Transport vehicle

Abstract

To provide a technique that enables an article to be properly held and conveyed in a conveyance vehicle equipped with a holding device that holds and releases the hold of an article, and a regulation device that prevents the article held by the holding device from falling off.SOLUTION: A conveyance vehicle 1 includes a holding device 2 and a regulation device 3. The holding device 2 includes a pair of holding members 4 and a holding drive mechanism 5. A first holding member 14 includes a first extension part 41 and a first support part. A second holding member 15 includes a second extension part and a second support part 52. The regulation device 3 includes a first regulation mechanism 6 and a second regulation mechanism 7. The first restriction mechanism changes its posture between a first regulation posture P1 that regulates the movement of the first holding member 14 and a first regulation release posture. The second regulation mechanism 7 changes its posture between a second regulation posture Q1 that regulates the movement of the second holding member 15 and a second regulation release posture.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a carrier for transporting articles.

Background Art

[0002] For example, Japanese Patent Application Laid-Open No. 2009-040563 (Patent Document 1) discloses a technique related to a carrier. Hereinafter, the reference numerals shown in parentheses in the description of the background art are those of Patent Document 1.

[0003] The carrier (transport device 5) of Patent Document 1 includes a holding device (gripping mechanism portion 2) for holding an article (FOUP1), a pair of pressing mechanisms (51), and a telescopic mechanism (100a). The holding device includes a pair of gripping portions (15). And the pair of gripping portions (15) grip a flange portion (finger portion 16) provided on the upper portion of the article. Thus, the holding device is configured to suspend and support the article. The pair of pressing mechanisms (51) are provided so as to sandwich the article held by the holding device. In this carrier, during traveling, the article held by the holding device is sandwiched by the pair of pressing mechanisms (51), thereby reducing the shaking generated in the article as the carrier travels. Further, the telescopic mechanism (100a) is disposed so as to overlap the article in a vertical direction view below the article held by the holding device when the carrier is traveling. Thereby, it is possible to prevent the article from falling from the holding device.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] As described above, the transport vehicle in Patent Document 1 is configured to support the article from above, that is, to transport the article by supporting it from above. On the other hand, if, for example, the article does not have a flange portion, the transport vehicle may support the bottom of the article for transport. Even in a transport vehicle that transports an article while supporting its bottom in this way, depending on the magnitude of the vibrations and inertial forces acting on the transport vehicle, the article may shake relatively large or fall off the transport vehicle.

[0006] Therefore, there is a need for a transport vehicle equipped with a holding device for holding and releasing articles, and a regulating device for preventing articles held by the holding device from falling, that can properly hold and transport articles. [Means for solving the problem]

[0007] The transport vehicle relating to this disclosure is a transport vehicle for transporting articles, comprising a holding device for holding and releasing the articles, and a restricting device for preventing the articles held by the holding device from falling off. The holding device comprises a pair of holding members for holding the article, and a holding drive mechanism for changing the posture of the pair of holding members such that the pair of holding members are brought closer together to form a holding position for holding the article, and the pair of holding members are separated from each other to form a release position for releasing the article. The direction in which the pair of retaining members move closer together and further apart is defined as the retaining direction, one side of the retaining direction is defined as the first retaining direction side, the other side of the retaining direction is defined as the second retaining direction side, the member of the pair of retaining members positioned on the first retaining direction side is defined as the first retaining member, and the member positioned on the second retaining direction side is defined as the second retaining member. The first holding member comprises a first extending portion that is positioned on the first side in the holding direction with respect to the article and extends along the vertical direction, and a first supporting portion that is positioned to protrude from the first extending portion toward the second side in the holding direction and supports the bottom of the article from below. The second holding member comprises a second extending portion that is positioned on the second side in the holding direction with respect to the article and extends along the vertical direction, and a second supporting portion that is positioned to protrude from the second extending portion toward the first side in the holding direction and supports the bottom of the article from below. The regulatory device comprises a first regulatory mechanism and a second regulatory mechanism, The first regulating mechanism is configured to change its posture between a first regulating posture in which the first and second holding members restrict the movement of the first holding member toward the first side in the holding direction, and a first release posture in which the restriction of the first holding member is released. The second regulating mechanism is configured to change its posture between a second regulating posture in which the first and second holding members restrict the movement of the second holding member toward the second side in the holding direction, and a second unrestricted posture in which the restriction of the second holding member is released.

[0008] According to this configuration, since it includes a first restricting mechanism that restricts the movement of the first retaining member toward the first side in the retaining direction, and a second restricting mechanism that restricts the movement of the second retaining member toward the second side in the retaining direction, it is possible to restrict the widening of the distance between the first support and the second support in the retaining direction due to deflection or rattle of the retaining members. This prevents the article from falling out of the pair of retaining members. Furthermore, with this configuration, the movement of each of the pair of holding members is restricted when the first regulating mechanism is in the first regulating position and the second regulating mechanism is in the second regulating position, making it easier to reduce the shaking of the goods during transport by the transport vehicle. Furthermore, with this configuration, by changing the posture of the first restraining mechanism to the first release posture and the second restraining mechanism to the second release posture, it is possible to easily move the pair of holding members along the holding direction and change their posture between the holding posture and the release posture. Therefore, the holding and release of articles by the pair of holding members can be performed appropriately. Thus, with this configuration, items can be properly held and transported.

[0009] Further features and advantages of the transport vehicle will become clear from the following description of exemplary and non-limiting embodiments, which will be illustrated with reference to the drawings. [Brief explanation of the drawing]

[0010] [Figure 1] Schematic diagram of the conveying equipment [Figure 2] Side view of the transport vehicle [Figure 3] A schematic side view illustrating the transfer of an item using a holding device. [Figure 4] A schematic side view showing the first regulatory device in the first deregulated position. [Figure 5] A schematic side view showing the first regulating device in the first regulating position. [Figure 6] Plan view schematically showing the arrangement of the regulatory device in the first and second deregulation positions. [Figure 7] Plan view schematically showing the arrangement of the regulating device in the first and second regulating positions. [Figure 8] Control block diagram [Figure 9] Control flow diagram [Modes for carrying out the invention]

[0011] An example of an embodiment of the transport vehicle applied to the transport equipment 10 will be described based on the drawings. As shown in Figure 1, the transport equipment 10 comprises a transport vehicle 1 and a processing device 93 that processes articles W. The transport vehicle 1 transports articles W. The transport vehicle 1 also travels along a travel path, transporting articles W between transfer target locations 92. Transfer target locations 92 are, for example, storage shelves (not shown) that contain articles W, or articles support bases 94 of the processing device 93.

