Conveying equipment
The conveying system addresses improper container support by using guided engaging portions and support portions to ensure accurate alignment and transfer between transport vehicles and stands, enhancing transfer efficiency.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- DAIFUKU CO LTD
- Filing Date
- 2023-07-12
- Publication Date
- 2026-06-23
Smart Images
Figure 0007878191000001 
Figure 0007878191000002 
Figure 0007878191000003
Abstract
Description
Technical Field
[0001] The present invention relates to a conveying facility including a container support base for supporting a container, a holding device for holding and releasing the container, a lifting device for raising and lowering the holding device, and a transport vehicle for transporting the container.
Background Art
[0002] For example, Japanese Patent Application Laid-Open No. 2016-94263 (Patent Document 1) discloses a technique related to a conveying facility. Hereinafter, the reference numerals shown in parentheses in the description of the background art are those of Patent Document 1.
[0003] The conveying facility of Patent Document 1 includes a container support base (support base 4) for supporting a container (conveyed object 6) and a transport vehicle (ceiling transport vehicle 1) for transporting the container. The transport vehicle includes a holding device (support mechanism 23) for holding the container and a lifting device (lifting operation mechanism 24) for raising and lowering the holding device. In this conveying facility, the holding device is raised and lowered between a transport position where the transport vehicle transports the container and a transfer position corresponding to the container placed on the container support base below the transport position, thereby transferring the container between the transport vehicle and the container support base.
Prior Art Documents
Patent Documents
[0004]
Patent Document 1
Summary of the Invention
Problems to be Solved by the Invention
[0005] In a transport system like the one described in Patent Document 1, the holding device is provided with a pair of support parts that support the supported portion of the container. The pair of support parts move closer to and further apart from each other, changing their position from one where they can support the supported portion from below to one where they release the support from the supported portion. The container is held in the holding device by the support of the supported portion of the container by the pair of support parts. In this case, the container support stand may be provided with a positioning part for positioning the container. Therefore, if the supported portion of the container is not properly supported by the pair of support parts, it may not be possible to properly transfer the container to the container support stand.
[0006] Therefore, a transport system capable of appropriately transferring containers between the container support stand and the transport vehicle is desired. [Means for solving the problem]
[0007] The transport equipment relating to this disclosure comprises a container support base for supporting containers, a holding device for holding and releasing the containers, and a transport vehicle for transporting the containers, the transport equipment comprising a container support base for supporting containers, a holding device for holding and releasing the holding device, and a lifting device for raising and lowering the holding device, The holding device comprises a first support portion and a second support portion, which are a pair of support portions that support the supported portion of the container; a holding drive portion that changes the position of the pair of support portions to a holding position for holding the container and a holding release position for releasing the container by moving the pair of support portions closer to and further apart from each other; a first engaging portion fixed to the first support portion; and a second engaging portion fixed to the second support portion. The container support base comprises a container positioning portion for positioning the container, a first engaged portion whose position is fixed relative to the container positioning portion and which engages with the first engaging portion to position the first engaging portion, and a second engaged portion whose position is fixed relative to the container positioning portion and which engages with the second engaging portion to position the second engaging portion. The movement by which the pair of support parts change their posture from the release position to the holding position is defined as the holding operation. At least one of the holding device and the container support base includes a first guide portion that guides the first engaging portion, which moves in conjunction with the holding operation of the first support portion, toward the first engaged portion, and a second guide portion that guides the second engaging portion, which moves in conjunction with the holding operation of the second support portion, toward the second engaged portion.
[0008] According to this configuration, by utilizing the movement of the first engaging portion and the second engaging portion accompanying the holding operation of the first support portion and the second support portion of the holding device, the first guide portion guides the first engaging portion toward the first engaged portion to engage the first engaging portion, and the second guide portion guides the second engaging portion toward the second engaged portion to engage the second engaging portion. This allows the first engaging portion and the second engaging portion to be positioned in appropriate locations, and consequently, the first support portion to which the first engaging portion is fixed and the second support portion to which the second engaging portion is fixed can be positioned in appropriate locations relative to the container positioned in the container positioning portion. Therefore, it becomes easy to properly support the container with the pair of support portions. Thus, the holding device can be raised and lowered by the lifting device while properly holding the container. Thus, with this configuration, containers can be properly transferred between the container support stand and the transport vehicle.
[0009] Further features and advantages of the conveying equipment will become clear from the following description of exemplary and non-limiting embodiments, which will be explained with reference to the drawings. [Brief explanation of the drawing]
[0010] [Figure 1] Side view of the conveying equipment [Figure 2] Side view of the transport vehicle [Figure 3] A schematic side view showing the holding device, container support base, and container. [Figure 4] A schematic side view showing the holding device, container support base, and container. [Figure 5] A schematic plan view showing a pair of support and supported parts. [Figure 6]A schematic side view showing the state in which the first engaging portion engages with the first engaged portion. [Figure 7] Plan view of the first engaged portion and the first guide portion [Figure 8] Plan view of the second engaged portion and the second guide portion [Figure 9] Front cross-sectional view of the first engaged portion [Figure 10] Control block diagram [Figure 11] Plan view showing the first engaged portion and the first guide portion of another embodiment [Figure 12] Plan view showing the first engaged portion and the first guide portion of another embodiment [Figure 13] Enlarged view of the main part of the conveying equipment in another embodiment. [Modes for carrying out the invention]
[0011] An embodiment of the conveying equipment will be described with reference to the drawings. As shown in Figure 1, the conveying equipment 1 comprises a container support stand 3 that supports a container 2 and a transport vehicle 6 that transports the container 2. In this embodiment, the container support stand 3 is provided on the processing device 9. The processing device 9 is a device that processes the contents contained in the container 2. The transport vehicle 6 travels along a route and transports the container 2 to a transfer target location. The transfer target location may be, for example, a storage shelf (not shown) that houses the container 2 or the container support stand 3 of the processing device 9.
[0012] As shown in Figures 1 and 2, the travel path of the transport vehicle 6 is arranged along the ceiling. Here, rails 11 are provided along the travel path. In this example, the transport vehicle 6 travels guided by rails 11 (in this case, a pair of rails 11) suspended and supported from the ceiling. Thus, the transport vehicle 6 is described as a so-called ceiling transport vehicle, but it is not limited to this.
