Transport vehicle

Abstract

To realize a carrier vehicle that can distinguish the type of each of multiple types of containers, and can grasp the multiple types of containers.SOLUTION: A first container 81 includes a pair of first gripping object parts 811 as a pair of gripping object parts 801. A second container includes a pair of second gripping object parts as a pair of gripping object parts 801. A first interval L1 of the pair of first gripping object parts 811 is smaller than a second interval of the pair of second gripping object parts. A first detector 141 is configured to detect a detection object part T of the first gripping object part 811 and not to detect the detection object part of the second gripping object part in such a state that a gripping device 12 is arranged at a gripping reference position P. A second detector 142 is configured to detect the detection object part of the second gripping object part and not to detect the detection object part T of the first gripping object part 811 in such a state that the gripping device 12 is arranged at the gripping reference position P.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to a transport vehicle that travels along a travel path and transports multiple types of containers including a first container and a second container. [Background technology]

[0002] For example, Japanese Patent Laid-Open Publication No. 2005-064130 (Patent Document 1) discloses a transport vehicle equipped with a storage section for storing containers, a gripping device for gripping the containers, and a lifting device for raising and lowering the gripping device to a transfer target location. In the following description of the background art, the reference numerals in parentheses refer to those in Patent Document 1.

[0003] The transport vehicle (1) disclosed in Patent Document 1 transfers a storage container (51) by gripping a flange member (53) of the storage container (51) with a gripping mechanism (32). The gripping mechanism (32) has a pair of claw members (33) that open and close by moving in opposite directions. When the pair of claw members (33) are in a closed state, they sandwich the flange member (53) from both sides and support it from below. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2005-064130 Summary of the Invention [Problem to be solved by the invention]

[0005] Incidentally, the storage container (51) to be transferred by the transport vehicle (1) disclosed in Patent Document 1 has only one flange member (53), and this single flange member (53) serves as the gripped portion to be gripped by the gripping device of the transport vehicle (1). In this type of field, containers having a pair of gripped portions may be handled. Furthermore, multiple types of containers with different structures, such as different positions of the pair of gripped portions, may be handled in the same facility. In this case, it is difficult to grip multiple types of containers using the same gripping operation. Therefore, it is possible to use a dedicated transport vehicle for each type of container, but in this case, the types of containers that a single transport vehicle can handle are limited, which may reduce the container transport efficiency of the entire facility.

[0006] In view of the above situation, it is desirable to realize a transport vehicle that can identify the type of each of multiple types of containers and can grip the multiple types of containers. [Means for solving the problem]

[0007] A transport vehicle that travels along a travel path and transports multiple types of containers including a first container and a second container, a gripping device that grips the container; a lifting device that lifts and lowers the gripping device; a discrimination device that discriminates the type of the container gripped by the gripping device, The container includes a container body and a pair of gripped portions that protrude upward from an upper surface of the container body and are gripped by the gripping device, The first container includes a first container body as the container body and a pair of first gripped portions as the pair of gripped portions, The second container includes a second container body as the container body and a pair of second gripped portions as the pair of gripped portions, The first gripped portion and the second gripped portion each have a detection portion, a first interval between the pair of first gripped portions in a direction along the upper surface of the first container body is smaller than a second interval between the pair of second gripped portions in a direction along the upper surface of the second container body; the discrimination device includes a first detector and a second detector; The gripping reference position is a relative position of the gripping device relative to the target container, which is a reference position for starting a gripping operation on the target container that is a container to be gripped, the first detector is attached to the gripping device and is configured to detect the detection portion of the first gripped part and not detect the detection portion of the second gripped part when the gripping device is placed at the gripping reference position; The second detector is attached to the gripping device and is configured to detect the detected portion of the second gripped part while not detecting the detected portion of the first gripped part when the gripping device is positioned at the gripping reference position.

[0008] According to this configuration, when the gripping device is positioned at the gripping reference position and the first detector detects the detectable portion of the first gripped portion, the target container can be determined to be the first container. Furthermore, when the gripping device is positioned at the gripping reference position and the second detector detects the detectable portion of the second gripped portion, the target container can be determined to be the second container. If the transport vehicle determines that the target container is the first container, it can properly grip the first container by performing a gripping action according to the first interval, which is the interval between the pair of first gripped portions. Furthermore, if the transport vehicle determines that the target container is the second container, it can properly grip the second container by performing a gripping action according to the second interval, which is the interval between the pair of second gripped portions. As described above, according to this configuration, a transport vehicle can be realized that is capable of identifying the type of each of multiple types of containers and gripping the multiple types of containers.

[0009] Further features and advantages of the techniques according to the present disclosure will become more apparent from the following description of exemplary and non-limiting embodiments, which proceeds with reference to the drawings. [Brief explanation of the drawings]

[0010] [Figure 1] Plan view of the transport facility [Figure 2] Diagram showing transfer operation [Figure 3] Perspective view of the container [Figure 4] A perspective view of the gripping device seen from below. [Figure 5] Control Block Diagram [Figure 6] FIG. 10 is a diagram showing how the first container is identified by the identification device. [Figure 7] FIG. 10 is a diagram showing how the second container is identified by the identification device. [Figure 8] FIG. 10 is a diagram showing a discrimination device according to another embodiment; [Figure 9] FIG. 10 is a diagram showing a discrimination device according to another embodiment; DETAILED DESCRIPTION OF THE INVENTION

[0011] The transport vehicle is configured to travel along a travel path and transport multiple types of containers including a first container and a second container. Hereinafter, an embodiment of the transport vehicle will be described, taking as an example a case where the transport vehicle is applied to a transport facility.

[0012] As shown in Figures 1 and 2, the conveying equipment 100 includes a specified travel route R, a conveying vehicle 1 that travels along the travel route R to convey a container 80, and a plurality of transfer target locations 9 arranged along the travel route R.

[0013] The travel route R is set at a position spaced above the floor. In this example, the travel route R is configured using a rail Ra installed 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 location 9 is located below the travel route R. The transport vehicle 1 is configured to transfer the container 80 between the transfer target location 9 by raising and lowering the container 80.

[0014] In this embodiment, the transport facility 100 includes a plurality of transport vehicles 1. Each of the plurality of transport vehicles 1 is configured to receive a transport command from a host control device (not shown) that manages the facility in an integrated manner, and to execute a task in accordance with the transport command. For example, the transport command includes information on the origin and destination of the container 80. Upon receiving the transport command, the transport vehicle 1 transports the container 80 from the origin to the destination. The origin and destination include the transfer target location 9.