[0012] In this example, the transport equipment 10 is equipped with multiple processing units 93 (only one is shown in the example in Figure 1). Each of the transport vehicles 1 transports the goods W between the multiple processing units 93. The goods support stand 94 supports the goods W transferred from the transport vehicle 1. The goods support stand 94 also supports the goods W that are unloaded from inside the processing unit 93. The transport vehicle 1 stops at a position corresponding to the transfer target location 92 on its travel path (directly above the goods support stand 94) and transfers the goods W to and from the goods support stand 94. In this example, the goods W are containers. Specifically, the goods W are containers for housing semiconductor substrates (FOSB: Front Opening Shipping Box), but are not limited to this. For example, the goods W may be a (FOUP: Front Opening Unified Pod) or a reticle storage container for housing reticles (a so-called reticle pod), etc. The processing apparatus 93 performs processing on the semiconductor substrate contained in the item W (container), but for example, processing may be performed on the item W itself. The item support stand 94 is equipped with a transport device that transports the item W between the inside of the processing apparatus 93 and the transfer target location 92, but this is omitted from the description here. Note that the item W may be something other than a container, such as a product or a machine part.

[0013] As shown in Figures 1 and 2, the travel path of the transport vehicle 1 is arranged along the ceiling. In this example, rails 16 are provided along the travel path. The transport vehicle 1 travels guided by the rails 16 (in this case, a pair of rails 16) suspended and supported from the ceiling. Thus, the transport vehicle 1 is described as a so-called ceiling transport vehicle, but it is not limited to this.

[0014] As shown in FIG. 2, the carrier 1 includes a holding device 2 that holds and releases the article W, and a regulating device 3 that regulates the dropping of the article W held by the holding device 2. In the present embodiment, the carrier 1 further includes a traveling unit 11 that travels, a storage unit 12 that is supported by the traveling unit 11 and houses the holding device 2 and the article W held by the holding device 2 during the traveling of the traveling unit 11, and a lifting device 13 that raises and lowers the holding device 2 between inside and outside the storage unit 12. The carrier 1 also includes a control unit H that controls the traveling unit 11, the holding device 2, the lifting device 13, and the regulating device 3 (FIG. 8). Hereinafter, the direction in which the carrier 1 that conveys the article W travels is referred to as the "holding direction X", and the direction orthogonal to the holding direction X in a top-down view is referred to as the "width direction Y". Also, one side of the holding direction X is referred to as the "first side X1 of the holding direction", and the other side of the holding direction X is referred to as the "second side X2 of the holding direction".

[0015] As shown in FIG. 2, the traveling unit 11 includes wheels 27 that roll on the rail 16 and a traveling motor M1. In this example, the traveling motor M1 drives at least one of the plurality of wheels 27 to apply a propulsive force for the carrier 1 to move guided by the pair of rails 16. The storage unit 12, the holding device 2, and the lifting device 13 are each supported by the traveling unit 11 and are disposed below the traveling unit 11 across the rail 16.

[0016] As shown in FIGS. 1 and 3, the lifting device 13 raises and lowers the holding device 2 and the article W held by the holding device 2 between the storage position V1 and the transfer position V2 below the storage position V1. When the carrier 1 travels, the lifting device 13 raises the article W held by the holding device 2 from the transfer position V2 to the storage position V1. Also, when transferring the article W from the carrier 1 to the transfer target location 92 of the article support table 94, the lifting device 13 lowers the article W held by the holding device 2 from the storage position V1 to the transfer position V2. The storage position V1 is the position where the article W and the holding device 2 are stored in the storage unit 12. The transfer position V2 is the position where the article W is placed on the transfer target location 92.

[0017] As shown in Figure 2, the lifting device 13 comprises a winding body 50, a belt 52 wound around the winding body 50 with a holding device 2 connected to its end, and a lifting motor (not shown) that rotates the winding body 50 to drive the belt 52. The lifting device 13 rotates the winding body 50 by the drive of the lifting motor to wind up and unwind the belt 52. In this way, the lifting device 13 raises and lowers the holding device 2 and the article W held by the holding device 2 relative to the storage section 12. In this example, when the holding device 2 is in the storage position V1, the entire lifting device 13 is housed in the storage section 12. The winding body 50 and the lifting motor are always located inside the storage section 12, regardless of the vertical position of the holding device 2.

[0018] As shown in Figures 1 and 2, the storage section 12 is equipped with a cover section 17. The holding device 2 and the article W held by the holding device 2 are housed in the space surrounded by the cover section 17 at the storage position V1. The cover section 17 is positioned to cover the holding device 2 and the article W at the storage position V1 from both outer and upper sides in the holding direction X. The cover section 17 comprises a first cover section 17a, a second cover section 17b positioned on the second side X2 in the holding direction with respect to the first cover section 17a and the article W in between, and a connecting section 17c connecting the first cover section 17a and the second cover section 17b. The connecting section 17c connects the upper ends of the first cover section 17a and the second cover section 17b. The connecting section 17c is supported by the running section 11 via a connecting shaft. Here, the connecting portion 17c is positioned in a orientation along the holding direction X, and the first cover portion 17a and the second cover portion 17b are positioned in an orientation along the vertical direction. Preferably, various devices such as obstacle sensors can be placed inside the cover portion 17.

[0019] As shown in Figures 1 to 3, the holding device 2 comprises a pair of holding members 4 for holding an article W, and a holding drive mechanism 5 that changes the posture of the pair of holding members 4 so that the holding posture T1 (Figure 1) is set by bringing the pair of holding members 4 closer together to hold the article W, and the holding release posture T2 (Figure 3) is set by moving the pair of holding members 4 further apart to release the article W. The holding device 2 also further comprises an engagement part 19 for positioning the holding device 2 at the transfer position V2. The holding direction X is the direction in which the pair of holding members 4 move closer together and further apart. In this embodiment, the holding direction X is the same direction as the direction in which the transport vehicle 1 travels, as described above. Here, of the pair of holding members 4, the one positioned on the first side X1 of the holding direction is called the first holding member 14, and the one positioned on the second side X2 of the holding direction is called the second holding member 15. In this embodiment, the first holding member 14 and the second holding member 15 are configured to support the article W from below. The holding drive mechanism 5 changes the orientation of the pair of holding members 4 (first holding member 14, second holding member 15) by moving them in the holding direction X.