[0013] In this example, the conveying equipment 1 is provided with a plurality of processing devices 9 (only one of them is shown in the example of FIG. 1). The transport cart 6 transports the container 2 between the plurality of processing devices 9. Each of the plurality of processing devices 9 is provided with a container support base 3. The container support base 3 supports the container 2 transferred from the transport cart 6. Further, it supports the container 2 unloaded from the processing device 9. The transport cart 6 stops at a position corresponding to the container support base 3 in the travel route (the position directly above the container support base 3) and performs the transfer of the container 2 with the container support base 3. In this example, as the container 2 to be conveyed, a container (FOSB: Front Opening Shipping Box) for accommodating a semiconductor substrate is used, but it is not limited thereto. For example, the container 2 may be a (FOUP: Front Opening Unified Pod) or a reticle storage container (so-called reticle pod) for accommodating a reticle. In the processing device 9, processing is performed on the semiconductor substrate accommodated in the container 2. Further, the container support base 3 is provided with a transfer device for transferring the container 2 to and from the inside of the processing device 9, but the description of the transfer device is omitted. Note that the container support base 3 described below may be provided on a storage shelf for accommodating the container 2. In that case, the storage shelf may be installed on the floor surface or may be supported by being suspended from the ceiling. Further, the container support base 3 does not necessarily have to be provided with the above-described transfer device.
[0014] As shown in FIGS. 1 and 2, the transport cart 6 includes a holding device 4 for holding and releasing the container 2, and a lifting device 5 for lifting and lowering the holding device 4. In the present embodiment, the transport cart 6 further includes a traveling unit 16, a main body unit 19 connected to the traveling unit 16 and accommodating the container 2, and a control unit H. The holding device 4 and the lifting device 5 are provided in the main body unit 19.
[0015] As shown in FIG. 2, the traveling unit 16 includes wheels 17 that roll on the rails 11 and a traveling motor M1. In this example, the traveling motor M1 drives at least one of the plurality of wheels 17 to apply a propulsive force for the carrier 6 to move guided by the pair of rails 11. The main body 19 is supported by the traveling unit 16 and is disposed below the traveling unit 16 with the rail 11 interposed therebetween.
[0016] As shown in FIG. 1, the lifting device 5 raises and lowers the container 2 held by the holding device 4 between the storage position V1 and the lowering position V2 below the storage position V1. When the carrier 6 travels, the lifting device 5 raises the container 2 held by the holding device 4 from the lowering position V2 to the storage position V1. Further, when transferring the container 2 from the carrier 6 to the container support base 3, the lifting device 5 lowers the container 2 held by the holding device 4 from the storage position V1 to the lowering position V2. The storage position V1 is the position where the main body 19 stores the container 2. In the examples of FIGS. 1 and 2, a cover 20 is provided on the main body 19. The cover 20 is attached so as to cover both outer sides of the main body 19 in the traveling direction of the carrier 6. Then, the container 2 is stored in the storage space below the main body 19 and covered by the cover 20. The storage position V1 is the position where the container 2 is stored in the storage space covered by the cover 20. The lowering position V2 is the position where the container 2 is supported by the container support base 3. In the example of FIG. 1, the lowering position V2 is the position where the container 2 is placed on a predetermined area of the container support base 3 provided in the processing device 9. The specific configuration of the container support base 3 will be described later. Note that the cover 20 does not necessarily have to be provided.
[0017] In this example, the holding device 4 is configured to move up and down in conjunction with the raising and lowering of the container 2. In the example shown in Figure 2, the lifting device 5 comprises a winding body 51 supported by the main body 19, a belt 52 wound around the winding body 51 with the holding device 4 connected to its tip, and a lifting motor (not shown) that rotates the winding body 51 to drive the belt 52. The lifting device 5 rotates the winding body 51 by the drive of the lifting motor, winding and unwinding the belt 52, thereby raising and lowering the holding device 4 and the container 2 held by the holding device 4 relative to the main body 19.
[0018] As shown in Figures 1 to 4, the holding device 4 comprises a first support part 41 and a second support part 42, which are a pair of support parts 40 that support the supported part 21 of the container 2; a holding drive part 43 that changes the posture of the pair of support parts 40; a first engaging part 44 fixed to the first support part 41; and a second engaging part 45 fixed to the second support part 42. In the following description, the direction in which the pair of support parts 40 move closer together and further apart will be referred to as the first direction X, and the direction perpendicular to the first direction X in the vertical Z view will be referred to as the second direction Y. Furthermore, for each of the pair of support parts 40, the side on which the support part 40 is located in the release posture T2 relative to the support part 40 in the holding posture T1 will be referred to as the first direction release side X2, and the opposite side will be referred to as the first direction holding side X1. Also, one side of the second direction Y will be referred to as the second direction first side Y1, and the opposite side will be referred to as the second direction second side Y2. Here, the first direction X and the second direction Y are considered to be directions along the horizontal plane. Furthermore, the first direction X is the same as the direction of travel of the transport vehicle 6. In this embodiment, the first support portion 41 and the second support portion 42 are arranged to be spaced apart in the first direction X with the container 2 in the storage position V1 in between.
[0019] As shown in Figures 3 and 4, the holding drive unit 43 changes the posture of a pair of support parts 40 (first support part 41, second support part 42) from a holding posture T1 for holding the container 2 to a holding release posture T2 for releasing the container 2 by moving the pair of support parts 40 closer together and further apart. In this embodiment, the holding drive unit 43 changes the posture of the pair of support parts 40 from the holding release posture T2 to the holding posture T1 by moving the pair of support parts 40 closer together. Also, the holding drive unit 43 changes the posture of the pair of support parts 40 from the holding posture T1 to the holding release posture T2 by moving the pair of support parts 40 further apart. In this example, the holding drive unit 43 includes a linear motion guide mechanism 54 that guides each of the pair of support parts 40 in a first direction X, and a drive motor (not shown). The pair of support parts 40 are supported by the linear motion guide mechanism 54 (here, a linear rail). Furthermore, the pair of support parts 40 are connected to a drive motor via a ball screw (not shown). By rotating the ball screw driven by the drive motor, the pair of support parts 40 move in a first direction X while being guided by the linear motion guide mechanism 54. In this way, the pair of support parts 40 change their posture from a holding posture T1 to a release posture T2 by moving toward and toward each other in the first direction X. When transferring the container 2 being transported by the transport vehicle 6 to the container support stand 3, the container 2 is lowered from the storage position V1 to the lowered position V2 while maintaining the holding posture T1 of the pair of support parts 40. After that, the pair of support parts 40 change their posture from the holding posture T1 to the release posture T2. As a result, the container 2 is supported on the container support stand 3. When transferring the container 2 supported on the container support stand 3 to the transport vehicle 6, the pair of support parts 40 change their posture from the release posture T2 to the holding posture T1, and then the container 2 is raised from the lowered position V2. As a result, the container 2 is supported by a pair of support parts 40. Then, after the container 2 is further raised to the storage position V1, the transport vehicle 6 transports the container 2 to its next destination. The configuration of this control will be described in detail later.
[0020] As shown in Figures 1 to 4, the first support portion 41 comprises a first arm portion 61 and a first support plate portion 62. The second support portion 42 also comprises a second arm portion 63 and a second support plate portion 64, similar to the first support portion 41. In this example, the first support portion 41 and the second support portion 42 have the same structure. Therefore, the configuration of the first support portion 41 will be described in detail below, and the configuration of the second support portion 42 may be omitted from the description.
