JP2022076840A - Carrying vehicle - Google Patents

Carrying vehicle Download PDF

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Publication number
JP2022076840A
JP2022076840A JP2020187453A JP2020187453A JP2022076840A JP 2022076840 A JP2022076840 A JP 2022076840A JP 2020187453 A JP2020187453 A JP 2020187453A JP 2020187453 A JP2020187453 A JP 2020187453A JP 2022076840 A JP2022076840 A JP 2022076840A
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Japan
Prior art keywords
rotating body
transmission member
article
holding
holding portion
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JP2020187453A
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Japanese (ja)
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JP7392634B2 (en
Inventor
基成 荻須
Motonari Ogisu
直 西川
Sunao Nishikawa
健二 田村
Kenji Tamura
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Daifuku Co Ltd
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Daifuku Co Ltd
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Priority to JP2020187453A priority Critical patent/JP7392634B2/en
Priority to TW110141354A priority patent/TW202236485A/en
Priority to KR1020210152047A priority patent/KR20220063741A/en
Publication of JP2022076840A publication Critical patent/JP2022076840A/en
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Publication of JP7392634B2 publication Critical patent/JP7392634B2/en
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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
    • H01L21/67733—Overhead conveying
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0457—Storage devices mechanical with suspended load carriers
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/673—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere using specially adapted carriers or holders; Fixing the workpieces on such carriers or holders
    • H01L21/6732—Vertical carrier comprising wall type elements whereby the substrates are horizontally supported, e.g. comprising sidewalls
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
    • H01L21/67706—Mechanical details, e.g. roller, belt
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
    • H01L21/6773—Conveying cassettes, containers or carriers
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
    • H01L21/67736—Loading to or unloading from a conveyor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0297—Wafer cassette

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Condensed Matter Physics & Semiconductors (AREA)
  • General Physics & Mathematics (AREA)
  • Manufacturing & Machinery (AREA)
  • Computer Hardware Design (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Power Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
  • Handcart (AREA)

Abstract

To realize a technique capable of making a posture of an article placed at a transfer object place when the article is transferred between a holding part and the transfer object place a required posture at the transfer object place while the article is being held by the holding part in a posture suitable for a carrying vehicle when the carrying vehicle is traveling when the posture of the article suitable for traveling of the carrying vehicle is different from the posture of the article required at the transfer object place.SOLUTION: An elevation device 30 raises and lowers a holding part 20 between a first position P1 and a second position P2 below the first position P1 at the position where the holding part 20 holds and releases an article 90. Using the article 90 held by the holding part 20 as a holding article, the elevation device 30 includes an elevation adjustment part 31 for changing an inclination angle A with respect to a horizontal plane H of the holding article between the first position P1 and the second position P2.SELECTED DRAWING: Figure 3

Description

本発明は、物品を搬送する搬送車に関する。 The present invention relates to a transport vehicle for transporting articles.

上記のような搬送車の一例が、特開２０１２－６４７９９号公報（特許文献１）に開示されている。以下、背景技術の説明において括弧内に示す符号は特許文献１のものである。特許文献１には、物品を搬送する搬送車として、収納容器（４）を搬送する天井搬送車（Ａ）が開示されている。この天井搬送車（Ａ）は、走行経路（３）に沿って走行する走行部（１１）と、収納容器（４）を保持する保持部（１０）と、保持部（１０）を走行部（１１）に対して昇降させる昇降装置と、を備えている。昇降装置は、ワイヤ（１８）が巻回された回転ドラム（２０）を回転駆動することで、ワイヤ（１８）の下端に連結された保持部（１０）を昇降させるように構成されている。 An example of the transport vehicle as described above is disclosed in Japanese Patent Application Laid-Open No. 2012-6499 (Patent Document 1). Hereinafter, the reference numerals shown in parentheses in the description of the background technique are those of Patent Document 1. Patent Document 1 discloses a ceiling carrier (A) for transporting a storage container (4) as a carrier for transporting articles. The ceiling carrier (A) has a traveling portion (11) traveling along the traveling route (3), a holding portion (10) for holding the storage container (4), and a traveling portion (10). It is provided with an elevating device for elevating and lowering with respect to 11). The elevating device is configured to elevate and lower the holding portion (10) connected to the lower end of the wire (18) by rotationally driving the rotary drum (20) around which the wire (18) is wound.

特許文献１では、収納容器（４）は、基板（５）を出し入れするための開口（６）が側面に形成されたオープンカセットである。保持部（１０）に保持されている収納容器（４）の開口（６）から、基板（５）が飛び出すことを防止するために、特許文献１の天井搬送車（Ａ）には、基板（５）の側面に接触する接触位置と基板（５）の側面から離間する離間位置とに移動可能な接触体（２６）を備えた飛び出し防止機構（９）が設けられている。 In Patent Document 1, the storage container (4) is an open cassette having an opening (6) formed on the side surface for taking in and out the substrate (5). In order to prevent the substrate (5) from popping out from the opening (6) of the storage container (4) held in the holding portion (10), the ceiling carrier (A) of Patent Document 1 has a substrate ( A pop-out prevention mechanism (9) is provided with a contact body (26) that can be moved between a contact position that contacts the side surface of the substrate (5) and a separation position that is separated from the side surface of the substrate (5).

特開２０１２－６４７９９号公報Japanese Unexamined Patent Publication No. 2012-6499

搬送車の走行時には保持部に保持されている物品に振動が伝わりやすいため、特許文献１の飛び出し防止機構のような機構の有無にかかわらず、搬送車の走行時には、振動に対する許容度を高く確保しやすい姿勢で物品が保持部に保持されることが望ましい。このように、搬送車の走行時には、搬送車の走行時に適した姿勢で物品が保持部に保持されることが望ましいが、搬送車の走行時に適した物品の姿勢が、移載対象箇所（保持部との間で物品が移載される箇所）において要求される物品の姿勢と異なる場合がある。例えば、特許文献１では、物品が、側面に開口が形成された収納容器であり、移載対象箇所が、収納容器から取り出された基板に対して処理を行う処理装置のロードポートである。そのため、移載対象箇所において要求される収納容器の姿勢が、特許文献１の図５に示されるように、収納容器に対して基板を出し入れしやすい姿勢（具体的には、開口が水平方向を向く水平姿勢）となるのに対して、搬送車の走行時に適した収納容器の姿勢は、基板が開口から収納容器の外部に移動し難い姿勢（例えば、開口が斜め上方を向く傾斜姿勢）となる。 Since vibration is easily transmitted to the article held in the holding portion when the transport vehicle is running, a high tolerance for vibration is ensured when the transport vehicle is running, regardless of the presence or absence of a mechanism such as the pop-out prevention mechanism of Patent Document 1. It is desirable that the article is held in the holding portion in an easy-to-use posture. As described above, when the transport vehicle is traveling, it is desirable that the article is held in the holding portion in a posture suitable for traveling the transport vehicle, but the posture of the article suitable for traveling the transport vehicle is the transfer target location (holding). It may differ from the posture of the article required at the place where the article is transferred to and from the department. For example, in Patent Document 1, the article is a storage container having an opening formed on a side surface, and the transfer target location is a load port of a processing device that processes a substrate taken out from the storage container. Therefore, as shown in FIG. 5 of Patent Document 1, the posture of the storage container required at the transfer target location is such that the substrate can be easily taken in and out of the storage container (specifically, the opening is in the horizontal direction). The posture of the storage container suitable for traveling of the transport vehicle is a posture in which the substrate is difficult to move from the opening to the outside of the storage container (for example, an inclined posture in which the opening faces diagonally upward). Become.

搬送車の走行時に適した物品の姿勢が、移載対象箇所において要求される物品の姿勢と異なる場合、単に搬送車の走行時に適した姿勢で物品が保持部に保持される構成とすると、保持部と移載対象箇所との間での物品の移載時に移載対象箇所に配置される物品の姿勢も、搬送車の走行時に適した姿勢となる。そのため、搬送車の走行時に適した姿勢と移載対象箇所において要求される姿勢との間で物品の姿勢を変更する機構を移載対象箇所に設けて、保持部と移載対象箇所との間での物品の移載動作とは別に、移載対象箇所において物品の姿勢変更動作を行う必要が生じ、物品の処理効率が低下するおそれがある。 If the posture of the article suitable for traveling of the transport vehicle is different from the posture of the article required at the transfer target location, the article is simply held in the holding portion in the posture suitable for traveling of the transport vehicle. The posture of the article placed at the transfer target location when the article is transferred between the unit and the transfer target location is also a posture suitable for the traveling vehicle. Therefore, a mechanism for changing the posture of the article between the posture suitable for traveling of the transport vehicle and the posture required at the transfer target location is provided at the transfer target location between the holding portion and the transfer target location. In addition to the movement of the goods to be transferred in the above, it is necessary to change the posture of the goods at the place to be transferred, which may reduce the processing efficiency of the goods.

そこで、搬送車の走行時に適した物品の姿勢が移載対象箇所において要求される物品の姿勢と異なる場合に、搬送車の走行時には搬送車の走行時に適した姿勢で物品を保持部により保持しつつ、保持部と移載対象箇所との間での物品の移載時に移載対象箇所に配置される物品の姿勢を、当該移載対象箇所において要求される姿勢とすることが可能な技術の実現が望まれる。 Therefore, when the posture of the article suitable for traveling of the transport vehicle is different from the posture of the article required at the transfer target location, the article is held by the holding portion in the posture suitable for traveling of the transport vehicle when the transport vehicle is traveling. At the same time, the posture of the article placed at the transfer target location at the time of transfer of the article between the holding portion and the transfer target location can be the posture required at the transfer target location. Realization is desired.

本開示に係る搬送車は、物品を搬送する搬送車であって、移動経路に沿って移動する本体部と、前記物品を保持する保持部と、前記保持部を前記本体部に対して昇降させる昇降装置と、を備え、前記昇降装置は、第１位置と、前記保持部による前記物品の保持及び保持解除を行う位置であって前記第１位置よりも下方の第２位置との間で、前記保持部を昇降させ、前記保持部に保持された状態の前記物品を保持物品として、前記昇降装置は、前記第１位置と前記第２位置との間で前記保持物品の水平面に対する傾斜角度を可変にするための昇降調整部を備えている。 The transport vehicle according to the present disclosure is a transport vehicle that transports an article, and has a main body portion that moves along a movement path, a holding portion that holds the article, and the holding portion that moves up and down with respect to the main body portion. The elevating device comprises an elevating device, and the elevating device is provided between a first position and a second position below the first position, which is a position where the holding portion holds and releases the article. The holding article is moved up and down, and the article held by the holding section is used as the holding article, and the elevating device sets an inclination angle of the holding article with respect to the horizontal plane between the first position and the second position. It is equipped with an elevating adjustment unit for making it variable.

本構成によれば、昇降装置が昇降調整部を備えるため、保持部による物品の保持及び保持解除を行う第２位置での保持物品の姿勢を、移載対象箇所において要求される物品の姿勢としつつ、第２位置よりも上方の第１位置での保持物品の姿勢を、所望の姿勢とすることができる。よって、搬送車の走行時における保持部の位置を第１位置とすることで、搬送車の走行時における保持物品の姿勢を、搬送車の走行時に適した姿勢とすることができる。この結果、搬送車の走行時には搬送車の走行時に適した姿勢で物品を保持部により保持しつつ、保持部と移載対象箇所との間での物品の移載時に移載対象箇所に配置される物品の姿勢を、当該移載対象箇所において要求される姿勢とすることが可能となっている。 According to this configuration, since the elevating device includes the elevating adjustment unit, the posture of the held article at the second position where the holding portion holds and releases the article is set as the posture of the article required at the transfer target location. However, the posture of the holding article at the first position above the second position can be set to the desired posture. Therefore, by setting the position of the holding portion during traveling of the transport vehicle as the first position, the posture of the held article during traveling of the transport vehicle can be set to a posture suitable for traveling of the transport vehicle. As a result, while the article is held by the holding portion in a posture suitable for traveling the transport vehicle when the transport vehicle is traveling, the article is placed at the transfer target location when the article is transferred between the holding portion and the transfer target location. It is possible to set the posture of the article to the posture required at the transfer target location.

搬送車の更なる特徴と利点は、図面を参照して説明する実施形態についての以下の記載から明確となる。 Further features and advantages of the carrier will be clarified from the following description of embodiments described with reference to the drawings.

搬送車の斜視図Perspective view of the carrier 搬送車の正面図Front view of the transport vehicle 保持部と移載対象箇所との間で物品が移載される状況を示す図The figure which shows the situation which the article is transferred between the holding part and the transfer target part. 第１の実施形態に係る保持部の昇降動作の説明図Explanatory drawing of raising and lowering operation of holding part which concerns on 1st Embodiment 第２の実施形態に係る保持部の昇降動作の説明図Explanatory drawing of raising and lowering operation of holding part which concerns on 2nd Embodiment 第３の実施形態に係る保持部の昇降動作の説明図Explanatory drawing of raising and lowering operation of holding part which concerns on 3rd Embodiment 第３の実施形態に係る保持部の昇降動作の説明図Explanatory drawing of raising and lowering operation of holding part which concerns on 3rd Embodiment 第４の実施形態に係る保持部の昇降動作の説明図Explanatory drawing of raising and lowering operation of holding part which concerns on 4th Embodiment 第４の実施形態に係る保持部の昇降動作の説明図Explanatory drawing of raising and lowering operation of holding part which concerns on 4th Embodiment 第５の実施形態に係る保持部の昇降動作の説明図Explanatory drawing of raising and lowering operation of holding part which concerns on 5th Embodiment 制御ブロック図Control block diagram

〔第１の実施形態〕
搬送車の第１の実施形態について、図面（図１～図４、図１１）を参照して説明する。 [First Embodiment]
The first embodiment of the transport vehicle will be described with reference to the drawings (FIGS. 1 to 4, 11).

搬送車１は、図３に例示するような物品搬送設備１００において、移動経路２に沿って走行して物品９０を搬送する。図１～図３に示すように、搬送車１は、移動経路２に沿って移動する本体部１０と、物品９０を保持する保持部２０と、保持部２０を本体部１０に対して昇降させる昇降装置３０と、を備えている。ここで、移動経路２の長手方向（移動経路２が延びる方向）を経路長手方向Ｌとし、移動経路２の幅方向を経路幅方向Ｗとする。経路幅方向Ｗは、経路長手方向Ｌ及び鉛直方向Ｖの双方に直交する方向である。また、搬送車１を基準として定義される方向（すなわち、搬送車１の姿勢に応じて変化する方向）であって、移動経路２に配置された状態で経路長手方向Ｌに沿う方向を車体前後方向Ｘとし、搬送車１を基準として定義される方向であって、移動経路２に配置された状態で経路幅方向Ｗに沿う方向を車体左右方向Ｙとする。 The transport vehicle 1 travels along the movement path 2 in the article transport facility 100 as illustrated in FIG. 3 to transport the article 90. As shown in FIGS. 1 to 3, the transport vehicle 1 raises and lowers the main body 10 that moves along the movement path 2, the holding portion 20 that holds the article 90, and the holding portion 20 with respect to the main body 10. The elevating device 30 and the like are provided. Here, the longitudinal direction of the movement path 2 (the direction in which the movement path 2 extends) is defined as the path longitudinal direction L, and the width direction of the movement path 2 is defined as the path width direction W. The path width direction W is a direction orthogonal to both the path longitudinal direction L and the vertical direction V. Further, the direction defined with reference to the transport vehicle 1 (that is, the direction that changes according to the posture of the transport vehicle 1), and the direction along the path longitudinal direction L in the state of being arranged on the movement path 2, is the front and rear of the vehicle body. The direction X is defined as the direction defined with the carrier vehicle 1 as a reference, and the direction along the path width direction W in the state of being arranged on the moving path 2 is defined as the vehicle body left-right direction Y.

移動経路２は、物理的に形成されても仮想的に設定されてもよい。本実施形態では、移動経路２は、レール３を用いて物理的に形成されている。具体的には、物品搬送設備１００は、移動経路２に沿って配置されたレール３（ここでは、経路幅方向Ｗに間隔を空けて配置された一対のレール３）を備えており、本体部１０は、レール３に沿って移動する。また、本実施形態では、レール３は、天井４から吊り下げ支持されており、移動経路２は、天井４に沿って形成されている。すなわち、本実施形態では、搬送車１は、天井４に沿って形成された移動経路２に沿って走行する天井搬送車である。なお、搬送車１は、天井搬送車以外の搬送車であってもよい。 The movement path 2 may be physically formed or virtually set. In this embodiment, the movement path 2 is physically formed by using the rail 3. Specifically, the article transport facility 100 includes rails 3 arranged along the movement path 2 (here, a pair of rails 3 arranged at intervals in the path width direction W), and has a main body portion. 10 moves along the rail 3. Further, in the present embodiment, the rail 3 is suspended and supported from the ceiling 4, and the movement path 2 is formed along the ceiling 4. That is, in the present embodiment, the transport vehicle 1 is a ceiling transport vehicle that travels along the movement path 2 formed along the ceiling 4. The transport vehicle 1 may be a transport vehicle other than the ceiling transport vehicle.

図１及び図２に示すように、本体部１０は、レール３（ここでは、一対のレール３）の走行面を転動する車輪１２を備えた走行部１１と、走行部１１に連結されたカバー部１４と、を備えている。レール３の走行面は、鉛直方向Ｖの上方Ｖ１を向く面であり、車輪１２は、鉛直方向Ｖに直交する軸心周りに回転する。走行部１１は、車輪１２を回転させる走行駆動部７０（例えば、サーボモータ等の電動モータ、図１１参照）を備えており、車輪１２が走行駆動部７０により回転駆動されることで、走行部１１がレール３に沿って走行する。図２に示すように、本実施形態では、走行部１１は、レール３の案内面を転動する案内輪１３を備えており、走行部１１は、案内輪１３がレール３の案内面に接触案内された状態で、レール３に沿って走行する。レール３の案内面は、経路幅方向Ｗの内側（一対のレール３の間の経路幅方向Ｗの中心位置に向かう側）を向く面であり、案内輪１３は、鉛直方向Ｖに沿う軸心周りに回転する（本例では、遊転する）。図１に示す例では、本体部１０は、走行部１１を、車体前後方向Ｘに並ぶように一対備えている。 As shown in FIGS. 1 and 2, the main body portion 10 is connected to a traveling portion 11 having wheels 12 that roll on the traveling surface of the rail 3 (here, a pair of rails 3). It is provided with a cover portion 14. The traveling surface of the rail 3 is a surface facing upward V1 in the vertical direction V, and the wheel 12 rotates around an axis orthogonal to the vertical direction V. The traveling unit 11 includes a traveling drive unit 70 (for example, an electric motor such as a servomotor, see FIG. 11) that rotates the wheels 12, and the wheels 12 are rotationally driven by the traveling drive unit 70 to drive the traveling unit. 11 runs along the rail 3. As shown in FIG. 2, in the present embodiment, the traveling unit 11 includes a guide wheel 13 that rolls on the guide surface of the rail 3, and the traveling unit 11 has the guide wheel 13 in contact with the guide surface of the rail 3. In the guided state, the vehicle travels along the rail 3. The guide surface of the rail 3 is a surface facing the inside of the path width direction W (the side of the pair of rails 3 toward the center position of the path width direction W), and the guide wheel 13 is an axial center along the vertical direction V. Rotate around (in this example, idle). In the example shown in FIG. 1, the main body portion 10 is provided with a pair of traveling portions 11 so as to be arranged in the front-rear direction X of the vehicle body.

図１に示すように、本実施形態では、カバー部１４は、走行部１１に対して鉛直方向Ｖの下方Ｖ２に配置された状態で、走行部１１に支持されている。搬送車１の走行時には、保持部２０に保持された状態の物品９０（以下、「保持物品」という場合がある）は、カバー部１４の内部空間に配置される。図１に示すように、本実施形態では、カバー部１４の内部空間は、車体前後方向Ｘの両側が閉じられていると共に、車体左右方向Ｙの少なくとも一方側が開放されている。よって、カバー部１４の内部空間に配置された物品９０は、カバー部１４の壁部によって少なくとも車体前後方向Ｘの両側から覆われる。 As shown in FIG. 1, in the present embodiment, the cover portion 14 is supported by the traveling portion 11 in a state of being arranged below V2 in the vertical direction V with respect to the traveling portion 11. When the transport vehicle 1 is traveling, the article 90 held by the holding portion 20 (hereinafter, may be referred to as a “holding article”) is arranged in the internal space of the cover portion 14. As shown in FIG. 1, in the present embodiment, in the internal space of the cover portion 14, both sides of the vehicle body front-rear direction X are closed and at least one side of the vehicle body left-right direction Y is open. Therefore, the article 90 arranged in the internal space of the cover portion 14 is covered by the wall portion of the cover portion 14 from at least both sides in the vehicle body front-rear direction X.