[0020] As shown in Figures 2 and 3, the first holding member 14 comprises a first extending portion 41 positioned on the first side X1 in the holding direction relative to the article W and extending along the vertical direction, and a first support portion 42 positioned to project from the first extending portion 41 toward the second side X2 in the holding direction and to support the bottom portion 18 of the article W from below. The first holding member 14 further comprises a first connecting portion 43 that connects the first extending portion 41 to the holding drive mechanism 5. The first support portion 42 is provided to project from the lower end of the first extending portion 41 toward the second side X2 in the holding direction (the side on which the article W is positioned when viewed in the vertical direction). In this example, the first connecting portion 43 is positioned above the held article W. The first connecting portion 43 is a member that follows the holding direction X, and its end toward the second side X2 in the holding direction is connected to a guide mechanism 24, which will be described later. The first extension portion 41 is provided so as to extend downward from the end of the first holding direction side X1 of the first connecting portion 43. In the example of Figures 5 and 6, the first extension portion 41 comprises a plurality (here, two) of first support columns 22 arranged in the width direction Y. The plurality of first support columns 22 are aligned in the vertical direction and connect the first connecting portion 43 and the first support portion 42. The first support portion 42 comprises a first support plate portion 42a that supports the bottom 18 of the article W from below in the holding posture T1. The first support plate portion 42a is fixed to the first extension portion 41 (here, the first support column 22) and is arranged to protrude inward from the first extension portion 41 in the holding direction X (second holding direction side X2) when viewed in the vertical direction. The first support plate portion 42a is a plate-shaped member that is long in the width direction Y. Furthermore, the first support plate portion 42a is provided with an engagement pin 53 that protrudes upward (Figure 6).

[0021] As shown in Figures 2 and 3, the second holding member 15 comprises a second extending portion 45 positioned on the second side X2 in the holding direction relative to the article W and extending vertically, and a second support portion 46 positioned to project from the second extending portion 45 toward the first side X1 in the holding direction and to support the bottom portion 18 of the article W from below. The second holding member 15 also further comprises a second connecting portion 47 that connects the second extending portion 45 to the holding drive mechanism 5. In this embodiment, the second holding member 15 has the same structure as the first holding member 14. Therefore, the configuration of the second holding member 15 will be described in a simplified manner. The second support portion 46 is provided to project from the lower end of the second extending portion 45 toward the first side X1 in the holding direction. In this example, the second connecting portion 47 is positioned above the held article W. The end of the second connecting portion 47 toward the first side X1 in the holding direction is connected to a guide mechanism 24, which will be described later. The second extension portion 45 is provided so as to extend downward from the end of the second connecting portion 47 on the second side X2 in the holding direction. In the example of Figures 6 and 7, the second extension portion 45 comprises a plurality (here, two) of second support columns 21 arranged in the width direction Y. The plurality of second support columns 21 are aligned in the vertical direction and connect the second connecting portion 47 and the second support portion 46. The second support portion 46 comprises a second support plate portion 46a that supports the bottom 18 of the article W from below in the holding position T1. The second support plate portion 46a is fixed to the second extension portion 45 (here, the second support column 21) and is arranged to protrude inward from the second extension portion 45 in the holding direction X (first side X1 in the holding direction) when viewed in the vertical direction. The second support plate portion 46a is also provided with an engagement pin 53 that protrudes upward.

[0022] As shown in Figures 2 and 3, the holding drive mechanism 5 is positioned above the article W held by the pair of holding members 4, and is configured to apply driving force to the first upper part 114, which is the portion of the first extension 41 above the article W, and the second upper part 115, which is the portion of the second extension 45 above the article W. In this example, the first upper part 114 is the upper end portion of the first extension 41. Similarly, the second upper part 115 is the upper end portion of the second extension 45. The end of the first connecting part 43 on the first side X1 in the holding direction is connected to the first upper part 114. The end of the second connecting part 47 on the second side X2 in the holding direction is connected to the second upper part 115. The holding drive mechanism 5 includes a guide mechanism 24 and a drive motor (not shown). The guide mechanism 24 (here, a linear guide) is configured to guide the movement of the first connecting part 43 and the second connecting part 47 in the holding direction X. Furthermore, the first connecting portion 43 and the second connecting portion 47 are connected to the drive motor via a ball screw. With this configuration, the driving force generated by the drive motor is transmitted to the first upper portion 114 and the second upper portion 115, respectively, via the ball screw and the first connecting portion 43 and the second connecting portion 47. The pair of holding members 4 then change their posture between a holding position T1 and a release position T2 by moving closer to and further apart from each other along the holding direction X.

[0023] When the pair of holding members 4 are in a holding position T1, the article W is supported from below by the first support plate portion 42a and the second support plate portion 46a. In this example, a plurality of engagement holes 18a are formed in the bottom portion 18 of the article W. When the article W is supported by the first support plate portion 42a and the second support plate portion 46a, the engagement holes 18a provided in the end region of the bottom portion 18 on the first side X1 in the holding direction engage with the engagement pins 53 of the first support plate portion 42a, and the engagement holes 18a provided in the end region of the bottom portion 18 on the second side X2 in the holding direction engage with the engagement pins 53 of the second support plate portion 46a. Here, rail portions (upwardly recessed portions along the width direction Y) are formed at both ends of the bottom portion 18 in the holding direction X to abut and fit with the first support plate portion 42a and the second support plate portion 46a, and engagement holes 18a are formed in these rail portions. Furthermore, the bottom portion 18 also has another engagement hole 18a for engaging with an engagement pin 53 provided at the transfer target location 92 (Figure 3). In this embodiment, the article W is supported by a pair of holding members 4 on the bottom surface of the bottom portion 18, but this is not the only configuration.