[0021] As shown in Figures 2, 3, and 4, the first arm portion 61 is a plate-shaped member oriented in the vertical direction Z and the second direction Y. The upper end of the first arm portion 61 is connected to the linear motion guide mechanism 54. In the illustrated example, the first arm portion 61 is connected to the linear motion guide mechanism 54 via a first connecting member 65. A first support plate portion 62 is connected to the lower end of the first arm portion 61. As shown in Figure 5, the first support plate portion 62 is a plate-shaped member oriented in the first direction X and the second direction Y. In this example, the first arm portion 61 is positioned so as to overlap the side surface (the surface facing the first direction X) of the container 2 at the storage position V1 when viewed in the first direction X. The lower end of the first arm portion 61 is positioned below the supported portion 21 of the container 2 at the storage position V1. The first support plate portion 62 is positioned to protrude inward in the first direction X (towards the container 2 in the housing position V1) relative to the lower end of the first arm portion 61, and is positioned to overlap with the supported portion 21 of the container 2 when viewed in the vertical direction Z.
[0022] In this example, the supported portion 21 of the container 2 is the bottom portion 25 of the container 2. More specifically, the supported portion 21 is the ends of the bottom portion 25 in the first direction X. The supported portion 21 is the entire area that overlaps with the first support plate portion 62 and the second support plate portion 64 in the vertical Z direction when the container 2 is supported by the pair of support portions 40. Here, the supported portion 21 that overlaps with the first support plate portion 62 in the vertical Z direction is called the first supported portion 21a, and the supported portion 21 that overlaps with the second support plate portion 64 in the vertical Z direction is called the second supported portion 21b. The shape of the supported portion 21 can be changed as appropriate. For example, the supported portion 21 may be formed to be recessed above the bottom surface of the bottom portion 25 other than the supported portion 21, or it may be formed as a plate-shaped member that protrudes outward in the first direction X from the main body portion of the container 2 that contains the contents. In the illustrated example, the supported portion 21 is simply flat, similar to the bottom surface of the bottom portion 25 other than the supported portion 21. In this embodiment, as shown in Figures 3 to 5, a third engaged portion 23 and a fourth engaged portion 24 are provided on the supported portion 21 of the container 2. The third engaged portion 23 is provided on the first supported portion 21a, and the fourth engaged portion 24 is provided on the second supported portion 21b. In the illustrated example, each of the third engaged portion 23 and the fourth engaged portion 24 is an insertion hole recessed above the supported portion 21. In the example in Figure 5, these insertion holes are formed in the central portion of the second direction Y in each of the first supported portion 21a and the second supported portion 21b. In the illustrated example, the container 2 is not provided with a flange protruding upward from the body of the container 2, but in the conveying equipment 1 of this embodiment, a container 2 provided with a flange can also be used.
[0023] As shown in Figures 3 to 5, the first support portion 41 is provided with a third engaging portion 48 that engages with a third engaging portion 23 provided on the supported portion 21 of the container 2. The second support portion 42 is provided with a fourth engaging portion 49 that engages with a fourth engaging portion 24 provided on the supported portion 21 of the container 2. The third engaging portion 48 is provided on the first support plate portion 62 of the first support portion 41. The fourth engaging portion 49 is provided on the second support plate portion 64 of the second support portion 42. Here, the third engaging portion 48 is a pin that protrudes upward from the first support plate portion 62. Similarly, the fourth engaging portion 49 is a pin that protrudes upward from the second support plate portion 64. In the illustrated example, the third engaging portion 48 engages with the third engaged portion 23 when a pin, which is the third engaging portion 48, is inserted into the insertion hole, which is the third engaged portion 23, and the fourth engaging portion 49 engages with the fourth engaged portion 24 when a pin, which is the fourth engaging portion 49, is inserted into the insertion hole, which is the fourth engaged portion 24. In the example of Figure 5, the third engaging portion 48 is located in the central part of the first support plate portion 62 in the second direction Y, and the fourth engaging portion 49 is located in the central part of the second support plate portion 64 in the second direction Y.
[0024] As shown in Figures 1 to 5, the first engaging portion 44 and the second engaging portion 45 are each formed in a convex shape that protrudes downward. The first engaging portion 44 is supported by the first arm portion 61 of the first support portion 41 via the first holding member 46. The second engaging portion 45 is supported by the second arm portion 63 of the second support portion 42 via the second holding member 47. In this embodiment, as shown in Figure 5, the first engaging portion 44 and the second engaging portion 45 are positioned inward in the first direction X than both outer edges in the first direction X of the pair of support portions 40. Also, the first engaging portion 44 and the second engaging portion 45 are positioned outward in the second direction first side Y1 than the edge of the second direction first side Y1 of the pair of support portions 40. In this example, the first engaging portion 44 is positioned on the first direction holding side X1 and the second direction first side Y1 with respect to the first arm portion 61 and the first support plate portion 62. The second engaging portion 45 is positioned on the first holding side X1 and the second first side Y1 relative to the second arm portion 63 and the second support plate portion 64. Therefore, the first holding member 46 and the second holding member 47 are provided to protrude inward in the first direction X (first holding side X1) and in the second first side Y1 relative to the pair of support portions 40 (Figure 5).
[0025] As described above, the first engaging portion 44 is fixed to the first support portion 41. Therefore, the first engaging portion 44 moves in the first direction X together with the first support portion 41. The second engaging portion 45 is fixed to the second support portion 42. Therefore, the second engaging portion 45 moves in the first direction X together with the second support portion 42. In this embodiment, the first engaging portion 44 and the second engaging portion 45 have the same structure. The first engaging portion 44 is a rod-shaped body that is long in the vertical direction Z. As shown in Figures 2 to 4 and Figure 6, the first engaging portion 44 is supported by the first arm portion 61 and positioned so that the lower end of the first engaging portion 44 is below the first support plate portion 62. Similarly, the second engaging portion 45 is a rod-shaped body that is long in the vertical direction Z. The second engaging portion 45 is supported by the second arm portion 63, and is positioned such that the lower end of the second engaging portion 45 is below the second support plate portion 64. In this embodiment, as shown in Figure 6, the lower part of the first engaging portion 44 is tapered over its entire circumferential region, with the horizontal dimension decreasing towards the bottom. Thus, the first engaging portion 44 has a first engaging guide surface 71 that is tapered over its entire circumferential region. The lower part of the second engaging portion 45 is tapered over its entire circumferential region, with the horizontal dimension decreasing towards the bottom. Thus, the second engaging portion 45 has a second engaging guide surface 81 that is tapered over its entire circumferential region (Figures 3 and 4). In the examples of Figures 2 to 4, a retaining member 57 is provided on the holding device 4. The retaining member 57 is located below the holding drive portion 43 and is positioned between the pair of support portions 40. The pressing member 57 contacts the upper surface of the container 2 while the container 2 is supported by the pair of support parts 40. The pressing member 57 allows the container 2 held by the holding device 4 to be stably supported.