図２に示すように、保持部２０は、物品９０に形成された被保持部９１を支持する支持部２１を備えており、支持部２１を用いて物品９０を保持する。図２に示す例では、保持部２０は、物品９０を上方Ｖ１から保持する。具体的には、被保持部９１は、物品９０の上面９０ａを構成する上面部（例えば、板状の天板部）に形成されたフランジ部であり、支持部２１は、当該支持部２１の支持部分が被保持部９１と上面部との間の空間（以下、「支持用空間」という）に挿入された状態で、被保持部９１を下方Ｖ２から支持する。なお、被保持部９１は、物品９０の上部に形成されるフランジ部に限られず、例えば、物品９０の上面部（具体的には、上面部の外周部分）が被保持部９１として用いられる構成、物品９０の側面９０ｂを構成する側面部に被保持部９１が形成される構成、或いは、物品９０の底面９０ｃを構成する底面部（例えば、板状の底板部）が被保持部９１として用いられる構成とすることができる。 As shown in FIG. 2, the holding portion 20 includes a supporting portion 21 that supports the held portion 91 formed on the article 90, and the supporting portion 21 is used to hold the article 90. In the example shown in FIG. 2, the holding portion 20 holds the article 90 from above V1. Specifically, the held portion 91 is a flange portion formed on the upper surface portion (for example, a plate-shaped top plate portion) constituting the upper surface 90a of the article 90, and the support portion 21 is the support portion 21 of the support portion 21. The held portion 91 is supported from the lower V2 in a state where the supported portion is inserted into the space between the held portion 91 and the upper surface portion (hereinafter, referred to as “supporting space”). The held portion 91 is not limited to the flange portion formed on the upper portion of the article 90, and for example, the upper surface portion (specifically, the outer peripheral portion of the upper surface portion) of the article 90 is used as the held portion 91. , The structure in which the held portion 91 is formed on the side surface portion constituting the side surface 90b of the article 90, or the bottom surface portion (for example, a plate-shaped bottom plate portion) constituting the bottom surface 90c of the article 90 is used as the held portion 91. Can be configured to be.

保持部２０は、保持部２０による物品９０の保持及び保持解除を行うための保持駆動部７２（例えば、ソレノイドや電動モータ、図１１参照）を備えており、保持駆動部７２の駆動により、保持部２０による物品９０の保持及び保持解除が行われる。図２に示す例では、保持部２０は、一対の支持部２１を備えており、保持駆動部７２は、一対の支持部２１（具体的には、一対の支持部２１の一方の支持部分と他方の支持部分）を互いに接近及び離間させるように構成されている。 The holding unit 20 includes a holding drive unit 72 (for example, a solenoid or an electric motor, see FIG. 11) for holding and releasing the article 90 by the holding unit 20, and is held by driving the holding drive unit 72. The article 90 is held and released by the unit 20. In the example shown in FIG. 2, the holding portion 20 includes a pair of supporting portions 21, and the holding driving portion 72 has a pair of supporting portions 21 (specifically, one supporting portion of the pair of supporting portions 21). The other support portion) is configured to approach and separate from each other.

一対の支持部２１が互いに接近及び離間する方向を対象方向とすると、保持部２０による物品９０の保持を行う場合、保持駆動部７２は、一対の支持部２１を互いに接近させて、一対の支持部２１の姿勢を、一対の支持部２１の間隔が被保持部９１の対象方向の幅よりも小さくなる保持姿勢に切り替える。また、保持部２０による物品９０の保持解除を行う場合、保持駆動部７２は、一対の支持部２１を互いに離間させて、一対の支持部２１の姿勢を、一対の支持部２１の間隔が被保持部９１の対象方向の幅よりも大きくなる保持解除姿勢に切り替える。ここで、姿勢は、位置及び向きの少なくとも一方を含む概念として用いている。 Assuming that the direction in which the pair of support portions 21 approach and separate from each other is the target direction, when the holding portion 20 holds the article 90, the holding drive unit 72 brings the pair of support portions 21 close to each other to support the pair. The posture of the portion 21 is switched to a holding posture in which the distance between the pair of supporting portions 21 is smaller than the width of the held portion 91 in the target direction. Further, when the holding portion 20 releases the holding of the article 90, the holding driving portion 72 separates the pair of supporting portions 21 from each other so that the posture of the pair of supporting portions 21 is covered by the distance between the pair of supporting portions 21. The holding portion 91 is switched to a holding release posture that is larger than the width in the target direction. Here, posture is used as a concept including at least one of position and orientation.

保持部２０が後述する第２位置Ｐ２（図３参照）に配置されている状態で、一対の支持部２１の姿勢を保持解除姿勢から保持姿勢に切り替えることで、一対の支持部２１のそれぞれの支持部分が、移載対象箇所６に配置されている物品９０の支持用空間に挿入される。この状態で保持部２０を上昇させることで、物品９０が保持部２０と共に上昇する。また、保持部２０が第２位置Ｐ２に配置されている状態で、一対の支持部２１の姿勢を保持姿勢から保持解除姿勢に切り替えることで、一対の支持部２１のそれぞれの支持部分が、保持部２０に保持されていた物品９０の支持用空間から抜き出される。この状態で保持部２０を上昇させることで、物品９０を移載対象箇所６に残した状態で保持部２０のみが上昇する。 By switching the posture of the pair of support portions 21 from the holding release posture to the holding posture while the holding portion 20 is arranged at the second position P2 (see FIG. 3) described later, each of the pair of support portions 21 The support portion is inserted into the support space of the article 90 arranged at the transfer target portion 6. By raising the holding portion 20 in this state, the article 90 rises together with the holding portion 20. Further, by switching the posture of the pair of support portions 21 from the holding posture to the holding release posture while the holding portion 20 is arranged at the second position P2, the respective support portions of the pair of support portions 21 are held. It is taken out from the support space of the article 90 held by the portion 20. By raising the holding portion 20 in this state, only the holding portion 20 is raised while the article 90 is left at the transfer target portion 6.

物品９０の種類はこれに限定されないが、図２に示すように、本実施形態では、物品９０は、側面９０ｂに開口部９２を有する容器である。開口部９２は、物品９０に対して収容物を出し入れするために設けられており、開口部９２を介して物品９０に対する収容物の出し入れが行われる。開口部９２とは別の開口（例えば、軽量化や洗浄のための開口、或いは物品９０の構造上形成される開口）が、物品９０の側面９０ｂに形成されていてもよいが、物品９０に収容されている収容物は、開口部９２を通らなければ物品９０の外部に移動できないように、物品９０が構成されている。本実施形態では、ガラス基板や半導体ウェハ等の基板９３（収容物の一例）が、物品９０に収容される。また、本実施形態では、物品９０は、複数枚の基板９３を上下方向（底面９０ｃが水平に配置された状態で鉛直方向Ｖに沿う方向）に並べて収容可能に構成されている。 The type of the article 90 is not limited to this, but as shown in FIG. 2, in the present embodiment, the article 90 is a container having an opening 92 on the side surface 90b. The opening 92 is provided for putting in and taking out the contents to and from the article 90, and the contents are put in and out of the article 90 through the opening 92. An opening different from the opening 92 (for example, an opening for weight reduction or cleaning, or an opening formed due to the structure of the article 90) may be formed on the side surface 90b of the article 90, but the article 90 may have an opening. The article 90 is configured so that the contained object cannot move to the outside of the article 90 without passing through the opening 92. In the present embodiment, a substrate 93 (an example of an contained object) such as a glass substrate or a semiconductor wafer is accommodated in the article 90. Further, in the present embodiment, the article 90 is configured to be capable of accommodating a plurality of substrates 93 side by side in the vertical direction (direction along the vertical direction V with the bottom surface 90c arranged horizontally).

本実施形態では、物品９０は、開口部９２を閉じる蓋を備えていない。例えば、オープンカセットを物品９０として用いることができる。物品９０が、開口部９２を閉じする蓋を備える構成とすることもできる。この場合、例えば、ＦＯＵＰ（Front Opening Unified Pod）を物品９０として用いることができる。 In this embodiment, the article 90 does not have a lid that closes the opening 92. For example, an open cassette can be used as the article 90. The article 90 may also be configured to include a lid that closes the opening 92. In this case, for example, FOUP (Front Opening Unified Pod) can be used as the article 90.

図２では、一対の支持部２１が車体左右方向Ｙに互いに接近及び離間する向きで、保持部２０が配置される場合を例示しているが、一対の支持部２１が車体前後方向Ｘ（図１参照）に互いに接近及び離間する向きで、保持部２０が配置されてもよい。また、図１～図３では、開口部９２が車体左右方向Ｙの一方側を向く向きで、物品９０が保持部２０に保持される場合を例示しているが、開口部９２が車体前後方向Ｘの一方側を向く向きで、物品９０が保持部２０に保持されてもよい。なお、搬送車１が、保持部２０を本体部１０に対して鉛直方向Ｖに沿う軸心周りに回転させる機構を備える構成とすることもできる。物品９０に収容されている基板９３が、搬送車１の走行時に開口部９２から物品９０の外部に移動することをより確実に防止するという観点から、開口部９２がカバー部１４の壁部を向く向きで、物品９０が保持部２０に保持される構成とすると好適である。 FIG. 2 illustrates a case where the holding portions 20 are arranged so that the pair of support portions 21 approach and separate from each other in the left-right direction Y of the vehicle body, but the pair of support portions 21 are arranged in the front-rear direction X of the vehicle body (FIG. 2). The holding portion 20 may be arranged so as to approach and separate from each other (see 1). Further, FIGS. 1 to 3 illustrate a case where the article 90 is held by the holding portion 20 with the opening 92 facing one side in the left-right direction Y of the vehicle body, but the opening 92 is in the front-rear direction of the vehicle body. The article 90 may be held by the holding portion 20 so as to face one side of X. The transport vehicle 1 may be configured to include a mechanism for rotating the holding portion 20 around the axis along the vertical direction V with respect to the main body portion 10. From the viewpoint of more reliably preventing the substrate 93 housed in the article 90 from moving from the opening 92 to the outside of the article 90 when the transport vehicle 1 is traveling, the opening 92 covers the wall portion of the cover portion 14. It is preferable that the article 90 is held by the holding portion 20 in the facing direction.

昇降装置３０は、保持部２０を昇降させるための昇降駆動部７１（例えば、サーボモータ等の電動モータ、図１１参照）を備えており、昇降駆動部７１の駆動により、保持部２０が昇降される。昇降装置３０は、第１位置Ｐ１（図２及び図３参照）と、第１位置Ｐ１よりも下方Ｖ２の第２位置Ｐ２（図３参照）との間で、保持部２０を昇降させる。第１位置Ｐ１は、昇降方向（鉛直方向Ｖ）の上端の位置である。第１位置Ｐ１は、本体部１０が移動する場合の保持部２０の鉛直方向Ｖの位置である。すなわち、第１位置Ｐ１は、搬送車１の走行時における保持部２０の位置である。本実施形態では、第１位置Ｐ１は、保持物品がカバー部１４の内部空間に配置されるような保持部２０の位置である。また、第２位置Ｐ２は、保持部２０による物品９０の保持及び保持解除を行う場合の保持部２０の鉛直方向Ｖの位置である。すなわち、第２位置Ｐ２は、保持部２０による物品９０の保持及び保持解除を行う位置であり、言い換えれば、保持部２０と移載対象箇所６との間での物品９０の移載時における保持部２０の位置である。第２位置Ｐ２は、各移載対象箇所６の高さ（鉛直方向Ｖの位置）に応じて設定される。本実施形態では、第２位置Ｐ２は、一対の支持部２１の姿勢を保持姿勢と保持解除姿勢とに切り替えることで、移載対象箇所６に配置されている物品９０の支持用空間に、一対の支持部２１のそれぞれの支持部分を挿脱可能な高さに設定される。 The elevating device 30 includes an elevating drive unit 71 (for example, an electric motor such as a servomotor, see FIG. 11) for elevating and lowering the holding unit 20, and the holding unit 20 is elevated and lowered by driving the elevating drive unit 71. To. The elevating device 30 raises and lowers the holding portion 20 between the first position P1 (see FIGS. 2 and 3) and the second position P2 (see FIG. 3) V2 below the first position P1. The first position P1 is the position of the upper end in the vertical direction (vertical direction V). The first position P1 is a position in the vertical direction V of the holding portion 20 when the main body portion 10 moves. That is, the first position P1 is the position of the holding portion 20 when the transport vehicle 1 is traveling. In the present embodiment, the first position P1 is the position of the holding portion 20 such that the holding article is arranged in the internal space of the cover portion 14. Further, the second position P2 is a position in the vertical direction V of the holding portion 20 when the holding portion 20 holds and releases the article 90. That is, the second position P2 is a position where the holding portion 20 holds and releases the article 90, in other words, the holding portion 20 and the transfer target portion 6 hold the article 90 at the time of transfer. The position of the part 20. The second position P2 is set according to the height (position in the vertical direction V) of each transfer target location 6. In the present embodiment, the second position P2 is paired with the support space of the article 90 arranged at the transfer target portion 6 by switching the posture of the pair of support portions 21 between the holding posture and the holding release posture. Each support portion of the support portion 21 is set to a height at which it can be inserted and removed.

図３では、移載対象箇所６の一例として、処理装置５に隣接して配置されるロードポートを示している。処理装置５は、物品９０を処理対象とする装置であり、本実施形態では、物品９０から取り出された基板９３に対して処理を行う。図３に示すように、物品９０は、開口部９２が処理装置５側を向くように移載対象箇所６に配置される。 FIG. 3 shows a load port arranged adjacent to the processing device 5 as an example of the transfer target location 6. The processing device 5 is an apparatus for processing the article 90, and in the present embodiment, the substrate 93 taken out from the article 90 is processed. As shown in FIG. 3, the article 90 is arranged at the transfer target portion 6 so that the opening 92 faces the processing device 5 side.

図２に簡略化して模式的に示すように、昇降装置３０は、回転駆動される回転体４０と、回転体４０に巻き取り及び繰り出し自在に巻回されていると共に保持部２０に連結された伝動部材５０と、を備えている。昇降装置３０は、更に、回転体４０を回転駆動する上述した昇降駆動部７１（図１１参照）を備えている。回転体４０及び昇降駆動部７１は、本体部１０に支持されており、本実施形態では、カバー部１４の内部空間における上方Ｖ１の部分に配置されている。例えば、伝動部材５０がベルトであり、回転体４０がベルトを巻き取る巻取プーリである構成とし、或いは、伝動部材５０がワイヤであり、回転体４０がワイヤを巻き取る巻取ドラムである構成とすることができる。図３に示すように、伝動部材５０における回転体４０から繰り出される先端側に設けられた連結部５０ａが、保持部２０に連結されている。昇降装置３０は、回転体４０を昇降駆動部７１の駆動により回転させて、伝動部材５０を巻き取り又は繰り出すことで、保持部２０を上昇又は下降させる（すなわち、昇降させる）。このように、昇降装置３０は、保持部２０を吊り下げ支持した状態で、保持部２０を昇降させる。 As simplified and schematically shown in FIG. 2, the elevating device 30 is a rotating body 40 that is driven to rotate, and is wound around the rotating body 40 so as to be freely wound and unwound, and is connected to a holding portion 20. The transmission member 50 and the like are provided. The elevating device 30 further includes the above-mentioned elevating drive unit 71 (see FIG. 11) that rotationally drives the rotating body 40. The rotating body 40 and the elevating drive unit 71 are supported by the main body unit 10, and in the present embodiment, they are arranged in the upper V1 portion in the internal space of the cover portion 14. For example, the transmission member 50 is a belt and the rotating body 40 is a winding pulley for winding the belt, or the transmission member 50 is a wire and the rotating body 40 is a winding drum for winding the wire. Can be. As shown in FIG. 3, a connecting portion 50a provided on the tip end side of the transmission member 50, which is fed out from the rotating body 40, is connected to the holding portion 20. The elevating device 30 rotates the rotating body 40 by the drive of the elevating drive unit 71, and winds up or unwinds the transmission member 50 to raise or lower the holding portion 20 (that is, raise or lower). In this way, the elevating device 30 raises and lowers the holding portion 20 while the holding portion 20 is suspended and supported.

図２及び図３に示すように、本実施形態では、昇降装置３０は、複数の回転体４０を備えており、複数の回転体４０のそれぞれに伝動部材５０が巻回されている。図２及び図３に示す例では、昇降装置３０は、３つの回転体４０を備えている。そして、複数の伝動部材５０（本例では、３つの伝動部材５０）のそれぞれの連結部５０ａが、保持部２０に連結されている。複数の連結部５０ａは、保持部２０における互いに異なる部分に連結されている。なお、図２及び図３では、昇降装置３０が複数の回転体４０を備えていることを示すために、複数の回転体４０をそれぞれ別軸に配置しているが、複数の回転体４０は、同軸に並べて配置されてもよい。また、図３では、伝動部材５０の連結部５０ａが、当該伝動部材５０が巻回された回転体４０の直下に配置されているが、伝動部材５０における回転体４０から繰り出された部分が、案内用回転体（案内用プーリ等）に巻き掛けられ、伝動部材５０の連結部５０ａが、当該案内用回転体の直下に配置される構成としてもよい。 As shown in FIGS. 2 and 3, in the present embodiment, the elevating device 30 includes a plurality of rotating bodies 40, and a transmission member 50 is wound around each of the plurality of rotating bodies 40. In the example shown in FIGS. 2 and 3, the elevating device 30 includes three rotating bodies 40. Then, each connecting portion 50a of the plurality of transmission members 50 (in this example, the three transmission members 50) is connected to the holding portion 20. The plurality of connecting portions 50a are connected to different portions of the holding portion 20. In addition, in FIGS. 2 and 3, in order to show that the elevating device 30 includes the plurality of rotating bodies 40, the plurality of rotating bodies 40 are arranged on different axes, but the plurality of rotating bodies 40 are arranged. , May be arranged side by side coaxially. Further, in FIG. 3, the connecting portion 50a of the transmission member 50 is arranged directly under the rotating body 40 around which the transmission member 50 is wound, but the portion of the transmission member 50 extended from the rotating body 40 is formed. It may be configured such that it is wound around a guiding rotating body (guide pulley or the like) and the connecting portion 50a of the transmission member 50 is arranged directly under the guiding rotating body.

図１１に示すように、物品搬送設備１００は、搬送車１の動作を制御する制御部８０を備えている。制御部８０は、ＣＰＵ等の演算処理装置を備えると共にメモリ等の周辺回路を備え、これらのハードウェアと、演算処理装置等のハードウェア上で実行されるプログラムとの協働により、制御部８０の各機能が実現される。制御部８０は、搬送車１に設けられても、搬送車１とは独立に設けられてもよい。また、制御部８０が互いに通信可能に分離された複数のハードウェアを備える場合、一部のハードウェアが搬送車１に設けられ、残りのハードウェアが搬送車１とは独立に設けられてもよい。 As shown in FIG. 11, the article transport facility 100 includes a control unit 80 that controls the operation of the transport vehicle 1. The control unit 80 includes an arithmetic processing unit such as a CPU and peripheral circuits such as a memory, and the control unit 80 cooperates with these hardware and a program executed on the hardware such as the arithmetic processing apparatus. Each function of is realized. The control unit 80 may be provided on the transport vehicle 1 or may be provided independently of the transport vehicle 1. Further, when the control unit 80 includes a plurality of hardware separated so as to be able to communicate with each other, even if some hardware is provided in the transport vehicle 1 and the remaining hardware is provided independently of the transport vehicle 1. good.

制御部８０は、走行駆動部７０の駆動を制御することで、移動経路２に沿って移動する移動動作を本体部１０に行わせる。具体的には、制御部８０は、走行駆動部７０の駆動を制御することで、レール３に沿って走行する走行動作を走行部１１に行わせる。本実施形態では、走行部１１の走行動作によって本体部１０の移動動作が実現される。制御部８０は、保持部２０が保持している物品９０を移載対象箇所６に搬送する場合に、保持部２０が物品９０を保持した状態で走行部１１に走行動作を行わせる。また、制御部８０は、昇降駆動部７１の駆動を制御することで、保持部２０を昇降させる昇降動作を昇降装置３０に行わせる。また、制御部８０は、保持駆動部７２の駆動を制御することで、物品９０を保持する保持動作や物品９０の保持を解除する保持解除動作を保持部２０に行わせる。本実施形態では、物品９０の保持動作は、一対の支持部２１を互いに接近させる動作（言い換えれば、一対の支持部２１の姿勢を保持姿勢に切り替える動作）であり、物品９０の保持解除動作は、一対の支持部２１を互いに離間させる動作（言い換えれば、一対の支持部２１の姿勢を保持解除姿勢に切り替える動作）である。 The control unit 80 controls the drive of the travel drive unit 70 to cause the main body unit 10 to perform a movement operation of moving along the movement path 2. Specifically, the control unit 80 controls the drive of the travel drive unit 70 to cause the travel unit 11 to perform a travel operation of traveling along the rail 3. In the present embodiment, the moving operation of the main body portion 10 is realized by the traveling operation of the traveling unit 11. When the article 90 held by the holding unit 20 is transported to the transfer target portion 6, the control unit 80 causes the traveling unit 11 to perform a traveling operation while the holding unit 20 holds the article 90. Further, the control unit 80 controls the drive of the elevating drive unit 71 to cause the elevating device 30 to perform an elevating operation for raising and lowering the holding unit 20. Further, the control unit 80 controls the drive of the holding drive unit 72 to cause the holding unit 20 to perform a holding operation for holding the article 90 and a holding / releasing operation for releasing the holding of the article 90. In the present embodiment, the holding operation of the article 90 is an operation of bringing the pair of support portions 21 close to each other (in other words, an operation of switching the posture of the pair of support portions 21 to the holding posture), and the holding release operation of the article 90 is. , An operation of separating the pair of support portions 21 from each other (in other words, an operation of switching the posture of the pair of support portions 21 to the holding release posture).