[0024] In this example, as shown in Figures 2 and 3, the engaging portion 19 is attached to the surface of each of the first retaining member 14 and the second retaining member 15, facing one side in the width direction Y. Here, the engaging portion 19 is fixed to the lower end of the first extending portion 41 and the lower end of the second extending portion 45, respectively. The engaging portion 19 is a rod-shaped member that is long in the vertical direction, and its lower end portion is positioned below the first support plate portion 42a and the second support plate portion 46a.

[0025] In this example, when transferring an item W from the transport vehicle 1 to the transfer target location 92, the lifting device 13 lowers the holding device 2 and the item W from the storage position V1 to the transfer position V2. In this example, the item support base 94 is provided with a transfer target location 92, which serves as a platform on which only the item W is placed. A guide member 91 is also positioned adjacent to the transfer target location 92. The guide member 91 has an open top surface and a groove shape formed along the holding direction X. At the transfer position V2, the engaging portion 19 is configured to engage with the guide member 91 from above. At the transfer position V2, the item W is placed on the transfer target location 92, and the engaging hole 18a of the bottom portion 18 engages with the corresponding engaging pin 53 formed on the transfer target location 92. Subsequently, when the first support plate portion 42a and the second support plate portion 46a descend to a position below the bottom portion 18, the support of the article W by the first support plate portion 42a and the second support plate portion 46a is released. Then, the pair of holding members 4 separate from each other, resulting in a release position T2. ​​At this time, the engaging portion 19 moves along the holding direction X while being guided by the guide member 91. When transferring the article W from the transfer target location 92 to the transport vehicle 1, the reverse procedure is performed. In the illustrated example, a pair of guide members 91 are also provided to correspond to the pair of engaging portions 19. The engaging portion 19 is guided by the guide member 91, allowing the holding device 2 to be properly positioned relative to the transfer target location 92, thereby enabling the proper transfer of the article W. This transfer operation is controlled by the control unit H.

[0026] As shown in Figures 2 and 4 to 7, the regulating device 3 comprises a first regulating mechanism 6 and a second regulating mechanism 7. The first regulating mechanism 6 and the second regulating mechanism 7 are located in the housing section 12. More specifically, the first regulating mechanism 6 and the second regulating mechanism 7 are provided in the cover section 17. Furthermore, the first regulating mechanism 6 and the second regulating mechanism 7 are located on the outside of the holding direction X relative to the pair of holding members 4. In this embodiment, the regulating device 3 further comprises a first support mechanism 8 and a second support mechanism 9.

[0027] As shown in Figures 4 to 7, the first regulating mechanism 6 is configured to change its posture between a first regulating posture P1 in which the first holding member 14 and the second holding member 15 restrict movement of the first holding member 14 toward the first side X1 in the holding direction, and a first release posture P2 in which the restriction of the first holding member 14 is released. In this embodiment, the first regulating mechanism 6 is configured to change its posture independently of the posture changes of the first holding member 14 and the second holding member 15. Specifically, the first regulating mechanism 6 is configured to change its posture between the first regulating posture P1 and the first release posture P2 in which the first holding member 14 and the second holding member 15 are in the holding position T1. In this embodiment, in the state of the first regulating posture P1, the first regulating mechanism 6 presses the first holding member 14 from the outside of the holding direction X (first side X1 in the holding direction). As a result, the first regulating mechanism 6 restricts the movement of the first holding member 14 toward the first side X1 in the holding direction. The first regulating mechanism 6 is positioned so as not to press against the holding drive mechanism 5. In this example, the first regulating mechanism 6 is provided on the first cover portion 17a. More specifically, the first regulating mechanism 6 is provided at the lower end of the first cover portion 17a. In this specification, the term "to press" includes simply "to come into contact" with something, regardless of the magnitude of the pressing force.

[0028] In this embodiment, the first regulating mechanism 6 presses the portion of the first extending portion 41 below the first upper portion 114 or the first support portion 42 in the first regulating posture P1. In this example, as shown in Figures 2 and 5, the first regulating mechanism 6 presses the portion of the first extending portion 41 below the first upper portion 114, more specifically, the lower end portion (first lower end portion 41a) of the first extending portion 41, which overlaps with the article W in the holding direction X view. In the illustrated example, the first regulating mechanism 6 presses the portion of the first extending portion 41 immediately above the first support portion 42. In this example, the first regulating mechanism 6 comprises a first pressing member 61, a first support member 62 that supports the first pressing member 61, and a first moving mechanism 96. In the first restricting position P1, the first pressing member 61 is positioned so as to protrude from the first cover portion 17a in the second holding direction X2, and is in contact with the surface of the article W held by the holding device 2 that faces the first holding direction X1. On the other hand, in the first release position P2, the first pressing member 61 is positioned inside the first cover portion 17a, thereby being positioned at a distance from the article W held by the holding device 2 in the holding direction X. The first moving mechanism 96 moves the first pressing member 61 in the holding direction X, thereby changing the position of the first pressing member 61 between the first restricting position P1 and the first release position P2.

[0029] As shown in Figures 6 and 7, the second restricting mechanism 7 is configured to change its posture between a second restricting posture Q1, in which the first retaining member 14 and the second retaining member 15 restrict movement toward the second side X2 in the retaining direction, and a second release posture Q2, in which the restriction on the second retaining member 15 is released. In this embodiment, the second restricting mechanism 7 is configured to change its posture independently of the posture changes of the first retaining member 14 and the second retaining member 15. Specifically, the second restricting mechanism 7 is configured to change its posture between the second restricting posture Q1 and the second release posture Q2 while the first retaining member 14 and the second retaining member 15 are in the retaining position T1. In this embodiment, in the state of the second restricting posture Q1, the second restricting mechanism 7 presses the second retaining member 15 from the outside of the retaining direction X (second side X2 in the retaining direction). As a result, the second restricting mechanism 7 restricts the movement of the second retaining member 15 toward the second side X2 in the retaining direction. The second regulating mechanism 7 is positioned so as not to press against the holding drive mechanism 5. In this example, the second regulating mechanism 7 is provided on the second cover portion 17b. More specifically, the second regulating mechanism 7 is provided at the lower end of the second cover portion 17b.