[0026] As shown in Figures 3 to 6, the container support base 3 includes a container positioning section 30 for positioning the container 2, a first engaged section 31 whose position is fixed relative to the container positioning section 30 and which engages with the first engaging section 44 to position the first engaging section 44, and a second engaged section 32 whose position is fixed relative to the container positioning section 30 and which engages with the second engaging section 45 to position the second engaging section 45. The first engaged section 31 and the second engaged section 32 are arranged on the container support base 3 to correspond to the first engaging section 44 and the second engaging section 45 of a pair of support sections 40 in a holding position T1. Specifically, the first engaged section 31 and the second engaged section 32 are spaced apart in the first direction X with the container positioning section 30 in between. Furthermore, the first engaged section 31 and the second engaged section 32 are arranged on the first side Y1 in the second direction relative to the container positioning section 30. The container positioning portion 30, the first engaged portion 31, and the second engaged portion 32 are respectively provided on the upper surface of the container support base 3. In this example, the container positioning portion 30 includes a plurality of pins (e.g., kinematic pins) for positioning the container 2 placed on the container support base 3. In the illustrated example, the container positioning portion 30 (i.e., the plurality of pins) is provided on the support body portion 29 provided on the upper surface of the container support base 3. As shown in Figure 5, the bottom portion 25 of the container 2 has a plurality of engagement holes 22 for engaging with each of the plurality of pins. The container 2 is then supported on the container support base 3 (in this case, the support body portion 29) with the pins of the container positioning portion 30 and the engagement holes 22 engaged.
[0027] As shown in Figures 6 to 9, the first engaged portion 31 and the second engaged portion 32 are each formed in a concave shape that opens upward. When the pair of support portions 40 are in the holding position T1, the first engaged portion 31 can engage with the convex first engaging portion 44, and the second engaged portion 32 can engage with the convex second engaging portion 45. Specifically, the first engaging portion 44 can be inserted into and engage with the first engaged portion 31 from above, and the second engaging portion 45 can be inserted into and engage with the second engaged portion 32 from above. Hereafter, the engaged state will be simply referred to as the "engaged state," and the state that is not the "engaged state" will be simply referred to as the "unengaged state." In this embodiment, the first engaged portion 31 and the second engaged portion 32 also open to the first release side X2. Therefore, the first engaged portion 31 and the second engaged portion 32, when engaged, are not restricted from moving toward the first direction release side X2. Consequently, each of the first engaged portion 31 and the second engaged portion 32, when engaged, can move toward the first direction release side X2 as the pair of support portions 40 changes their posture from a holding posture T1 to a holding posture T2. Also, each of the first engaged portion 31 and the second engaged portion 32, when unengaged, can move toward the first direction holding side X1 as the pair of support portions 40 changes their posture from a holding posture T2 to a holding posture T1. Here, neither the first engaged portion 31 nor the second engaged portion 32 opens toward the first direction holding side X1. Therefore, once the first engaged portion 44 engages with the first engaged portion 31, it is restricted from moving further toward the first direction holding side X1. Similarly, once the second engaged portion 45 engages with the second engaged portion 32, it is restricted from moving further toward the first direction holding side X1. In this way, the first engaging portion 44 and the second engaging portion 45 are positioned in the engaged state. In this example, the movement of the first engaging portion 44 and the second engaging portion 45 in the second direction Y is also restricted at each of the first engaged portion 31 and the second engaged portion 32.
[0028] As shown in Figures 1, 3, 4, and 6, in this example, the container support base 3 includes a first guide member 12 and a second guide member 13. The first engaged portion 31 is formed on the first guide member 12. The second engaged portion 32 is formed on the second guide member 13. Each of the first guide member 12 and the second guide member 13 has a groove 14 that is open on the upper side. Here, the groove 14 is formed to be open only on the upper side. The first guide member 12 and the second guide member 13 are provided on the upper surface of the container support base 3 and are arranged separately in the first direction X with the support body 29 in between. In the illustrated example, such a groove 14 is formed to include the entire range of the movement trajectory of the first engaged portion 44 or the second engaged portion 45 in the first direction X, so that the first engaged portion 44 or the second engaged portion 45 inserted into the groove 14 from above can move in the first direction X. In the example shown in Figure 7, a first engaged portion 31 is formed at the end of the groove 14 of the first guide member 12 on the first direction holding side X1. The shape of the first engaged portion 31 in the vertical Z-direction corresponds to the shape of the first engaging portion 44 in the vertical Z-direction (here, an arc shape). Furthermore, the size of the first engaged portion 31 in the vertical Z-direction corresponds to the size of the first engaging portion 44 in the vertical Z-direction. In the example shown in Figure 8, a second engaged portion 32 is formed at the end of the groove 14 of the second guide member 13 on the first direction holding side X1. The shape of the second engaged portion 32 in the vertical Z-direction corresponds to the shape of the second engaging portion 45 in the vertical Z-direction (here, an arc shape). Furthermore, the size of the second engaged portion 32 in the vertical Z-direction corresponds to the size of the second engaging portion 45 in the vertical Z-direction. Note that the structures of the first guide member 12 and the second guide member 13 are the same. Therefore, the configuration of the first guide member 12 will be explained in detail, while the explanation of the configuration of the second guide member 13 may be omitted.
[0029] As shown in Figures 7 and 8, the holding operation is defined as the movement in which a pair of support parts 40 change their posture from a release posture T2 to a holding posture T1. At least one of the holding device 4 and the container support base 3 includes a first guide part 7 that guides the first engaging part 44, which moves in conjunction with the holding operation of the first support part 41, toward the first engaged part 31, and a second guide part 8 that guides the second engaging part 45, which moves in conjunction with the holding operation of the second support part 42, toward the second engaged part 32. In this embodiment, the container support base 3 includes the first guide part 7 and the second guide part 8. Specifically, the first guide part 7 is formed on the first guide member 12, and the second guide part 8 is formed on the second guide member 13. The holding device 4 also includes the first guide part 7 and the second guide part 8. Specifically, the first guide part 7 is formed on the first engaging part 44, and the second guide part 8 is formed on the second engaging part 45. In this embodiment, the first guide portion 7 guides the first engaging portion 44 as it moves in conjunction with the holding operation of the first support portion 41, and also guides the first engaging portion 44 as it moves in conjunction with the downward movement of the holding device 4. Here, the former guidance is performed by the first guide portion 7 provided on the container support base 3, and the latter guidance is performed by the cooperation of the first guide portion 7 provided on the container support base 3 and the first guide portion 7 provided on the holding device 4. Furthermore, the second guide portion 8 guides the second engaging portion 45 as it moves in conjunction with the holding operation of the second support portion 42, and also guides the second engaging portion 45 as it moves in conjunction with the downward movement of the holding device 4. Here, the former guidance is performed by the second guide portion 8 provided on the container support base 3, and the latter guidance is performed by the cooperation of the second guide portion 8 provided on the container support base 3 and the second guide portion 8 provided on the holding device 4.
