TW202200468A - Article transport vehicle - Google Patents

Article transport vehicle Download PDF

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Publication number
TW202200468A
TW202200468A TW110111201A TW110111201A TW202200468A TW 202200468 A TW202200468 A TW 202200468A TW 110111201 A TW110111201 A TW 110111201A TW 110111201 A TW110111201 A TW 110111201A TW 202200468 A TW202200468 A TW 202200468A
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Taiwan
Prior art keywords
article
restricting
posture
type
facing portion
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TW110111201A
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Chinese (zh)
Inventor
安部健史
淺日一彌
吉山智裕
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日商大福股份有限公司
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Publication of TW202200468A publication Critical patent/TW202200468A/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
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • 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
    • 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
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • 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
    • H01L21/67005—Apparatus not specifically provided for elsewhere
    • H01L21/67242—Apparatus for monitoring, sorting or marking
    • H01L21/67259—Position monitoring, e.g. misposition detection or presence detection
    • 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
    • H01L21/67005—Apparatus not specifically provided for elsewhere
    • H01L21/67242—Apparatus for monitoring, sorting or marking
    • H01L21/67294—Apparatus for monitoring, sorting or marking using identification means, e.g. labels on substrates or labels on containers
    • 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
    • H01L21/67724—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 by means of a cart or a vehicule
    • 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)
  • Warehouses Or Storage Devices (AREA)
  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)

Abstract

The subject of the invention is to appropriately restrict each of a plurality of types of articles from falling off during transport in an article transport vehicle, which can transport a plurality of types of articles. When the type of the accommodated article detected by the article detection unit is a first type of article, the control unit of the restricted body changes the posture of the restricted body to become a first restriction posture. The first restriction posture allows the facing portion of the lower surface disposed on a position overlapping the first type of article when viewing from the up-down direction along the up-down direction and allows the facing portion of the side surface disposed on a position along the side surface of the first type of article when viewing from the up-down direction. When the type of the accommodated article detected by the article detection unit is a second type of article, the restricted body is made to change the posture of the restricted body to become a second restriction posture. The second restriction posture allows the facing portion of the lower surface disposed on a position overlapping the second type of article when viewing from the up-down direction and allows the facing portion of the side surface disposed on a position along the side surface of the second type of article and overlapping the first type of article when viewing from the up-down direction.

Description

物品搬送車Item handling vehicle

本發明是有關於一種沿著移動路徑移動來搬送複數個種類的物品之物品搬送車。The present invention relates to an article transport vehicle that moves along a moving path and transports a plurality of types of articles.

例如，在日本專利特許第5700255號公報(專利文獻1)中，揭示有分別對應於複數個種類的物品之複數個種類的物品搬送車。以下，在先前技術的說明中於括弧內所附上的符號是專利文獻1的符號。For example, Japanese Patent Laid-Open No. 5700255 (Patent Document 1) discloses a plurality of types of article transport vehicles respectively corresponding to a plurality of types of articles. Hereinafter, in the description of the prior art, the symbols enclosed in parentheses are the symbols of Patent Document 1. FIG.

在專利文獻1中，作為物品搬送車而揭示有晶圓收納容器(W)的搬送專用的第1天花板搬送車(B1)與倍縮光罩收納容器(R)的搬送專用的第2天花板搬送車(B2)。由於晶圓收納容器(W)與倍縮光罩收納容器(R)是大小或形狀互相不同，因此在專利文獻1所揭示的技術中，是如上述使用種類不同的物品搬送車。Patent Document 1 discloses, as an article transport vehicle, a first ceiling transport vehicle (B1) dedicated to the transport of wafer storage containers (W) and a second ceiling transport vehicle dedicated to transport of the reticle storage container (R) car (B2). Since the wafer container (W) and the reticle container (R) are different in size and shape, in the technique disclosed in Patent Document 1, different types of article transport vehicles are used as described above.