[0030] The second regulating mechanism 7 presses the portion of the second extending portion 45 below the second upper portion 115 or the second support portion 46 in the second regulating posture Q1. In this example, as shown in Figure 2, the second regulating mechanism 7 presses the portion of the second extending portion 45 below the second upper portion 115, more specifically, the lower end portion (second lower end portion 45a) of the second extending portion 45, which overlaps with the article W in the holding direction X view, in the second regulating posture Q1. In the illustrated example, the second regulating mechanism 7 presses the portion of the second extending portion 45 immediately above the second support portion 46. In this example, the second regulating mechanism 7 comprises a second pressing member 71, a second support member 72 that supports the second pressing member 71, and a second moving mechanism 106. In the second restricting position Q1, the second pressing member 71 is positioned to protrude from the second cover portion 17b in the first holding direction X1, and is in contact with the surface of the article W held by the holding device 2 that faces the second holding direction X2. On the other hand, in the second release position Q2, the second pressing member 71 is positioned inside the second cover portion 17b, thereby being positioned at a distance from the article W held by the holding device 2 in the holding direction X. The second moving mechanism 106 moves the second pressing member 71 in the holding direction X, thereby changing the position of the second pressing member 71 between the second restricting position Q1 and the second release position Q2.

[0031] In this embodiment, the second regulating mechanism 7 is configured to press the second retaining member 15 at the same vertical position as the first regulating mechanism 6, as described above, but is not limited to this. For example, the second regulating mechanism 7 may press the second retaining member 15 at a position above the first regulating mechanism 6, or it may press the second retaining member 15 at a position below the first regulating mechanism 6. The vertical position at which the first regulating mechanism 6 presses the first retaining member 14 (in this case, the first extending portion 41) can also be changed as appropriate.

[0032] As shown in Figures 4 to 7, the first support mechanism 8 is positioned at a first overlapping position S1, which is below the first holding member 14 and overlaps with the first holding member 14 in a vertical view, when the first regulating mechanism 6 is in a first regulating position P1, and at a first non-overlapping position S2, which does not overlap with the first holding member 14 in a vertical view, when the first regulating mechanism 6 is in a first release position P2. In this example, the first support mechanism 8 is configured to move along the holding direction X between the first overlapping position S1 and the first non-overlapping position S2. The first support mechanism 8 includes a first overlapping portion 81 which overlaps with the first holding member 14 in a vertical view at the first overlapping position S1, a first base portion 82 which supports the first overlapping portion 81, and a first moving mechanism 96 which moves the first overlapping portion 81 and the first base portion 82 along the holding direction X. That is, in this example, the first moving mechanism 96 is shared by both the first regulating mechanism 6 and the first support mechanism 8. Here, the first overlapping portion 81 is positioned adjacent to the first base portion 82 on the second side X2 in the holding direction. Also, in the illustrated example, the first overlapping portion 81 is formed continuously from the first base portion 82. The first overlapping portion 81 and the first base portion 82 are each plate-shaped members that are long in the width direction Y. In this example, the first overlapping portion 81 and the first base portion 82 move together along the holding direction X by the first moving mechanism 96. In the first overlapping position S1, the first overlapping portion 81 and the first base portion 82 are positioned protruding inward (second side X2 in the holding direction) in the holding direction X relative to the first cover portion 17a. On the other hand, in the first non-overlapping position S2, the first overlapping portion 81 and the first base portion 82 are positioned on the first side X1 in the holding direction relative to the first overlapping position S1, and their entirety is housed inside the first cover portion 17a. In the first non-overlapping position S2, the first overlapping portion 81 does not necessarily need to be housed in the first cover portion 17a, as long as it is positioned so as not to overlap with the first holding member 14 when viewed in the vertical direction. In the examples of Figures 5 and 7, at the first overlapping position S1, the first overlapping portion 81 is positioned below the first support portion 42 and overlaps with at least a part of the first support portion 42 when viewed in the vertical direction.More specifically, at the first overlapping position S1, the first overlapping portion 81 is configured not to overlap with the first support plate portion 42a on which the article W is placed when viewed vertically, but to overlap with the portion X1 on the first side in the holding direction of the first support plate portion 42a when viewed vertically. Note that at the first overlapping position S1, the first overlapping portion 81 may be configured to overlap with the entire first support portion 42 when viewed vertically, or it may be configured to overlap only with the first support plate portion 42a.

[0033] In this example, the first moving mechanism 96 is provided on the first cover portion 17a. The first moving mechanism 96 includes a link mechanism 97 and an extension / retraction motor (not shown). In the illustrated example, the first base portion 82 is supported from above by a link member 64 included in the link mechanism 97. The link mechanism 97 transmits the driving force from the extension / retraction motor to the first base portion 82. As described above, the first pressing member 61 is supported on the first base portion 82 via the first support member 62. Also, as described above, the first overlap portion 81 is formed continuously from the first base portion 82. Therefore, the first pressing member 61 and the first overlap portion 81 move together in the holding direction X by the first moving mechanism 96, that is, they move in and out relative to the first cover portion 17a. In the illustrated example, the first pressing member 61 is provided in multiple units (two in this case) divided in the width direction Y.

[0034] As shown in Figures 6 and 7, the second support mechanism 9 is positioned at a second overlapping position R1, which is below the second holding member 15 and overlaps with the second holding member 15 in a vertical view, when the second restricting mechanism 7 is in the second restricting position Q1, and at a second non-overlapping position R2, which does not overlap with the second holding member 15 in a vertical view, when the second restricting mechanism 7 is in the second release position Q2. In this example, the second support mechanism 9 is configured to move along the holding direction X between the second overlapping position R1 and the second non-overlapping position R2. The second support mechanism 9 comprises a second overlapping portion 101 which overlaps with the second holding member 15 in a vertical view at the second overlapping position R1, a second base portion 102 which supports the second overlapping portion 101, and a second moving mechanism 106 which moves the second overlapping portion 101 and the second base portion 102 along the holding direction X. That is, in this example, the second moving mechanism 106 is shared by both the second restricting mechanism 7 and the second support mechanism 9. Here, the second overlapping portion 101 is positioned adjacent to the second base portion 102 on the first side X1 in the holding direction. Also, in the illustrated example, the second overlapping portion 101 is formed continuously from the second base portion 102. The second overlapping portion 101 and the second base portion 102 are each plate-shaped members that are long in the width direction Y. In this example, the second overlapping portion 101 and the second base portion 102 move together along the holding direction X by the second moving mechanism 106. At the second overlapping position R1, the second overlapping portion 101 and the second base portion 102 are in a position that protrudes inward (first side X1 in the holding direction) in the holding direction X relative to the second cover portion 17b. On the other hand, at the second non-overlapping position R2, the second overlapping portion 101 and the second base portion 102 are positioned on the second side X2 in the holding direction relative to the second overlapping position R1, and their entirety is housed inside the second cover portion 17b. In addition, at the second non-overlapping position R2, the second overlapping portion 101 does not necessarily need to be housed in the second cover portion 17b, as long as it is positioned so as not to overlap with the second holding member 15 when viewed in the vertical direction. In the example in Figure 7, at the second overlapping position R1, the second overlapping portion 101 is positioned below the second support portion 46 and overlaps with at least a part of the second support portion 46 when viewed in the vertical direction.More specifically, at the second overlapping position R1, the second overlapping portion 101 is configured not to overlap with the second support plate portion 46a on which the article W is placed when viewed vertically, but to overlap with the portion X1 on the first side in the holding direction of the second support plate portion 46a when viewed vertically. Note that at the second overlapping position R1, the second overlapping portion 101 may be configured to overlap with the entire second support portion 46 when viewed vertically, or it may be configured to overlap only with the second support plate portion 46a.