[0030] As shown in Figure 9, in this embodiment, the first guide portion 7 includes at least one of a tapered guide surface (first engaging guide surface 71) formed at the lower part of the first engaging portion 44, with its horizontal dimension decreasing as it extends downwards, and a tapered guide surface (first engaged guide surface 72) formed at the upper part of the first engaged portion 31, with its horizontal dimension increasing as it extends upwards. The second guide portion 8 includes at least one of a tapered guide surface (second engaging guide surface 81) formed at the lower part of the second engaging portion 45, with its horizontal dimension decreasing as it extends downwards, and a tapered guide surface (second engaged guide surface 82) formed at the upper part of the second engaged portion 32, with its horizontal dimension increasing as it extends upwards. In this example, the first guide portion 7 includes both the first engaging guide surface 71 and the first engaged guide surface 72. Similarly, the second guide portion 8 includes both a second engaging guide surface 81 and a second engaged guide surface 82. The structures of the first guide portion 7 and the second guide portion 8 are the same. Therefore, the specific configuration of the first guide portion 7 will be explained, and the explanation of the configuration of the second guide portion 8 will be omitted. As described above, the first engaging guide surface 71 is formed in a tapered shape over the entire circumferential area of the lower part of the first engaging portion 44, with the horizontal dimension decreasing towards the bottom. In the illustrated example, the portion of the first engaging portion 44 where the first engaging guide surface 71 is located is frustoconical in horizontal view. The first engaged guide surface 72 is formed in the groove 14 of the first guide member 12 where the first engaged portion 31 is formed. In the example of Figure 9, the groove 14 of the first engaging portion 44 is formed such that the upper part is wider horizontally than the lower part in first direction X view, and more specifically, it is Y-shaped. The first engaged guide surface 72 is formed on the upper part of the Y-shaped groove 14. In the examples of Figures 6 and 7, the first engaged guide surface 72 is formed in an arc shape corresponding to the shape of the first engaged portion 31. In the examples of Figures 7 and 8, the cross-sectional shape of the groove 14 of the first guide member 12 and the second guide member 13 is Y-shaped when viewed in the first direction X at any position in the first direction X.
[0031] In this embodiment, as shown in Figure 7, the first guide portion 7 is connected to the first engaged portion 31 and includes a pair of tapered first guide surfaces 74 that widen in the second direction Y as they move toward the first release direction X2. Also, as shown in Figure 8, the second guide portion 8 is connected to the second engaged portion 32 and includes a pair of tapered second guide surfaces 84 that widen in the second direction Y as they move toward the first release direction X. As described above, the structures of the first guide portion 7 and the second guide portion 8 are the same. Therefore, a detailed explanation of the specific configuration of the second guide surfaces 84 is omitted. In this example, the pair of first guide surfaces 74 are arranged separated in the second direction Y with the groove portion 14 in between. Also, in this example, the pair of first guide surfaces 74 are formed continuously from the first engaged portion 31 and the first engaged guide surface 72. In the example shown in Figure 7, the pair of first guide surfaces 74 are formed continuously from both ends of the first engaged portion 31 and the first engaged guide surface 72 in the second direction Y, and from the end of the first release side X2 toward the first release side X2. In this example, the pair of first guide surfaces 74 are further formed in a tapered shape that widens toward the second direction Y as it extends upward. Thus, the first guide surfaces 74 are inclined surfaces that widen toward the first release side X2 and toward the second direction Y as they extend upward.
[0032] In this example, as shown in Figure 7, the first guide member 12 further comprises a first release-side positioning portion 33 and a first release-side guide portion 35. Also, as shown in Figure 8, the second guide member 13 further comprises a second release-side positioning portion 36 and a second release-side guide portion 38. The first release-side positioning portion 33, the first release-side guide portion 35, the second release-side positioning portion 36, and the second release-side guide portion 38 are each formed in the groove portion 14. Note that the configurations of the first release-side positioning portion 33 and the first release-side guide portion 35 are the same as those of the second release-side positioning portion 36 and the second release-side guide portion 38. Therefore, a detailed explanation of the specific configurations of the second release-side positioning portion 36 and the second release-side guide portion 38 is omitted. In the illustrated example, the first release-side positioning portion 33 is formed at the end of the groove portion 14 of the first guide member 12 on the first direction release-side X2. As described above, the groove portion 14 is open only on the upper side. Therefore, when the first engaging portion 44 is inserted into the first release side X2 end of the groove 14, the first engaging portion 44 is restricted by the first release side positioning portion 33 from moving further to the first release side X2 than the first release side positioning portion 33. Similarly, the second engaging portion 45 is also restricted by the second release side positioning portion 36 from moving further to the first release side X2 than the second release side positioning portion 36. The first release side positioning portion 33 is formed in an arc shape corresponding to the shape and size of the first engaging portion 44, similar to the first engaged portion 31. The first release side guide portion 35 is formed in the groove 14 of the first guide member 12 to connect the pair of first guide surfaces 74 and the first release side positioning portion 33. In other words, a pair of first release side guide portions 35 are formed in the groove 14. The ends of the pair of first release-side guide portions 35 on the first direction release side X2 are tapered, widening in the second direction Y as they approach the first direction holding side X1, and guide the first engaging portion 44 as it moves from the first direction holding side X1 to the first release-side positioning portion 33. Furthermore, the portion of the pair of first release-side guide portions 35 on the first direction holding side X1, rather than the end of the first direction release side X2, is formed to follow the first direction X. In addition, a tapered guide surface (first release-side guide surface 34) is formed over the entire upper area between the first release-side positioning portion 33 and the first release-side guide portion 35, with the horizontal dimension increasing as it moves upward.The first engaged guide surface 72 may include the first release-side guide surface 34. As shown in Figure 8, a tapered guide surface (second release-side guide surface 37) is also formed over the entire upper area between the second release-side positioning portion 36 and the second release-side guide portion 38, with the horizontal dimension increasing as it moves upward. The second engaged guide surface 82 may include the second release-side guide surface 37.
[0033] In this embodiment, as shown in Figure 10, the control unit H controls the travel unit 16, the lifting device 5, and the holding drive unit 43. The control unit H is connected to a higher-level controller C that controls the entire transport equipment 1 in a manner that allows for mutual communication. The control unit H is configured to control the travel unit 16, the lifting device 5, and the holding drive unit 43 according to the content of commands received from the higher-level controller C. The control unit H performs transport control to transport the container 2 between a plurality of processing devices 9, and transfer control to transfer the container 2 between the container support base 3 and the processing device 9. In transport control, the control unit H controls the travel unit 16 (travel motor M1) to move the transport vehicle 6 toward the processing device 9 to be transferred, based on a transport command from the higher-level controller C. Then, the control unit H stops the transport vehicle 6 at a stopping position corresponding to the container support base 3 of the processing device 9 to be transferred (a position directly above the support body 29 of the container support base 3).