制御部８０は、走行動作を走行部１１に行わせることで、移載対象箇所６に対応する位置（ここでは、移載対象箇所６より上方Ｖ１であって、平面視（鉛直方向Ｖに沿う方向視）で移載対象箇所６と重複する位置）まで搬送車１を走行させる。そして、保持部２０から移載対象箇所６に物品９０を移載する場合（すなわち、移載対象箇所６に物品９０を搬入する場合）には、制御部８０は、保持部２０を第１位置Ｐ１から第２位置Ｐ２まで下降させる昇降動作を昇降装置３０に行わせた後、物品９０の保持解除動作を保持部２０に行わせ、その後、保持部２０を第２位置Ｐ２から第１位置Ｐ１まで上昇させる昇降動作を昇降装置３０に行わせる。また、移載対象箇所６から保持部２０に物品９０を移載する場合（すなわち、移載対象箇所６から物品９０を搬出する場合）には、制御部８０は、保持部２０を第１位置Ｐ１から第２位置Ｐ２まで下降させる昇降動作を昇降装置３０に行わせた後、物品９０の保持動作を保持部２０に行わせ、その後、保持部２０を第２位置Ｐ２から第１位置Ｐ１まで上昇させる昇降動作を昇降装置３０に行わせる。 The control unit 80 causes the traveling unit 11 to perform a traveling operation, so that the position corresponding to the transfer target location 6 (here, V1 above the transfer target location 6 and in a plan view (along the vertical direction V)). The transport vehicle 1 is driven to a position) that overlaps with the transfer target portion 6 in the direction view). Then, when the article 90 is transferred from the holding unit 20 to the transfer target location 6 (that is, when the article 90 is carried into the transfer target location 6), the control unit 80 positions the holding unit 20 in the first position. After causing the elevating device 30 to perform the elevating operation of lowering from P1 to the second position P2, the holding unit 20 is made to perform the holding / releasing operation of the article 90, and then the holding unit 20 is moved from the second position P2 to the first position P1. The elevating device 30 is made to perform the elevating operation. Further, when the article 90 is transferred from the transfer target portion 6 to the holding portion 20 (that is, when the article 90 is carried out from the transfer target portion 6), the control unit 80 positions the holding portion 20 in the first position. After causing the elevating device 30 to perform the elevating operation of lowering from P1 to the second position P2, the holding unit 20 is made to perform the holding operation of the article 90, and then the holding unit 20 is moved from the second position P2 to the first position P1. The elevating device 30 is made to perform the elevating operation for elevating.

本実施形態では、物品９０は、側面９０ｂに形成された開口部９２を介して基板９３が出し入れされる容器である。そのため、搬送車１の走行時には、図２に示すように、物品９０の姿勢を開口部９２が斜め上方を向く傾斜姿勢Ｓ１とすることで、物品９０に収容された基板９３が開口部９２から物品９０の外部に移動し難いようにすることができる。一方、図３に示す例のように、移載対象箇所６において物品９０に対する基板９３の出し入れが行われる場合には、物品９０の姿勢を開口部９２が水平方向を向く水平姿勢Ｓ２とすることで、開口部９２を介した基板９３の物品９０に対する出し入れを行いやすくなる。すなわち、図３に示す例では、移載対象箇所６において要求される物品９０の姿勢が、水平姿勢Ｓ２となる。本実施形態では、昇降装置３０が後述する昇降調整部３１を備えており、これにより、搬送車１の走行時には傾斜姿勢Ｓ１で物品９０を保持部２０により保持しつつ、移載対象箇所６に配置される物品９０の姿勢を水平姿勢Ｓ２とすることが可能となっている。 In the present embodiment, the article 90 is a container in which the substrate 93 is taken in and out through the opening 92 formed in the side surface 90b. Therefore, when the transport vehicle 1 is traveling, as shown in FIG. 2, the posture of the article 90 is set to the inclined posture S1 in which the opening 92 faces diagonally upward, so that the substrate 93 housed in the article 90 can be moved from the opening 92. It can be made difficult to move to the outside of the article 90. On the other hand, as in the example shown in FIG. 3, when the substrate 93 is taken in and out of the article 90 at the transfer target portion 6, the posture of the article 90 is the horizontal posture S2 in which the opening 92 faces the horizontal direction. Therefore, the substrate 93 can be easily taken in and out of the article 90 through the opening 92. That is, in the example shown in FIG. 3, the posture of the article 90 required at the transfer target portion 6 is the horizontal posture S2. In the present embodiment, the elevating device 30 includes an elevating adjustment unit 31, which will be described later, whereby the article 90 is held by the holding unit 20 in the inclined posture S1 when the transport vehicle 1 is traveling, and is moved to the transfer target location 6. The posture of the placed article 90 can be the horizontal posture S2.

上述したように、昇降装置３０は、複数の回転体４０を備えている。ここで、図４に示すように、複数の回転体４０（図２及び図３に示す例では、３つの回転体４０）に含まれる１つの回転体４０を第１回転体４１とし、別の１つの回転体４０を第２回転体４２とする。また、第１回転体４１に巻回されている伝動部材５０を第１伝動部材５１とし、第２回転体４２に巻回されている伝動部材５０を第２伝動部材５２とし、第１伝動部材５１に設けられた連結部５０ａを第１連結部５１ａとし、第２伝動部材５２に設けられた連結部５０ａを第２連結部５２ａとする。すなわち、昇降装置３０は、回転駆動される第１回転体４１と、回転駆動される第２回転体４２と、第１回転体４１に巻き取り及び繰り出し自在に巻回されていると共に保持部２０に連結された第１伝動部材５１と、第２回転体４２に巻き取り及び繰り出し自在に巻回されていると共に保持部２０に連結された第２伝動部材５２と、を備えている。そして、第１伝動部材５１における第１回転体４１から繰り出される先端側に設けられた第１連結部５１ａと、第２伝動部材５２における第２回転体４２から繰り出される先端側に設けられた第２連結部５２ａとが、保持部２０に連結されている。 As described above, the elevating device 30 includes a plurality of rotating bodies 40. Here, as shown in FIG. 4, one rotating body 40 included in the plurality of rotating bodies 40 (three rotating bodies 40 in the examples shown in FIGS. 2 and 3) is referred to as a first rotating body 41, and another rotating body 40 is used. One rotating body 40 is referred to as a second rotating body 42. Further, the transmission member 50 wound around the first rotating body 41 is referred to as a first transmission member 51, and the transmission member 50 wound around the second rotating body 42 is referred to as a second transmission member 52. The connecting portion 50a provided on the 51 is referred to as a first connecting portion 51a, and the connecting portion 50a provided on the second transmission member 52 is referred to as a second connecting portion 52a. That is, the elevating device 30 is wound around the first rotating body 41 that is rotationally driven, the second rotating body 42 that is rotationally driven, and the first rotating body 41 so as to be freely wound and unwound, and the holding portion 20. The first transmission member 51 is connected to the second rotating body 42, and the second transmission member 52 is wound around the second rotating body 42 so as to be freely wound and unwound and is connected to the holding portion 20. Then, the first connecting portion 51a provided on the tip end side of the first transmission member 51 to be fed out from the first rotating body 41 and the first connecting portion 51a provided on the tip end side of the second transmission member 52 to be fed out from the second rotating body 42. The two connecting portions 52a are connected to the holding portion 20.

昇降装置３０は、第１位置Ｐ１と第２位置Ｐ２との間で保持物品の水平面Ｈに対する傾斜角度Ａ（図３参照）を可変にするための昇降調整部３１を備えている。昇降調整部３１は、保持部２０を昇降させる場合における第１昇降距離Ｄ１と第２昇降距離Ｄ２とを異ならせることで、上記の傾斜角度Ａを調整するように構成されている。図４に示すように、第１昇降距離Ｄ１は、第１連結部５１ａの昇降距離であり、第２昇降距離Ｄ２は、第２連結部５２ａの昇降距離である。このように第１昇降距離Ｄ１と第２昇降距離Ｄ２とを異ならせることで、図４に示すように、搬送車１の走行時における保持部２０の位置である第１位置Ｐ１と、保持部２０と移載対象箇所６との間での物品９０の移載時における保持部２０の位置である第２位置Ｐ２とで、保持部２０及び保持物品（保持部２０に保持された状態の物品９０）の姿勢を互いに異ならせることができる。なお、図４及び後に参照する図５以外の図面では、第１昇降距離Ｄ１や第２昇降距離Ｄ２の図示を省略している。 The elevating device 30 includes an elevating adjustment unit 31 for varying the inclination angle A (see FIG. 3) with respect to the horizontal plane H of the holding article between the first position P1 and the second position P2. The elevating adjustment unit 31 is configured to adjust the inclination angle A by making the first elevating distance D1 and the second elevating distance D2 different from each other when the holding unit 20 is moved up and down. As shown in FIG. 4, the first elevating distance D1 is the elevating distance of the first connecting portion 51a, and the second elevating distance D2 is the elevating distance of the second connecting portion 52a. By making the first elevating distance D1 and the second elevating distance D2 different in this way, as shown in FIG. 4, the first position P1 which is the position of the holding portion 20 when the transport vehicle 1 is traveling and the holding portion. At the second position P2, which is the position of the holding portion 20 at the time of transferring the article 90 between the 20 and the transfer target portion 6, the holding portion 20 and the holding article (article held by the holding portion 20). 90) The postures can be different from each other. In addition, in drawings other than FIG. 4 and FIG. 5 which will be referred to later, the first ascending / descending distance D1 and the second ascending / descending distance D2 are not shown.

本実施形態では、昇降調整部３１は、第１位置Ｐ１での保持物品の水平面Ｈに対する傾斜角度Ａである第１角度を、第２位置Ｐ２での保持物品の水平面Ｈに対する傾斜角度Ａである第２角度よりも大きくするように構成されている。第１角度と第２角度との差は、第１位置Ｐ１と第２位置Ｐ２との間で保持部２０を昇降させる場合の第１昇降距離Ｄ１と第２昇降距離Ｄ２との差に応じて定まり、昇降調整部３１は、第１角度と第２角度との差が所望の角度差となるように、第１昇降距離Ｄ１と第２昇降距離Ｄ２とを異ならせる。なお、図３～図５以外の図面では、水平面Ｈや傾斜角度Ａの図示を省略している。 In the present embodiment, the elevating adjustment unit 31 has a first angle that is an inclination angle A with respect to the horizontal plane H of the holding article at the first position P1 and an inclination angle A with respect to the horizontal plane H of the holding article at the second position P2. It is configured to be larger than the second angle. The difference between the first angle and the second angle depends on the difference between the first elevating distance D1 and the second elevating distance D2 when the holding portion 20 is moved up and down between the first position P1 and the second position P2. The elevating adjustment unit 31 makes the first elevating distance D1 and the second elevating distance D2 different so that the difference between the first angle and the second angle becomes a desired angle difference. In drawings other than FIGS. 3 to 5, the horizontal plane H and the inclination angle A are not shown.

ここでは、傾斜角度Ａを、物品９０の底面９０ｃの水平面Ｈに対する傾斜角度としている。また、物品９０の開口部９２が真上を向く場合に傾斜角度Ａが９０度となり、物品９０の開口部９２が真下を向く場合に傾斜角度Ａが－９０度となるように、傾斜角度Ａを定義しており、傾斜角度Ａの大きさは、絶対値ではなく正負（符号）を考慮した大きさとする。傾斜角度Ａが、０度よりも大きく９０度よりも小さい角度（正の鋭角）である場合には、物品９０の開口部９２は斜め上方を向き、その場合の開口部９２の向きは、傾斜角度Ａが大きくなるに従って真上（真上を向く向き）に近づく。なお、ここでは、開口部９２を介した収容物（本実施形態では、基板９３）の出し入れが行われる際の収容物の移動方向に沿って、物品９０の外部に向かう方向を、開口部９２の向きとしている。傾斜角度Ａを、底面９０ｃの水平面Ｈに対する傾斜角度に代えて、開口部９２の向き（開口部９２の開口方向）の水平面Ｈに対する傾斜角度としてもよい。 Here, the tilt angle A is defined as the tilt angle of the bottom surface 90c of the article 90 with respect to the horizontal plane H. Further, the inclination angle A is 90 degrees when the opening 92 of the article 90 faces directly upward, and the inclination angle A is −90 degrees when the opening 92 of the article 90 faces directly downward. Is defined, and the size of the tilt angle A is not an absolute value but a size that considers positive and negative (signatures). When the inclination angle A is an angle larger than 0 degrees and smaller than 90 degrees (a positive acute angle), the opening 92 of the article 90 faces diagonally upward, and the orientation of the opening 92 in that case is tilted. As the angle A becomes larger, it approaches directly above (direction facing directly upward). Here, the opening 92 is the direction toward the outside of the article 90 along the moving direction of the contained object when the contained object (in the present embodiment, the substrate 93) is taken in and out through the opening 92. The direction is. The inclination angle A may be an inclination angle with respect to the horizontal plane H in the direction of the opening 92 (opening direction of the opening 92) instead of the inclination angle with respect to the horizontal plane H of the bottom surface 90c.

本実施形態では、図３及び図４に示すように、昇降調整部３１は、第１位置Ｐ１での保持物品の姿勢を、開口部９２が斜め上方を向く傾斜姿勢Ｓ１とし、第２位置Ｐ２での保持物品の姿勢を、開口部９２が水平方向を向く水平姿勢Ｓ２とするように構成されている。すなわち、本実施形態では、第１角度が正の鋭角（本例では、５度）に設定され、第２角度が０度に設定されている。このように第２位置Ｐ２での保持物品の姿勢を水平姿勢Ｓ２とすることで、保持部２０と移載対象箇所６との間での物品９０の移載時に移載対象箇所６に配置される物品９０の姿勢を、水平姿勢Ｓ２とすることができる。第２角度が０度に設定されるため、第１角度は、第１位置Ｐ１と第２位置Ｐ２との間で保持部２０を昇降させる場合の第１昇降距離Ｄ１と第２昇降距離Ｄ２との差に応じて定まり、昇降調整部３１は、第１角度が所望の大きさとなるように（すなわち、第１位置Ｐ１で保持物品が所望の傾斜姿勢Ｓ１で配置されるように）、第１昇降距離Ｄ１と第２昇降距離Ｄ２とを異ならせる。 In the present embodiment, as shown in FIGS. 3 and 4, the elevating adjustment unit 31 sets the posture of the holding article at the first position P1 to the inclined posture S1 in which the opening 92 faces diagonally upward, and the second position P2. The posture of the holding article is set to the horizontal posture S2 in which the opening 92 faces the horizontal direction. That is, in the present embodiment, the first angle is set to a positive acute angle (5 degrees in this example), and the second angle is set to 0 degrees. By setting the posture of the held article at the second position P2 to the horizontal posture S2 in this way, the article 90 is placed at the transfer target portion 6 when the article 90 is transferred between the holding portion 20 and the transfer target portion 6. The posture of the article 90 can be the horizontal posture S2. Since the second angle is set to 0 degrees, the first angle is the first elevating distance D1 and the second elevating distance D2 when the holding portion 20 is moved up and down between the first position P1 and the second position P2. 1 The elevating distance D1 and the second elevating distance D2 are made different.

図４に示すように、本実施形態では、第１連結部５１ａと第２連結部５２ａとが同じ高さに配置されている状態で、保持物品の姿勢が水平姿勢Ｓ２となり、第１連結部５１ａが第２連結部５２ａよりも上方Ｖ１に配置されている状態で、保持物品の姿勢が傾斜姿勢Ｓ１となる。よって、保持部２０が第２位置Ｐ２に配置されている状態で第１連結部５１ａと第２連結部５２ａとが同じ高さに配置されるように第１伝動部材５１及び第２伝動部材５２の長さを調整すると共に、第１昇降距離Ｄ１を第２昇降距離Ｄ２よりも長くすることで、第１位置Ｐ１での保持物品の姿勢を傾斜姿勢Ｓ１とし、第２位置Ｐ２での保持物品の姿勢を水平姿勢Ｓ２とすることができる。 As shown in FIG. 4, in the present embodiment, the posture of the holding article is the horizontal posture S2 in a state where the first connecting portion 51a and the second connecting portion 52a are arranged at the same height, and the first connecting portion The posture of the holding article is the tilted posture S1 in a state where the 51a is arranged above the second connecting portion 52a in V1. Therefore, the first transmission member 51 and the second transmission member 52 are arranged so that the first connecting portion 51a and the second connecting portion 52a are arranged at the same height while the holding portion 20 is arranged at the second position P2. By adjusting the length of the first elevating distance D1 and making the first elevating distance D1 longer than the second elevating distance D2, the posture of the held article at the first position P1 is set to the inclined posture S1 and the held article at the second position P2. The posture of can be the horizontal posture S2.

図４に模式的に示すように、本実施形態では、第１回転体４１の径と第２回転体４２の径とが異なっている。具体的には、第１回転体４１の径が第２回転体４２の径よりも大きくなっており、これにより、第１回転体４１の回転量と第２回転体４２の回転量とを異ならせなくても、第１昇降距離Ｄ１を第２昇降距離Ｄ２よりも長くすることが可能となっている。このように、本実施形態では、昇降調整部３１は、第１回転体４１と第２回転体４２とを含んでいる。そして、昇降調整部３１は、第１回転体４１の径と第２回転体４２の径とを異ならせることで、第１昇降距離Ｄ１と第２昇降距離Ｄ２とを異ならせる。なお、第１回転体４１及び第２回転体４２が、フランジ付きプーリやフランジ付きドラム等のようにフランジ付きの回転体４０である場合には、第１回転体４１における第１伝動部材５１が巻回される部分を第１巻回部４１ａとし、第２回転体４２における第２伝動部材５２が巻回される部分を第２巻回部４２ａとして、第１巻回部４１ａの径を第１回転体４１の径とし、第２巻回部４２ａの径を第２回転体４２の径とする。 As schematically shown in FIG. 4, in the present embodiment, the diameter of the first rotating body 41 and the diameter of the second rotating body 42 are different. Specifically, the diameter of the first rotating body 41 is larger than the diameter of the second rotating body 42, so that the amount of rotation of the first rotating body 41 and the amount of rotation of the second rotating body 42 are different. Even if this is not possible, the first elevating distance D1 can be made longer than the second elevating distance D2. As described above, in the present embodiment, the elevating adjustment unit 31 includes the first rotating body 41 and the second rotating body 42. Then, the elevating adjustment unit 31 makes the first elevating distance D1 and the second elevating distance D2 different by making the diameter of the first rotating body 41 different from the diameter of the second rotating body 42. When the first rotating body 41 and the second rotating body 42 are rotating bodies 40 with a flange such as a pulley with a flange or a drum with a flange, the first transmission member 51 in the first rotating body 41 is used. The wound portion is referred to as the first winding portion 41a, the portion of the second rotating body 42 around which the second transmission member 52 is wound is referred to as the second winding portion 42a, and the diameter of the first winding portion 41a is the first. The diameter of the 1-rotating body 41 is defined as the diameter of the 2nd rotating body 42, and the diameter of the 2nd winding portion 42a is defined as the diameter of the 2nd rotating body 42.

本実施形態では、昇降駆動部７１は、第１回転体４１と第２回転体４２とに各別に設けられておらず、第１回転体４１及び第２回転体４２を回転駆動する共通の昇降駆動部７１が設けられている。そして、昇降駆動部７１は、保持部２０を昇降させる場合における第１回転体４１の回転量と第２回転体４２の回転量とを同一とするように構成されている。また、本実施形態では、第１伝動部材５１及び第２伝動部材５２は帯状に形成されている。これらの伝動部材５０は、厚さ方向（幅方向及び長さ方向に直交する方向）に重なるように回転体４０に巻回される。そして、第１伝動部材５１の厚さと第２伝動部材５２の厚さとが同一とされている。伝動部材５０が、歯付きベルトのように表面に凹凸が形成された帯状部材である場合には、凸部等の厚さが最大となる部分の厚さを、伝動部材５０の厚さとする。なお、伝動部材５０は、帯状に形成された部材（ベルト等）に限られず、ワイヤ等であってもよい。 In the present embodiment, the elevating drive unit 71 is not separately provided for the first rotating body 41 and the second rotating body 42, and is a common elevating and lowering that drives the first rotating body 41 and the second rotating body 42 to rotate. A drive unit 71 is provided. The elevating drive unit 71 is configured so that the amount of rotation of the first rotating body 41 and the amount of rotation of the second rotating body 42 when raising and lowering the holding unit 20 are the same. Further, in the present embodiment, the first transmission member 51 and the second transmission member 52 are formed in a band shape. These transmission members 50 are wound around the rotating body 40 so as to overlap each other in the thickness direction (directions orthogonal to the width direction and the length direction). The thickness of the first transmission member 51 and the thickness of the second transmission member 52 are the same. When the transmission member 50 is a band-shaped member having irregularities on the surface such as a toothed belt, the thickness of the portion where the thickness of the convex portion or the like is maximum is defined as the thickness of the transmission member 50. The transmission member 50 is not limited to a band-shaped member (belt or the like), and may be a wire or the like.