[0015] There are various types of containers 80 that can be handled by the transfer equipment 100. In this example, the transfer equipment 100 is used in a semiconductor manufacturing factory. Therefore, the containers 80 may be substrate containers (so-called FOUPs: Front Opening Unified Pods) that store substrates (wafers, panels, etc.), reticle containers (so-called reticle pods) that store reticles, etc. In this case, the transfer vehicle 1 transfers the container 80, such as the substrate container or the reticle container, between each process along the travel path R.

[0016] In this embodiment, the transfer target location 9 includes a processing device 90 that performs processing on the container 80, and a support unit 91 arranged adjacent to the processing device 90. In this specification, "processing on the container 80" means processing on the objects (substrates or reticles) contained in the container 80. The transport vehicle 1 receives the container 80 that has been processed by the processing device 90 from the support unit 91, or delivers the container 80 that has not been processed by the processing device 90 to the support unit 91. The processing device 90 performs various processes, such as thin film formation, photolithography, and etching.

[0017] 2, the transport vehicle 1 includes a traveling device 11 that travels on the rail Ra, and a storage section S that stores the container 80. The transport vehicle 1 travels on the rail Ra by the traveling device 11 with the container 80 stored in the storage section S. In this way, the transport vehicle 1 transports the container 80 to the destination specified by the transport command.

[0018] The transport vehicle 1 also includes a gripping device 12 that grips the container 80, and a lifting device 13 that raises and lowers the gripping device 12. The gripping device 12 grips a gripped portion 801 that the container 80 is equipped with. The lifting device 13 raises and lowers the gripping device 12 between the storage section S and a transfer target location 9 that is located below the travel route R. In this embodiment, the transport vehicle 1 further includes a control device C (see FIG. 5) that controls the gripping device 12 and the lifting device 13. The control device C is also configured to control the traveling device 11.

[0019] In this embodiment, the traveling device 11 includes a plurality of traveling wheels 11a that roll on the rail Ra, and a traveling drive unit (for example, an electric motor or the like) that drives at least some of the plurality of traveling wheels 11a.

[0020] In this embodiment, the storage unit S is suspended from the traveling device 11 and is disposed below the rail Ra. The storage unit S is configured to be able to store the container 80 gripped by the gripping device 12. When the transport vehicle 1 transports the container 80 along the travel route R, the container 80 is stored in the storage unit S.

[0021] In this embodiment, the gripping device 12 includes a plurality of gripping bodies 121 and a gripping drive mechanism 12m (see FIGS. 6 and 7) that drives the plurality of gripping bodies 121. For example, the gripping drive mechanism 12m includes a mechanism for causing the plurality of gripping bodies 121 to perform a gripping operation, and a drive source (e.g., an electric motor or the like) that applies a drive force to the plurality of gripping bodies 121. Details of the gripping device 12 will be described later.

[0022] In this embodiment, the lifting device 13 includes a lifting belt 13a connected to the gripping device 12 and a lifting drive unit that drives the lifting belt 13a. Although not shown in detail, the lifting drive unit includes a rotating body around which the lifting belt 13a is wound, and a drive source (e.g., an electric motor) that rotates the rotating body. When the rotating body rotates in the forward or reverse direction, the lifting belt 13a is wound up or unwound. This causes the gripping device 12 connected to the lifting belt 13a to rise and fall.

[0023] Next, a description will be given of the container 80. As described above, the container 80 is for containing an object to be contained.

[0024] 3, the container 80 includes a container body 800 and a pair of gripped portions 801 that protrude upward from the top surface of the container body 800 and are gripped by the gripping device 12. The container body 800 is a portion that contains an object to be contained and is formed in a box shape. The pair of gripped portions 801 are arranged spaced apart from each other in the arrangement direction Dx.

[0025] In this specification, when each of a pair of grippable portions 801 provided on a container 80 to be gripped (target container 80) is defined as a target grippable portion 801, the direction in which the pair of target grippable portions 801 are aligned is defined as an arrangement direction Dx. Further, the direction perpendicular to the arrangement direction Dx when viewed from the up-down direction is defined as an orthogonal direction Dy.

[0026] In this embodiment, each of the pair of gripped portions 801 includes a plurality of support posts 801a extending from the upper surface of the container body 800, and a plate-like portion 801b connecting the upper ends of the plurality of support posts 801a.

[0027] The multiple support columns 801a that make up one grasped portion 801 are arranged at intervals from one another along the orthogonal direction Dy. In the illustrated example, three support columns 801a are arranged at equal intervals. As will be described in detail later, the intervals between the multiple support columns 801a are set to allow the gripping body 121 of the gripping device 12 to pass through.

[0028] The plate-shaped portion 801b is formed in an elongated shape along the direction in which the multiple support columns 801a are arranged (the orthogonal direction Dy). The plate-shaped portion 801b is formed with positioning recesses 801c that are recessed downward from the upper surface of the plate-shaped portion 801b. A plurality of positioning recesses 801c (two in the illustrated example) are formed in the plate-shaped portion 801b. As will be described in detail later, when the gripping device 12 grips the gripped portion 801, the positioning portions 122 of the gripping device 12 are fitted into the positioning recesses 801c.

[0029] 6 and 7, the transfer facility 100 handles a plurality of types of containers 80. The plurality of types of containers 80 include a first container 81 and a second container .

[0030] The first container 81 and the second container 82 have the same main configuration. That is, the first container 81 has a first container body 810 as the container body 800 and a pair of first gripped portions 811 as the pair of gripped portions 801. The second container 82 has a second container body 820 as the container body 800 and a pair of second gripped portions 821 as the pair of gripped portions 801.

[0031] The first container 81 and the second container 82 differ in their detailed configurations. Specifically, the relative positions of the pair of gripped portions 801 provided on the container body 800 differ. That is, a first distance L1 (see FIG. 6 ), which is the distance between the pair of first gripped portions 811 in the direction along the upper surface of the first container body 810, is smaller than a second distance L2 (see FIG. 7 ), which is the distance between the pair of second gripped portions 821 in the direction along the upper surface of the second container body 820. The first distance L1 is the distance between the pair of first gripped portions 811 in the arrangement direction Dx. The second distance L2 is the distance between the pair of second gripped portions 821 in the arrangement direction Dx. The first container body 810 and the second container body 820 also differ in size, which allows each container 80 to accommodate different types and sizes of objects to be contained.