發明欲解決之課題The problem to be solved by the invention

然而，由於依照搬送對象的物品之種類，會有搬送頻率不同的情況等，因此搬送各個物品的物品搬送車的使用頻率也會不同。因此，為了謀求更有效率的運用，所期望的是設成可以藉由相同的物品搬送車來搬送複數個種類的物品。若可達成此期望，則可以謀求設備所具備之複數個物品搬送車的使用頻率的均一化，而變得可以進行有效率的運用。但是，在物品搬送車所進行之物品的搬送中，雖然一般是採取用於限制物品從該物品搬送車脫落的措施，但是在欲實現如上述可搬送大小或形狀不同的複數個種類的物品之物品搬送車的情況下，會變得需要有對應於複數個種類的物品的每一個種類之脫落限制的措施。However, the frequency of use of the article transport vehicle for transporting each article varies depending on the type of articles to be transported. Therefore, in order to achieve more efficient operation, it is desired to make it possible to convey a plurality of kinds of articles by the same article transfer vehicle. If this expectation can be achieved, the frequency of use of a plurality of article transport vehicles included in the facility can be uniformed, and efficient operation can be achieved. However, in the conveyance of articles by an article conveyance vehicle, measures are generally taken to restrict the articles from falling off the article conveyance vehicle. However, in order to realize the above-mentioned conveyance of a plurality of types of articles of different sizes and shapes. In the case of an article transport vehicle, it becomes necessary to take measures for the dropout restriction corresponding to each of a plurality of types of articles.

有鑒於上述實際情況，所期望的是下述技術的實現：在可搬送複數個種類的物品之物品搬送車中，針對該等複數個種類的物品的每一個，可以適當地限制在搬送中脫落的情形。 用以解決課題之手段In view of the above-mentioned actual situation, it is desired to realize the realization of the following technology: in an article transport vehicle capable of transporting a plurality of kinds of articles, for each of the plurality of kinds of articles, it is possible to appropriately limit the falling off during transportation. situation. means of solving problems

一種物品搬送車，是沿著移動路徑移動來搬送複數個種類的物品的物品搬送車， 前述物品搬送車具備：容置部，容置前述物品；移載機構，在前述容置部與位於比該容置部更下側的移載對象地點之間進行前述物品的移載；脫落限制部，限制容置在前述容置部的狀態之前述物品從前述容置部脫落至外側的情形；及物品檢測部，檢測容置在前述容置部的狀態之前述物品即容置物品的種類， 前述移載機構具備：保持部，保持前述物品；及升降機構，使前述保持部在前述容置部與前述移載對象地點之間升降， 在前述物品中包含有第1種物品與第2種物品之至少2個種類，前述第2種物品是平面視角下的外形比前述第1種物品更小， 前述脫落限制部具備：限制體，將姿勢變更為限制姿勢與遠離姿勢，前述限制姿勢是限制前述容置物品的脫落，前述遠離姿勢是和前述限制姿勢相較之下遠離前述容置物品；及限制體控制部，控制前述限制體的姿勢變更， 前述限制體具備：下表面相向部，在前述限制姿勢中相向於前述容置物品的下表面；及側面相向部，在前述限制姿勢中相向於前述容置物品的側面， 前述限制體控制部是進行下述控制： 在藉由前述物品檢測部檢測出的前述容置物品的種類為前述第1種物品的情況下，使前述限制體進行姿勢變更，以成為第1限制姿勢，前述第1限制姿勢為前述限制姿勢，其使前述下表面相向部在沿著上下方向的上下方向視角下配置在重疊於前述第1種物品的位置，並且使前述側面相向部在前述上下方向視角下配置在沿著前述第1種物品的側面的位置， 在前述物品檢測部所檢測的前述容置物品的種類為前述第2種物品的情況下，使前述限制體進行姿勢變更，以成為第2限制姿勢，前述第2限制姿勢為前述限制姿勢，其使前述下表面相向部在前述上下方向視角下配置在重疊於前述第2種物品的位置，並且使前述側面相向部在前述上下方向視角下配置在沿著前述第2種物品的側面的位置且和前述第1種物品重疊的位置， 在前述保持部已保持前述物品的狀態下藉由前述升降機構來升降的情況下，使前述限制體進行姿勢變更，以成為前述遠離姿勢，前述遠離姿勢使前述限制體配置在不和前述保持部所保持的前述物品的移動軌跡重疊的位置。An article conveying vehicle is an article conveying vehicle that moves along a moving path to convey a plurality of types of articles, The article transport vehicle includes: an accommodating part for accommodating the article; a transfer mechanism for transferring the article between the accommodating part and a transfer target point located below the accommodating part; an article detection part that detects the type of the article that is in the state of being accommodated in the accommodating part. , The transfer mechanism includes: a holding part for holding the article; and an elevating mechanism for raising and lowering the holding part between the accommodating part and the transfer object point, The aforementioned articles include at least two types of the first type of article and the second type of article, and the aforementioned second type of article is smaller in shape than the aforementioned first type of article in a plane viewing angle, The drop-off restricting portion includes: a restricting body that changes a posture into a restricting posture and a distance-away posture, the restricting posture restricts the falling off of the contained article, and the far-away posture is a distance away from the contained article compared with the restraining posture; and The restraining body control unit controls the posture change of the restraining body, The restricting body includes: a lower surface facing portion facing the lower surface of the storage article in the restricting posture; and a side facing portion facing the side surface of the storage article in the restricting posture, The aforementioned restricting body control unit performs the following controls: When the type of the accommodated article detected by the article detection unit is the first article, the restricting body is changed in posture so as to be a first restricting posture, and the first restricting posture is the restricting posture , wherein the lower surface facing portion is arranged at a position overlapping the first type of article when viewed from the vertical direction along the vertical direction, and the side facing portion is arranged along the first type when viewed from the vertical direction. the position of the side of the item, When the type of the stored article detected by the article detection unit is the second article, the position of the restricting body is changed to become a second restricting posture, and the second restricting posture is the restricting posture, which The lower surface facing portion is arranged at a position overlapping the second article in the vertical viewing angle, and the side facing portion is arranged along the side surface of the second article in the vertical viewing angle. The position that overlaps with the aforementioned first item, When the holding portion is held by the article and is raised and lowered by the elevating mechanism, the position of the restraining body is changed so as to be the distanced posture, and the restraining body is disposed in the distance away from the holding portion. A position where the moving trajectories of the held items overlap.