このように、本実施形態では、保持部２０を昇降させる場合における第１回転体４１の回転量と第２回転体４２の回転量とが同一とされると共に、第１伝動部材５１の厚さと第２伝動部材５２の厚さとが同一とされる。そのため、第１昇降距離Ｄ１は、第１回転体４１の径と第２回転体４２の径との相違量に応じて、第２昇降距離Ｄ２よりも長くなり、第１昇降距離Ｄ１と第２昇降距離Ｄ２との差は、保持部２０を昇降させる場合における第１回転体４１及び第２回転体４２の回転量が多くなるに従って大きくなる。本実施形態では、保持部２０が第１位置Ｐ１に位置する状態で、第１連結部５１ａが第２連結部５２ａよりも上方Ｖ１に配置され、保持部２０が第１位置Ｐ１から下降するに従って第１連結部５１ａと第２連結部５２ａとの高さの差が小さくなる（すなわち、保持物品の水平面Ｈに対する傾斜角度Ａが小さくなる）。保持部２０が第２位置Ｐ２まで下降した状態で第１連結部５１ａと第２連結部５２ａとが同じ高さに配置されるように、第１回転体４１の径と第２回転体４２の径との相違量が設定されている。第１回転体４１の径と第２回転体４２の径との相違量は、第１位置Ｐ１と第２位置Ｐ２との間で保持部２０を昇降させる場合における第１回転体４１及び第２回転体４２の回転量に応じて異なる値に、言い換えれば、第１位置Ｐ１と第２位置Ｐ２との高低差に応じて異なる値に設定される。 As described above, in the present embodiment, the rotation amount of the first rotating body 41 and the rotation amount of the second rotating body 42 when the holding portion 20 is raised and lowered are the same, and the thickness of the first transmission member 51 is the same. The thickness of the second transmission member 52 is the same. Therefore, the first elevating distance D1 becomes longer than the second elevating distance D2 according to the amount of difference between the diameter of the first rotating body 41 and the diameter of the second rotating body 42, and the first elevating distance D1 and the second elevating distance D1. The difference from the elevating distance D2 increases as the amount of rotation of the first rotating body 41 and the second rotating body 42 when the holding portion 20 is moved up and down increases. In the present embodiment, in a state where the holding portion 20 is located at the first position P1, the first connecting portion 51a is arranged above the second connecting portion 52a V1, and as the holding portion 20 descends from the first position P1. The difference in height between the first connecting portion 51a and the second connecting portion 52a becomes smaller (that is, the inclination angle A of the holding article with respect to the horizontal plane H becomes smaller). The diameter of the first rotating body 41 and the diameter of the second rotating body 42 so that the first connecting portion 51a and the second connecting portion 52a are arranged at the same height in a state where the holding portion 20 is lowered to the second position P2. The amount of difference from the diameter is set. The difference between the diameter of the first rotating body 41 and the diameter of the second rotating body 42 is the difference between the first rotating body 41 and the second rotating body 41 when the holding portion 20 is moved up and down between the first position P1 and the second position P2. Different values are set according to the amount of rotation of the rotating body 42, in other words, different values are set according to the height difference between the first position P1 and the second position P2.

図２及び図３に示す例のように、昇降装置３０が３つ以上の回転体４０を備える場合、第１回転体４１及び第２回転体４２以外の回転体４０を「追加回転体」とし、追加回転体に巻回された伝動部材５０を「追加伝動部材」とし、追加伝動部材に設けられた連結部５０ａを「追加連結部」として、保持部２０を昇降させる場合における追加連結部の昇降距離は、第１昇降距離Ｄ１と同一となるように、又は第２昇降距離Ｄ２と同一となるように、或いは第１昇降距離Ｄ１及び第２昇降距離Ｄ２のいずれとも異なるように、昇降調整部３１により調整される。例えば、追加連結部が、開口部９２の開口方向（図４において物品９０の底面９０ｃに沿う方向）において第１連結部５１ａと同じ位置に配置される場合、追加連結部の昇降距離が第１昇降距離Ｄ１と同一となる構成とすることができる。また、例えば、追加連結部が、開口部９２の開口方向において第２連結部５２ａと同じ位置に配置される場合、追加連結部の昇降距離が第２昇降距離Ｄ２と同一となる構成とすることができる。また、例えば、追加連結部が、開口部９２の開口方向において第１連結部５１ａと第２連結部５２ａとの間の位置に配置される場合、追加連結部の昇降距離が第１昇降距離Ｄ１と第２昇降距離Ｄ２との間の値となる構成とすることができる。 As in the example shown in FIGS. 2 and 3, when the elevating device 30 includes three or more rotating bodies 40, the rotating bodies 40 other than the first rotating body 41 and the second rotating body 42 are referred to as “additional rotating bodies”. , The transmission member 50 wound around the additional rotating body is referred to as an "additional transmission member", and the connecting portion 50a provided on the additional transmission member is referred to as an "additional connecting portion". The elevating distance is adjusted so as to be the same as the first elevating distance D1, the same as the second elevating distance D2, or different from both the first elevating distance D1 and the second elevating distance D2. It is adjusted by the unit 31. For example, when the additional connecting portion is arranged at the same position as the first connecting portion 51a in the opening direction of the opening 92 (direction along the bottom surface 90c of the article 90 in FIG. 4), the elevating distance of the additional connecting portion is first. The configuration can be the same as the elevating distance D1. Further, for example, when the additional connecting portion is arranged at the same position as the second connecting portion 52a in the opening direction of the opening 92, the elevating distance of the additional connecting portion shall be the same as the second elevating distance D2. Can be done. Further, for example, when the additional connecting portion is arranged at a position between the first connecting portion 51a and the second connecting portion 52a in the opening direction of the opening 92, the elevating distance of the additional connecting portion is the first elevating distance D1. The configuration can be such that the value is between the second ascending / descending distance D2 and the second ascending / descending distance D2.

〔第２の実施形態〕
搬送車の第２の実施形態について、図面（図５）を参照して説明する。以下では、本実施形態の搬送車について、第１の実施形態との相違点を中心に説明する。特に明記しない点については、第１の実施形態と同様であり、同一の符号を付して詳細な説明は省略する。 [Second Embodiment]
A second embodiment of the transport vehicle will be described with reference to the drawings (FIG. 5). Hereinafter, the transport vehicle of the present embodiment will be described focusing on the differences from the first embodiment. The points not particularly specified are the same as those in the first embodiment, and the same reference numerals are given and detailed description thereof will be omitted.

第１の実施形態と同様に、本実施形態でも、第１伝動部材５１及び第２伝動部材５２は帯状に形成されているが、図５に模式的に示すように、本実施形態では、第１伝動部材５１の厚さと第２伝動部材５２の厚さとが異なっている。具体的には、第１伝動部材５１の厚さが第２伝動部材５２の厚さよりも大きくなっており、これにより、第１回転体４１の回転量と第２回転体４２の回転量とを異ならせなくても、第１昇降距離Ｄ１を第２昇降距離Ｄ２よりも長くすることが可能となっている。このように、本実施形態では、昇降調整部３１は、第１伝動部材５１と第２伝動部材５２とを含んでいる。そして、昇降調整部３１は、第１伝動部材５１の厚さと第２伝動部材５２の厚さとを異ならせることで、第１昇降距離Ｄ１と第２昇降距離Ｄ２とを異ならせる。 Similar to the first embodiment, in the present embodiment, the first transmission member 51 and the second transmission member 52 are formed in a band shape, but as schematically shown in FIG. 5, in the present embodiment, the first transmission member 51 and the second transmission member 52 are formed in a band shape. The thickness of the 1 transmission member 51 and the thickness of the 2nd transmission member 52 are different. Specifically, the thickness of the first transmission member 51 is larger than the thickness of the second transmission member 52, whereby the amount of rotation of the first rotating body 41 and the amount of rotation of the second rotating body 42 are reduced. It is possible to make the first elevating distance D1 longer than the second elevating distance D2 without making the difference. As described above, in the present embodiment, the elevating adjustment unit 31 includes the first transmission member 51 and the second transmission member 52. Then, the elevating adjustment unit 31 makes the first elevating distance D1 and the second elevating distance D2 different by making the thickness of the first transmission member 51 different from the thickness of the second transmission member 52.

本実施形態では、第１伝動部材５１は、当該第１伝動部材５１の長さ方向の全域で厚さが均一とされ、第２伝動部材５２は、当該第２伝動部材５２の長さ方向の全域で厚さが均一とされている。なお、伝動部材５０の長さ方向の全域は、保持部２０が第２位置Ｐ２に位置する状態で当該伝動部材５０における回転体４０から繰り出される部分の全域を意味する。また、本実施形態では、第１回転体４１の径と第２回転体４２の径とが同一とされている。そのため、本実施形態では、第１昇降距離Ｄ１は、第１伝動部材５１の厚さと第２伝動部材５２の厚さとの相違量に応じて、第２昇降距離Ｄ２よりも長くなり、第１昇降距離Ｄ１と第２昇降距離Ｄ２との差は、保持部２０を昇降させる場合における第１回転体４１及び第２回転体４２の回転量が多くなるに従って大きくなる。保持部２０が第２位置Ｐ２に位置する状態で第１連結部５１ａと第２連結部５２ａとが同じ高さに配置されるように、第１伝動部材５１の厚さと第２伝動部材５２の厚さとの相違量が設定されている。第１伝動部材５１の厚さと第２伝動部材５２の厚さとの相違量は、第１位置Ｐ１と第２位置Ｐ２との間で保持部２０を昇降させる場合における第１回転体４１及び第２回転体４２の回転量に応じて異なる値に設定される。 In the present embodiment, the thickness of the first transmission member 51 is uniform over the entire length direction of the first transmission member 51, and the second transmission member 52 is the length direction of the second transmission member 52. The thickness is uniform over the entire area. The entire area of the transmission member 50 in the length direction means the entire area of the portion of the transmission member 50 that is unwound from the rotating body 40 in a state where the holding portion 20 is located at the second position P2. Further, in the present embodiment, the diameter of the first rotating body 41 and the diameter of the second rotating body 42 are the same. Therefore, in the present embodiment, the first elevating distance D1 becomes longer than the second elevating distance D2 according to the amount of difference between the thickness of the first transmission member 51 and the thickness of the second transmission member 52, and the first elevating distance D1. The difference between the distance D1 and the second elevating distance D2 increases as the amount of rotation of the first rotating body 41 and the second rotating body 42 in the case of raising and lowering the holding portion 20 increases. The thickness of the first transmission member 51 and the thickness of the second transmission member 52 so that the first connection portion 51a and the second connection portion 52a are arranged at the same height while the holding portion 20 is located at the second position P2. The amount of difference from the thickness is set. The difference between the thickness of the first transmission member 51 and the thickness of the second transmission member 52 is the first rotating body 41 and the second rotating body 41 when the holding portion 20 is moved up and down between the first position P1 and the second position P2. Different values are set according to the amount of rotation of the rotating body 42.

〔第３の実施形態〕
搬送車の第３の実施形態について、図面（図６、図７）を参照して説明する。以下では、本実施形態の搬送車について、第１の実施形態との相違点を中心に説明する。特に明記しない点については、第１の実施形態と同様であり、同一の符号を付して詳細な説明は省略する。 [Third Embodiment]
A third embodiment of the transport vehicle will be described with reference to the drawings (FIGS. 6 and 7). Hereinafter, the transport vehicle of the present embodiment will be described focusing on the differences from the first embodiment. The points not particularly specified are the same as those in the first embodiment, and the same reference numerals are given and detailed description thereof will be omitted.

第１の実施形態と同様に、本実施形態でも、第１伝動部材５１及び第２伝動部材５２は帯状に形成されているが、図７に模式的に示すように、本実施形態では、第１伝動部材５１における当該第１伝動部材５１の長さ方向の一部の領域に、厚さが他の領域と異なる厚さ変更部６１が設けられている。本実施形態では、厚さ変更部６１は、第１伝動部材５１における他の領域よりも厚さが大きく形成されている。一方、第２伝動部材５２は、当該第２伝動部材５２の長さ方向の全域で厚さが均一とされている。具体的には、厚さ変更部６１の厚さが第２伝動部材５２の厚さよりも大きくなっており、これにより、第１回転体４１の回転量と第２回転体４２の回転量とを異ならせなくても、第１昇降距離Ｄ１を第２昇降距離Ｄ２よりも長くすることが可能となっている。このように、本実施形態では、昇降調整部３１は、第１伝動部材５１と第２伝動部材５２とを含んでいる。そして、昇降調整部３１は、第１伝動部材５１に厚さ変更部６１を設けることで、第１位置Ｐ１と第２位置Ｐ２との間で保持部２０を昇降させる場合における第１昇降距離Ｄ１と第２昇降距離Ｄ２とを異ならせる。本実施形態では、第１伝動部材５１が「対象伝動部材」に相当する。 Similar to the first embodiment, in the present embodiment, the first transmission member 51 and the second transmission member 52 are formed in a band shape, but as schematically shown in FIG. 7, in the present embodiment, the first transmission member 51 and the second transmission member 52 are formed in a band shape. A thickness changing portion 61 having a thickness different from that of the other regions is provided in a part of the region of the transmission member 51 in the length direction of the first transmission member 51. In the present embodiment, the thickness changing portion 61 is formed to have a larger thickness than the other regions of the first transmission member 51. On the other hand, the thickness of the second transmission member 52 is made uniform over the entire length direction of the second transmission member 52. Specifically, the thickness of the thickness changing portion 61 is larger than the thickness of the second transmission member 52, whereby the amount of rotation of the first rotating body 41 and the amount of rotation of the second rotating body 42 are reduced. It is possible to make the first elevating distance D1 longer than the second elevating distance D2 without making the difference. As described above, in the present embodiment, the elevating adjustment unit 31 includes the first transmission member 51 and the second transmission member 52. Then, the elevating adjustment unit 31 is provided with a thickness changing unit 61 in the first transmission member 51, so that the first elevating distance D1 in the case where the holding unit 20 is elevated between the first position P1 and the second position P2. And the second ascending / descending distance D2 are different. In the present embodiment, the first transmission member 51 corresponds to the "target transmission member".

本実施形態では、第１伝動部材５１における厚さ変更部６１を除く領域の厚さが、第２伝動部材５２の厚さと同一とされている。また、本実施形態では、第１回転体４１の径と第２回転体４２の径とが同一とされている。そのため、本実施形態では、保持部２０を第１位置Ｐ１から下降させる場合に、図６に示すように、厚さ変更部６１が第１回転体４１から繰り出されるまでの間は、第１連結部５１ａと第２連結部５２ａとの高さの差が維持されて（或いは、実質的に維持されて）、保持物品の姿勢が傾斜姿勢Ｓ１に維持される。そして、厚さ変更部６１が第１回転体４１から繰り出される程度に保持部２０が下降すると、厚さ変更部６１の第１回転体４１からの繰り出しに伴い第１連結部５１ａと第２連結部５２ａとの高さの差が減少する。そして、本実施形態では、厚さ変更部６１の全体が第１回転体４１から繰り出された後、保持部２０が第２位置Ｐ２に到達する（図７参照）。 In the present embodiment, the thickness of the region of the first transmission member 51 excluding the thickness changing portion 61 is the same as the thickness of the second transmission member 52. Further, in the present embodiment, the diameter of the first rotating body 41 and the diameter of the second rotating body 42 are the same. Therefore, in the present embodiment, when the holding portion 20 is lowered from the first position P1, as shown in FIG. 6, the first connection is performed until the thickness changing portion 61 is extended from the first rotating body 41. The height difference between the portion 51a and the second connecting portion 52a is maintained (or substantially maintained), and the posture of the holding article is maintained in the tilted posture S1. Then, when the holding portion 20 is lowered to the extent that the thickness changing portion 61 is extended from the first rotating body 41, the thickness changing portion 61 is secondly connected to the first connecting portion 51a as the thickness changing portion 61 is extended from the first rotating body 41. The difference in height from the portion 52a is reduced. Then, in the present embodiment, after the entire thickness changing portion 61 is extended from the first rotating body 41, the holding portion 20 reaches the second position P2 (see FIG. 7).

図７に示すように、本実施形態では、第１伝動部材５１における厚さ変更部６１が設けられた領域と他の領域との境界領域に、厚さ変更部６１の側に向かうに従って厚さが次第に変化する漸変部６２が設けられており、先端側（第１連結部５１ａの側）とは反対側に設けられた漸変部６２も第１回転体４１から繰り出された後、保持部２０が第２位置Ｐ２に到達する。本実施形態では、漸変部６２は、厚さ変更部６１の側に向かうに従って厚さが次第に大きくなるように形成されている。なお、第１伝動部材５１に漸変部６２が設けられない構成とすることもできる。 As shown in FIG. 7, in the present embodiment, in the boundary region between the region where the thickness changing portion 61 is provided and the other region in the first transmission member 51, the thickness increases toward the side of the thickness changing portion 61. A gradually changing portion 62 is provided, and the gradually changing portion 62 provided on the side opposite to the tip side (the side of the first connecting portion 51a) is also held after being drawn out from the first rotating body 41. The unit 20 reaches the second position P2. In the present embodiment, the gradual change portion 62 is formed so that the thickness gradually increases toward the side of the thickness changing portion 61. The first transmission member 51 may not be provided with the gradual change portion 62.

本実施形態では、厚さ変更部６１の全体が第１回転体４１から繰り出された状態で第１連結部５１ａと第２連結部５２ａとが同じ高さに配置されるように、厚さ変更部６１の厚さ及び長さ（第１伝動部材５１の長さ方向における大きさ）が設定されている。よって、厚さ変更部６１の全体が第１回転体４１から繰り出されてから保持部２０が第２位置Ｐ２に到達するまでの間は、第１連結部５１ａと第２連結部５２ａとが互いに同じ高さに配置された状態が維持されて、保持物品の姿勢が水平姿勢Ｓ２に維持される。 In the present embodiment, the thickness is changed so that the first connecting portion 51a and the second connecting portion 52a are arranged at the same height in a state where the entire thickness changing portion 61 is extended from the first rotating body 41. The thickness and length of the portion 61 (the size of the first transmission member 51 in the length direction) are set. Therefore, the first connecting portion 51a and the second connecting portion 52a are connected to each other from the time when the entire thickness changing portion 61 is extended from the first rotating body 41 until the holding portion 20 reaches the second position P2. The state of being arranged at the same height is maintained, and the posture of the held article is maintained in the horizontal posture S2.

図７に示すように、第１伝動部材５１における第１回転体４１から繰り出された部分を対象部分６０として、保持部２０が第２位置Ｐ２に位置する状態で、厚さ変更部６１は対象部分６０に配置される。本実施形態では、保持部２０が第２位置Ｐ２に位置する状態で、第１伝動部材５１の長さ方向における対象部分６０の中央部よりも第１回転体４１の側に、厚さ変更部６１（具体的には、厚さ変更部６１の全体）が配置される。これにより、保持部２０を第１位置Ｐ１と第２位置Ｐ２との間で昇降させる場合に、図６に示すように、第１位置Ｐ１から第２位置Ｐ２に近い位置に亘る比較的大きい昇降範囲において、保持物品の姿勢を傾斜姿勢Ｓ１に維持することが可能となっている。言い換えれば、保持部２０を第１位置Ｐ１から第２位置Ｐ２まで下降させる場合に、保持部２０が第２位置Ｐ２に到達する直前に厚さ変更部６１が第１回転体４１から繰り出されて、保持物品の姿勢が傾斜姿勢Ｓ１から水平姿勢Ｓ２に変化するようにすることができる。本実施形態では、第１回転体４１が「対象回転体」に相当する。 As shown in FIG. 7, the thickness changing portion 61 is the target while the holding portion 20 is located at the second position P2, with the portion of the first transmission member 51 extended from the first rotating body 41 as the target portion 60. It is arranged in the portion 60. In the present embodiment, in the state where the holding portion 20 is located at the second position P2, the thickness changing portion is located closer to the first rotating body 41 than the central portion of the target portion 60 in the length direction of the first transmission member 51. 61 (specifically, the entire thickness changing portion 61) is arranged. As a result, when the holding portion 20 is moved up and down between the first position P1 and the second position P2, as shown in FIG. 6, a relatively large up and down position is performed from the first position P1 to a position close to the second position P2. Within the range, it is possible to maintain the posture of the holding article in the tilted posture S1. In other words, when the holding portion 20 is lowered from the first position P1 to the second position P2, the thickness changing portion 61 is extended from the first rotating body 41 immediately before the holding portion 20 reaches the second position P2. , The posture of the holding article can be changed from the inclined posture S1 to the horizontal posture S2. In the present embodiment, the first rotating body 41 corresponds to the "target rotating body".