[0032] 4 is a perspective view of the gripping device 12 as seen from below. In FIG. 4, a specific direction along the horizontal direction is shown as a first direction X, and a direction perpendicular to the first direction X when viewed from above is shown as a second direction Y.

[0033] 4, the gripping device 12 includes a pair of gripping bodies 121 and a gripping drive mechanism 12m (see FIGS. 6 and 7) that moves the pair of gripping bodies 121 toward and away from each other in a gripping operation direction along the horizontal direction. In this specification, the gripping operation direction is equal to the first direction X.

[0034] In this embodiment, the gripping device 12 includes a gripping main body 120 and a plurality of positioning parts 122. The pair of gripping bodies 121 and the plurality of positioning parts 122 are supported by the gripping main body 120 and are provided so as to protrude downward from the gripping main body 120. The above-mentioned lifting belt 13a is connected to the gripping main body 120 (see FIGS. 6 and 7).

[0035] In this embodiment, the gripping device 12 is provided with four positioning portions 122. Two of the four positioning portions 122 are arranged at positions corresponding to the positioning recesses 801c provided in the pair of first gripped portions 811. The other two of the four positioning portions 122 are arranged at positions corresponding to the positioning recesses 801c provided in the pair of second gripped portions 821.

[0036] Each of the pair of gripping bodies 121 has a plurality of gripping claws 121C. In this example, each of the pair of gripping bodies 121 has a pair of gripping claws 121C. The pair of gripping claws 121C of one gripping body 121 are arranged at the same position in the first direction X (the gripping operation direction) and spaced apart in the second direction Y (the direction perpendicular to the gripping operation direction when viewed in the up-down direction). The pair of gripping claws 121C penetrate into the gripping main body 120 and are integrated inside the gripping main body 120. Therefore, the pair of gripping claws 121C operate integrally.

[0037] In this embodiment, grip claw 121C includes base 121a that is supported by grip main body 120 and extends downward from grip main body 120, and extension 121b that extends horizontally outward from base 121a. In this example, grip claw 121C is formed to be approximately L-shaped in side view (viewed in second direction Y).

[0038] 6 and 7, the relative position of the gripping device 12 with respect to the target container 80, which is the container 80 to be gripped, and which is the reference for the gripping device 12 to start the gripping operation on the target container 80, is defined as a gripping reference position P. Also, the gripped portion 801 of the target container 80 is defined as a target gripped portion 801.

[0039] In this embodiment, the pair of grippers 121 are disposed between the pair of target gripped parts 801 when the gripping device 12 is disposed at the gripping reference position P. The pair of grippers 121 are configured to grip the pair of gripped parts 801 from the inside in the arrangement direction Dx by operating to move away from each other along the gripping operation direction between the pair of target gripped parts 801.

[0040] At this time, the extension portion 121b of each gripping claw 121C passes between the adjacent multiple support columns 801a and is positioned in a position facing the plate-shaped portion 801b from below. In this state, when the entire gripping device 12 is raised, support for the target container 80 is transferred from the support portion 91 (see FIG. 2) to the gripping device 12, and the extension portion 121b of each gripping claw 121C lifts the plate-shaped portion 801b from below. Conversely, when the entire gripping device 12 is lowered from a state in which the extension portion 121b of each gripping claw 121C has lifted the plate-shaped portion 801b, support for the target container 80 is transferred from the gripping device 12 to the support portion 91 (see FIG. 2), and the extension portion 121b of each gripping claw 121C moves downward away from the plate-shaped portion 801b.

[0041] When the gripping device 12 is disposed at the gripping reference position P, the center position A1 between the pair of grippers 121 coincides (or approximately coincides) with the center position A2 between the pair of target gripped portions 801. Furthermore, in this embodiment, when the gripping device 12 is disposed at the gripping reference position P, the extension portion 121b is disposed at a height above the container body 800 and below the plate-shaped portion 801b. When the gripping device 12 is disposed at such a gripping reference position P, it is in a state where it can grip and release the pair of target gripped portions 801. That is, when the gripping device 12 is disposed at the gripping reference position P, the pair of grippers 121 move away from each other, thereby gripping the pair of gripped portions 801 by the gripping device 12. On the other hand, when the pair of grippers 121 move toward each other, the gripping device 12 releases the grip of the gripped portions 801. The movement of the pair of grippers 121 is realized by a grip drive mechanism 12m provided inside the grip main body 120.

[0042] In this embodiment, the multiple positioning portions 122 are provided so as to protrude downward from the gripping main body portion 120. Each of the multiple positioning portions 122 is provided at a position corresponding to a positioning recess 801c provided in the gripped portion 801 of the container 80. Each of the multiple positioning portions 122 is configured to fit into the corresponding positioning recess 801c, at least when the gripping device 12 is gripping the pair of gripped portions 801. Furthermore, when the transport vehicle 1 receives a container 80 placed on the support portion 91, each of the multiple positioning portions 122 fits into the positioning recess 801c as the gripping device 12 descends toward the support portion 91. In other words, each of the multiple positioning portions 122 fits into the positioning recess 801c before the gripping device 12 grips the pair of gripped portions 801. As a result, each of the pair of grippers 121 is positioned appropriately with respect to the corresponding gripped portion 801. Thereafter, by operating the pair of grippers 121, it becomes possible to appropriately grip the pair of gripped portions 801.

[0043] As described above, the first container 81 and the second container 82 differ in their detailed configuration. That is, the first distance L1 (see FIG. 6) between the pair of first gripped portions 811 is smaller than the second distance L2 (see FIG. 7) between the pair of second gripped portions 821. The transport vehicle 1 according to the present disclosure is configured to be able to grip both the first container 81 and the second container 82, which have such different configurations. This will be explained in detail below.

[0044] The transport vehicle 1 is equipped with a discrimination device 14 that discriminates the type of container 80 to be gripped by the gripping device 12. Before gripping the container 80, the transport vehicle 1 discriminates the type of the container 80 using the discrimination device 14. After discriminating the type of the target container 80, which is the container 80 to be gripped, the transport vehicle 1 performs a gripping operation to grip the target container 80 according to the discriminated type. In this embodiment, the control device C controls the discrimination device 14. As described above, the control device C also controls the traveling device 11, the gripping device 12, and the lifting device 13.