[0035] In this example, the configuration of the second moving mechanism 106 is the same as that of the first moving mechanism 96. The second moving mechanism 106 is provided on the second cover portion 17b. The second moving mechanism 106 includes a link mechanism 97 and an extension / retraction motor (not shown). In the illustrated example, the second base portion 102 is supported from above by a link member 64 included in the link mechanism 97. The link mechanism 97 transmits the driving force from the extension / retraction motor to the first base portion 82. As described above, the second pressing member 71 is supported on the second base portion 102 via the second support member 72. Also, as described above, the second overlap portion 101 is formed continuously from the second base portion 102. Therefore, the second pressing member 71 and the second overlap portion 101 move together in the holding direction X by the second moving mechanism 106, that is, they move in and out relative to the second cover portion 17b. In the illustrated example, the second pressing member 71 is provided in multiple units (two in this case) separated in the width direction Y. Note that the first pressing member 61 and the second pressing member 71 may each be provided as one unit, or they may be provided in different numbers.

[0036] As shown in Figure 8, the control unit H controls the traveling unit 11, the holding device 2, the lifting device 13, and the restricting device 3, and is configured to communicate with the higher-level controller C, which manages the entire transport equipment 10. The control unit H and the higher-level controller C are equipped with, for example, a processor such as a microcomputer, peripheral circuits such as memory, etc. Each function is realized through the cooperation of this hardware and a program executed on the processor such as a computer.

[0037] This section describes the control for transferring an item W placed at a transfer target location 92 to a transport vehicle 1. The control unit H moves the traveling unit 11 to a position corresponding to a predetermined transfer target location 92 (in this case, a location set on the item support base 94 on the rail 16) according to the transport command received from the higher-level controller C. Then, as shown in Figure 9, the control unit H controls the lifting device 13 to lower the holding device 2, which is not holding the item W, from the storage position V1 to the transfer position V2 (S01). Subsequently, the control unit H controls the holding device 2 to have the pair of holding members 4 hold the item W (S02). In this example, the control unit H lowers the pair of holding members 4 from the storage position V1 while maintaining the holding posture T1, and at a predetermined height above the transfer position V2, changes the posture of the pair of holding members 4 from the holding posture T1 to the release posture T2. Then, when the pair of holding members 4 in the release-holding position T2 are positioned at the transfer position V2, more specifically, when the first support plate portion 42a and the second support plate portion 46a of the pair of holding members 4 are positioned below the article W in the transfer position V2, the control unit H changes the orientation of the pair of holding members 4 from the release-holding position T2 to the holding position T1. Subsequently, the control unit H raises the holding device 2 and the article W held by the holding device 2 from the transfer position V2 to the storage position V1 (S03). Then, when the holding device 2 and the article W are positioned at the storage position V1, that is, when they are stored in the storage section 12, the control unit H performs a restricting orientation process (S04). The restricting orientation process is a process in which the control unit H changes the orientation of the first restricting mechanism 6 in the first release-holding position P2 to the first restricting orientation P1, and changes the orientation of the second restricting mechanism 7 in the second release-holding position Q2 to the second restricting orientation Q1. As a result, the first retaining member 14 is pressed by the first pressing member 61 from the first side X1 in the retaining direction. The second retaining member 15 is pressed by the second pressing member 71 from the second side X2 in the retaining direction. In this example, the first pressing member 61 presses the first lower end portion 41a of the first extending portion 41, and the second pressing member 71 presses the second lower end portion 45a of the second extending portion 45. In this way, the lower end portions of the first extending portion 41 and the second extending portion 45, which are relatively easy to open in the retaining direction X, are pressed from both outside sides in the retaining direction X by the first pressing member 61 and the second pressing member 71, so that the pair of retaining members 4 can be effectively restricted from spreading outward in the retaining direction X.Therefore, the article W can be reliably prevented from falling out of the pair of holding members 4. Furthermore, when the control unit H lowers the holding device 2 and article W from the storage position V1 to the transfer position V2, it performs a restriction posture release process. In the restriction posture release process, with the pair of holding members 4 in the holding position T1, the control unit H changes the posture of the first restriction mechanism 6 from the first restriction posture P1 to the first restriction release posture P2, and also changes the posture of the second restriction mechanism 7 from the second restriction posture Q1 to the second restriction release posture Q2. After that, the control unit H lowers the holding device 2 and article W. The timing of the first restriction mechanism 6 and the second restriction mechanism 7 changing their postures may be the same or different.

[0038] [Other Embodiments] Next, other embodiments of the conveying equipment will be described.

[0039] (1) In the above embodiment, the lifting device 13 was described as a configuration that raises and lowers the holding device 2 and the article W held by the holding device 2 between a storage position V1 and a transfer position V2 that is lower than the storage position V1, but it is not limited to this. The lifting device 13 may also raise and lower the holding device 2 and the article W held by the holding device 2 between a storage position V1 and a transfer position V2 that is set to be higher than the storage position V1. For example, the lifting device 13 can be configured in this way when the transport vehicle 1 is a trackless transport vehicle such as an AGV (Automated Guided Vehicle) or AMR (Autonomous Mobile Robot) that carries and transports the article W. It is also possible for the transport vehicle 1 to be configured without a lifting device 13. If the holding device 2 does not move up or down in this manner, the first regulating mechanism 6 in the first release position P2 changes to the first regulating position P1 in conjunction with the change in posture of the pair of holding members 4 from the release position T2 to the holding position T1, and the second regulating mechanism 7 in the second release position Q2 changes to the second regulating position Q1. In addition, the transport vehicle 1 may be a tracked transport vehicle that runs on laid rails, or the like.