例えば、厚さ変更部６１の長さ（第１伝動部材５１の長さ方向における大きさ）が、当該厚さ変更部６１の第１回転体４１への巻回数が整数回となる大きさとされる構成とすることができる。この場合、厚さ変更部６１は、長さ方向の一端部と他端部とが周方向（第１回転体４１の周方向）の同じ位置に配置されるように、第１回転体４１に巻回される。なお、厚さ変更部６１の長さが、当該厚さ変更部６１の第１回転体４１への巻回数が整数回とならない大きさとされる構成とすることもできる。 For example, the length of the thickness changing portion 61 (the size in the length direction of the first transmission member 51) is set so that the number of times the thickness changing portion 61 is wound around the first rotating body 41 is an integer number of times. Can be configured as such. In this case, the thickness changing portion 61 is placed on the first rotating body 41 so that one end and the other end in the length direction are arranged at the same position in the circumferential direction (circumferential direction of the first rotating body 41). It is wound. The length of the thickness changing portion 61 may be set so that the number of turns of the thickness changing portion 61 around the first rotating body 41 does not become an integer number.

本実施形態では、保持部２０が昇降される期間に、第１連結部５１ａの昇降速度と第２連結部５２ａの昇降速度とが異なる第１期間と、第１連結部５１ａの昇降速度と第２連結部５２ａの昇降速度とが同等（同一或いは同程度）となる第２期間とが含まれる。第１期間は、保持部２０の姿勢が変化する期間（言い換えれば、保持物品の水平面Ｈに対する傾斜角度Ａが変化する期間）であり、第２期間は、保持部２０の姿勢が変化しない期間（言い換えれば、保持物品の水平面Ｈに対する傾斜角度Ａが変化しない期間）である。なお、「変化しない」とは、維持或いは実質的に維持されることを意味する。本実施形態では、厚さ変更部６１が第１回転体４１から繰り出される期間と厚さ変更部６１が第１回転体４１に巻き取られる期間とが第１期間であり、それら以外の期間が第２期間とされる。本実施形態では、昇降駆動部７１は、第１期間における保持部２０の昇降速度を、第２期間における保持部２０の昇降速度よりも低くするように構成されている。昇降駆動部７１は、保持部２０が物品９０を保持している状態で保持部２０を昇降させる場合に、保持部２０の昇降速度をこのように変化させる。また、昇降駆動部７１は、制御部８０による制御を受けて、保持部２０の昇降速度をこのように変化させる。 In the present embodiment, during the period in which the holding portion 20 is raised and lowered, the raising and lowering speed of the first connecting portion 51a and the raising and lowering speed of the second connecting portion 52a are different from each other in the first period, and the raising and lowering speed of the first connecting portion 51a and the first. 2 Includes a second period in which the ascending / descending speed of the connecting portion 52a is the same (same or similar). The first period is a period in which the posture of the holding portion 20 changes (in other words, a period in which the inclination angle A with respect to the horizontal plane H of the holding article changes), and the second period is a period in which the posture of the holding portion 20 does not change (in other words, a period in which the posture of the holding portion 20 does not change). In other words, the period during which the inclination angle A with respect to the horizontal plane H of the held article does not change). In addition, "does not change" means that it is maintained or substantially maintained. In the present embodiment, the period in which the thickness changing portion 61 is fed out from the first rotating body 41 and the period in which the thickness changing portion 61 is taken up by the first rotating body 41 are the first periods, and the other periods are It is the second period. In the present embodiment, the elevating drive unit 71 is configured so that the elevating speed of the holding unit 20 in the first period is lower than the elevating speed of the holding unit 20 in the second period. The elevating drive unit 71 changes the elevating speed of the holding unit 20 in this way when the holding unit 20 is moved up and down while the holding unit 20 is holding the article 90. Further, the elevating drive unit 71 is controlled by the control unit 80 to change the elevating speed of the holding unit 20 in this way.

なお、ここでは、保持部２０を第１位置Ｐ１から第２位置Ｐ２まで下降させる場合に、厚さ変更部６１の全体が第１回転体４１から繰り出された後、保持部２０が第２位置Ｐ２に到達する構成を例として説明したが、厚さ変更部６１の全体が第１回転体４１から繰り出される前に、保持部２０が第２位置Ｐ２に到達する構成とすることもできる。この場合、保持部２０が第２位置Ｐ２まで下降した状態で第１連結部５１ａと第２連結部５２ａとが同じ高さに配置されるように、厚さ変更部６１の厚さ及び形成位置（具体的には、先端側の端部の形成位置）が設定される。 Here, when the holding portion 20 is lowered from the first position P1 to the second position P2, the holding portion 20 is moved to the second position after the entire thickness changing portion 61 is extended from the first rotating body 41. Although the configuration of reaching P2 has been described as an example, the holding portion 20 may reach the second position P2 before the entire thickness changing portion 61 is fed out from the first rotating body 41. In this case, the thickness and the forming position of the thickness changing portion 61 are arranged so that the first connecting portion 51a and the second connecting portion 52a are arranged at the same height in a state where the holding portion 20 is lowered to the second position P2. (Specifically, the formation position of the end portion on the tip side) is set.

〔第４の実施形態〕
搬送車の第４の実施形態について、図面（図８、図９）を参照して説明する。以下では、本実施形態の搬送車について、第３の実施形態との相違点を中心に説明する。特に明記しない点については、第３の実施形態と同様であり、同一の符号を付して詳細な説明は省略する。 [Fourth Embodiment]
A fourth embodiment of the transport vehicle will be described with reference to the drawings (FIGS. 8 and 9). Hereinafter, the transport vehicle of the present embodiment will be described focusing on the differences from the third embodiment. The points not particularly specified are the same as those in the third embodiment, and the same reference numerals are given and detailed description thereof will be omitted.

図８及び図９に示すように、本実施形態では、第２位置Ｐ２は、第１位置Ｐ１よりも下方Ｖ２の複数の位置を含んでいる。すなわち、本実施形態では、移載対象箇所６が複数の高さに分かれて配置されており、第２位置Ｐ２は、移載対象箇所６が配置される複数の高さのそれぞれに応じて設定されている。図８において実線で示すと共に図９において二点鎖線で示す移載対象箇所６は、最も上方Ｖ１に配置された移載対象箇所６であり、この移載対象箇所６に対応する第２位置Ｐ２（図８において保持部２０が配置されている位置）が、第２位置Ｐ２に含まれる複数の位置の中の最も上方Ｖ１の位置（すなわち、最も上方Ｖ１の第２位置Ｐ２）とされる。 As shown in FIGS. 8 and 9, in the present embodiment, the second position P2 includes a plurality of positions V2 below the first position P1. That is, in the present embodiment, the transfer target location 6 is divided into a plurality of heights and arranged, and the second position P2 is set according to each of the plurality of heights in which the transfer target location 6 is arranged. Has been done. The transfer target location 6 shown by the solid line in FIG. 8 and the alternate long and short dash line in FIG. 9 is the transfer target location 6 located at the uppermost V1, and the second position P2 corresponding to the transfer target location 6. (The position where the holding portion 20 is arranged in FIG. 8) is the position of the uppermost V1 among the plurality of positions included in the second position P2 (that is, the second position P2 of the uppermost V1).

図８に示すように、本実施形態では、保持部２０が最も上方Ｖ１の第２位置Ｐ２に位置する状態で、第１伝動部材５１における第１回転体４１から繰り出された部分（上述した対象部分６０）に、厚さ変更部６１（具体的には、厚さ変更部６１の全体）が配置される。よって、保持部２０を第１位置Ｐ１から下降させる場合、厚さ変更部６１の全体が第１回転体４１から繰り出された後、保持部２０が最も上方Ｖ１の第２位置Ｐ２に到達する。なお、図８に示す例では、保持部２０が最も上方Ｖ１の第２位置Ｐ２に位置する状態で、第１伝動部材５１の長さ方向における対象部分６０の中央部を跨ぐように、厚さ変更部６１が配置される。 As shown in FIG. 8, in the present embodiment, a portion of the first transmission member 51 that is extended from the first rotating body 41 in a state where the holding portion 20 is located at the second position P2 of the uppermost V1 (the object described above). A thickness changing portion 61 (specifically, the entire thickness changing portion 61) is arranged in the portion 60). Therefore, when the holding portion 20 is lowered from the first position P1, the holding portion 20 reaches the second position P2 of the uppermost V1 after the entire thickness changing portion 61 is fed out from the first rotating body 41. In the example shown in FIG. 8, in a state where the holding portion 20 is located at the second position P2 of the uppermost V1, the thickness is such that the holding portion 20 straddles the central portion of the target portion 60 in the length direction of the first transmission member 51. The change unit 61 is arranged.

本実施形態では、第３の実施形態と同様、厚さ変更部６１の全体が第１回転体４１から繰り出された状態で第１連結部５１ａと第２連結部５２ａとが同じ高さに配置されるように、厚さ変更部６１の厚さ及び長さが設定されている。よって、保持部２０を第１位置Ｐ１から下降させる場合に、厚さ変更部６１の全体が第１回転体４１から繰り出された後は、第１連結部５１ａと第２連結部５２ａとが互いに同じ高さに配置された状態が維持されて、保持物品の姿勢が水平姿勢Ｓ２に維持される。これにより、最も上方Ｖ１の第２位置Ｐ２を含む全ての第２位置Ｐ２において、保持物品の姿勢を水平姿勢Ｓ２とすることができ、保持部２０と移載対象箇所６との間での物品９０の移載時に移載対象箇所６に配置される物品９０の姿勢を、いずれの移載対象箇所６においても水平姿勢Ｓ２とすることが可能となっている。 In the present embodiment, as in the third embodiment, the first connecting portion 51a and the second connecting portion 52a are arranged at the same height in a state where the entire thickness changing portion 61 is extended from the first rotating body 41. The thickness and length of the thickness changing portion 61 are set so as to be performed. Therefore, when the holding portion 20 is lowered from the first position P1, after the entire thickness changing portion 61 is fed out from the first rotating body 41, the first connecting portion 51a and the second connecting portion 52a are mutually connected. The state of being arranged at the same height is maintained, and the posture of the held article is maintained in the horizontal posture S2. As a result, the posture of the held article can be set to the horizontal posture S2 at all the second positions P2 including the second position P2 of the uppermost V1, and the article between the holding portion 20 and the transfer target portion 6. The posture of the article 90 placed at the transfer target location 6 at the time of transfer of the 90 can be set to the horizontal posture S2 at any of the transfer target locations 6.

〔第５の実施形態〕
搬送車の第５の実施形態について、図面（図１０）を参照して説明する。以下では、本実施形態の搬送車について、第１の実施形態との相違点を中心に説明する。特に明記しない点については、第１の実施形態と同様であり、同一の符号を付して詳細な説明は省略する。 [Fifth Embodiment]
A fifth embodiment of the transport vehicle will be described with reference to the drawings (FIG. 10). Hereinafter, the transport vehicle of the present embodiment will be described focusing on the differences from the first embodiment. The points not particularly specified are the same as those in the first embodiment, and the same reference numerals are given and detailed description thereof will be omitted.

本実施形態では、第１回転体４１及び第２回転体４２を共通の昇降駆動部７１で回転駆動するようにしつつ、第１位置Ｐ１と第２位置Ｐ２との間で保持部２０を昇降させる場合における、第１回転体４１の回転量と第２回転体４２の回転量とを異ならせるように構成されている。具体的には、回転体４０と昇降駆動部７１との連結部には回転方向の遊びが設けられており、この遊びの範囲内で、第１回転体４１の回転量と第２回転体４２の回転量とが異なることが許容されている。このように、本実施形態では、昇降調整部３１は、第１回転体４１及び第２回転体４２を回転駆動する共通の昇降駆動部７１を含み、昇降駆動部７１は、第１位置Ｐ１と第２位置Ｐ２との間で保持部２０を昇降させる場合における、第１回転体４１の回転量と第２回転体４２の回転量とが異なることを許容するように構成されている。 In the present embodiment, the holding portion 20 is moved up and down between the first position P1 and the second position P2 while the first rotating body 41 and the second rotating body 42 are rotationally driven by a common elevating drive unit 71. In the case, the rotation amount of the first rotating body 41 and the rotation amount of the second rotating body 42 are configured to be different from each other. Specifically, a play in the rotation direction is provided at the connecting portion between the rotating body 40 and the elevating drive unit 71, and within the range of this play, the rotation amount of the first rotating body 41 and the second rotating body 42. It is allowed that the amount of rotation of is different. As described above, in the present embodiment, the elevating adjustment unit 31 includes a common elevating drive unit 71 that rotationally drives the first rotating body 41 and the second rotating body 42, and the elevating drive unit 71 is the first position P1. It is configured to allow the amount of rotation of the first rotating body 41 and the amount of rotation of the second rotating body 42 to be different when the holding portion 20 is moved up and down between the second position P2 and the second position P2.

本実施形態では、昇降駆動部７１は、第１位置Ｐ１と第２位置Ｐ２との間で保持部２０を昇降させる場合に、第１回転体４１の回転量を第２回転体４２の回転量よりも多くするように構成されている。そして、本実施形態では、第１回転体４１の径と第２回転体４２の径とが同一とされていると共に、第１伝動部材５１の厚さと第２伝動部材５２の厚さとが同一とされている。そのため、第１位置Ｐ１と第２位置Ｐ２との間で保持部２０を昇降させる場合、第１昇降距離Ｄ１は、第１回転体４１の回転量と第２回転体４２の回転量との相違量に応じて、第２昇降距離Ｄ２よりも長くなる。第１回転体４１の回転量と第２回転体４２の回転量との相違量は、第１位置Ｐ１での保持物品の姿勢が所望の傾斜姿勢Ｓ１となり、第２位置Ｐ２での保持物品の姿勢が水平姿勢Ｓ２となるように設定される。 In the present embodiment, when the elevating drive unit 71 moves the holding unit 20 up and down between the first position P1 and the second position P2, the rotation amount of the first rotating body 41 is changed to the rotation amount of the second rotating body 42. It is configured to be more than. In the present embodiment, the diameter of the first rotating body 41 and the diameter of the second rotating body 42 are the same, and the thickness of the first transmission member 51 and the thickness of the second transmission member 52 are the same. Has been done. Therefore, when the holding portion 20 is moved up and down between the first position P1 and the second position P2, the first raising and lowering distance D1 is the difference between the rotation amount of the first rotating body 41 and the rotation amount of the second rotating body 42. Depending on the amount, it becomes longer than the second ascending / descending distance D2. The difference between the amount of rotation of the first rotating body 41 and the amount of rotation of the second rotating body 42 is that the posture of the held article at the first position P1 becomes the desired inclined posture S1 and the holding article at the second position P2. The posture is set to be the horizontal posture S2.

図１０に簡略化して模式的に示すように、本実施形態では、昇降駆動部７１は、保持部２０を第１位置Ｐ１まで上昇させる場合に、保持部２０の被当接面２０ａが、本体部１０に固定された固定部材１５（具体的には、固定部材１５によって形成される下方Ｖ２を向く当接面１５ａ、以下同様）に当接するまで、第１回転体４１に第１伝動部材５１を巻き取ると共に第２回転体４２に第２伝動部材５２を巻き取るように構成されている。ここで、面についてある方向（ここでは、下方Ｖ２）を向くとは、外方へ向かう法線方向（法線ベクトル）が当該方向へ向かう成分を有することを意味する。そして、被当接面２０ａが固定部材１５に当接した当接状態での保持物品の水平面Ｈに対する傾斜角度Ａと、第１回転体４１から第１伝動部材５１が繰り出されると共に第２回転体４２から第２伝動部材５２が繰り出されて、被当接面２０ａが固定部材１５から離間した離間状態での保持物品の水平面Ｈに対する傾斜角度Ａとが異なっている。 As simplified and schematically shown in FIG. 10, in the present embodiment, when the holding portion 20 is raised to the first position P1, the contacted surface 20a of the holding portion 20 is the main body. The first transmission member 51 is attached to the first rotating body 41 until it comes into contact with the fixing member 15 fixed to the portion 10 (specifically, the contact surface 15a facing the lower V2 formed by the fixing member 15; the same applies hereinafter). The second transmission member 52 is wound around the second rotating body 42. Here, pointing in a certain direction (here, downward V2) with respect to the surface means that the outward normal direction (normal vector) has a component toward the direction. Then, the inclination angle A with respect to the horizontal plane H of the holding article in the contact state where the contacted surface 20a is in contact with the fixing member 15 and the first transmission member 51 are fed out from the first rotating body 41 and the second rotating body. The second transmission member 52 is extended from 42, and the tilt angle A with respect to the horizontal plane H of the holding article in a separated state where the contacted surface 20a is separated from the fixing member 15 is different.

本実施形態では、共通の昇降駆動部７１により第１回転体４１及び第２回転体４２が回転駆動されるため、被当接面２０ａが固定部材１５から離間した離間状態において、第１連結部５１ａと第２連結部５２ａとは同じ速度で昇降される。そのため、離間状態では、保持部２０の昇降に伴い保持物品の姿勢は変化せず、保持物品の姿勢は維持される。よって、離間状態での保持物品の水平面Ｈに対する傾斜角度Ａは、第２位置Ｐ２での保持物品の水平面Ｈに対する傾斜角度Ａである第２角度と等しくなる。本実施形態では、第１の実施形態と同様に、第２角度は０度であり、離間状態での保持物品の姿勢は水平姿勢Ｓ２となる。そのため、図１０に示すように、保持部２０を第１位置Ｐ１と第２位置Ｐ２との間で昇降させる場合に、第１位置Ｐ１に近い位置から第２位置Ｐ２に亘る昇降範囲において、保持物品の姿勢は水平姿勢Ｓ２に維持される。 In the present embodiment, since the first rotating body 41 and the second rotating body 42 are rotationally driven by the common elevating drive unit 71, the first connecting unit is in a separated state where the contacted surface 20a is separated from the fixing member 15. The 51a and the second connecting portion 52a are moved up and down at the same speed. Therefore, in the separated state, the posture of the holding article does not change as the holding portion 20 moves up and down, and the posture of the holding article is maintained. Therefore, the inclination angle A of the holding article with respect to the horizontal plane H in the separated state is equal to the second angle which is the inclination angle A of the holding article with respect to the horizontal plane H at the second position P2. In the present embodiment, as in the first embodiment, the second angle is 0 degrees, and the posture of the holding article in the separated state is the horizontal posture S2. Therefore, as shown in FIG. 10, when the holding portion 20 is moved up and down between the first position P1 and the second position P2, the holding portion 20 is held in the raising and lowering range from the position close to the first position P1 to the second position P2. The posture of the article is maintained in the horizontal posture S2.

本実施形態では、被当接面２０ａが固定部材１５に当接した当接状態で、本体部１０が移動する。よって、当接状態での保持物品の水平面Ｈに対する傾斜角度Ａは、第１位置Ｐ１での保持物品の水平面Ｈに対する傾斜角度Ａである第１角度に相当する。本実施形態では、第１の実施形態と同様に、第１角度は正の鋭角であり、第１位置Ｐ１での保持物品の姿勢は傾斜姿勢Ｓ１となる。そのため、図１０に示すように、本実施形態では、固定部材１５における被当接面２０ａが当接する当接面１５ａは、水平面Ｈに対して傾斜した傾斜面とされており、当接面１５ａの水平面Ｈに対する傾斜角度及び傾斜方向は、当接状態で保持物品の姿勢が所望の傾斜姿勢Ｓ１となるように設定されている。 In the present embodiment, the main body 10 moves in the contact state where the contacted surface 20a is in contact with the fixing member 15. Therefore, the inclination angle A with respect to the horizontal plane H of the holding article in the contact state corresponds to the first angle which is the inclination angle A with respect to the horizontal plane H of the holding article at the first position P1. In the present embodiment, as in the first embodiment, the first angle is a positive acute angle, and the posture of the holding article at the first position P1 is the tilted posture S1. Therefore, as shown in FIG. 10, in the present embodiment, the contact surface 15a with which the contacted surface 20a of the fixing member 15 abuts is an inclined surface inclined with respect to the horizontal plane H, and the contact surface 15a is formed. The tilt angle and tilt direction with respect to the horizontal plane H are set so that the posture of the holding article becomes the desired tilt posture S1 in the contact state.