[0045] 6 and 7, in this embodiment, when a target container 80 supported by a support unit 91 (see FIG. 2) disposed below the travel path R is gripped by the gripping device 12, the control device C lowers the gripping device 12 to a gripping reference position P so that the pair of grippers 121 are disposed between the pair of target gripped portions 801 and the gripping operation direction (first direction X in this example) is a direction along the arrangement direction Dx of the pair of target gripped portions 801, and identifies the type of the target container 80 with the discrimination device 14. Then, based on the discrimination result by the discrimination device 14, the control device C controls the amount of movement of the pair of grippers 121 along the gripping operation direction. In this embodiment, the control device C separates the pair of grippers 121 so that the distance between the pair of grippers 121 in the gripping operation direction corresponds to the distance between the pair of target gripped portions 801.

[0046] The discrimination device 14 includes a first detector 141 and a second detector 142. In this embodiment, the first detector 141 and the second detector 142 are provided in the gripping device 12. The discrimination device 14 detects the first container 81 using the first detector 141, and detects the second container 82 using the second detector 142.

[0047] A detectable portion T is provided on each of the first gripped portion 811 of the first container 81 and the second gripped portion 821 of the second container 82. The detectable portion T is a part of the target gripped portion 801 that is detected by the first detector 141 or the second detector 142. In this example, the detectable portion T provided on the first gripped portion 811 is detected by the first detector 141. The detectable portion T provided on the second gripped portion 821 is detected by the second detector 142.

[0048] In this embodiment, the detection part T is a positioning recess 801c provided on the upper surface of each of the first gripped part 811 and the second gripped part 821 (specifically, the upper surface of the plate-shaped part 801b).

[0049] In the present embodiment, some of the positioning recesses 801c provided in the pair of first gripped portions 811 of the first container 81 are the detection portion T detected by the first detector 141. In the example shown in Fig. 6, one of the four positioning recesses 801c provided in the pair of first gripped portions 811 is set as the detection portion T detected by the first detector 141. The first detector 141 is arranged at a position overlapping the detection portion T (positioning recess 801c) of the first gripped portion 811 in a vertical view when the gripping device 12 is arranged at the gripping reference position P.

[0050] In the present embodiment, some of the positioning recesses 801c provided in the pair of second gripped portions 821 of the second container 82 are the detection portion T detected by the second detector 142. In the example shown in Fig. 7, one of the four positioning recesses 801c provided in the pair of second gripped portions 821 is set as the detection portion T detected by the second detector 142. The second detector 142 is arranged at a position overlapping the detection portion T (positioning recess 801c) of the second gripped portion 821 in a vertical view when the gripping device 12 is arranged at the gripping reference position P.

[0051] The first detector 141 is attached to the gripping device 12 and is configured to detect the detectable portion T of the first gripped portion 811 while not detecting the detectable portion T of the second gripped portion 821 when the gripping device 12 is positioned at the gripping reference position P.

[0052] As shown in Figure 6, in this embodiment, when the gripping device 12 is positioned at the gripping reference position P, the first detector 141 is positioned so as to overlap the detection portion T (positioning recess 801c) of the first gripped portion 811 in an up-down view, but not to overlap the detection portion T of the second gripped portion 821 (see Figure 7) in an up-down view.

[0053] The second detector 142 is attached to the gripping device 12 and is configured to detect the detectable portion T of the second gripped portion 821 while not detecting the detectable portion T of the first gripped portion 811 when the gripping device 12 is positioned at the gripping reference position P.

[0054] As shown in Figure 7, in this embodiment, when the gripping device 12 is positioned at the gripping reference position P, the second detector 142 is positioned so as to overlap the detection portion T (positioning recess 801c) of the second gripped portion 821 in an up-down view, but not overlap the detection portion T of the first gripped portion 811 (see Figure 6) in an up-down view.

[0055] 6, the first detector 141 is disposed on the same side as the second detector 142 in the gripping operation direction (first direction X) with respect to the center position A1 between the pair of grippers 121. The first detector 141 is disposed inside (closer to the center position A1) than the second detector 142 in the gripping operation direction (first direction X).

[0056] In this embodiment, the first detector 141 includes a first detection body 141a supported so as to be vertically movable relative to the gripping device 12, and a first sensor 141s that detects the vertical movement of the first detection body 141a.

[0057] In this embodiment, some of the multiple positioning units 122 provided on the gripping device 12 are set as the first detection body 141a. As described above, in this example, the gripping device 12 is provided with four positioning units 122, and one of the four positioning units 122 is set as the first detection body 141a.

[0058] A hole (not shown) that opens to the inside and outside of the grip main body 120 is formed in the bottom of the grip main body 120. The first detection body 141a is arranged to pass through the hole. The hole is configured to guide the first detection body 141a so that it can move up and down, and to restrict the horizontal movement of the first detection body 141a. This allows the first detection body 141a to move up and down freely relative to the grip main body 120, while its horizontal movement is restricted.

[0059] As the entire gripping device 12 is lowered by the lifting device 13, the first detection body 141a comes into contact with the detection part T (positioning recess 801c) of the first gripped part 811 before the gripping device 12 is positioned at the gripping reference position P. As the gripping device 12 further lowers, the first detection body 141a moves upward relative to the gripping main body part 120 and is pushed into the gripping main body part 120. Then, as the gripping device 12 continues to lower further, the gripping device 12 is positioned at the gripping reference position P.

[0060] When the gripping device 12 is placed at the gripping reference position P, the first detection body 141a fits into the positioning recess 801c of the first gripped portion 811 from above, and is placed at a position where it does not come into contact with the second gripped portion 821 (see also FIG. 7). The gripping device 12 is positioned relative to the first gripped portion 811 by fitting the first detection body 141a into the positioning recess 801c.

[0061] The first sensor 141s is provided inside the grip main body 120. The first sensor 141s detects whether the first detection body 141a is fitted into the positioning recess 801c (detected portion T) based on the up and down movement of the first detection body 141a. When the first sensor 141s detects that the first detection body 141a is fitted into the positioning recess 801c, it is determined that the first detector 141 has detected the detected portion T of the first gripped portion 811.

[0062] In this embodiment, the first sensor 141s includes a light-emitting / receiving unit (a lower light-emitting / receiving unit Sd1 described later) having a light-emitting unit and a light-receiving unit, and is configured to detect the state of the first detection body 141a based on whether or not the optical axis is blocked. In a normal state in which the first detection body 141a is not in contact with the detection target T, the optical axis of the first sensor 141s is blocked by a part of the first detection body 141a. When the first detection body 141a is pressed by the detection target T of the first gripped portion 811 and protrudes into the grip main body 120, the blocking of the optical axis of the first sensor 141s is released (the light-receiving unit receives light from the light-emitting unit). As a result, the first sensor 141s detects that the first detection body 141a is fitted into the positioning recess 801c (the detection target T).