[0034] Subsequently, the control unit H performs transfer control on the stationary transport vehicle 6. Here, we will describe the control for transferring the container 2, which is placed on the container support base 3, to the transport vehicle 6. The control unit H controls the lifting device 5 to lower the holding device 4 toward the container support base 3. At this time, the pair of support parts 40 are in the release position T2. As shown in Figure 6, the control unit H lowers the holding device 4 so that the first support plate part 62 and the second support plate part 64 are below the bottom part 25 (supported part 21) of the container 2 supported by the support body part 29. When the holding device 4 is lowered in this way, the first engaging part 44 of the first support part 41 is inserted into the first release-side positioning part 33 formed in the groove part 14 of the first guide member 12 (Figure 6). Similarly, the second engaging part 45 of the second support part 42 is inserted into the second release-side positioning part 36 formed in the groove part 14 of the second guide member 13. Subsequently, the control unit H controls the holding drive unit 43 to perform a holding operation. In other words, the control unit H controls the holding drive unit 43 to change the posture of the pair of support parts 40 from a release posture T2 to a holding posture T1. As the posture of the pair of support parts 40 changes, the first engaging part 44 and the second engaging part 45 move their movement path in the groove 14 from the first direction release side X2 to the first direction holding side X1. When the pair of support parts 40 change their posture to the holding posture T1, the first engaging part 44 engages with the first engaged part 31 of the first guide member 12. Specifically, the first engaging part 44 moves from the first release side positioning part 33 along the first direction X and comes into contact with the end of the groove 14 of the first guide member 12 on the first direction holding side X1, which is the first engaged part 31 (Figure 6). Similarly, the second engaging portion 45 also moves along the first direction X from the second release-side positioning portion 36 and contacts the end of the groove portion 14 of the second guide member 13, which is the second engaged portion 32, on the first direction holding side X1. Next, the control unit H controls the lifting device 5 to raise the holding device 4. As a result, the pair of support portions 40 rise, and the supported portion 21 of the container 2 is supported by the pair of support portions 40. As shown in Figure 6, in this embodiment, the first support portion 41 and the second support portion 42, which are below the supported portion 21 of the container 2 and have entered a holding position T1 due to the holding operation, are raised by the lifting device 5, causing the third engaging portion 48 to engage with the third engaged portion 23 and the fourth engaging portion 49 to engage with the fourth engaged portion 24.Specifically, the third engaging portion 48 of the first support plate portion 62 engages with the third engaging portion 23 formed on the first supported portion 21a of the container 2. Similarly, the fourth engaging portion 49 of the second support plate portion 64 engages with the fourth engaging portion 24 formed on the second supported portion 21b of the container 2. As a result, the container 2 is supported by the pair of support portions 40. The control unit H controls the lifting device 5 to continue raising the holding device 4. As a result, the container 2 is lifted relative to the container support base 3 (in this case, the support body portion 29) and moves from the lowered position V2 (Figure 1) to the storage position V1 (Figure 2).
[0035] When the container 2, supported by the container support base 3, rises to the storage position V1, the control unit H moves the transport vehicle 6 according to the following transport command.
[0036] [Other Embodiments] (1) In the above embodiment, the first guide member 12 further comprises a first release-side positioning portion 33 and a first release-side guide portion 35, and in the groove portion 14, the first release-side positioning portion 33 is formed in an arc shape corresponding to the shape and size of the first engagement portion 44, and the second guide member 13 further comprises a second release-side positioning portion 36 and a second release-side guide portion 38, and in the groove portion 14, the second release-side positioning portion 36 is formed in an arc shape corresponding to the shape and size of the second engagement portion 45. However, the embodiment is not limited to this. The shape and size of the first release-side positioning portion 33 and the second release-side positioning portion 36 can be changed as appropriate as needed. One such example is shown in Figure 11. In Figure 11, the shape of the first release-side positioning portion 33 is an arc shape corresponding to the shape of the first engagement portion 44, but the dimension of the first release-side positioning portion 33 in the second direction Y is larger than the dimension of the first engagement portion 44 in the second direction Y. Therefore, the entire area of the first release-side guide portion 35 in the first direction X is formed in a tapered shape that narrows in the second direction Y as it approaches the first direction holding side X1. Also, as shown in the example in Figure 12, the groove portion 14 of the first guide member 12 may be formed to open not only on the upper side but also on the first direction release side X2. Thus, it is also possible to have a configuration in which the first release-side guide portion 35 is not formed on the first guide member 12. The second guide member 13 can also be configured in the same way as the first guide member 12.
[0037] (2) In the above embodiment, the first engaging portion 44 and the second engaging portion 45 are each formed in a convex shape that protrudes downward, and the first engaged portion 31 and the second engaged portion 32 are each formed in a concave shape that opens upward, but the embodiment is not limited to this. The first engaging portion 44 and the second engaging portion 45 may each be formed in a concave shape that opens downward, and the first engaged portion 31 and the second engaged portion 32 may each be formed in a convex shape that protrudes upward. Such an example is shown in Figure 13. In Figure 13, the first guide member 12 is attached to the first support portion 41. The groove portion 14 of the first guide member 12 opens downward. When the pair of support portions 40 are in the release position T2, the convex first engaged portion 31 is engaged with the end of the groove portion 14 on the first direction holding side X1. Then, as the pair of support parts 40 change their position from the release position T2 to the holding position T1, the first guide member 12 moves from the first direction release side X2 to the first direction holding side X1. When the pair of support parts 40 are in the holding position T1, the convex first engaged part 31 engages with the first engaged part 31 formed at the end of the groove part 14 on the first direction release side X2. Thus, the engagement mechanism between the first engaging part 44 and the first engaged part 31, and the engagement mechanism between the second engaging part 45 and the second engaged part 32 can be modified as appropriate.
[0038] (3) In the above embodiment, the holding device 4 and the container support base 3 are provided with a first guide portion 7 and a second guide portion 8, and the first guide portion 7 is formed on both the first engaging portion 44 and the first engaged portion 31, and the second guide portion 8 is formed on both the second engaging portion 45 and the second engaged portion 32. However, the embodiment is not limited to this configuration. In this case, the first guide portion 7 and the second guide portion 8 may be provided only on the side of the container support base 3. For example, the first engaged guide surface 72 as the first guide portion 7 may be formed on the first engaged portion 31, and the second engaged guide surface 82 as the second guide portion 8 may be formed on the second engaged portion 32, while the first engaging guide surface 71 may not be formed on the first engaging portion 44, and the second engaging guide surface 81 may not be formed on the second engaging portion 45. In this case, the lower shapes of the first engaging portion 44 and the second engaging portion 45 may be columnar (cylindrical, polygonal prism, etc.).