根據本構成，可以藉由限制體控制部，將限制體的姿勢變更為第1限制姿勢、第2限制姿勢、及遠離姿勢。在限制體為第1限制姿勢的狀態下，由於下表面相向部在上下方向視角下配置在重疊於第1種物品的位置，並且側面相向部在上下方向視角下配置在沿著第1種物品的側面的位置，因此可以藉由下表面相向部及側面相向部來適當地限制第1種物品的脫落。又，在限制體為第2限制姿勢的狀態下，由於下表面相向部在上下方向視角下配置在重疊於第2種物品的位置，並且側面相向部在上下方向視角下配置在沿著第2種物品的側面的位置且和第1種物品重疊的位置，因此可以藉由下表面相向部及側面相向部來適當地限制第2種物品的脫落。在此，在第2限制姿勢中，由於側面相向部是配置在越與第1種物品重疊則越接近第2種物品的側面的位置，因此可以更適當地限制平面視角下的外形比第1種物品更小的第2種物品的脫落。從而，根據本構成，無論物品的種類如何，都可以適當地限制搬送中的物品之脫落。此外，在限制體為遠離姿勢的狀態下，由於無論保持部所保持的物品為第1種物品或為第2種物品，都是將限制體配置在不與該等物品的升降移動軌跡重疊的位置，因此在使保持部在容置部與移載對象地點之間升降的情況下，可以設為使限制體不會成為妨礙。According to this configuration, the restraint body control unit can change the posture of the restraint body to the first restraint posture, the second restraint posture, and the away posture. In the state where the restricting body is in the first restricting posture, the lower surface facing portion is disposed at a position overlapping the first article in the vertical viewing angle, and the side facing portion is disposed along the first article in the vertical viewing angle. Therefore, the falling off of the first article can be appropriately restricted by the lower surface facing portion and the side facing portion. In addition, in the state where the restricting body is in the second restricting posture, the lower surface facing portion is disposed at a position overlapping the second article in the vertical viewing angle, and the side facing portion is disposed along the second article in the vertical viewing angle. Since the position of the side surface of the article and the position overlapped with the article of the first article, the lower surface facing portion and the facing portion of the side surface can appropriately restrain the falling off of the article of the second article. Here, in the second restriction posture, since the side facing portion is arranged at a position closer to the side surface of the second article as it overlaps with the first article, it is possible to more appropriately restrict the outer shape of the plane viewing angle than the first article. The shedding of a second, smaller item. Therefore, according to the present configuration, it is possible to appropriately restrict the falling off of the article being conveyed regardless of the type of the article. In addition, in the state where the restricting body is in the away position, regardless of whether the article held by the holding portion is the first type article or the second type article, the restricting body is arranged so as not to overlap with the lifting and lowering movement locus of these articles. Therefore, when the holding portion is moved up and down between the accommodating portion and the transfer target site, the restricting body can be set so as not to interfere.

本揭示之技術的更進一步之特徵與優點，透過參照圖式所記述之以下例示性且非限定的實施形態之說明應可變得更加明確。Further features and advantages of the technology of the present disclosure will become more apparent from the following description of illustrative and non-limiting embodiments described with reference to the drawings.