[0063] In this embodiment, the first sensor 141s detects that the gripping device 12 is at its lowermost position based on the vertical movement of the first detection body 141a. The gripping device 12 is at its lowermost position when it is lowered further than the position shown in FIG. 6, i.e., when the extension 121b of the gripper 121 is adjacent to (or in contact with) the first container body 810 with a small gap therebetween. If the gripping device 12 descends beyond its lowermost position, the extension 121b of the gripper 121 and the first container body 810 may come into strong contact, potentially resulting in a transfer error. Therefore, when the first sensor 141s detects that the gripping device 12 has reached its lowermost position, the control device C stops the lifting device 13 from lowering the gripping device 12.

[0064] In this embodiment, the first sensor 141s includes a lower light-emitting / receiving unit Sd1 and an upper light-emitting / receiving unit Su1 disposed above the lower light-emitting / receiving unit Sd1. Whether the first detection body 141a is fitted into the positioning recess 801c (detected portion T) is detected based on whether the optical axis is blocked by the lower light-emitting / receiving unit Sd1. Whether the gripping device 12 is at its lower limit is detected based on whether the optical axis is blocked by the upper light-emitting / receiving unit Su1. In this example, when the amount of protrusion of the first detection body 141a into the gripping main body 120 reaches a preset amount, a part of the first detection body 141a blocks the optical axis of the upper light-emitting / receiving unit Su1. The set amount is determined appropriately based on the relationship with the lower limit of the gripping device 12.

[0065] In this way, the control device C determines that the target container 80 is the first container 81 by the first detector 141, and detects that the gripping device 12 is at its lowering limit relative to the first container 81.

[0066] As described above, in this embodiment, the gripping device 12 is provided with four positioning portions 122 arranged corresponding to the pair of first gripped portions 811 and the pair of second gripped portions 821. One of the four positioning portions 122 is the first detection body 141a. When the target container 80 is the first container 81, the first detection body 141a fits into the positioning recess 801c (detection portion T) of the first gripped portion 811. As shown in FIG. 6(a), in this example, the positioning portion 122 of the four positioning portions 122 arranged diagonally relative to the first detection body 141a in a vertical view fits into the positioning recess 801c of a first gripped portion 811 different from the first gripped portion 811 in which the positioning recess 801c (detection portion T) into which the first detection body 141a fits is provided. That is, the gripping device 12 is positioned with respect to the first container 81 by two of the four positioning units 122 that are arranged diagonally when viewed in the up-down direction. One of the two positioning units 122 serves as a first detection body 141a and detects that the target container 80 is the first container 81.

[0067] When the control device C determines that the target container 80 is the first container 81, it causes the gripping drive mechanism 12m to move the pair of gripping bodies 121 apart until the distance corresponds to the first distance L1. As a result, the extension portions 121b of the pair of gripping claws 121C are positioned below the plate-like portions 801b of the pair of first gripped portions 811.

[0068] After separating the pair of gripping bodies 121 until the distance therebetween corresponds to the first distance L1, the control device C causes the lifting device 13 to raise the gripping device 12. As a result, the pair of gripping bodies 121 lift the pair of first gripped portions 811 from below. Then, gripping of the first container 81 by the gripping device 12 is completed.

[0069] In this embodiment, when the gripping device 12 grips the pair of first gripped portions 811 of the first container 81, the first detector 141 detects the detectable portion T of the first gripped portions 811, and the second detector 142 does not detect the detectable portion T of the first gripped portions 811. As a result, even when the gripping device 12 grips the target container 80, the discrimination device 14 can determine that the target container 80 is the first container 81. Therefore, even if the gripping device 12 does not memorize the type of the held container 80 after gripping the target container 80, the discrimination result by the discrimination device 14 can be constantly referenced while the target container 80 is being held. Such discrimination result can be used, for example, in a transport operation for transporting the target container 80, an elevation operation for raising and lowering the target container 80, a release operation for releasing the grip of the target container 80, etc.

[0070] 7, the second detector 142 is disposed on the same side as the first detector 141 in the gripping operation direction (first direction X) with respect to the center position A1 between the pair of grippers 121. The second detector 142 is disposed outside the first detector 141 in the gripping operation direction (first direction X) (on the opposite side from the center position A1).

[0071] In this embodiment, the second detector 142 includes a second detection body 142a supported so as to be vertically movable relative to the gripping device 12, and a second sensor 142s that detects the vertical movement of the second detection body 142a.

[0072] In this embodiment, some of the multiple positioning units 122 provided on the gripping device 12 are set as second detection bodies 142a. As described above, in this example, the gripping device 12 is provided with four positioning units 122, and one of the four positioning units 122 is set as the second detection body 142a.

[0073] In this embodiment, a hole (not shown) that opens to the inside and outside of the grip main body 120 is formed in the bottom of the grip main body 120. The second detection body 142a is arranged to pass through the hole. The hole is configured to guide the second detection body 142a so that it can move up and down, and to restrict movement of the second detection body 142a in the horizontal direction. This allows the second detection body 142a to move up and down freely relative to the grip main body 120, while its movement in the horizontal direction is restricted.

[0074] As the entire gripping device 12 is lowered by the lifting device 13, the second detection body 142a comes into contact with the detection part T (positioning recess 801c) of the second gripped part 821 before the gripping device 12 is positioned at the gripping reference position P. As the gripping device 12 further lowers, the second detection body 142a moves upward relative to the gripping main body part 120 and is pushed into the gripping main body part 120. Then, as the gripping device 12 continues to lower further, the gripping device 12 is positioned at the gripping reference position P.

[0075] When the gripping device 12 is placed at the gripping reference position P, the second detection body 142a fits into the positioning recess 801c of the second gripped portion 821 from above, and is placed at a position where it does not come into contact with the first gripped portion 811 (see also FIG. 6). The gripping device 12 is positioned relative to the second gripped portion 821 by fitting the second detection body 142a into the positioning recess 801c.

[0076] The second sensor 142s is provided inside the grip main body 120. The second sensor 142s detects whether the second detection body 142a is fitted into the positioning recess 801c based on the up and down movement of the second detection body 142a. When the second sensor 142s detects that the second detection body 142a is fitted into the positioning recess 801c, the second detector 142 is deemed to have detected the detection portion T of the second gripped portion 821.