[0039] (4) In the above embodiment, the configuration in which the first engaging portion 44 and the second engaging portion 45 are positioned inside the first direction X beyond both outer edges of the pair of support portions 40 in the first direction X was described as an example, but the invention is not limited to this configuration. For example, the first engaging portion 44 and the second engaging portion 45 may be positioned outside the first direction X beyond both outer edges of the pair of support portions 40 in the first direction X. Alternatively, only one of the first engaging portion 44 and the second engaging portion 45 may be positioned inside the first direction X beyond both outer edges of the pair of support portions 40 in the first direction X. Thus, the arrangement of the first engaging portion 44 and the second engaging portion 45 can be changed as appropriate.
[0040] (5) In the above embodiment, the first guide portion 7 is connected to the first engaged portion 31 and has a pair of first guide surfaces 74 that are tapered and widen in the second direction Y as they move toward the first release direction X2, and the second guide portion 8 is connected to the second engaged portion 32 and has a pair of second guide surfaces 84 that are tapered and widen in the second direction Y as they move toward the first release direction X. However, the embodiment is not limited to this configuration. The first guide portion 7 may not have a pair of first guide surfaces 74, and the second guide portion 8 may not have a pair of second guide surfaces 84. Alternatively, the pair of first guide surfaces 74 may be arranged parallel to each other along the first direction X, and the pair of second guide surfaces 84 may be arranged parallel to each other along the first direction X. Thus, the first guide surfaces 74 and the second guide surfaces 84 do not necessarily have to be tapered.
[0041] (6) In the above embodiment, the first support portion 41 is provided with a third engaging portion 48 that engages with a third engaging portion 23 provided on the supported portion 21 of the container 2, and the second support portion 42 is provided with a fourth engaging portion 49 that engages with a fourth engaging portion 24 provided on the supported portion 21 of the container 2. However, the embodiment is not limited to this configuration. The first support portion 41 may not have a third engaging portion 48, and the second support portion 42 may not have a fourth engaging portion 49. On the other hand, in this example, the first support portion 41 is provided with one third engaging portion 48, and the second support portion 42 is provided with one fourth engaging portion 49. However, the first support portion 41 may have multiple third engaging portions 48, and the second support portion 42 may have multiple fourth engaging portions 49. In this example, the third engaging portion 48 is provided on the first support plate portion 62 and the fourth engaging portion 49 is provided on the second support plate portion 64. However, the third engaging portion 48 may be provided on the first arm portion 61 and the fourth engaging portion 49 may be provided on the second arm portion 63. In this case, the positions where the third engaged portion 48 and the fourth engaged portion 49 are formed on the container 2 can be appropriately changed depending on where the third engaging portion 48 and the fourth engaging portion 49 are provided.
[0042] (7) The configurations disclosed in each of the embodiments described above can be applied in combination with configurations disclosed in other embodiments (including combinations of embodiments described as other embodiments), as long as no inconsistencies arise. With regard to other configurations, the embodiments disclosed herein are merely illustrative in all respects. Therefore, various modifications can be made as appropriate without departing from the spirit of this disclosure.
[0043] [Summary of the above embodiments] The following is a summary of the conveying equipment described above.
[0044] The transport equipment relating to this disclosure comprises a container support base for supporting containers, a holding device for holding and releasing the containers, and a transport vehicle for transporting the containers, the transport equipment comprising a container support base for supporting containers, a holding device for holding and releasing the holding device, and a lifting device for raising and lowering the holding device, The holding device comprises a first support portion and a second support portion, which are a pair of support portions that support the supported portion of the container; a holding drive portion that changes the position of the pair of support portions to a holding position for holding the container and a holding release position for releasing the container by moving the pair of support portions closer to and further apart from each other; a first engaging portion fixed to the first support portion; and a second engaging portion fixed to the second support portion. The container support base comprises a container positioning portion for positioning the container, a first engaged portion whose position is fixed relative to the container positioning portion and which engages with the first engaging portion to position the first engaging portion, and a second engaged portion whose position is fixed relative to the container positioning portion and which engages with the second engaging portion to position the second engaging portion. The movement by which the pair of support parts change their posture from the release position to the holding position is defined as the holding operation. At least one of the holding device and the container support base includes a first guide portion that guides the first engaging portion, which moves in conjunction with the holding operation of the first support portion, toward the first engaged portion, and a second guide portion that guides the second engaging portion, which moves in conjunction with the holding operation of the second support portion, toward the second engaged portion.
[0045] According to this configuration, by utilizing the movement of the first engaging portion and the second engaging portion accompanying the holding operation of the first support portion and the second support portion of the holding device, the first guide portion guides the first engaging portion toward the first engaged portion to engage the first engaging portion, and the second guide portion guides the second engaging portion toward the second engaged portion to engage the second engaging portion. This allows the first engaging portion and the second engaging portion to be positioned in appropriate locations, and consequently, the first support portion to which the first engaging portion is fixed and the second support portion to which the second engaging portion is fixed can be positioned in appropriate locations relative to the container positioned in the container positioning portion. Therefore, it becomes easy to properly support the container with the pair of support portions. Thus, the holding device can be raised and lowered by the lifting device while properly holding the container. Thus, with this configuration, containers can be properly transferred between the container support stand and the transport vehicle.
[0046] Here, the first engaging portion and the second engaging portion are each formed in a convex shape that protrudes downward, Preferably, the first engaged portion and the second engaged portion are formed in a concave shape that opens upward.
[0047] In this configuration, the first engaging portion fixed to the first support portion engages with the first engaged portion of the container support base from above. Similarly, the second engaging portion fixed to the second support portion engages with the second engaged portion of the container support base from above. Therefore, the first and second engaging portions can be positioned appropriately with a relatively simple configuration. Furthermore, since both the first and second engaging portions are formed in a convex shape, it is easier to miniaturize and lighten the holding device compared to, for example, a case where they are formed in a concave shape.
[0048] Furthermore, the first guide portion includes at least one of a tapered guide surface formed at the lower part of the first engaging portion, which decreases in horizontal dimension as it extends downward, and a tapered guide surface formed at the upper part of the first engaged portion, which increases in horizontal dimension as it extends upward. The second guide portion preferably comprises at least one of a tapered guide surface formed at the lower part of the second engaging portion, the horizontal dimension of which decreases as it extends downward, and a tapered guide surface formed at the upper part of the second engaged portion, the horizontal dimension of which increases as it extends upward.
