriately correct the angle of the gripping main body portion around the vertical axis with respect to the container.

[0097] One side of the first direction is defined as the first side of the first direction, and the other side of the first direction is defined as the second side of the first direction. The first guide body includes a third guide surface that is arranged on the first side of the first direction with respect to the first gripped portion after completion of the gripping descent operation. The second guide body includes a fourth guide surface that is arranged on the second side of the first direction with respect to the target gripped portion after completion of the gripping descent operation. It is preferable that the position of the gripping main body portion in the first direction with respect to the first gripped portion and the target gripped portion is corrected by at least one of the contact of the third guide surface with the first gripped portion and the contact of the fourth guide surface with the target gripped portion.

[0098] According to this configuration, during the downward movement for gripping, the position of the gripping main body portion in the first direction with respect to the container can also be corrected.

[0099] Each of the first gripped portion and the second gripped portion includes a strip-shaped gripped main body portion that is disposed spaced above the upper surface of the main body and extends along the first direction, and a connecting portion that connects the gripped main body portion and the upper surface of the main body. Each of the pair of first guide surfaces is formed in a planar shape that inclines in a direction approaching each other as it goes upward, and is arranged along the first direction during the downward movement for gripping. It is preferable that each of the pair of second guide surfaces is formed in a planar shape that inclines in a direction approaching each other as it goes upward, and is arranged along the first direction during the downward movement for gripping.

[0100] According to this configuration, when the downward movement for gripping is continued with either one of the pair of first guide surfaces in contact with the gripped main body portion, the gripped main body portion moves relative to the pair of first guide surfaces toward the intermediate position between the pair of first guide surfaces in the second direction. When the gripped main body portion is disposed at the intermediate position between the pair of first guide surfaces in the second direction, the position of the first guide body in the second direction is corrected. The relative movement between the pair of second guide surfaces and the gripped main body portion is also performed in the same manner as described above. Therefore, when the gripped main body portion is disposed at the intermediate position between the pair of second guide surfaces in the second direction, the position of the second guide body in the second direction is corrected. Therefore, according to this configuration, by executing the downward movement for gripping, the positions in the second direction and the angles around the vertical axis of both the first guide body and the second guide body can be appropriately corrected.

[0101] On at least one of the upper surfaces of the first gripped portion and the second gripped portion, a positioning recess is formed. The gripping device includes a positioning body that positions the gripping device with respect to the positioning recess by engaging with the positioning recess. Taking the maximum value of the displacement in the second direction between the first guiding body and the first gripped portion, where at least one of the pair of first guiding surfaces can contact the first gripped portion, as the first allowable displacement amount. Taking the maximum value of the displacement in the second direction between the second guiding body and the object gripped portion, where at least one of the pair of second guiding surfaces can contact the object gripped portion, as the second allowable displacement amount. Taking the maximum value of the displacement in the second direction between the positioning body and the positioning recess, where the positioning body can engage with the positioning recess, as the positioning allowable displacement amount. It is preferable that the first guiding body and the second guiding body are formed such that the first allowable displacement amount and the second allowable displacement amount are larger than the positioning allowable displacement amount.

[0102] According to this configuration, even when the positions of the gripping main body portion and the gripped portion are displaced to such an extent that the positioning body cannot engage with the positioning recess, the first guiding body and the second guiding body can appropriately guide the first gripped portion and the object gripped portion. Therefore, even in such a case as described above, the position of the gripping main body portion in the second direction and the angle around the vertical axis can be corrected. As a result, the displacement between the positioning body and the positioning recess can be made to fall within the range where the positioning body can engage with the positioning recess. Therefore, according to this configuration, the positioning of the gripping device with respect to the container can be appropriately performed, and the gripping of the first gripped portion and the second gripped portion by the gripping device can be appropriately performed.