[0077] In this embodiment, the second sensor 142s includes a light-emitting / receiving unit (a lower light-emitting / receiving unit Sd2 described later) having a light-emitting unit and a light-receiving unit, and is configured to detect the state of the second detection body 142a based on whether or not the optical axis is blocked. In a normal state in which the second detection body 142a is not in contact with the detection target T, the optical axis of the second sensor 142s is blocked by a part of the second detection body 142a. When the second detection body 142a is pressed by the detection target T of the second gripped portion 821 and protrudes into the grip main body 120, the blocking of the optical axis of the second sensor 142s is released (the light-receiving unit receives light from the light-emitting unit). This allows the second sensor 142s to detect that the second detection body 142a is fitted into the positioning recess 801c (the detection target T).

[0078] In this embodiment, the second sensor 142s detects that the gripping device 12 is at its lowermost position based on the vertical movement of the second detection body 142a. The gripping device 12 is at its lowermost position when it is lowered further than the position shown in FIG. 7 , i.e., when the extension 121b of the gripper 121 is adjacent to (or in contact with) the second container body 820 with a small gap between them. If the gripping device 12 descends beyond its lowermost position, the extension 121b of the gripper 121 and the second container body 820 may come into strong contact, potentially resulting in a transfer error. Therefore, when the second sensor 142s detects that the gripping device 12 has reached its lowermost position, the control device C stops the lifting device 13 from lowering the gripping device 12.

[0079] In this embodiment, the second sensor 142s includes a lower light-emitting / receiving unit Sd2 and an upper light-emitting / receiving unit Su2 disposed above the lower light-emitting / receiving unit Sd2. Whether the second detection body 142a is fitted into the positioning recess 801c (detected portion T) is detected based on whether the optical axis is blocked by the lower light-emitting / receiving unit Sd2. Whether the gripping device 12 is at its lower limit is detected based on whether the optical axis is blocked by the upper light-emitting / receiving unit Su2. In this example, when the amount of protrusion of the second detection body 142a into the gripping main body 120 reaches a preset amount, a part of the second detection body 142a blocks the optical axis of the upper light-emitting / receiving unit Su2. The set amount is determined appropriately based on the relationship with the lower limit of the gripping device 12.

[0080] In this way, the control device C determines that the target container 80 is the second container 82 by the second detector 142, and detects that the gripping device 12 is at its lowering limit relative to the second container 82.

[0081] In this embodiment, one of the four positioning units 122 provided on the gripping device 12 is the second detection body 142a. When the target container 80 is the second container 82, the second detection body 142a fits into a positioning recess 801c (detection target portion T) of the second gripped portion 821. As shown in FIG. 7(a), in this example, the positioning unit 122 of the four positioning units 122 that is arranged diagonally relative to the second detection body 142a in a vertical direction fits into a positioning recess 801c of a second gripped portion 821 that is different from the second gripped portion 821 in which the positioning recess 801c (detection target portion T) into which the second detection body 142a fits is provided. In other words, the gripping device 12 is positioned with respect to the second container 82 by two of the four positioning units 122 that are arranged diagonally relative to the second container 82 in a vertical direction. Then, one of the two positioning units 122 detects that the target container 80 is the second container 82 as the second detection body 142a.

[0082] When the control device C determines that the target container 80 is the second container 82, it causes the gripping drive mechanism 12m to move the pair of gripping bodies 121 apart until the distance corresponds to the second distance L2. As a result, the extension portions 121b of the pair of gripping claws 121C are positioned below the plate-like portions 801b of the pair of second gripped portions 821.

[0083] After separating the pair of grippers 121 until the distance therebetween corresponds to the second distance L2, the control device C causes the lifting device 13 to raise the gripping device 12. This causes the pair of grippers 121 to lift the pair of second gripped portions 821 from below. Then, gripping of the second container 82 by the gripping device 12 is completed.

[0084] In this embodiment, when the gripping device 12 grips the pair of second gripped portions 821 of the second container 82, the first detector 141 does not detect the detectable portion T of the second gripped portions 821, and the second detector 142 detects the detectable portion T of the second gripped portions 821. As a result, even when the gripping device 12 is gripping the target container 80, the discrimination device 14 can determine that the target container 80 is the second container 82. Therefore, even if the gripping device 12 does not memorize the type of the held container 80 after gripping the target container 80, the discrimination result by the discrimination device 14 can be constantly referenced while the target container 80 is being held. Such discrimination result can be used, for example, in a transport operation for transporting the target container 80, an elevation operation for raising and lowering the target container 80, a release operation for releasing the grip of the target container 80, etc.

[0085] According to the transport vehicle 1 described above, it is possible to identify the type of each of the plurality of types of containers 80 and to grip the plurality of types of containers 80.

[0086] Other Embodiments Next, other embodiments of the transport vehicle will be described.

[0087] (1) In the above embodiment, an example has been described in which the first detector 141 and the second detector 142 are arranged on the same side in the gripping operation direction (first direction X) with respect to the center position A1 between the pair of grippers 121. However, the present invention is not limited to this example. As shown in FIG. 8 , the first detector 141 and the second detector 142 may be arranged on opposite sides in the gripping operation direction (first direction X) with respect to the center position A1 between the pair of grippers 121. Note that in the illustrated example, the first detector 141 and the second detector 142 are arranged at the same position in the second direction Y (a direction perpendicular to the gripping operation direction when viewed from the up-down direction). However, the first detector 141 and the second detector 142 may be arranged at different positions in the second direction Y.

[0088] (2) In the above embodiment, an example has been described in which the first detector 141 includes the first detection body 141a and the first sensor 141s that detects the up-and-down movement of the first detection body 141a, and the second detector 142 includes the second detection body 142a and the second sensor 142s that detects the up-and-down movement of the second detection body 142a. However, this is not limiting. For example, as shown in FIG. 9 , the first detector 141 may be configured using an optical sensor that projects light from a hole h1 in the grip main body 120 to detect the first gripped portion 811. Furthermore, the second detector 142 may be configured using an optical sensor that projects light from a hole h2 in the grip main body 120 to detect the second gripped portion 821.