本実施形態では、物品９０を保持した状態の保持部２０を第２位置Ｐ２から第１位置Ｐ１まで上昇させる場合、被当接面２０ａが固定部材１５に当接し始めるまでの間、第１回転体４１及び第２回転体４２が同じ速度で回転されて、第１伝動部材５１が第１回転体４１に巻き取られる共に第２伝動部材５２が第２回転体４２に巻き取られる。これにより、保持物品の姿勢が水平姿勢Ｓ２に維持された状態で、保持部２０が第１位置Ｐ１に向かって上昇する。本実施形態では、第２回転体４２の回転が規制される状態であっても、第１回転体４１が第２回転体４２よりも多く回転できるように、回転方向の遊びが設けられている。そのため、被当接面２０ａが固定部材１５に当接し始めて第２回転体４２の回転が規制された後も、昇降駆動部７１による第１回転体４１及び第２回転体４２の回転駆動を継続することで、被当接面２０ａが当接面１５ａに沿うように（言い換えれば、第１連結部５１ａが第２連結部５２ａよりも上方Ｖ１に配置されるように）、第１回転体４１を遊びの範囲内で回転させることができる。これにより、保持物品の姿勢が、離間状態から当接状態への状態遷移に伴い、水平姿勢Ｓ２から、当接面１５ａの傾斜角度に応じた傾斜姿勢Ｓ１に変化する。なお、第２回転体４２が規制された状態での第１回転体４１の回転量が、第２位置Ｐ２から第１位置Ｐ１まで保持部２０を上昇させる場合における第１回転体４１の回転量と第２回転体４２の回転量との差となる。 In the present embodiment, when the holding portion 20 holding the article 90 is raised from the second position P2 to the first position P1, the first rotation is performed until the contacted surface 20a starts to abut on the fixing member 15. The body 41 and the second rotating body 42 are rotated at the same speed, the first transmitting member 51 is wound around the first rotating body 41, and the second transmitting member 52 is wound around the second rotating body 42. As a result, the holding portion 20 rises toward the first position P1 while the posture of the holding article is maintained in the horizontal posture S2. In the present embodiment, play in the rotation direction is provided so that the first rotating body 41 can rotate more than the second rotating body 42 even when the rotation of the second rotating body 42 is restricted. .. Therefore, even after the contacted surface 20a starts to come into contact with the fixing member 15 and the rotation of the second rotating body 42 is restricted, the rotational driving of the first rotating body 41 and the second rotating body 42 by the elevating drive unit 71 is continued. By doing so, the first rotating body 41 is arranged so that the contacted surface 20a is along the contact surface 15a (in other words, the first connecting portion 51a is arranged above the second connecting portion 52a in V1). Can be rotated within the range of play. As a result, the posture of the holding article changes from the horizontal posture S2 to the tilted posture S1 according to the tilt angle of the contact surface 15a as the state transitions from the separated state to the contacted state. The amount of rotation of the first rotating body 41 when the second rotating body 42 is restricted raises the holding portion 20 from the second position P2 to the first position P1. It is the difference between the rotation amount of the second rotating body 42 and the rotation amount of the second rotating body 42.

また、本実施形態では、物品９０を保持した状態の保持部２０を第１位置Ｐ１から第２位置Ｐ２まで下降させる場合、昇降駆動部７１は、被当接面２０ａが固定部材１５から離間して当接状態から離間状態に状態が遷移するように、第１回転体４１から第１伝動部材５１を繰り出すと共に第２回転体４２から第２伝動部材５２を繰り出す。本実施形態では、保持部２０に作用する重力又は別途設けられた付勢部材の付勢力等によって上記の遊びの分だけ第１回転体４１が第２回転体４２よりも多く回転し、これにより、当接状態から離間状態への状態遷移に伴い保持物品の姿勢が傾斜姿勢Ｓ１から水平姿勢Ｓ２に変化する。この際の２つの回転体４０の間の回転量の差が、第１位置Ｐ１から第２位置Ｐ２まで保持部２０を下降させる場合における第１回転体４１の回転量と第２回転体４２の回転量との差となる。その後、第１回転体４１及び第２回転体４２が同じ速度で回転されて、第１回転体４１から第１伝動部材５１が繰り出されると共に第２回転体４２から第２伝動部材５２が繰り出される。これにより、保持物品の姿勢が水平姿勢Ｓ２に維持された状態で、保持部２０が第２位置Ｐ２まで下降する。 Further, in the present embodiment, when the holding portion 20 holding the article 90 is lowered from the first position P1 to the second position P2, the contacted surface 20a of the elevating drive portion 71 is separated from the fixing member 15. The first transmission member 51 is unwound from the first rotating body 41 and the second transmission member 52 is unwound from the second rotating body 42 so that the state changes from the contact state to the separated state. In the present embodiment, the first rotating body 41 rotates more than the second rotating body 42 by the amount of the above play due to the gravity acting on the holding portion 20 or the urging force of the separately provided urging member. The posture of the holding article changes from the tilted posture S1 to the horizontal posture S2 with the state transition from the contact state to the separated state. The difference in the amount of rotation between the two rotating bodies 40 at this time is the amount of rotation of the first rotating body 41 and the second rotating body 42 when the holding portion 20 is lowered from the first position P1 to the second position P2. It is the difference from the amount of rotation. After that, the first rotating body 41 and the second rotating body 42 are rotated at the same speed, the first transmitting member 51 is unwound from the first rotating body 41, and the second transmitting member 52 is unwound from the second rotating body 42. .. As a result, the holding portion 20 descends to the second position P2 while the posture of the holding article is maintained in the horizontal posture S2.

図１０に示す例では、当接面１５ａは、本体部１０に固定された固定部材１５の下面（下方Ｖ２を向く面）によって形成されており、被当接面２０ａは、保持部２０の上面（上方Ｖ１を向く面）によって形成されている。なお、図１０では、固定部材１５を、当接面１５ａを形成する１つの部材としているが、固定部材１５は、本体部１０に固定された複数の部材（例えば、高さの異なる複数の柱状部材）の集合体であってもよい。この場合、複数の部材のそれぞれの下端を含む面（仮想面）が、被当接面２０ａが当接する当接面１５ａを構成する。 In the example shown in FIG. 10, the contact surface 15a is formed by the lower surface (the surface facing the lower V2) of the fixing member 15 fixed to the main body 10, and the contact surface 20a is the upper surface of the holding portion 20. It is formed by (the surface facing upward V1). In FIG. 10, the fixing member 15 is one member forming the contact surface 15a, but the fixing member 15 is a plurality of members fixed to the main body portion 10 (for example, a plurality of columns having different heights). It may be an aggregate of members). In this case, the surface (virtual surface) including the lower ends of each of the plurality of members constitutes the contact surface 15a with which the contacted surface 20a abuts.

本実施形態では、第３及び第４の実施形態と同様に、保持部２０が昇降される期間に、保持部２０の姿勢が変化する第１期間と、保持部２０の姿勢が変化しない第２期間とが含まれる。本実施形態では、当接状態と離間状態との間で状態が遷移する期間が第１期間とされ、それ以外の期間が第２期間とされる。本実施形態では、昇降駆動部７１は、第１期間における保持部２０の昇降速度を、第２期間における保持部２０の昇降速度よりも低くするように構成されている。 In the present embodiment, as in the third and fourth embodiments, the posture of the holding portion 20 changes during the period when the holding portion 20 is raised and lowered, and the posture of the holding portion 20 does not change during the second period. The period and is included. In the present embodiment, the period in which the state changes between the contact state and the separated state is defined as the first period, and the other period is defined as the second period. In the present embodiment, the elevating drive unit 71 is configured so that the elevating speed of the holding unit 20 in the first period is lower than the elevating speed of the holding unit 20 in the second period.

〔その他の実施形態〕
次に、搬送車のその他の実施形態について説明する。 [Other embodiments]
Next, other embodiments of the transport vehicle will be described.

（１）上記第５の実施形態では、回転体４０と昇降駆動部７１との連結部における回転方向の遊びによって、第１位置Ｐ１と第２位置Ｐ２との間で保持部２０を昇降させる場合における、第１回転体４１の回転量と第２回転体４２の回転量とが異なることが許容される構成を例として説明した。しかし、本開示はそのような構成に限定されず、例えば、クラッチ機構を設けることで、或いは、本体部１０における回転体４０や昇降駆動部７１の支持部分の撓みによって、第１回転体４１の回転量と第２回転体４２の回転量とが異なることが許容される構成とすることもできる。 (1) In the fifth embodiment, the holding portion 20 is moved up and down between the first position P1 and the second position P2 by play in the rotation direction at the connecting portion between the rotating body 40 and the elevating drive unit 71. In the above, the configuration in which the rotation amount of the first rotating body 41 and the rotation amount of the second rotating body 42 are allowed to be different has been described as an example. However, the present disclosure is not limited to such a configuration, and the first rotating body 41 is not limited to such a configuration, for example, by providing a clutch mechanism or by bending the supporting portion of the rotating body 40 or the elevating drive unit 71 in the main body portion 10. It is also possible to allow the amount of rotation to be different from the amount of rotation of the second rotating body 42.

（２）上記の各実施形態では、共通の昇降駆動部７１が第１回転体４１及び第２回転体４２を回転駆動する構成を例として説明した。しかし、本開示はそのような構成に限定されず、第１回転体４１を回転駆動する昇降駆動部７１と第２回転体４２を回転駆動する昇降駆動部７１とが各別に設けられる構成とすることもできる。上記第５の実施形態においてこのような構成を採用した場合、固定部材１５が設けられない構成としても、制御部８０の制御により第１回転体４１の回転量と第２回転体４２の回転量とを異ならせることができる。 (2) In each of the above embodiments, a configuration in which a common elevating drive unit 71 rotationally drives the first rotating body 41 and the second rotating body 42 has been described as an example. However, the present disclosure is not limited to such a configuration, and the elevating drive unit 71 for rotationally driving the first rotating body 41 and the elevating driving unit 71 for rotationally driving the second rotating body 42 are separately provided. You can also do it. When such a configuration is adopted in the fifth embodiment, the rotation amount of the first rotating body 41 and the rotation amount of the second rotating body 42 are controlled by the control unit 80 even if the fixing member 15 is not provided. Can be different.

（３）上記第３、第４、及び第５の実施形態では、昇降駆動部７１が、第１期間における保持部２０の昇降速度を、第２期間における保持部２０の昇降速度よりも低くする構成を例として説明した。しかし、本開示はそのような構成に限定されず、昇降駆動部７１が、第１期間における保持部２０の昇降速度を、第２期間における保持部２０の昇降速度と同等とする構成としてもよい。 (3) In the third, fourth, and fifth embodiments, the elevating drive unit 71 lowers the elevating speed of the holding unit 20 in the first period to be lower than the elevating speed of the holding unit 20 in the second period. The configuration has been described as an example. However, the present disclosure is not limited to such a configuration, and the elevating drive unit 71 may have a configuration in which the elevating speed of the holding unit 20 in the first period is equal to the elevating speed of the holding unit 20 in the second period. ..

（４）上記第３の実施形態では、保持部２０が第２位置Ｐ２に位置する状態で、第１伝動部材５１の長さ方向における対象部分６０の中央部よりも第１回転体４１の側に、厚さ変更部６１が配置される構成を例として説明した。しかし、本開示はそのような構成に限定されず、保持部２０が第２位置Ｐ２に位置する状態で、第１伝動部材５１の長さ方向における対象部分６０の中央部を跨ぐように厚さ変更部６１が配置される構成とすることもできる。 (4) In the third embodiment, with the holding portion 20 located at the second position P2, the side of the first rotating body 41 with respect to the central portion of the target portion 60 in the length direction of the first transmission member 51. The configuration in which the thickness changing portion 61 is arranged has been described as an example. However, the present disclosure is not limited to such a configuration, and the thickness is such that the holding portion 20 is located at the second position P2 and straddles the central portion of the target portion 60 in the length direction of the first transmission member 51. The configuration may be such that the change unit 61 is arranged.

（５）上記第３の実施形態では、厚さ変更部６１が、当該厚さ変更部６１が設けられた対象伝動部材（上記第３の実施形態では、第１伝動部材５１）における他の領域よりも厚さが大きい構成を例として説明した。しかし、本開示はそのような構成に限定されず、厚さ変更部６１が、対象伝動部材における他の領域よりも厚さが小さい構成とすることもできる。この場合において、上記第３の実施形態と同様に第１昇降距離Ｄ１を第２昇降距離Ｄ２よりも長くする場合には、厚さ変更部６１を第２伝動部材５２に設けるとよい。このように厚さ変更部６１を第２伝動部材５２に設ける場合、第２伝動部材５２が「対象伝動部材」に相当し、第２回転体４２が「対象回転体」に相当する。 (5) In the third embodiment, the thickness changing portion 61 is another region in the target transmission member (in the third embodiment, the first transmission member 51) provided with the thickness changing portion 61. A configuration having a larger thickness than that of the above is described as an example. However, the present disclosure is not limited to such a configuration, and the thickness changing portion 61 may be configured to have a thickness smaller than that of other regions in the target transmission member. In this case, when the first elevating distance D1 is made longer than the second elevating distance D2 as in the third embodiment, the thickness changing portion 61 may be provided on the second transmission member 52. When the thickness changing portion 61 is provided on the second transmission member 52 in this way, the second transmission member 52 corresponds to the "target transmission member" and the second rotating body 42 corresponds to the "target rotating body".

（６）上記の各実施形態（但し、第１の実施形態を除く）では、第１回転体４１の径と第２回転体４２の径とが同一とされる構成を例として説明した。しかし、本開示はそのような構成に限定されず、いずれの実施形態においても、第１回転体４１の径と第２回転体４２の径とを異ならせてもよい（具体的には、第１回転体４１の径を第２回転体４２の径よりも大きくしてもよい）。例えば、上記第２の実施形態において第１回転体４１の径と第２回転体４２の径とを異ならせた場合には、第１伝動部材５１の厚さと第２伝動部材５２の厚さとの相違量だけでなく、第１回転体４１の径と第２回転体４２の径との相違量によっても、第１昇降距離Ｄ１と第２昇降距離Ｄ２との相違量を調整することができる。このように第１の実施形態と第２の実施形態とを組み合わせることに限らず、上記の各実施形態のうちの任意の２つ以上の実施形態を適宜組み合わせることができる。 (6) In each of the above embodiments (however, excluding the first embodiment), a configuration in which the diameter of the first rotating body 41 and the diameter of the second rotating body 42 are the same has been described as an example. However, the present disclosure is not limited to such a configuration, and in any embodiment, the diameter of the first rotating body 41 and the diameter of the second rotating body 42 may be different (specifically, the first The diameter of the 1-rotating body 41 may be larger than the diameter of the 2nd rotating body 42). For example, when the diameter of the first rotating body 41 and the diameter of the second rotating body 42 are different in the second embodiment, the thickness of the first transmission member 51 and the thickness of the second transmission member 52 are the same. The amount of difference between the first elevating distance D1 and the second elevating distance D2 can be adjusted not only by the amount of difference but also by the amount of difference between the diameter of the first rotating body 41 and the diameter of the second rotating body 42. As described above, the present invention is not limited to the combination of the first embodiment and the second embodiment, and any two or more embodiments of each of the above embodiments can be appropriately combined.

（７）上記の各実施形態では、昇降調整部３１が、第１位置Ｐ１での保持物品の姿勢を傾斜姿勢Ｓ１とし、第２位置Ｐ２での保持物品の姿勢を水平姿勢Ｓ２とするように構成される場合を例として説明した。しかし、本開示はそのような構成に限定されず、昇降調整部３１が、第１位置Ｐ１での保持物品の姿勢及び第２位置Ｐ２での保持物品の姿勢の双方を傾斜姿勢Ｓ１とするように構成されてもよい。この場合、第２位置Ｐ２での保持物品の姿勢は、第１位置Ｐ１での保持物品の姿勢とは傾斜角度Ａの異なる傾斜姿勢Ｓ１（例えば、第１位置Ｐ１での保持物品の姿勢よりも傾斜角度Ａの小さい傾斜姿勢Ｓ１）とされる。 (7) In each of the above embodiments, the elevating adjustment unit 31 has the posture of the holding article at the first position P1 as the tilted posture S1 and the posture of the holding article at the second position P2 as the horizontal posture S2. The case of configuration has been described as an example. However, the present disclosure is not limited to such a configuration, and the elevating adjustment unit 31 sets both the posture of the held article at the first position P1 and the posture of the held article at the second position P2 as the inclined posture S1. It may be configured in. In this case, the posture of the holding article at the second position P2 is higher than the tilting posture S1 (for example, the posture of the holding article at the first position P1) having an inclination angle A different from the posture of the holding article at the first position P1. It is assumed that the tilting posture S1) has a small tilting angle A.

（８）上記の各実施形態では、昇降調整部３１が、第１位置Ｐ１での保持物品の水平面Ｈに対する傾斜角度Ａである第１角度を、第２位置Ｐ２での保持物品の水平面Ｈに対する傾斜角度Ａである第２角度よりも大きくするように構成される場合を例として説明した。しかし、本開示はそのような構成に限定されず、昇降調整部３１が第１角度を第２角度よりも小さくするように構成されてもよい。例えば、搬送車１の走行時に適した物品９０の姿勢が、移載対象箇所６において要求される物品９０の姿勢よりも、水平面Ｈに対する傾斜角度Ａが小さい場合に、このような構成とすると好適である。 (8) In each of the above embodiments, the elevating adjustment unit 31 sets the first angle, which is the inclination angle A of the holding article at the first position P1 with respect to the horizontal plane H, with respect to the horizontal plane H of the holding article at the second position P2. An example has been described in which the tilt angle A is configured to be larger than the second angle. However, the present disclosure is not limited to such a configuration, and the elevating adjustment unit 31 may be configured so that the first angle is smaller than the second angle. For example, when the posture of the article 90 suitable for traveling of the transport vehicle 1 is smaller than the posture of the article 90 required at the transfer target portion 6, the inclination angle A with respect to the horizontal plane H is suitable. Is.

（９）なお、上述した各実施形態で開示された構成は、矛盾が生じない限り、他の実施形態で開示された構成と組み合わせて適用すること（その他の実施形態として説明した実施形態同士の組み合わせを含む）も可能である。その他の構成に関しても、本明細書において開示された実施形態は全ての点で単なる例示に過ぎない。従って、本開示の趣旨を逸脱しない範囲内で、適宜、種々の改変を行うことが可能である。 (9) The configurations disclosed in each of the above-described embodiments should be applied in combination with the configurations disclosed in other embodiments as long as there is no contradiction (the embodiments described as other embodiments are used). (Including combinations) is also possible. With respect to other configurations, the embodiments disclosed herein are merely exemplary in all respects. Therefore, various modifications can be appropriately made without departing from the spirit of the present disclosure.

〔上記実施形態の概要〕
以下、上記において説明した搬送車の概要について説明する。 [Outline of the above embodiment]
Hereinafter, the outline of the transport vehicle described above will be described.

物品を搬送する搬送車であって、移動経路に沿って移動する本体部と、前記物品を保持する保持部と、前記保持部を前記本体部に対して昇降させる昇降装置と、を備え、前記昇降装置は、第１位置と、前記保持部による前記物品の保持及び保持解除を行う位置であって前記第１位置よりも下方の第２位置との間で、前記保持部を昇降させ、前記保持部に保持された状態の前記物品を保持物品として、前記昇降装置は、前記第１位置と前記第２位置との間で前記保持物品の水平面に対する傾斜角度を可変にするための昇降調整部を備えている。 A transport vehicle for transporting an article, comprising a main body portion that moves along a movement path, a holding portion that holds the article, and an elevating device that raises and lowers the holding portion with respect to the main body portion. The elevating device raises and lowers the holding portion between the first position and the second position below the first position, which is the position where the holding portion holds and releases the article. With the article held in the holding portion as the holding article, the elevating device is an elevating adjustment unit for varying the tilt angle of the holding article with respect to the horizontal plane between the first position and the second position. It is equipped with.

本構成によれば、昇降装置が昇降調整部を備えるため、保持部による物品の保持及び保持解除を行う第２位置での保持物品の姿勢を、移載対象箇所において要求される物品の姿勢としつつ、第２位置よりも上方の第１位置での保持物品の姿勢を、所望の姿勢とすることができる。よって、搬送車の走行時における保持部の位置を第１位置とすることで、搬送車の走行時における保持物品の姿勢を、搬送車の走行時に適した姿勢とすることができる。この結果、搬送車の走行時には搬送車の走行時に適した姿勢で物品を保持部により保持しつつ、保持部と移載対象箇所との間での物品の移載時に移載対象箇所に配置される物品の姿勢を、当該移載対象箇所において要求される姿勢とすることが可能となっている。 According to this configuration, since the elevating device includes the elevating adjustment unit, the posture of the held article at the second position where the holding portion holds and releases the article is set as the posture of the article required at the transfer target location. However, the posture of the holding article at the first position above the second position can be set to the desired posture. Therefore, by setting the position of the holding portion during traveling of the transport vehicle as the first position, the posture of the held article during traveling of the transport vehicle can be set to a posture suitable for traveling of the transport vehicle. As a result, while the article is held by the holding portion in a posture suitable for traveling the transport vehicle when the transport vehicle is traveling, the article is placed at the transfer target location when the article is transferred between the holding portion and the transfer target location. It is possible to set the posture of the article to the posture required at the transfer target location.