[0103] Taking the range of the relative position in the vertical direction of the gripping device with respect to the container, where the first gripped portion and the second gripped portion can be gripped by the pair of gripping bodies, as the vertical direction reference range. With respect to the range of the relative position of the gripping device in the second direction with respect to the container, which allows the first gripped portion and the second gripped portion to be gripped by the pair of gripping bodies, as the second direction reference range, The first guide body starts guiding the first gripped portion from a state where the gripping device is positioned above the vertical direction reference range, and guides the gripping main body portion in the second direction with respect to the first gripped portion so that the gripping device is within the second direction reference range when the gripping device is within the vertical direction reference range. It is preferable that the second guide body starts guiding the target gripped portion from a state where the gripping device is positioned above the vertical direction reference range, and guides the gripping main body portion in the second direction with respect to the target gripped portion so that the gripping device is within the second direction reference range when the gripping device is within the vertical direction reference range.

[0104] According to this configuration, since the first gripped portion and the target gripped portion are guided during the downward movement for gripping, when the gripping device is arranged within the vertical direction reference range by the downward movement for gripping, the gripping device can be arranged within the second direction reference range. Therefore, according to this configuration, by simply executing the downward movement for gripping, the position of the gripping main body portion in the second direction and the angle around the vertical axis can be appropriately corrected.

Industrial Applicability

[0105] The technology according to the present disclosure can be used for a transport vehicle that travels along a travel route and transports a container having a predetermined shape.

Explanation of Reference Numerals

[0106] 1: Transport vehicle 8: Container 30: Gripping device 30m: Gripping drive unit 31: Gripping main body portion 32: Gripping body 33: First guide body 331f: First guide surface 333f: Third guide surface 34: Second guide body 342f: Second guide surface 344f: Fourth guide surface 35: First support mechanism 35S: First range 36: Second support mechanism 36S: Second range 37: Positioning body 40: Lifting device 80: Container body 80f: Upper surface of the body 81: Gripped part 81a: Gripped main body part 81b: Connecting part 81c: Positioning concave part 811: First gripped part 812: Second gripped part L1: First allowable deviation amount L2: Second allowable deviation amount L37: Positioning allowable deviation amount R: Travel route X: First direction X1: First side of the first direction X2: Second side of the first direction Y: Second direction Z: Vertical direction

Claims

1. A transport vehicle that travels along a travel route and transports a container having a predetermined shape, comprising a gripping device for gripping the container, and a lifting device for raising and lowering the gripping device, wherein the container includes a container body, and a first gripped portion and a second gripped portion which are provided so as to protrude upward from a main body upper surface which is the upper surface of the container body and are gripped by the gripping device, wherein a specific direction parallel to the main body upper surface is defined as a first direction, and a direction parallel to the main body upper surface and orthogonal to the first direction is defined as a second direction, each of the first gripped portion and the second gripped portion is formed to extend along the first direction, and are spaced apart from each other in the second direction, the gripping device includes a gripping main body portion suspended by the lifting device, a pair of gripping bodies supported by the gripping main body portion, a gripping drive portion for approaching and separating the pair of gripping bodies from each other in the second direction, a first guide body supported by the gripping main body portion independently of the pair of gripping bodies for guiding the gripping main body portion with respect to the first gripped portion, and a second guide body supported by the gripping main body portion independently of the pair of gripping bodies for guiding the gripping main body portion with respect to either the first gripped portion or the second gripped portion as a target gripped portion, an operation of lowering the gripping device by the lifting device to grip the pair of gripped portions by the pair of gripping bodies is defined as a gripping lowering operation, the first guide body includes a pair of first guide surfaces that will be arranged on both sides in the second direction with respect to the first gripped portion after completion of the gripping lowering operation, and at least one of the pair of first guide surfaces is configured to correct the position of the gripping main body portion in the second direction with respect to the first gripped portion by contacting the first gripped portion during the gripping lowering operation, the second guide body includes a pair of second guide surfaces that will be arranged on both sides in the second direction with respect to the target gripped portion after completion of the gripping lowering operation, and at least one of the pair of second guide surfaces is configured to correct the position of the gripping main body portion in the second direction with respect to the target gripped portion by contacting the target gripped portion during the gripping lowering operation, the transport vehicle, wherein the first guide body and the second guide body are arranged spaced apart from each other in at least one of the first direction and the second direction.