[0089] (3) In the above embodiment, an example has been described in which the detectable portion T is the positioning recess 801c provided on the upper surface of each of the first gripped portion 811 and the second gripped portion 821. However, without being limited to such an example, the detectable portion T may be any part of each of the first gripped portion 811 and the second gripped portion 821, and may be, for example, the upper surface itself of each of the first gripped portion 811 and the second gripped portion 821. Alternatively, the detectable portion T may be part or all of a separate member attached to each of the first gripped portion 811 and the second gripped portion 821.

[0090] (4) In the above embodiment, an example has been described in which the pair of grippers 121 are configured to grip the pair of gripped portions 801 from the inside of the arrangement direction Dx by moving between them in the gripping operation direction (first direction X). However, without being limited to this example, the pair of grippers 121 may be configured to be disposed outside the pair of target gripped portions 801 in the arrangement direction Dx and to grip the pair of gripped portions 801 from the outside of the arrangement direction Dx by moving toward each other in the gripping operation direction. In this case, the control device C lowers the gripping device 12 to the gripping reference position P so that the pair of grippers 121 are disposed outside the pair of target gripped portions 801 in the arrangement direction Dx and so that the gripping operation direction (first direction X) is a direction along the arrangement direction Dx of the pair of target gripped portions 801. Thereafter, the control device C operates the pair of gripping bodies 121 to approach each other along the gripping operation direction (first direction X).

[0091] (5) In the above embodiment, an example was described in which the multiple types of containers 80 included the first container 81 and the second container 82. The multiple types of containers 80 may include types of containers 80 other than the first container 81 and the second container 82. In this case, the discrimination device 14 may be provided with a number of detectors in addition to the first detector 141 and the second detector 142, depending on the types of containers 80.

[0092] (6) The configurations disclosed in the above-described embodiments may be combined with configurations disclosed in other embodiments as long as no contradictions arise. Regarding other configurations, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications may be made as appropriate within the scope of the present disclosure.

[0093] [Summary of the above embodiment] The above-described transport vehicle will now be described.

[0094] A transport vehicle that travels along a travel path and transports multiple types of containers including a first container and a second container, a gripping device that grips the container; a lifting device that lifts and lowers the gripping device; a discrimination device that discriminates the type of the container gripped by the gripping device, The container includes a container body and a pair of gripped portions that protrude upward from an upper surface of the container body and are gripped by the gripping device, The first container includes a first container body as the container body and a pair of first gripped portions as the pair of gripped portions, The second container includes a second container body as the container body and a pair of second gripped portions as the pair of gripped portions, The first gripped portion and the second gripped portion each have a detection portion, a first interval between the pair of first gripped portions in a direction along the upper surface of the first container body is smaller than a second interval between the pair of second gripped portions in a direction along the upper surface of the second container body; the discrimination device includes a first detector and a second detector; The gripping reference position is a relative position of the gripping device relative to the target container, which is a reference position for starting a gripping operation on the target container that is a container to be gripped, the first detector is attached to the gripping device and is configured to detect the detection portion of the first gripped part and not detect the detection portion of the second gripped part when the gripping device is placed at the gripping reference position; The second detector is attached to the gripping device and is configured to detect the detected portion of the second gripped part while not detecting the detected portion of the first gripped part when the gripping device is positioned at the gripping reference position.

[0095] According to this configuration, when the gripping device is positioned at the gripping reference position and the first detector detects the detectable portion of the first gripped portion, the target container can be determined to be the first container. Furthermore, when the gripping device is positioned at the gripping reference position and the second detector detects the detectable portion of the second gripped portion, the target container can be determined to be the second container. If the transport vehicle determines that the target container is the first container, it can properly grip the first container by performing a gripping action according to the first interval, which is the interval between the pair of first gripped portions. Furthermore, if the transport vehicle determines that the target container is the second container, it can properly grip the second container by performing a gripping action according to the second interval, which is the interval between the pair of second gripped portions. As described above, according to this configuration, a transport vehicle can be realized that is capable of identifying the type of each of multiple types of containers and gripping the multiple types of containers.

[0096] A control device for controlling the gripping device and the lifting device is further provided, the gripping device includes a pair of gripping bodies and a gripping drive mechanism that moves the pair of gripping bodies toward and away from each other in a gripping operation direction along a horizontal direction, The gripped portion of the target container is defined as a target gripped portion, and the direction in which a pair of the target gripped portions are arranged is defined as an arrangement direction. When the control device grips the target container supported by a support portion arranged below the travel path, the control device lowers the gripping device to the gripping reference position so that a pair of grippers are arranged between a pair of target gripped portions and the gripping operation direction is along the arrangement direction, and discriminates the type of the target container by the discrimination device; When the control device determines that the target container is the first container, it causes the gripping drive mechanism to separate the pair of gripping bodies until the distance becomes equal to the first distance, and when it determines that the target container is the second container, it causes the gripping drive mechanism to separate the pair of gripping bodies until the distance becomes equal to the second distance, It is preferable that the control device separates the pair of gripping bodies to a distance corresponding to the first distance or the second distance, and then raises the gripping device using the lifting device.

[0097] According to this configuration, when the gripping device is in the gripping reference position, a pair of grippers is disposed between a pair of target gripped portions. Then, the target container can be gripped by separating the pair of grippers until the distance between the pair of target gripped portions corresponds to the distance between the pair of target gripped portions. That is, according to this configuration, the pair of target gripped portions can be gripped from the inside in the arrangement direction. Therefore, the gripping device can be made smaller in the arrangement direction compared to a configuration in which the pair of target gripped portions are gripped from the outside in the arrangement direction.

[0098] When the gripping device is gripping the pair of first gripped portions of the first container, the first detector detects the detection portions of the first gripped portions, and the second detector does not detect the detection portions of the first gripped portions, It is preferable that when the gripping device is gripping a pair of the second gripped portions of the second container, the first detector does not detect the detected portions of the second gripped portions, and the second detector detects the detected portions of the second gripped portions.

[0099] According to this configuration, even when the gripping device is gripping the target container, it is possible to determine whether the target container is a first container or a second container. Therefore, even if the gripping device does not memorize the type of container it is gripping after gripping the target container, it is possible to always refer to the discrimination result by the discrimination device while gripping the target container. Such discrimination result can be used, for example, in a transport operation to transport the target container, a lifting operation to lift the target container, and a release operation to release the grip of the target container.