ここで、前記昇降調整部は、前記第１位置での前記保持物品の水平面に対する傾斜角度を、前記第２位置での前記保持物品の水平面に対する傾斜角度よりも大きくするように構成されていると好適である。 Here, the elevating adjustment unit is configured so that the tilt angle of the holding article at the first position with respect to the horizontal plane is larger than the tilt angle of the holding article at the second position with respect to the horizontal plane. Suitable.

搬送車の走行時に適した物品の姿勢が、移載対象箇所において要求される物品の姿勢よりも、水平面に対する傾斜角度が大きい場合に、本構成を適用することで、搬送車の走行時には搬送車の走行時に適した姿勢で物品を保持部により保持しつつ、保持部と移載対象箇所との間での物品の移載時に移載対象箇所に配置される物品の姿勢を、当該移載対象箇所において要求される姿勢とすることができる。 By applying this configuration when the posture of the article suitable for traveling of the transport vehicle is larger than the posture of the article required at the transfer target location with respect to the horizontal plane, the transport vehicle is traveling. While the article is held by the holding portion in a posture suitable for traveling, the posture of the article placed at the transfer target location when the article is transferred between the holding portion and the transfer target location is the transfer target. It can be the required posture at the location.

上記のように、前記昇降調整部が、前記第１位置での前記保持物品の水平面に対する傾斜角度を、前記第２位置での前記保持物品の水平面に対する傾斜角度よりも大きくする構成において、前記物品は、側面に開口部を有する容器であり、前記昇降調整部は、前記第１位置での前記保持物品の姿勢を、前記開口部が斜め上方を向く傾斜姿勢とし、前記第２位置での前記保持物品の姿勢を、前記開口部が水平方向を向く水平姿勢とするように構成されていると好適である。 As described above, the article is configured such that the elevating adjustment unit makes the inclination angle of the holding article at the first position with respect to the horizontal plane larger than the inclination angle of the holding article at the second position with respect to the horizontal plane. Is a container having an opening on the side surface, and the elevating adjustment unit sets the posture of the holding article at the first position to an inclined posture in which the opening faces diagonally upward, and the above-mentioned at the second position. It is preferable that the posture of the holding article is configured to be a horizontal posture in which the opening faces in the horizontal direction.

本構成のように、物品が側面に開口部を有する容器である場合、物品の姿勢を傾斜姿勢とすることで、物品の姿勢が水平姿勢である場合に比べて、物品に収容された収容物が開口部から物品の外部に移動し難くすることができる。また、物品の姿勢を水平姿勢とすることで、開口部を介した収容物の物品に対する出し入れを行いやすくなる。本構成によれば、物品が側面に開口部を有する容器である場合に、搬送車の走行時には、搬送車の走行時に適した姿勢である傾斜姿勢で物品を保持部により保持しつつ、保持部と移載対象箇所との間での物品の移載時に移載対象箇所に配置される物品の姿勢を、当該移載対象箇所において要求される姿勢である水平姿勢とすることができる。 When the article is a container having an opening on the side surface as in the present configuration, by setting the posture of the article to the inclined posture, the contained object contained in the article is compared with the case where the posture of the article is the horizontal posture. Can be made difficult to move from the opening to the outside of the article. Further, by setting the posture of the article to the horizontal posture, it becomes easy to put in and take out the contained item through the opening. According to this configuration, when the article is a container having an opening on the side surface, the holding portion holds the article in an inclined posture which is a posture suitable for the traveling of the transport vehicle while the article is held by the holding portion. The posture of the article placed at the transfer target location at the time of transfer of the article between the transfer target location and the transfer target location can be the horizontal posture which is the required posture at the transfer target location.

上記の各構成の搬送車において、前記昇降装置は、回転駆動される第１回転体と、回転駆動される第２回転体と、前記第１回転体に巻き取り及び繰り出し自在に巻回されていると共に前記保持部に連結された第１伝動部材と、前記第２回転体に巻き取り及び繰り出し自在に巻回されていると共に前記保持部に連結された第２伝動部材と、を備え、前記第１回転体及び前記第２回転体を回転駆動する共通の昇降駆動部が設けられていると好適である。 In the transport vehicle having each of the above configurations, the elevating device is wound around a first rotating body that is rotationally driven, a second rotating body that is rotationally driven, and the first rotating body so as to be freely wound and unwound. A first transmission member connected to the holding portion and a second transmission member wound around the second rotating body so as to be freely wound and unwound and connected to the holding portion. It is preferable that a common elevating drive unit for rotationally driving the first rotating body and the second rotating body is provided.

本構成によれば、第１伝動部材及び第２伝動部材のそれぞれが保持部に連結されているため、保持部を第１位置と第２位置との間で昇降させる場合に、第１連結部（第１伝動部材における保持部との連結部）の昇降距離と第２連結部（第２伝動部材における保持部との連結部）の昇降距離とを異ならせることで、第１位置と第２位置との間で保持物品の水平面に対する傾斜角度を異ならせることができる。そして、本構成によれば、このような傾斜角度の調整を、共通の１つの昇降駆動部により第１回転体及び第２回転体を回転駆動することで行うことができる。 According to this configuration, since each of the first transmission member and the second transmission member is connected to the holding portion, the first connecting portion is used when the holding portion is moved up and down between the first position and the second position. By making the elevating distance of the (connecting portion with the holding portion in the first transmission member) and the elevating distance of the second connecting portion (connecting portion with the holding portion in the second transmission member) different, the first position and the second position are different. The angle of inclination of the holding article with respect to the horizontal plane can be different from the position. Then, according to this configuration, such adjustment of the inclination angle can be performed by rotationally driving the first rotating body and the second rotating body by one common elevating drive unit.

また、前記昇降装置は、回転駆動される第１回転体と、回転駆動される第２回転体と、前記第１回転体に巻き取り及び繰り出し自在に巻回されていると共に前記保持部に連結された第１伝動部材と、前記第２回転体に巻き取り及び繰り出し自在に巻回されていると共に前記保持部に連結された第２伝動部材と、を備え、前記昇降調整部は、前記第１回転体と前記第２回転体とを含み、前記第１回転体の径と前記第２回転体の径とが異なっていると好適である。 Further, the elevating device is freely wound and unwound around the first rotating body, the second rotating body which is rotationally driven, and the first rotating body, and is connected to the holding portion. The first transmission member is provided with a second transmission member that is wound around the second rotating body so as to be freely wound and unwound and is connected to the holding portion, and the elevating adjustment portion is the first. It is preferable that the first rotating body and the second rotating body are included, and the diameter of the first rotating body and the diameter of the second rotating body are different.

本構成によれば、第１回転体の径と第２回転体の径との相違量に応じて、第１連結部の昇降距離と第２連結部の昇降距離とを異ならせることができる。よって、保持部を昇降させる場合に、第１回転体の回転量と第２回転体の回転量とを異ならせなくても第１連結部の昇降距離と第２連結部の昇降距離とを異ならせることができる等、昇降調整部の構成や制御の簡素化を図ることができる。 According to this configuration, the elevating distance of the first connecting portion and the elevating distance of the second connecting portion can be made different according to the amount of difference between the diameter of the first rotating body and the diameter of the second rotating body. Therefore, when raising and lowering the holding portion, if the raising and lowering distance of the first connecting portion and the raising and lowering distance of the second connecting portion are different even if the rotation amount of the first rotating body and the rotating amount of the second rotating body are not different. It is possible to simplify the configuration and control of the elevating adjustment unit.

また、前記昇降装置は、回転駆動される第１回転体と、回転駆動される第２回転体と、前記第１回転体に巻き取り及び繰り出し自在に巻回されていると共に前記保持部に連結された第１伝動部材と、前記第２回転体に巻き取り及び繰り出し自在に巻回されていると共に前記保持部に連結された第２伝動部材と、を備え、前記昇降調整部は、前記第１伝動部材と前記第２伝動部材とを含み、前記第１伝動部材及び前記第２伝動部材は、帯状に形成されており、前記第１伝動部材の厚さと前記第２伝動部材の厚さとが異なっていると好適である。 Further, the elevating device is freely wound and unwound around the first rotating body, the second rotating body which is rotationally driven, and the first rotating body, and is connected to the holding portion. The first transmission member is provided with a second transmission member that is wound around the second rotating body so as to be freely wound and unwound and is connected to the holding portion, and the elevating adjustment portion is the first. The first transmission member and the second transmission member include one transmission member and the second transmission member, and the thickness of the first transmission member and the thickness of the second transmission member are different from each other. It is preferable that they are different.

本構成によれば、第１伝動部材の厚さと第２伝動部材の厚さとの相違量に応じて、第１連結部の昇降距離と第２連結部の昇降距離とを異ならせることができる。よって、保持部を昇降させる場合に、第１回転体の回転量と第２回転体の回転量とを異ならせなくても第１連結部の昇降距離と第２連結部の昇降距離とを異ならせることができる等、昇降調整部の構成や制御の簡素化を図ることができる。 According to this configuration, the elevating distance of the first connecting portion and the elevating distance of the second connecting portion can be made different depending on the amount of difference between the thickness of the first transmission member and the thickness of the second transmission member. Therefore, when raising and lowering the holding portion, if the raising and lowering distance of the first connecting portion and the raising and lowering distance of the second connecting portion are different even if the rotation amount of the first rotating body and the rotating amount of the second rotating body are not different. It is possible to simplify the configuration and control of the elevating adjustment unit.

また、前記昇降装置は、回転駆動される第１回転体と、回転駆動される第２回転体と、前記第１回転体に巻き取り及び繰り出し自在に巻回されていると共に前記保持部に連結された第１伝動部材と、前記第２回転体に巻き取り及び繰り出し自在に巻回されていると共に前記保持部に連結された第２伝動部材と、を備え、前記昇降調整部は、前記第１伝動部材と前記第２伝動部材とを含み、前記第１伝動部材及び前記第２伝動部材は、帯状に形成されており、前記第１伝動部材及び前記第２伝動部材の一方を対象伝動部材として、前記対象伝動部材における長さ方向の一部の領域に、厚さが他の領域と異なる厚さ変更部が設けられていると好適である。 Further, the elevating device is freely wound and unwound around the first rotating body, the second rotating body which is rotationally driven, and the first rotating body, and is connected to the holding portion. The first transmission member is provided with a second transmission member that is wound around the second rotating body so as to be freely wound and unwound and is connected to the holding portion, and the elevating adjustment portion is the first. The first transmission member and the second transmission member include one transmission member and the second transmission member, and the first transmission member and the second transmission member are formed in a band shape, and one of the first transmission member and the second transmission member is a target transmission member. As a result, it is preferable that a thickness changing portion having a thickness different from that of the other regions is provided in a part of the target transmission member in the length direction.

本構成によれば、対象伝動部材の厚さ（例えば、厚さ変更部の厚さ）と対象伝動部材ではない方の伝動部材（以下、「非対象伝動部材」という）の厚さとの相違量に応じて、第１連結部の昇降距離と第２連結部の昇降距離とを異ならせることができる。よって、保持部を昇降させる場合に、第１回転体の回転量と第２回転体の回転量とを異ならせなくても第１連結部の昇降距離と第２連結部の昇降距離とを異ならせることができる等、昇降調整部の構成や制御の簡素化を図ることができる。なお、本構成によれば、厚さ変更部の厚さだけでなく厚さ変更部の長さ（対象伝動部材の長さ方向における大きさ）によっても、第１連結部の昇降距離と第２連結部の昇降距離との相違量を調整できるという利点もある。また、本構成によれば、例えば対象伝動部材における厚さ変更部を除く領域の厚さを、非対象伝動部材の厚さと同一とした場合等に、厚さ変更部の形成位置（対象伝動部材の長さ方向における位置）によって、保持物品の姿勢が変化する位置（保持部の昇降方向における位置）を調整できるという利点もある。 According to this configuration, the amount of difference between the thickness of the target transmission member (for example, the thickness of the thickness changing portion) and the thickness of the transmission member that is not the target transmission member (hereinafter referred to as “non-target transmission member”). Therefore, the elevating distance of the first connecting portion and the elevating distance of the second connecting portion can be made different. Therefore, when raising and lowering the holding portion, if the raising and lowering distance of the first connecting portion and the raising and lowering distance of the second connecting portion are different even if the rotation amount of the first rotating body and the rotating amount of the second rotating body are not different. It is possible to simplify the configuration and control of the elevating adjustment unit. According to this configuration, not only the thickness of the thickness changing portion but also the length of the thickness changing portion (the size in the length direction of the target transmission member) determines the elevating distance of the first connecting portion and the second elevating distance. There is also an advantage that the amount of difference from the ascending / descending distance of the connecting portion can be adjusted. Further, according to this configuration, for example, when the thickness of the region excluding the thickness changing portion of the target transmission member is the same as the thickness of the non-target transmission member, the formation position of the thickness changing portion (target transmission member). There is also an advantage that the position where the posture of the holding article changes (the position in the elevating direction of the holding portion) can be adjusted depending on the position in the length direction of the holding article.

上記のように前記対象伝動部材における長さ方向の一部の領域に前記厚さ変更部が設けられている構成において、前記厚さ変更部は、前記対象伝動部材における前記他の領域よりも厚さが大きいと好適である。 In the configuration in which the thickness changing portion is provided in a part of the target transmission member in the length direction as described above, the thickness changing portion is thicker than the other region in the target transmission member. It is preferable that the size is large.

本構成によれば、厚さ変更部が、対象伝動部材における他の領域よりも厚さが小さく形成される場合に比べて、厚さ変更部を設けることによる対象伝動部材の強度や耐久性の低下を抑制しやすい。 According to this configuration, the strength and durability of the target transmission member by providing the thickness change portion is higher than that in the case where the thickness change portion is formed to be smaller in thickness than other regions in the target transmission member. It is easy to suppress the decrease.

また、前記第１回転体及び前記第２回転体のうちの前記対象伝動部材が巻回されている方を対象回転体とし、前記対象伝動部材における前記対象回転体から繰り出された部分を対象部分として、前記保持部が前記第２位置に位置する状態で、前記対象伝動部材の長さ方向における前記対象部分の中央部よりも前記対象回転体の側に、前記厚さ変更部が配置されていると好適である。 Further, the one of the first rotating body and the second rotating body in which the target transmitting member is wound is set as the target rotating body, and the portion of the target transmitting member that is unwound from the target rotating body is the target portion. As a result, the thickness changing portion is arranged closer to the target rotating body than the central portion of the target portion in the length direction of the target transmission member in a state where the holding portion is located at the second position. It is preferable to have it.

本構成によれば、保持部が第２位置に位置する状態で、対象伝動部材の長さ方向における対象部分の中央部よりも対象回転体の側に厚さ変更部が配置されているため、保持部が第２位置に比較的近い位置（以下、「近接位置」という）に配置されている状態で、厚さ変更部が対象回転体から繰り出されるようにすることができる。よって、対象伝動部材における厚さ変更部よりも保持部の側（対象伝動部材の長さ方向における保持部の側）の部分の厚さを、非対象伝動部材の厚さと同一とした場合に、保持部が第１位置と近接位置との間に配置される比較的大きい昇降範囲において、保持部の姿勢を第１位置での姿勢（或いは、第１位置での姿勢に近い姿勢）に維持することができる。この結果、例えば、第１位置での保持部の姿勢が、保持部に保持された物品の振動に対する許容度を高く確保しやすい姿勢である場合に、保持部が第１位置と近接位置との間の比較的大きい昇降範囲内に配置される間も、保持部の姿勢を上記の許容度を高く確保しやすい姿勢に維持することができ、保持部に保持された物品を適切に昇降させやすくなる。 According to this configuration, in the state where the holding portion is located at the second position, the thickness changing portion is arranged on the side of the target rotating body from the central portion of the target portion in the length direction of the target transmission member. The thickness changing portion can be extended from the target rotating body in a state where the holding portion is arranged at a position relatively close to the second position (hereinafter referred to as “close position”). Therefore, when the thickness of the portion on the side of the holding portion (the side of the holding portion in the length direction of the target transmission member) of the thickness changing portion of the target transmission member is the same as the thickness of the non-target transmission member, The posture of the holding portion is maintained at the posture at the first position (or a posture close to the posture at the first position) in a relatively large elevating range in which the holding portion is arranged between the first position and the proximity position. be able to. As a result, for example, when the posture of the holding portion at the first position is a posture in which it is easy to secure a high tolerance for vibration of the article held by the holding portion, the holding portion is placed between the first position and the close position. The posture of the holding portion can be maintained in a posture that makes it easy to secure the above-mentioned tolerance even while being arranged within a relatively large elevating range, and it is easy to properly raise and lower the article held by the holding portion. Become.

また、前記第１回転体及び前記第２回転体のうちの前記対象伝動部材が巻回されている方を対象回転体とし、前記対象伝動部材における前記対象回転体から繰り出された部分を対象部分として、前記第２位置は、前記第１位置よりも下方の複数の位置を含み、前記保持部が最も上方の前記第２位置に位置する状態で、前記対象部分に前記厚さ変更部が配置されていると好適である。 Further, the one of the first rotating body and the second rotating body in which the target transmitting member is wound is set as the target rotating body, and the portion of the target transmitting member that is unwound from the target rotating body is the target portion. As a result, the second position includes a plurality of positions below the first position, and the thickness changing portion is arranged in the target portion in a state where the holding portion is located at the uppermost second position. It is preferable that it is done.

本構成によれば、対象伝動部材における厚さ変更部よりも対象回転体の側（対象伝動部材の長さ方向における対象回転体の側）の部分の厚さを、非対象伝動部材の厚さと同一とした場合に、最も上方の第２位置よりも下方の位置での保持部の姿勢を、最も上方の第２位置に保持部が位置する状態での姿勢に維持することができる。よって、複数の第２位置に対応して配置される複数の移載対象箇所において、要求される物品の姿勢が互いに同一である場合に、物品の移載時に移載対象箇所に配置される物品の姿勢を、いずれの移載対象箇所においても要求される姿勢とすることができる。 According to this configuration, the thickness of the portion on the side of the target rotating body (the side of the target rotating body in the length direction of the target transmitting member) with respect to the thickness changing portion of the target transmitting member is defined as the thickness of the non-target transmitting member. When they are the same, the posture of the holding portion at a position lower than the uppermost second position can be maintained at the posture in which the holding portion is located at the uppermost second position. Therefore, when the required postures of the articles are the same in the plurality of transfer target locations corresponding to the plurality of second positions, the articles are arranged at the transfer target locations at the time of transfer of the articles. The posture of can be the posture required at any of the transfer target locations.

また、前記第１回転体及び前記第２回転体のうちの前記対象伝動部材が巻回されている方を対象回転体として、前記厚さ変更部の前記長さ方向の大きさが、当該厚さ変更部の前記対象回転体への巻回数が整数回となる大きさであると好適である。 Further, the size of the thickness changing portion in the length direction is the thickness of the first rotating body and the second rotating body, with the one in which the target transmission member is wound as the target rotating body. It is preferable that the number of turns of the changing portion around the target rotating body is an integral number.

本構成によれば、厚さ変更部の長さ方向の一端部と他端部とが周方向（対象回転体の周方向）の同じ位置に配置されるように、厚さ変更部を対象回転体に巻回することができる。よって、厚さ変更部の長さ方向の大きさが、当該厚さ変更部の対象回転体への巻回数が整数回とならない大きさとされる場合に比べて、厚さ変更部の全体が対象回転体に巻回されている状態での、対象伝動部材の巻回厚さの周方向位置による変化（言い換えれば、対象伝動部材における対象回転体に巻回されている部分が形成する巻回体の外径の、周方向位置による変化）を小さく抑えることができる。この結果、厚さ変更部の全体が対象回転体に巻回されている状態において、対象伝動部材の巻き取りや繰り出しに伴い保持部に発生し得る振動の低減を図ることができる。 According to this configuration, the thickness changing portion is rotated so that one end and the other end in the length direction of the thickness changing portion are arranged at the same position in the circumferential direction (circumferential direction of the target rotating body). Can be wound around the body. Therefore, the size of the thickness changing portion in the length direction covers the entire thickness changing portion as compared with the case where the number of turns of the thickness changing portion around the target rotating body is not an integer. Changes in the winding thickness of the target transmission member depending on the circumferential position (in other words, the winding body formed by the portion of the target transmission member that is wound around the target rotating body) while being wound around the rotating body. (Changes in the outer diameter of the outer diameter depending on the position in the circumferential direction) can be suppressed to a small value. As a result, it is possible to reduce the vibration that may occur in the holding portion due to the winding and unwinding of the target transmission member in a state where the entire thickness changing portion is wound around the target rotating body.

また、前記対象伝動部材における前記厚さ変更部が設けられた領域と前記他の領域との境界領域に、前記厚さ変更部の側に向かうに従って厚さが次第に変化する漸変部が設けられていると好適である。 Further, in the boundary region between the region where the thickness changing portion is provided and the other region in the target transmission member, a gradual changing portion whose thickness gradually changes toward the side of the thickness changing portion is provided. It is preferable to have.