用以實施發明之形態Form for carrying out the invention

參照圖式來說明物品搬送車的實施形態。在以下，是例示將物品搬送車適用於進行物品的搬送之物品搬送設備的情況，並且針對本實施形態之物品搬送車來進行說明。Embodiments of the article transport vehicle will be described with reference to the drawings. In the following, a case where the article conveyance vehicle is applied to an article conveyance facility for conveying articles will be exemplified, and the article conveyance vehicle of the present embodiment will be described.

如圖1及圖2所示，物品搬送設備具備：物品搬送車V，搬送物品8；軌道Ra，設置在設備的天花板附近，構成物品搬送車V的移動路徑R；及移載對象地點9，在與物品搬送車V之間進行物品8的移載。As shown in FIGS. 1 and 2 , the article conveyance facility includes: an article conveyance vehicle V for conveying an article 8; a rail Ra, which is installed near the ceiling of the facility and constitutes a moving path R of the article conveyance vehicle V; and a transfer object point 9, The article 8 is transferred to and from the article transport vehicle V. As shown in FIG.

在移載對象地點9設置有處理裝置91與支撐台92，前述處理裝置91是進行對物品8的處理，前述支撐台92是相鄰於處理裝置91而配置，並且支撐物品8。在本實施形態中，物品搬送車V是將進行處理裝置91的處理之前的物品8，從圖外的搬送起點搬送至支撐台92，並且將已進行處理裝置91的處理之後的物品8，從支撐台92搬送至圖外的搬送目的地。在本實施形態中，物品8是收納處理對象物的容器，前述處理對象物是成為處理裝置91所進行的處理之對象，上述「對物品8的處理」是指對物品8所收納的處理對象物的處理。例如，作為物品8，亦可為收納晶圓的晶圓收納容器(所謂的FOUP：前開式晶圓傳送盒，Front Opening Unified Pod)，亦可為容置倍縮光罩的倍縮光罩收納容器(所謂的倍縮光罩盒)。在物品8為FOUP的情況下，處理對象物是設為晶圓。在物品8為倍縮光罩盒的情況下，處理對象物是設為倍縮光罩。The transfer object site 9 is provided with a processing device 91 for processing the article 8 and a support table 92 which is arranged adjacent to the processing device 91 and supports the article 8 . In the present embodiment, the article transport vehicle V transports the articles 8 before being processed by the processing device 91 to the support table 92 from the transfer starting point not shown in the figure, and the articles 8 after being processed by the processing device 91 from the The support table 92 is transported to a transport destination not shown in the figure. In the present embodiment, the article 8 is a container for accommodating the object to be processed, the object to be processed is the object to be processed by the processing device 91 , and the above-mentioned “processing of the article 8” refers to the object to be processed in which the article 8 is accommodated. handling of things. For example, the article 8 may be a wafer storage container (so-called FOUP: Front Opening Unified Pod) that accommodates wafers, or may be a reticle storage container accommodating a reticle. Containers (so-called reticle boxes). When the article 8 is a FOUP, the object to be processed is a wafer. When the article 8 is a reticle box, the object to be processed is a reticle.

以下，參照圖1~圖3，針對物品搬送車V的構成來詳細地進行說明。另外，在以下是將物品搬送車V沿著移動路徑R來搬送物品8的方向設為「搬送方向X」。並且，將沿著上下方向的上下方向視角下相對於搬送方向X交叉的方向設為「交叉方向Y」。在本例中，交叉方向Y是上下方向視角下相對於搬送方向X正交的方向。另外，亦可分別將搬送方向X改稱為第1方向，並且將交叉方向Y改稱為第2方向。第1方向與第2方向是在上下方向視角下互相交叉的方向。Hereinafter, the configuration of the article transport vehicle V will be described in detail with reference to FIGS. 1 to 3 . In addition, in the following, the direction in which the article conveyance vehicle V conveys the article 8 along the movement path R is referred to as the "conveyance direction X". In addition, let the direction intersecting with the conveying direction X in the vertical viewing angle along the vertical direction be referred to as the "crossing direction Y". In this example, the intersecting direction Y is a direction orthogonal to the conveying direction X in the vertical viewing angle. In addition, the conveyance direction X may be respectively renamed as a 1st direction, and the intersecting direction Y may be renamed as a 2nd direction, respectively. The first direction and the second direction are directions that intersect each other in an up-down direction viewing angle.