[0100] the detected portion is a positioning recess provided on an upper surface of each of the first gripped portion and the second gripped portion, the first detector includes a first detection body supported so as to be vertically movable relative to the gripping device, and a first sensor that detects the vertical movement of the first detection body; the second detector includes a second detection body supported so as to be vertically movable relative to the gripping device, and a second sensor that detects the vertical movement of the second detection body; the first detection body is fitted into the positioning recess of the first gripped part from above when the gripping device is placed at the gripping reference position, and is placed at a position where it does not come into contact with the second gripped part; the second detection body is fitted into the positioning recess of the second gripped part from above when the gripping device is placed at the gripping reference position, and is placed at a position where it does not come into contact with the first gripped part; the first detection body is fitted into the positioning recess, thereby positioning the gripping device relative to the first gripped part; the second detection body is fitted into the positioning recess, thereby positioning the gripping device relative to the second gripped part; the first sensor detects whether the first detection body is fitted into the positioning recess based on the up and down movement of the first detection body; the first detector determines that the detection target portion of the first gripped portion has been detected when the first sensor detects that the first detection body is fitted into the positioning recess; the second sensor detects whether the second detection body is fitted into the positioning recess based on the up and down movement of the second detection body; It is preferable that the second detector detects the detected portion of the second gripped portion when the second sensor detects that the second detection body is fitted into the positioning recess.

[0101] According to this configuration, the first detection body can be used to not only identify the first container but also position the gripping device relative to the first gripped part. Furthermore, the second detection body can be used to not only identify the second container but also position the gripping device relative to the second gripped part. Thus, according to this configuration, the first detection body and the second detection body have the functions of identifying the container and positioning the gripping device, which reduces the number of components and facilitates miniaturization of the device. [Industrial Applicability]

[0102] The technology according to the present disclosure can be used in a transport vehicle that travels along a travel path and transports multiple types of containers including a first container and a second container. [Explanation of symbols]

[0103] 1: Transport vehicle 12: Gripping device 12m: Grip drive mechanism 121: Grip body 13: Lifting device 14:Discrimination device 141: First detector 141a: First detection body 141s: First sensor 142: Second detector 142a: Second detection body 142s: Second sensor 80: Container 800: Container body 801:Gripped part 801c: Positioning recess T: Detection target 81 :1st container 810: First container body 811: First gripped part 82:Second container 820: Second container body 821: Second gripped part 91: Support part C: Control device L1: 1st interval L2: Second interval P: Holding reference position R:walk the road Dx: Arrangement direction

Claims

1. A transport vehicle that travels along a travel path and transports multiple types of containers including a first container and a second container, a gripping device that grips the container; a lifting device that lifts and lowers the gripping device; a discrimination device that discriminates the type of the container gripped by the gripping device, The container includes a container body and a pair of gripped portions that protrude upward from an upper surface of the container body and are gripped by the gripping device, The first container includes a first container body as the container body and a pair of first gripped portions as the pair of gripped portions, The second container includes a second container body as the container body and a pair of second gripped portions as the pair of gripped portions, The first gripped portion and the second gripped portion each have a detection portion, a first interval between the pair of first gripped portions in a direction along the upper surface of the first container body is smaller than a second interval between the pair of second gripped portions in a direction along the upper surface of the second container body; the discrimination device includes a first detector and a second detector; The gripping reference position is a relative position of the gripping device relative to the target container, which is a reference position for starting a gripping operation on the target container that is a container to be gripped, the first detector is attached to the gripping device and is configured to detect the detection portion of the first gripped part and not detect the detection portion of the second gripped part when the gripping device is placed at the gripping reference position; The second detector is attached to the gripping device and is configured to detect the detected portion of the second gripped part while not detecting the detected portion of the first gripped part when the gripping device is positioned at the gripping reference position.

2. A control device for controlling the gripping device and the lifting device is further provided, the gripping device includes a pair of gripping bodies and a gripping drive mechanism that moves the pair of gripping bodies toward and away from each other in a gripping operation direction along a horizontal direction, The gripped portion of the target container is defined as a target gripped portion, and the direction in which a pair of the target gripped portions are arranged is defined as an arrangement direction. When the control device grips the target container supported by a support portion arranged below the travel path, the control device lowers the gripping device to the gripping reference position so that a pair of grippers are arranged between a pair of target gripped portions and the gripping operation direction is along the arrangement direction, and discriminates the type of the target container by the discrimination device; When the control device determines that the target container is the first container, it causes the gripping drive mechanism to separate the pair of gripping bodies until the distance becomes equal to the first distance, and when it determines that the target container is the second container, it causes the gripping drive mechanism to separate the pair of gripping bodies until the distance becomes equal to the second distance, The transport vehicle according to claim 1 , wherein the control device separates the pair of gripping bodies until the distance therebetween corresponds to the first distance or the second distance, and then causes the lifting device to raise the gripping device.

3. When the gripping device is gripping the pair of first gripped portions of the first container, the first detector detects the detection portions of the first gripped portions, and the second detector does not detect the detection portions of the first gripped portions, The transport vehicle described in claim 1 or 2, wherein when the gripping device is gripping a pair of the second gripped portions of the second container, the first detector does not detect the detected portions of the second gripped portions, and the second detector detects the detected portions of the second gripped portions.

4. the detected portion is a positioning recess provided on an upper surface of each of the first gripped portion and the second gripped portion, the first detector includes a first detection body supported so as to be vertically movable relative to the gripping device, and a first sensor that detects the vertical movement of the first detection body; the second detector includes a second detection body supported so as to be vertically movable relative to the gripping device, and a second sensor that detects the vertical movement of the second detection body; the first detection body is fitted into the positioning recess of the first gripped part from above when the gripping device is placed at the gripping reference position, and is placed at a position where it does not come into contact with the second gripped part; the second detection body is fitted into the positioning recess of the second grasped part from above when the gripping device is placed at the gripping reference position, and is placed at a position where it does not come into contact with the first grasped part; the first detection body is fitted into the positioning recess, thereby positioning the gripping device with respect to the first gripped portion; the second detection body is fitted into the positioning recess, thereby positioning the gripping device relative to the second gripped portion; the first sensor detects whether the first detection body is fitted into the positioning recess based on the up and down movement of the first detection body; the first detector determines that the detection portion of the first gripped portion has been detected when the first sensor detects that the first detection body is fitted into the positioning recess; the second sensor detects whether the second detection body is fitted into the positioning recess based on the up and down movement of the second detection body; The transport vehicle described in claim 1 or 2, wherein the second detector detects that the detected portion of the second gripped portion has been detected when the second sensor detects that the second detection body is fitted into the positioning recess.

Images