[0049] With this configuration, during the descent of the holding device for holding or releasing a container, the first guide portion and the second guide portion can guide the first engaging portion and the second engaging portion toward the appropriate position. This allows the first support portion to which the first engaging portion is fixed and the second support portion to which the second engaging portion is fixed to be positioned appropriately relative to the container positioning portion. Therefore, it becomes easier to properly perform the operations of holding and releasing the container by the holding device.
[0050] Furthermore, the direction in which the pair of support parts move closer together and further apart is defined as the first direction. Preferably, the first engaging portion and the second engaging portion are positioned inward in the first direction from both outer edges of the pair of support portions in the first direction.
[0051] This configuration makes it easy to miniaturize the holding device in the first direction. Therefore, it is easy to hold and release the container supported by the container support base without being hindered by obstacles around the container support base.
[0052] Furthermore, the container support base includes the first guide portion and the second guide portion, The direction in which the pair of support parts move closer together and further apart is defined as the first direction, the direction perpendicular to the first direction when viewed from above and below is defined as the second direction, and for each of the pair of support parts, the side on which the support part in the release position is located relative to the support part in the holding position is defined as the first direction release side. The first engaged portion and the second engaged portion also open on the first direction release side, The first guide portion is connected to the first engaged portion and comprises a pair of first guide surfaces that are tapered and widen in the second direction as they move toward the release side in the first direction. The second guide portion preferably comprises a pair of second guide surfaces that are connected to the second engaged portion and are tapered, widening in the second direction as they move toward the release side in the first direction.
[0053] This configuration allows for a simple implementation of a mechanism that utilizes the movement of the first engaging portion and the second engaging portion in a first direction accompanying the holding operation of the first support portion and the second support portion to guide the first engaging portion toward the first engaged portion with the first guide portion to engage the first engaging portion and the first engaged portion, and to guide the second engaging portion toward the second engaged portion with the second guide portion to engage the second engaging portion and the second engaged portion.
[0054] Furthermore, the first support portion includes a third engaging portion that engages with a third engaging portion provided on the supported portion of the container, The second support portion includes a fourth engaging portion that engages with a fourth engaging portion provided on the supported portion of the container, It is preferable that the first support portion and the second support portion, which are positioned in the holding position by the holding operation below the supported portion of the container, are raised by the lifting device, causing the third engaging portion to engage with the third engaged portion and the fourth engaging portion to engage with the fourth engaged portion.
[0055] With this configuration, the pair of support parts are properly supported by the container positioned on the container positioning part, making it easy to engage the third engaging part with the third engaged part and the fourth engaging part with the fourth engaged part. When the third engaging part engages with the third engaged part and the fourth engaging part engages with the fourth engaged part, the held container can be raised relative to the container support base while maintaining the correct posture.
[0056] The conveying equipment relating to this disclosure only needs to be able to achieve at least one of the effects described above. [Explanation of Symbols]
[0057] 1: Conveying equipment 2: Container 3: Container support stand 4: Holding device 5: Lifting device 6: Transport vehicle 7:1st information section 8:Second information section 21: Supported part 23: Third engaged part 24: 4th engaged part 30: Container positioning section 31: First engaged part 32: Second engaged part 40: Support part 41: 1st support part 42:Second support part 43: Holding drive unit 44: First engagement part 45: Second engagement part 48: Third engaging part 49: Fourth engagement part 71: First engagement guide surface 72: First engaged guide surface 74: First guide surface 81: Second engagement guide surface 82: Second engaged guide surface 84: Second guide surface T1: Holding posture T2: Hold release posture X: 1st direction X2: 1st direction release side Y: Second direction Z: Vertical direction
Claims
1. A transport system comprising a container support stand for supporting a container, a holding device for holding and releasing the container, and a lifting device for raising and lowering the holding device, and a transport vehicle for transporting the container, The holding device comprises a first support portion and a second support portion, which are a pair of support portions that support the supported portion of the container; a holding drive portion that changes the position of the pair of support portions to a holding position for holding the container and a holding release position for releasing the container by moving the pair of support portions closer to and further apart from each other; a first engaging portion fixed to the first support portion; and a second engaging portion fixed to the second support portion. The container support base comprises a container positioning portion for positioning the container, a first engaged portion whose position is fixed relative to the container positioning portion and which engages with the first engaging portion to position the first engaging portion, and a second engaged portion whose position is fixed relative to the container positioning portion and which engages with the second engaging portion to position the second engaging portion. The movement by which the pair of support parts change their posture from the release position to the holding position is defined as the holding operation. A conveying apparatus comprising, at least one of the holding device and the container support base, a first guide portion that guides the first engaging portion, which moves in conjunction with the holding operation of the first support portion, toward the first engaged portion, and a second guide portion that guides the second engaging portion, which moves in conjunction with the holding operation of the second support portion, toward the second engaged portion.
2. Each of the first and second engaging portions is formed in a convex shape that protrudes downward, The conveying equipment according to claim 1, wherein each of the first engaged portion and the second engaged portion is formed in a concave shape that opens upward.
3. The first guide portion comprises at least one of a tapered guide surface formed at the lower part of the first engaging portion, which decreases in horizontal dimension as it extends downward, and a tapered guide surface formed at the upper part of the first engaged portion, which increases in horizontal dimension as it extends upward. The conveying equipment according to claim 2, wherein the second guide portion comprises at least one of a tapered guide surface formed at the lower part of the second engaging portion, the horizontal dimension of which decreases as it extends downward, and a tapered guide surface formed at the upper part of the second engaged portion, the horizontal dimension of which increases as it extends upward.
4. The direction in which the pair of support parts move closer together and further apart is defined as the first direction. The conveying equipment according to claim 3, wherein the first engaging portion and the second engaging portion are positioned inward in the first direction from both outer edges in the first direction of the pair of support portions.
5. The container support base includes the first guide portion and the second guide portion, The direction in which the pair of support parts move closer together and further apart is defined as the first direction, the direction perpendicular to the first direction when viewed from above and below is defined as the second direction, and for each of the pair of support parts, the side on which the support part in the release position is located relative to the support part in the holding position is defined as the first direction release side. The first engaged portion and the second engaged portion also open on the first direction release side, The first guide portion is connected to the first engaged portion and comprises a pair of first guide surfaces that are tapered and widen in the second direction as they move toward the release side in the first direction. The conveying equipment according to any one of claims 2 to 4, wherein the second guide portion is connected to the second engaged portion and comprises a pair of second guide surfaces that are tapered and widen in the second direction as they move toward the release side in the first direction.
6. The first support portion includes a third engaging portion that engages with a third engaging portion provided on the supported portion of the container, The second support portion includes a fourth engaging portion that engages with a fourth engaging portion provided on the supported portion of the container, The conveying equipment according to claim 1, wherein the first support portion and the second support portion, which are in the holding position due to the holding operation below the supported portion of the container, are raised by the lifting device, causing the third engaging portion to engage with the third engaged portion and the fourth engaging portion to engage with the fourth engaged portion.