物品搬送車V是沿著移動路徑R移動來搬送複數個種類的物品8。物品搬送車V具備：容置部2，容置物品8；及移載機構4，在容置部2與位於比該容置部2更下側的移載對象地點9之間進行物品8的移載。在本實施形態中，物品搬送車V更具備行走機構1、以及覆蓋容置部2的罩蓋3。The article transport vehicle V moves along the movement path R and transports a plurality of kinds of articles 8 . The article transport vehicle V includes an accommodating portion 2 for accommodating an article 8 , and a transfer mechanism 4 for transferring the article 8 between the accommodating portion 2 and a transfer target location 9 located below the accommodating portion 2 . transfer. In the present embodiment, the article transport vehicle V further includes a traveling mechanism 1 and a cover 3 that covers the accommodating portion 2 .

行走機構1具備在軌道Ra上滾動的行走車輪10、及驅動行走車輪10的行走用馬達M1(參照圖6)。在圖示的例子中，複數個行走車輪10是設置在物品搬送車V上。行走用馬達M1是驅動複數個行走車輪10當中的至少1個，而賦予物品搬送車V沿著搬送方向X行走用的推進力。The traveling mechanism 1 includes traveling wheels 10 that roll on the rail Ra, and a traveling motor M1 (refer to FIG. 6 ) that drives the traveling wheels 10 . In the example shown in the figure, the plurality of traveling wheels 10 are installed on the article transport vehicle V. As shown in FIG. The traveling motor M1 drives at least one of the plurality of traveling wheels 10 to give the article transport vehicle V a propulsive force for traveling along the transport direction X. As shown in FIG.

罩蓋3是藉由行走機構1而被懸吊支撐。相對於軌道Ra而在上側配置有行走機構1，相對於軌道Ra而在下側配置有罩蓋3。在本實施形態中，罩蓋3是覆蓋容置部2的上側及搬送方向X的兩側。在本例中，罩蓋3具備：上側罩蓋部30，覆蓋容置部2的上側；第1罩蓋部31，覆蓋容置部2中的搬送方向X的一側；及第2罩蓋部32，覆蓋容置部2中的搬送方向X的另一側。第1罩蓋部31及第2罩蓋部32的每一個是配置成相向於容置部2所容置的物品8中之朝向搬送方向X的面。相對於容置部2而在交叉方向Y的兩側並未配置有罩蓋3，而是開放的。The cover 3 is suspended and supported by the running gear 1 . The running gear 1 is arranged on the upper side with respect to the rail Ra, and the cover 3 is arranged on the lower side with respect to the rail Ra. In the present embodiment, the cover 3 covers the upper side of the accommodating portion 2 and both sides in the conveyance direction X. As shown in FIG. In this example, the cover 3 includes: an upper cover part 30 covering the upper side of the accommodating part 2; a first covering part 31 covering one side of the accommodating part 2 in the conveying direction X; and a second cover The portion 32 covers the other side of the accommodating portion 2 in the conveying direction X. Each of the first cover portion 31 and the second cover portion 32 is disposed so as to face the surface facing the conveyance direction X of the articles 8 accommodated in the accommodating portion 2 . The covers 3 are not disposed on both sides in the cross direction Y with respect to the accommodating portion 2 , but are open.

移載機構4具備保持物品8的保持部41、及使保持部41在容置部2與移載對象地點9之間升降的升降機構42。在本實施形態中，移載機構4更具備：滑動機構43，使保持部41沿著交叉方向Y移動；及旋繞機構44，使保持部41繞著上下軸心而旋繞。The transfer mechanism 4 includes a holding portion 41 that holds the article 8 , and an elevating mechanism 42 that lifts and lowers the holding portion 41 between the accommodating portion 2 and the transfer target site 9 . In the present embodiment, the transfer mechanism 4 further includes a sliding mechanism 43 for moving the holding portion 41 in the intersecting direction Y, and a revolving mechanism 44 for revolving the holding portion 41 around the vertical axis.

保持部41具備：一對把持爪411、及使一對把持爪411互相接近遠離的把持用馬達M41(參照圖6)。並且，保持部41是構成為藉由把持用馬達M41的驅動而使一對把持爪411互相接近或遠離，藉此切換一對把持爪411把持物品8的把持狀態、以及解除該把持狀態的把持解除狀態。在本實施形態中，物品8具備物品本體部8b、及設置在比物品本體部8b更上側的被保持部8g。並且，保持部41是構成為藉由保持住物品8中的被保持部8g，更詳細而言，藉由一對把持爪411來把持被保持部8g，而保持住物品8。The holding portion 41 includes a pair of gripping claws 411 and a gripping motor M41 (refer to FIG. 6 ) that moves the pair of gripping claws 411 toward and away from each other. In addition, the holding portion 41 is configured to switch between the gripping state of the pair of gripping claws 411 gripping the article 8 and the gripping state of releasing the gripping state by driving the gripping motor M41 to move the pair of gripping claws 411 closer to or away from each other. Release status. In the present embodiment, the article 8 includes an article main body portion 8b and a held portion 8g provided on the upper side of the article main body portion 8b. The holding portion 41 is configured to hold the held portion 8g of the article 8, more specifically, the held portion 8g by a pair of holding claws 411 to hold the article 8. As shown in FIG.