2. The gripping device includes a first support mechanism that supports the first guide body and a second support mechanism that supports the second guide body. The first support mechanism is configured to restrict movement of the first guide body in the first direction and the second direction with respect to the gripping main body portion, and to allow the first guide body to move vertically within a predetermined first range with respect to the gripping main body portion. The second support mechanism is configured to restrict movement of the second guide body in the first direction and the second direction with respect to the gripping main body portion, and to allow the second guide body to move vertically within a predetermined second range with respect to the gripping main body portion. The carrier vehicle according to claim 1.

3. The object to be gripped portion is the second to be gripped portion. The carrier vehicle according to claim 1.

4. Taking one side of the first direction as the first side of the first direction and the other side of the first direction as the second side of the first direction, The first guide body includes a third guide surface that will be disposed on the first side of the first direction with respect to the first to-be-gripped portion after completion of the gripping downward movement. The second guide body includes a fourth guide surface that will be disposed on the second side of the first direction with respect to the object to be gripped portion after completion of the gripping downward movement. At least one of the contact of the third guide surface with the first to-be-gripped portion and the contact of the fourth guide surface with the object to-be-gripped portion corrects the position of the gripping main body portion in the first direction with respect to the first to-be-gripped portion and the object to-be-gripped portion. The carrier vehicle according to claim 1.

5. Each of the first to-be-gripped portion and the second to-be-gripped portion includes a strip-shaped to-be-gripped main body portion that is spaced apart upward from the upper surface of the main body and extends along the first direction, and a connecting portion that connects the to-be-gripped main body portion and the upper surface of the main body. Each of the pair of first guide surfaces is formed in a planar shape that inclines in a direction approaching each other as it goes upward, and is arranged along the first direction during the gripping downward movement. Each of the pair of second guide surfaces is formed in a planar shape that inclines in a direction approaching each other as it goes upward, and is arranged along the first direction during the gripping downward movement. The carrier vehicle according to claim 1.

6. A positioning recess is formed on at least one of the upper surfaces of the first to-be-gripped portion and the second to-be-gripped portion. The gripping device includes a positioning body that positions the gripping device with respect to the positioning recess by engaging with the positioning recess. The maximum value of the displacement in the second direction between the first guiding body and the first gripped portion, where at least one of the pair of first guiding surfaces can contact the first gripped portion, is defined as the first allowable displacement amount. The maximum value of the displacement in the second direction between the second guiding body and the object gripped portion, where at least one of the pair of second guiding surfaces can contact the object gripped portion, is defined as the second allowable displacement amount. The maximum value of the displacement in the second direction between the positioning body and the positioning recess, where the positioning body can engage with the positioning recess, is defined as the positioning allowable displacement amount. The first guiding body and the second guiding body are formed such that the first allowable displacement amount and the second allowable displacement amount are larger than the positioning allowable displacement amount. The transport cart according to any one of claims 1 to 5.

7. The range of the relative position in the vertical direction of the gripping device with respect to the container, where the first gripped portion and the second gripped portion can be gripped by the pair of gripping bodies, is defined as the vertical direction reference range. The range of the relative position in the second direction of the gripping device with respect to the container, where the first gripped portion and the second gripped portion can be gripped by the pair of gripping bodies, is defined as the second direction reference range. The first guiding body is configured to guide the gripping main body portion in the second direction with respect to the first gripped portion such that the first guiding body starts guiding the first gripped portion from a state where the gripping device is positioned above the vertical direction reference range and the gripping device is within the second direction reference range when the gripping device is within the vertical direction reference range. The second guiding body is configured to guide the gripping main body portion in the second direction with respect to the object gripped portion such that the second guiding body starts guiding the object gripped portion from a state where the gripping device is positioned above the vertical direction reference range and the gripping device is within the second direction reference range when the gripping device is within the vertical direction reference range. The transport cart according to any one of claims 1 to 5.

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