[0040] (2) In the above embodiment, the first regulating mechanism 6 is described as pressing the portion of the first extending portion 41 below the first upper portion 114 in the first regulating posture P1, and the second regulating mechanism 7 is described as pressing the portion of the second extending portion 45 below the second upper portion 115 in the second regulating posture Q1, but the embodiment is not limited to this. The first regulating mechanism 6 may press the first support portion 42 in the first regulating posture P1, and the second regulating mechanism 7 may press the second support portion 46 in the second regulating posture Q1. In this way, it is preferable that the locations pressed by the first regulating mechanism 6 and the second regulating mechanism 7 be changed as appropriate.

[0041] (3) In the above embodiment, the regulating device 3 was described as having a configuration comprising a first support mechanism 8 and a second support mechanism 9, but it is not limited to this. The regulating device 3 may also have a configuration that does not include the first support mechanism 8 and the second support mechanism 9. Furthermore, in the above embodiment, the first support mechanism 8 was described as having a configuration in which it shares a first movement mechanism 96 with the first regulating mechanism 6 and thereby changes its posture in conjunction with the first regulating mechanism 6, and the second support mechanism 9 was described as having a configuration in which it shares a second movement mechanism 106 with the second regulating mechanism 7 and thereby changes its posture in conjunction with the second regulating mechanism 7, but it is not limited to this. The first support mechanism 8 may change its posture by a mechanism different from the first regulating mechanism 6, and the second support mechanism 9 may also change its posture by a mechanism different from the second regulating mechanism 7.

[0042] (4) In the above embodiment, the configuration in which the first regulating mechanism 6 and the second regulating mechanism 7 are provided on the cover portion 17 of the housing portion 12 was described as an example, but the invention is not limited to this configuration. The first regulating mechanism 6 and the second regulating mechanism 7 may be provided on parts other than the housing portion 12, such as the running portion 11.

[0043] (5) The configurations disclosed in each of the embodiments described above may be applied in combination with configurations disclosed in other embodiments, as long as no inconsistencies arise. With respect to other configurations, the embodiments disclosed herein are illustrative in all respects and may be modified as appropriate without departing from the spirit of the disclosure.

[0044] [Summary of the above embodiments] The following is a summary of the transport vehicles described above.

[0045] The transport vehicle relating to this disclosure is a transport vehicle for transporting articles, comprising a holding device for holding and releasing the articles, and a restricting device for preventing the articles held by the holding device from falling off. The holding device comprises a pair of holding members for holding the article, and a holding drive mechanism for changing the posture of the pair of holding members such that the pair of holding members are brought closer together to form a holding position for holding the article, and the pair of holding members are separated from each other to form a release position for releasing the article. The direction in which the pair of retaining members move closer together and further apart is defined as the retaining direction, one side of the retaining direction is defined as the first retaining direction side, the other side of the retaining direction is defined as the second retaining direction side, the member of the pair of retaining members positioned on the first retaining direction side is defined as the first retaining member, and the member positioned on the second retaining direction side is defined as the second retaining member. The first holding member comprises a first extending portion that is positioned on the first side in the holding direction with respect to the article and extends along the vertical direction, and a first supporting portion that is positioned to protrude from the first extending portion toward the second side in the holding direction and supports the bottom of the article from below. The second holding member comprises a second extending portion that is positioned on the second side in the holding direction with respect to the article and extends along the vertical direction, and a second supporting portion that is positioned to protrude from the second extending portion toward the first side in the holding direction and supports the bottom of the article from below. The regulatory device comprises a first regulatory mechanism and a second regulatory mechanism, The first regulating mechanism is configured to change its posture between a first regulating posture in which the first and second holding members restrict the movement of the first holding member toward the first side in the holding direction, and a first release posture in which the restriction of the first holding member is released. The second regulating mechanism is configured to change its posture between a second regulating posture in which the first and second holding members restrict the movement of the second holding member toward the second side in the holding direction, and a second unrestricted posture in which the restriction of the second holding member is released.

[0046] According to this configuration, since it includes a first restricting mechanism that restricts the movement of the first retaining member toward the first side in the retaining direction, and a second restricting mechanism that restricts the movement of the second retaining member toward the second side in the retaining direction, it is possible to restrict the widening of the distance between the first support and the second support in the retaining direction due to deflection or rattle of the retaining members. This prevents the article from falling out of the pair of retaining members. Furthermore, with this configuration, the movement of each of the pair of holding members is restricted when the first regulating mechanism is in the first regulating position and the second regulating mechanism is in the second regulating position, making it easier to reduce the shaking of the goods during transport by the transport vehicle. Furthermore, with this configuration, by changing the posture of the first restraining mechanism to the first release posture and the second restraining mechanism to the second release posture, it is possible to easily move the pair of holding members along the holding direction and change their posture between the holding posture and the release posture. Therefore, the holding and release of articles by the pair of holding members can be performed appropriately. Thus, with this configuration, items can be properly held and transported.

[0047] Here, the holding drive mechanism is positioned above the article held by the pair of holding members and is configured to apply driving force to the first upper part, which is the portion of the first extension above the article, and the second upper part, which is the portion of the second extension above the article. The first regulating mechanism, in the state of the first regulating posture, presses the portion of the first extending portion below the first upper portion or the first support portion. The second regulating mechanism preferably presses the portion of the second extending portion below the second upper portion or the second support portion in the second regulating posture.

[0048] In this configuration, where the holding drive mechanism applies driving force to the first and second extended portions above the article, the first and second extended portions tend to extend long in the vertical direction. As a result, the distance between the first and second support portions in the holding direction tends to widen due to deflection or rattle of the holding members. However, with this configuration, the first regulating mechanism presses the portion of the first holding member below the first upper part, and the second regulating mechanism presses the portion of the second holding member below the second upper part. Therefore, the pair of holding members can be appropriately restricted from spreading outward (away from each other) in the holding direction. Consequently, the article can be reliably prevented from falling out of the pair of holding members.