滑動機構43具備：滑動體431，相對於容置部2而沿著交叉方向Y移動；及滑動用馬達M43(參照圖6)，使滑動體431沿著交叉方向Y移動。滑動機構43是構成為藉由滑動用馬達M43的驅動而使滑動體431沿著交叉方向Y移動，藉此使升降機構42以及保持部41及保持部41所保持的物品8沿著交叉方向Y移動。例如，在移載對象地點9中的支撐台92配置在相對於移動路徑R而往交叉方向Y偏移的位置之情況下，可以使保持部41所保持的物品8沿著交叉方向Y移動，藉此將物品8配置在上下方向視角下相對於支撐台92重疊的位置。藉此，變得可以適當地進行升降機構42所進行之物品8往支撐台92的移載。The sliding mechanism 43 includes a sliding body 431 that moves in the intersecting direction Y with respect to the housing portion 2 , and a sliding motor M43 (see FIG. 6 ) that moves the sliding body 431 along the intersecting direction Y. The sliding mechanism 43 is configured to move the sliding body 431 along the intersecting direction Y by the driving of the sliding motor M43, thereby causing the lifting mechanism 42 and the holding portion 41 and the article 8 held by the holding portion 41 to move along the intersecting direction Y. move. For example, when the support table 92 in the transfer object site 9 is arranged at a position shifted in the intersecting direction Y with respect to the moving path R, the article 8 held by the holding unit 41 can be moved along the intersecting direction Y, Thereby, the article 8 is arranged in a position overlapping with the support table 92 in the vertical viewing angle. Thereby, it becomes possible to appropriately perform the transfer of the article 8 to the support table 92 by the elevating mechanism 42 .

旋繞機構44具備：旋繞體441，相對於滑動體431而被支撐成繞著上下軸心旋繞自如；及旋繞用馬達M44(參照圖6)，使旋繞體441繞著上下軸心旋繞。旋繞機構44是構成為藉由旋繞用馬達M44的驅動來使旋繞體441旋繞，藉此使保持部41及保持部41所保持的物品8繞著上下軸心來旋繞。藉由使保持部41所保持的物品8旋繞，物品8即可以相對於移載對象地點9而朝向適當的方向。例如，在物品8為FOUP的情況下，設置有用於讓處理對象物出入的開口部。在此情況下，可藉由旋繞機構44來變更物品8的方向，以使該開口部相向於處理裝置91。藉此，可以相對於處理裝置91而以適當的方向來將物品8載置至支撐台92。The winding mechanism 44 includes a winding body 441 supported relative to the slider 431 so as to be rotatable around the vertical axis, and a winding motor M44 (see FIG. 6 ) for winding the winding body 441 around the vertical axis. The reeling mechanism 44 is configured to revolve the reeling body 441 by driving the reeling motor M44, thereby revolving the holding portion 41 and the article 8 held by the holding portion 41 around the vertical axis. By revolving the article 8 held by the holding portion 41 , the article 8 can be oriented in an appropriate direction with respect to the transfer target point 9 . For example, in the case where the article 8 is a FOUP, an opening for allowing the object to be processed in and out is provided. In this case, the direction of the article 8 can be changed by the winding mechanism 44 so that the opening portion faces the processing device 91 . Thereby, the article 8 can be placed on the support table 92 in an appropriate direction with respect to the processing device 91 .