本構成によれば、対象伝動部材における厚さ変更部と他の領域との境界領域が対象回転体から繰り出される際や対象回転体に巻き取られる際に発生し得る保持部の振動を、当該境界領域に漸変部が設けられない場合に比べて抑制しやすい。 According to this configuration, the vibration of the holding portion that may occur when the boundary region between the thickness changing portion and the other region of the target transmission member is unwound from the target rotating body or wound up by the target rotating body is the vibration of the holding portion. It is easier to suppress than when the gradual change portion is not provided in the boundary region.

上記の各構成の搬送車において、前記昇降装置は、回転駆動される第１回転体と、回転駆動される第２回転体と、前記第１回転体に巻き取り及び繰り出し自在に巻回されていると共に前記保持部に連結された第１伝動部材と、前記第２回転体に巻き取り及び繰り出し自在に巻回されていると共に前記保持部に連結された第２伝動部材と、を備え、前記昇降調整部は、前記第１回転体及び前記第２回転体を回転駆動する共通の昇降駆動部を含み、前記昇降駆動部は、前記第１位置と前記第２位置との間で前記保持部を昇降させる場合における、前記第１回転体の回転量と前記第２回転体の回転量とが異なることを許容するように構成されていると好適である。 In the transport vehicle having each of the above configurations, the elevating device is wound around a first rotating body that is rotationally driven, a second rotating body that is rotationally driven, and the first rotating body so as to be freely wound and unwound. A first transmission member connected to the holding portion and a second transmission member wound around the second rotating body so as to be freely wound and unwound and connected to the holding portion. The elevating adjustment unit includes a common elevating drive unit that rotationally drives the first rotating body and the second rotating body, and the elevating drive unit is a holding unit between the first position and the second position. It is preferable that it is configured to allow the rotation amount of the first rotating body and the rotation amount of the second rotating body to be different in the case of raising and lowering.

本構成によれば、第１回転体及び第２回転体を共通の１つの昇降駆動部により回転駆動する場合であっても、第１回転体の回転量と第２回転体の回転量とを許容範囲内で異ならせ、これら２つの回転量の相違量に応じて、第１連結部の昇降距離と第２連結部の昇降距離とを異ならせることができる。よって、第１回転体と第２回転体とで径を互いに共通とする場合や、第１伝動部材と第２伝動部材とで厚さを互いに共通とする場合であっても、第１連結部の昇降距離と第２連結部の昇降距離とを異ならせることができる。 According to this configuration, even when the first rotating body and the second rotating body are rotationally driven by one common elevating drive unit, the rotation amount of the first rotating body and the rotation amount of the second rotating body are determined. The difference can be made within an allowable range, and the elevating distance of the first connecting portion and the elevating distance of the second connecting portion can be made different according to the amount of difference between these two rotation amounts. Therefore, even when the first rotating body and the second rotating body have the same diameter, or the first transmission member and the second transmission member have the same thickness, the first connecting portion. The elevating distance of the second connecting portion and the elevating distance of the second connecting portion can be made different.

上記のように、前記昇降駆動部が、前記第１位置と前記第２位置との間で前記保持部を昇降させる場合における、前記第１回転体の回転量と前記第２回転体の回転量とが異なることを許容する構成において、前記昇降駆動部は、前記保持部を前記第１位置まで上昇させる場合に、前記保持部の被当接面が、前記本体部に固定された固定部材に当接するまで、前記第１回転体に前記第１伝動部材を巻き取ると共に前記第２回転体に前記第２伝動部材を巻き取るように構成され、前記被当接面が前記固定部材に当接した当接状態での前記保持物品の水平面に対する傾斜角度と、前記第１回転体から前記第１伝動部材が繰り出されると共に前記第２回転体から前記第２伝動部材が繰り出されて、前記被当接面が前記固定部材から離間した離間状態での前記保持物品の水平面に対する傾斜角度とが異なっていると好適である。 As described above, the amount of rotation of the first rotating body and the amount of rotation of the second rotating body when the elevating drive unit raises and lowers the holding portion between the first position and the second position. In a configuration that allows the difference from the above, in the elevating drive unit, when the holding portion is raised to the first position, the contacted surface of the holding portion becomes a fixing member fixed to the main body portion. The first transmission member is wound around the first rotating body and the second transmission member is wound around the second rotating body until the first rotating body is brought into contact with the contacted surface. The tilt angle of the holding article with respect to the horizontal plane in the contacted state, the first transmission member is unwound from the first rotating body, and the second transmission member is unwound from the second rotating body to be hit. It is preferable that the inclination angle of the holding article with respect to the horizontal plane is different when the contact surface is separated from the fixing member.

本構成によれば、保持部を第１位置まで上昇させる場合に、被当接面の固定部材への当接に伴い、保持部の姿勢を第１位置での姿勢に変化させ、保持部を第１位置から下降させる場合に、被当接面の固定部材からの離間に伴い、保持部の姿勢を第１位置での姿勢から変化させることができる。そして、本構成によれば、当接状態と離間状態との間での保持物品の水平面に対する傾斜角度の相違量に応じて、第１位置での保持物品の姿勢と第２位置での保持物品の姿勢とを異ならせることができる。 According to this configuration, when the holding portion is raised to the first position, the posture of the holding portion is changed to the posture at the first position due to the contact of the contacted surface with the fixing member, and the holding portion is changed. When descending from the first position, the posture of the holding portion can be changed from the posture at the first position as the contacted surface is separated from the fixing member. Then, according to this configuration, the posture of the held article at the first position and the held article at the second position are changed according to the amount of difference in the inclination angle of the held article with respect to the horizontal plane between the contact state and the separated state. Can be different from the posture of.

上記の各構成の搬送車において、前記保持部が昇降される期間に、前記保持部の姿勢が変化する第１期間と、前記保持部の姿勢が変化しない第２期間とが含まれ、前記昇降装置は、前記第１期間における前記保持部の昇降速度を、前記第２期間における前記保持部の昇降速度よりも低くすると好適である。 In the transport vehicle having each of the above configurations, the period for raising and lowering the holding portion includes a first period in which the posture of the holding portion changes and a second period in which the posture of the holding portion does not change. It is preferable that the apparatus makes the ascending / descending speed of the holding portion in the first period lower than the ascending / descending speed of the holding portion in the second period.

本構成によれば、第１期間における保持部の昇降速度を、第２期間における保持部の昇降速度よりも低くすることで、保持部の姿勢が変化するために第２期間に比べて保持部に振動が発生しやすくなる第１期間において、保持部に振動が発生し難いようにすることができる。 According to this configuration, by making the ascending / descending speed of the holding portion in the first period lower than the ascending / descending speed of the holding portion in the second period, the posture of the holding portion changes, so that the holding portion is compared with the second period. In the first period in which vibration is likely to occur, it is possible to prevent vibration from occurring in the holding portion.

本開示に係る搬送車は、上述した各効果のうち、少なくとも１つを奏することができればよい。 The transport vehicle according to the present disclosure may be capable of exhibiting at least one of the above-mentioned effects.

１：搬送車
２：移動経路
１０：本体部
１５：固定部材
２０：保持部
２０ａ：被当接面
３０：昇降装置
３１：昇降調整部
４１：第１回転体（対象回転体）
４２：第２回転体
５１：第１伝動部材（対象伝動部材）
５２：第２伝動部材
６０：対象部分
６１：厚さ変更部
６２：漸変部
７１：昇降駆動部
９０：物品
９０ｂ：側面
９２：開口部
Ａ：傾斜角度
Ｈ：水平面
Ｐ１：第１位置
Ｐ２：第２位置
Ｓ１：傾斜姿勢
Ｓ２：水平姿勢
Ｖ１：上方
Ｖ２：下方 1: Transport vehicle 2: Movement path 10: Main body 15: Fixing member 20: Holding portion 20a: Contacted surface 30: Elevating device 31: Elevating adjustment unit 41: First rotating body (target rotating body)
42: 2nd rotating body 51: 1st transmission member (target transmission member)
52: Second transmission member 60: Target portion 61: Thickness changing portion 62: Gradual change portion 71: Elevating drive portion 90: Article 90b: Side surface 92: Opening portion A: Inclination angle H: Horizontal plane P1: First position P2: Second position S1: Tilt posture S2: Horizontal posture V1: Upward V2: Downward

Claims (15)

物品を搬送する搬送車であって、
移動経路に沿って移動する本体部と、前記物品を保持する保持部と、前記保持部を前記本体部に対して昇降させる昇降装置と、を備え、
前記昇降装置は、第１位置と、前記保持部による前記物品の保持及び保持解除を行う位置であって前記第１位置よりも下方の第２位置との間で、前記保持部を昇降させ、
前記保持部に保持された状態の前記物品を保持物品として、
前記昇降装置は、前記第１位置と前記第２位置との間で前記保持物品の水平面に対する傾斜角度を可変にするための昇降調整部を備えている、搬送車。 It is a transport vehicle that transports goods.
A main body that moves along a movement path, a holding portion that holds the article, and an elevating device that raises and lowers the holding portion with respect to the main body are provided.
The elevating device raises and lowers the holding portion between the first position and the second position below the first position, which is the position where the holding portion holds and releases the article.
The article held in the holding portion is used as a holding article.
The elevating device is a transport vehicle provided with an elevating adjustment unit for varying an inclination angle of the holding article with respect to a horizontal plane between the first position and the second position. 前記昇降調整部は、前記第１位置での前記保持物品の水平面に対する傾斜角度を、前記第２位置での前記保持物品の水平面に対する傾斜角度よりも大きくするように構成されている、請求項１に記載の搬送車。 The elevating adjustment unit is configured so that the tilt angle of the holding article at the first position with respect to the horizontal plane is larger than the tilt angle of the holding article at the second position with respect to the horizontal plane. The carrier described in. 前記物品は、側面に開口部を有する容器であり、
前記昇降調整部は、前記第１位置での前記保持物品の姿勢を、前記開口部が斜め上方を向く傾斜姿勢とし、前記第２位置での前記保持物品の姿勢を、前記開口部が水平方向を向く水平姿勢とするように構成されている、請求項２に記載の搬送車。 The article is a container having an opening on the side surface.
In the elevating adjustment portion, the posture of the holding article at the first position is set to an inclined posture in which the opening faces diagonally upward, and the posture of the holding article at the second position is set by the opening in the horizontal direction. The transport vehicle according to claim 2, which is configured to have a horizontal posture facing the vehicle. 前記昇降装置は、回転駆動される第１回転体と、回転駆動される第２回転体と、前記第１回転体に巻き取り及び繰り出し自在に巻回されていると共に前記保持部に連結された第１伝動部材と、前記第２回転体に巻き取り及び繰り出し自在に巻回されていると共に前記保持部に連結された第２伝動部材と、を備え、
前記第１回転体及び前記第２回転体を回転駆動する共通の昇降駆動部が設けられている、請求項１から３のいずれか一項に記載の搬送車。 The elevating device is freely wound and unwound around the first rotating body, the second rotating body which is rotationally driven, and the first rotating body, and is connected to the holding portion. A first transmission member and a second transmission member that is freely wound and unwound around the second rotating body and connected to the holding portion are provided.
The carrier according to any one of claims 1 to 3, wherein a common elevating drive unit for rotationally driving the first rotating body and the second rotating body is provided. 前記昇降装置は、回転駆動される第１回転体と、回転駆動される第２回転体と、前記第１回転体に巻き取り及び繰り出し自在に巻回されていると共に前記保持部に連結された第１伝動部材と、前記第２回転体に巻き取り及び繰り出し自在に巻回されていると共に前記保持部に連結された第２伝動部材と、を備え、
前記昇降調整部は、前記第１回転体と前記第２回転体とを含み、
前記第１回転体の径と前記第２回転体の径とが異なっている、請求項１から４のいずれか一項に記載の搬送車。 The elevating device is freely wound and unwound around the first rotating body, the second rotating body which is rotationally driven, and the first rotating body, and is connected to the holding portion. A first transmission member and a second transmission member that is freely wound and unwound around the second rotating body and connected to the holding portion are provided.
The elevating adjustment unit includes the first rotating body and the second rotating body.
The carrier according to any one of claims 1 to 4, wherein the diameter of the first rotating body and the diameter of the second rotating body are different. 前記昇降装置は、回転駆動される第１回転体と、回転駆動される第２回転体と、前記第１回転体に巻き取り及び繰り出し自在に巻回されていると共に前記保持部に連結された第１伝動部材と、前記第２回転体に巻き取り及び繰り出し自在に巻回されていると共に前記保持部に連結された第２伝動部材と、を備え、
前記昇降調整部は、前記第１伝動部材と前記第２伝動部材とを含み、
前記第１伝動部材及び前記第２伝動部材は、帯状に形成されており、
前記第１伝動部材の厚さと前記第２伝動部材の厚さとが異なっている、請求項１から５のいずれか一項に記載の搬送車。 The elevating device is freely wound and unwound around the first rotating body, the second rotating body which is rotationally driven, and the first rotating body, and is connected to the holding portion. A first transmission member and a second transmission member that is freely wound and unwound around the second rotating body and connected to the holding portion are provided.
The elevating adjustment unit includes the first transmission member and the second transmission member.
The first transmission member and the second transmission member are formed in a band shape.
The carrier according to any one of claims 1 to 5, wherein the thickness of the first transmission member and the thickness of the second transmission member are different. 前記昇降装置は、回転駆動される第１回転体と、回転駆動される第２回転体と、前記第１回転体に巻き取り及び繰り出し自在に巻回されていると共に前記保持部に連結された第１伝動部材と、前記第２回転体に巻き取り及び繰り出し自在に巻回されていると共に前記保持部に連結された第２伝動部材と、を備え、
前記昇降調整部は、前記第１伝動部材と前記第２伝動部材とを含み、
前記第１伝動部材及び前記第２伝動部材は、帯状に形成されており、
前記第１伝動部材及び前記第２伝動部材の一方を対象伝動部材として、
前記対象伝動部材における長さ方向の一部の領域に、厚さが他の領域と異なる厚さ変更部が設けられている、請求項１から６のいずれか一項に記載の搬送車。 The elevating device is freely wound and unwound around the first rotating body, the second rotating body which is rotationally driven, and the first rotating body, and is connected to the holding portion. A first transmission member and a second transmission member that is freely wound and unwound around the second rotating body and connected to the holding portion are provided.
The elevating adjustment unit includes the first transmission member and the second transmission member.
The first transmission member and the second transmission member are formed in a band shape.
One of the first transmission member and the second transmission member is used as a target transmission member.
The carrier according to any one of claims 1 to 6, wherein a thickness changing portion having a thickness different from that of the other regions is provided in a part of the target transmission member in the length direction. 前記厚さ変更部は、前記対象伝動部材における前記他の領域よりも厚さが大きい、請求項７に記載の搬送車。 The transport vehicle according to claim 7, wherein the thickness changing portion has a thickness larger than that of the other region of the target transmission member. 前記第１回転体及び前記第２回転体のうちの前記対象伝動部材が巻回されている方を対象回転体とし、前記対象伝動部材における前記対象回転体から繰り出された部分を対象部分として、
前記保持部が前記第２位置に位置する状態で、前記対象伝動部材の長さ方向における前記対象部分の中央部よりも前記対象回転体の側に、前記厚さ変更部が配置されている、請求項７又は８に記載の搬送車。 Of the first rotating body and the second rotating body, the one in which the target transmitting member is wound is defined as the target rotating body, and the portion of the target transmitting member that is unwound from the target rotating body is defined as the target portion.
With the holding portion located at the second position, the thickness changing portion is arranged closer to the target rotating body than the central portion of the target portion in the length direction of the target transmission member. The carrier according to claim 7 or 8. 前記第１回転体及び前記第２回転体のうちの前記対象伝動部材が巻回されている方を対象回転体とし、前記対象伝動部材における前記対象回転体から繰り出された部分を対象部分として、
前記第２位置は、前記第１位置よりも下方の複数の位置を含み、
前記保持部が最も上方の前記第２位置に位置する状態で、前記対象部分に前記厚さ変更部が配置されている、請求項７から９のいずれか一項に記載の搬送車。 Of the first rotating body and the second rotating body, the one in which the target transmitting member is wound is defined as the target rotating body, and the portion of the target transmitting member that is unwound from the target rotating body is defined as the target portion.
The second position includes a plurality of positions below the first position.
The carrier according to any one of claims 7 to 9, wherein the thickness changing portion is arranged in the target portion in a state where the holding portion is located at the uppermost position in the second position. 前記第１回転体及び前記第２回転体のうちの前記対象伝動部材が巻回されている方を対象回転体として、
前記厚さ変更部の前記長さ方向の大きさが、当該厚さ変更部の前記対象回転体への巻回数が整数回となる大きさである、請求項７から１０のいずれか一項に記載の搬送車。 Of the first rotating body and the second rotating body, the one in which the target transmission member is wound is set as the target rotating body.
The item according to any one of claims 7 to 10, wherein the size of the thickness changing portion in the length direction is such that the number of times the thickness changing portion is wound around the target rotating body is an integer number of times. The carrier described. 前記対象伝動部材における前記厚さ変更部が設けられた領域と前記他の領域との境界領域に、前記厚さ変更部の側に向かうに従って厚さが次第に変化する漸変部が設けられている、請求項７から１１のいずれか一項に記載の搬送車。 In the boundary region between the region where the thickness changing portion is provided and the other region in the target transmission member, a gradual change portion whose thickness gradually changes toward the side of the thickness changing portion is provided. , The transport vehicle according to any one of claims 7 to 11. 前記昇降装置は、回転駆動される第１回転体と、回転駆動される第２回転体と、前記第１回転体に巻き取り及び繰り出し自在に巻回されていると共に前記保持部に連結された第１伝動部材と、前記第２回転体に巻き取り及び繰り出し自在に巻回されていると共に前記保持部に連結された第２伝動部材と、を備え、
前記昇降調整部は、前記第１回転体及び前記第２回転体を回転駆動する共通の昇降駆動部を含み、
前記昇降駆動部は、前記第１位置と前記第２位置との間で前記保持部を昇降させる場合における、前記第１回転体の回転量と前記第２回転体の回転量とが異なることを許容するように構成されている、請求項１から１２のいずれか一項に記載の搬送車。 The elevating device is freely wound and unwound around the first rotating body, the second rotating body which is rotationally driven, and the first rotating body, and is connected to the holding portion. A first transmission member and a second transmission member that is freely wound and unwound around the second rotating body and connected to the holding portion are provided.
The elevating adjustment unit includes a common elevating drive unit that rotationally drives the first rotating body and the second rotating body.
The elevating drive unit is different from the rotation amount of the first rotating body and the rotation amount of the second rotating body when the holding portion is moved up and down between the first position and the second position. The carrier according to any one of claims 1 to 12, which is configured to be acceptable. 前記昇降駆動部は、前記保持部を前記第１位置まで上昇させる場合に、前記保持部の被当接面が、前記本体部に固定された固定部材に当接するまで、前記第１回転体に前記第１伝動部材を巻き取ると共に前記第２回転体に前記第２伝動部材を巻き取るように構成され、
前記被当接面が前記固定部材に当接した当接状態での前記保持物品の水平面に対する傾斜角度と、前記第１回転体から前記第１伝動部材が繰り出されると共に前記第２回転体から前記第２伝動部材が繰り出されて、前記被当接面が前記固定部材から離間した離間状態での前記保持物品の水平面に対する傾斜角度とが異なっている、請求項１３に記載の搬送車。 When the holding portion is raised to the first position, the elevating drive portion attaches to the first rotating body until the contacted surface of the holding portion abuts on the fixing member fixed to the main body portion. It is configured to wind up the first transmission member and wind up the second transmission member on the second rotating body.
The inclination angle of the holding article with respect to the horizontal plane in the contact state where the contacted surface is in contact with the fixing member, the first transmission member is fed out from the first rotating body, and the second rotating body is said to be the same. The transport vehicle according to claim 13, wherein the second transmission member is fed out, and the angle of inclination of the holding article with respect to the horizontal plane in a separated state where the contacted surface is separated from the fixing member is different. 前記保持部が昇降される期間に、前記保持物品の水平面に対する傾斜角度が変化する第１期間と、前記保持物品の水平面に対する傾斜角度が変化しない第２期間とが含まれ、
前記昇降装置は、前記第１期間における前記保持部の昇降速度を、前記第２期間における前記保持部の昇降速度よりも低くする、請求項１から１４のいずれか一項に記載の搬送車。 The period in which the holding portion is raised and lowered includes a first period in which the tilt angle of the holding article with respect to the horizontal plane changes and a second period in which the tilt angle of the holding article with respect to the horizontal plane does not change.
The carrier according to any one of claims 1 to 14, wherein the elevating device makes the elevating speed of the holding portion in the first period lower than the elevating speed of the holding portion in the second period.
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Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08188375A (en) * 1995-01-04 1996-07-23 Tsubakimoto Chain Co Tilting mechanism of cassette for work conveying

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08188375A (en) * 1995-01-04 1996-07-23 Tsubakimoto Chain Co Tilting mechanism of cassette for work conveying

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