[0049] Furthermore, the regulating device further comprises a first support mechanism and a second support mechanism. The first support mechanism is positioned at a first overlapping position below the first holding member and overlapping with the first holding member in a vertical view when the first restricting mechanism is in the first restricting position, and at a first non-overlapping position that does not overlap with the first holding member in a vertical view when the first restricting mechanism is in the first release position. Preferably, the second support mechanism is positioned at a second overlapping position below the second holding member and overlapping with the second holding member in a vertical view when the second restricting mechanism is in the second restricting position, and at a second non-overlapping position where it does not overlap with the second holding member in a vertical view when the second restricting mechanism is in the second release position.

[0050] With this configuration, for example, even if the holding member or the entire holding device falls off the transport vehicle, the support mechanism (first support mechanism, second support mechanism) can support the holding member or holding device from below. Therefore, even if such a situation occurs, it is possible to prevent the items from falling off the transport vehicle. Furthermore, with this configuration, the first support mechanism is positioned in a first non-overlapping position when the first restricting mechanism is in a first release position, and the second support mechanism is positioned in a second non-overlapping position when the second restricting mechanism is in a second release position. Therefore, interference between the article or the holding device and the first and second support mechanisms can be easily avoided, for example, when the holding device is moved in the vertical direction.

[0051] Furthermore, the device comprises a traveling section, a storage section supported by the traveling section and containing the holding device and the article held by the holding device while the traveling section is in motion, and a lifting device that raises and lowers the holding device between the inside and outside of the storage section. The first regulating mechanism and the second regulating mechanism are preferably arranged in the housing.

[0052] According to this configuration, by raising and lowering the holding device, items can be transferred between a transfer target location located below or above the transport vehicle. Furthermore, when the holding device and the items are housed in the storage section, the first and second regulating mechanisms can restrict the outward movement of the pair of holding members in the holding direction. Therefore, it is possible to appropriately prevent the items housed in the storage section from falling out of the pair of holding members.

[0053] The transport vehicle relating to this disclosure only needs to be able to achieve at least one of the effects described above. [Explanation of Symbols]

[0054] 1: Transport vehicle 2: Holding device 3: Regulatory device 4: Retaining member 5: Holding drive mechanism 6: First Regulatory Organization 7: Second Regulatory Organization 8:First support mechanism 9:Second support mechanism 11: Running gear 12: Containment Unit 13: Lifting device 14: 1st holding member 15: Second holding member 18: Bottom 41: The first extension in the department 42: First Support Department 45: The second extension in the department 46: Second Support Department 114:Part 1 115: 2nd upper part P1: First regulatory posture P2: First regulation release posture Q1: Second regulatory posture Q2: Posture for lifting regulation #2 R1: Second repeating position R2: Second non-repeating position S1: First repeating position S2: The first non-repeating position T1: Maintain Posture T2: Maintain release posture W: Item X: Maintain direction X1: Maintain direction on the first side X2: Maintain direction on the second side

Claims

1. A transport vehicle for transporting goods, comprising a holding device for holding and releasing the goods, and a restricting device for preventing the goods held by the holding device from falling off, The holding device comprises a pair of holding members for holding the article, and a holding drive mechanism for changing the posture of the pair of holding members such that the pair of holding members are brought closer together to form a holding position for holding the article, and the pair of holding members are separated from each other to form a release position for releasing the article. The direction in which the pair of retaining members move closer together and further apart is defined as the retaining direction, one side of the retaining direction is defined as the first retaining direction side, the other side of the retaining direction is defined as the second retaining direction side, the member of the pair of retaining members positioned on the first retaining direction side is defined as the first retaining member, and the member positioned on the second retaining direction side is defined as the second retaining member. The first holding member comprises a first extending portion that is positioned on the first side in the holding direction with respect to the article and extends along the vertical direction, and a first supporting portion that is positioned to protrude from the first extending portion toward the second side in the holding direction and supports the bottom of the article from below. The second holding member comprises a second extending portion that is positioned on the second side in the holding direction with respect to the article and extends along the vertical direction, and a second supporting portion that is positioned to protrude from the second extending portion toward the first side in the holding direction and supports the bottom of the article from below. The regulatory device comprises a first regulatory mechanism and a second regulatory mechanism. The first regulating mechanism is configured to change its posture between a first regulating posture in which the first and second holding members restrict the movement of the first holding member toward the first side in the holding direction, and a first release posture in which the restriction of the first holding member is released. A transport vehicle, wherein the second regulating mechanism is configured to change posture between a second regulating posture in which the first and second holding members restrict the movement of the second holding member toward the second side in the holding direction, and a second unrestricted posture in which the restriction of the second holding member is released.

2. The holding drive mechanism is positioned above the article held by the pair of holding members and is configured to apply driving force to the first upper portion of the first extension, which is the portion of the first extension above the article, and the second upper portion of the second extension, which is the portion of the second extension above the article. The first regulating mechanism, in the state of the first regulating posture, presses the portion of the first extending portion below the first upper portion or the first support portion. The transport vehicle according to claim 1, wherein the second regulating mechanism presses the portion of the second extending portion below the second upper portion or the second support portion in the second regulating posture.

3. The aforementioned regulating device further comprises a first support mechanism and a second support mechanism, The first support mechanism is positioned at a first overlapping position below the first holding member and overlapping with the first holding member in a vertical view when the first regulating mechanism is in a first regulating position, and at a first non-overlapping position that does not overlap with the first holding member in a vertical view when the first regulating mechanism is in a first releasing position. The transport vehicle according to claim 1 or 2, wherein the second support mechanism is positioned at a second overlapping position below the second holding member and overlapping with the second holding member in a vertical view when the second restricting mechanism is in the second restricting position, and is positioned at a second non-overlapping position not overlapping with the second holding member in a vertical view when the second restricting mechanism is in the second release position.

4. The device further comprises a traveling section, a storage section supported by the traveling section and containing the holding device and the article held by the holding device while the traveling section is in motion, and a lifting device that raises and lowers the holding device between the inside and outside of the storage section. The transport vehicle according to claim 1 or 2, wherein the first regulating mechanism and the second regulating mechanism are arranged in the housing section.

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