升降機構42具備：滑輪421，支撐於旋繞體441；皮帶422，捲繞於滑輪421且前端部連結有保持部41；及升降用馬達M42(參照圖6)，使滑輪421旋轉而驅動皮帶422。升降機構42是藉由升降用馬達M42的驅動而使滑輪421往正轉方向旋轉，來捲取皮帶422，藉此使保持部41及保持部41所保持的物品8上升。又，升降機構42是藉由升降用馬達M42的驅動而使滑輪421往逆轉方向旋轉，來放出皮帶422，藉此使保持部41及保持部41所保持的物品8下降。藉由升降機構42使保持部41所保持的物品8升降，即變得可以在與配置在比容置部2更下側的支撐台92(移載對象地點9)之間移載物品8。The elevating mechanism 42 includes: a pulley 421 supported by the reel 441; a belt 422 wound around the pulley 421 to which the holder 41 is connected to the front end; . The elevating mechanism 42 is driven by the elevating motor M42 to rotate the pulley 421 in the forward rotation direction to wind up the belt 422 , thereby raising the holding portion 41 and the article 8 held by the holding portion 41 . The elevating mechanism 42 is driven by the elevating motor M42 to rotate the pulley 421 in the reverse direction to release the belt 422, thereby lowering the holding portion 41 and the article 8 held by the holding portion 41. The article 8 held by the holding unit 41 is raised and lowered by the elevating mechanism 42 , that is, the article 8 can be transferred between the article 8 and the support table 92 (the transfer target point 9 ) arranged below the accommodating unit 2 .

如圖3所示，物品搬送車V具備：脫落限制部5，限制容置於容置部2的狀態之物品8從容置部2脫落至外側的情形；及物品檢測部S，檢測已容置於容置部2的狀態之物品8即容置物品8的種類。As shown in FIG. 3 , the article transport vehicle V is provided with: a drop-off restricting portion 5 for restricting the drop-off of the article 8 in the state of being accommodated in the accommodating portion 2 from the accommodating portion 2 to the outside; and an article detecting portion S for detecting that it has been accommodated The article 8 in the state of the accommodating portion 2 is the type of the article 8 to be accommodated.

在此，如圖4所示，在物品8中至少包含有第1種物品81與第2種物品82之2個種類，前述第2種物品82是平面視角下的外形比第1種物品81更小。如上述，物品8具備物品本體部8b與被保持部8g。在本實施形態中，將物品本體部8b的水平方向的尺寸設為物品寬度，第1種物品81具有第1寬度W1，第2種物品82具有比第1寬度W1更小的第2寬度W2。在本說明書中，「物品寬度」是根據在已將物品8容置於容置部2且設為藉由行走機構1來搬送時的搬送姿勢之狀態下，沿著物品本體部8b的搬送方向X的尺寸來定義。亦即，物品本體部8b中之朝向搬送方向X的一側的側面8s、與朝向搬送方向X的另一側的側面8s之間的距離是設為物品寬度。「物品本體部8b的側面8s」是相當於物品8的側面8s，在以下，是將物品本體部8b的側面8s與物品8的側面8s視為同義的面來說明。另外，在本實施形態中，第1種物品81的物品本體部8b與第2種物品82的物品本體部8b之雙方在平面視角下是形成為矩形，更詳細而言是形成為正方形。從而，在本例中，物品8具有互相朝向搬送方向X上之相反側的一對側面8s、以及互相朝向交叉方向Y上之相反側的一對側面8s(也參照圖8)。並且，朝向搬送方向X上之相反側的一對側面8s的距離、以及朝向交叉方向Y上之相反側的一對側面8s的距離是相同的。在此，搬送姿勢中的物品8的方向，有時會因應於搬送起點或搬送目的地的處理裝置91的方向而變更。在以下，在必須互相區別2對側面8s的情況下，是將搬送姿勢下的物品8的方向作為基準，而將朝向搬送方向X上之相反側的一對側面8s簡稱為側面8s，將朝向交叉方向Y上之相反側的一對側面8s稱為前面8f及背面8r。另外，物品本體部8b的平面視角下的形狀亦可為多角形狀、圓形、或橢圓形等各種形狀。Here, as shown in FIG. 4 , the article 8 includes at least two types of the first type of article 81 and the second type of article 82 . The second type of article 82 has a larger shape than the first type of article 81 in a plane view. smaller. As described above, the article 8 includes the article main body portion 8b and the held portion 8g. In the present embodiment, the horizontal dimension of the article main body portion 8b is defined as the article width, the first type article 81 has a first width W1, and the second type article 82 has a second width W2 smaller than the first width W1 . In this specification, "article width" refers to the conveyance direction along the article main body portion 8b in a state where the article 8 is accommodated in the accommodating portion 2 and is in the conveyance posture when conveyed by the traveling mechanism 1 The size of X is defined. That is, the distance between the side surface 8s on one side facing the conveyance direction X and the side surface 8s facing the other side in the conveyance direction X in the article body portion 8b is defined as the article width. "The side surface 8s of the article main body 8b" corresponds to the side surface 8s of the article 8, and the following describes the side surface 8s of the article main body 8b and the side surface 8s of the article 8 as synonymous. In addition, in the present embodiment, both the article body portion 8b of the first kind of article 81 and the article body portion 8b of the second kind of article 82 are rectangular, more specifically, square in plan view. Therefore, in this example, the article 8 has a pair of side surfaces 8s facing each other on the opposite side in the conveyance direction X, and a pair of side surfaces 8s facing each other on the opposite side in the intersecting direction Y (see also FIG. 8 ). In addition, the distance between the pair of side surfaces 8s on the opposite side in the conveyance direction X and the distance between the pair of side surfaces 8s on the opposite side in the intersecting direction Y are the same. Here, the direction of the article 8 in the conveyance posture may be changed according to the direction of the processing device 91 at the conveyance origin or at the conveyance destination. In the following, when it is necessary to distinguish two pairs of side surfaces 8s from each other, the direction of the article 8 in the conveying posture is used as a reference, and the pair of side surfaces 8s facing the opposite side in the conveying direction X is simply referred to as side surfaces 8s, and the The pair of side surfaces 8s on the opposite side in the intersecting direction Y are referred to as the front surface 8f and the back surface 8r. In addition, the shape of the article body portion 8b in a plan view may be various shapes such as a polygonal shape, a circular shape, or an oval shape.

又，在本實施形態中，將從物品本體部8b的下表面8d到被保持部8g的尺寸設為物品高度，第1種物品81具有第1高度H1，第2種物品82具有比第1高度H1更小的第2高度H2。在本實施形態中，被保持部8g是從物品本體部8b的上表面往上方突出，並且形成為凸緣狀的凸緣部。在本說明書中，「物品高度」是藉由從物品本體部8b的下表面8d到被保持部8g中的上端為止之上下方向的尺寸來定義。另外，「物品本體部8b的下表面8d」是相當於物品8的下表面8d，在以下，是將物品本體部8b的下表面8d與物品8的下表面8d視為同義的面來說明。In this embodiment, the dimension from the lower surface 8d of the article main body 8b to the held portion 8g is defined as the article height, the first type article 81 has the first height H1, and the second type article 82 has a height higher than that of the first type article 82. The second height H2 is smaller than the height H1. In the present embodiment, the held portion 8g is formed as a flange-shaped flange portion protruding upward from the upper surface of the article main body portion 8b. In this specification, "article height" is defined by the dimension in the up-down direction from the lower surface 8d of the article main body portion 8b to the upper end in the held portion 8g. In addition, "the lower surface 8d of the article main body 8b" corresponds to the lower surface 8d of the article 8, and below, the lower surface 8d of the article main body 8b and the lower surface 8d of the article 8 are described as synonymous.

在本實施形態中，物品檢測部S具備：側面位置檢測感測器Sw，檢測容置物品8的側面8s的位置；及下表面位置檢測感測器Sh，檢測容置物品8的下表面8d的位置，並且依據側面位置檢測感測器Sw及下表面位置檢測感測器Sh之雙方的檢測結果來檢測物品8的種類。In the present embodiment, the article detection unit S includes: a side surface position detection sensor Sw for detecting the position of the side surface 8s of the accommodated article 8; and a lower surface position detection sensor Sh for detecting the lower surface 8d of the accommodated article 8 and the type of the article 8 is detected according to the detection results of both the side position detection sensor Sw and the lower surface position detection sensor Sh.

在本實施形態中，側面位置檢測感測器Sw是檢測容置物品8的側面8s的位置，藉此來檢測容置物品8的物品寬度。具體而言，側面位置檢測感測器Sw是安裝在罩蓋3並且配置於容置部2。在本例中，側面位置檢測感測器Sw是安裝在罩蓋3中的第1罩蓋部31或第2罩蓋部32。側面位置檢測感測器Sw是構成為距離感測器，並且檢測到配置在容置部2的容置物品8的側面8s為止之距離。在此，保持部41是配置在容置部2，由於保持在保持部41的狀態之容置物品8的水平方向的中心位置(在圖4中以通過被保持部8g的一點鏈線所示的位置)是對應於保持部41的位置，因此是已知的。側面位置檢測感測器Sw是依據從該側面位置檢測感測器Sw到容置物品8的側面8s之距離、以及該容置物品8的水平方向上的中心位置，來檢測容置物品8的物品寬度。並且，形成為可以依據側面位置檢測感測器Sw所檢測的容置物品8的物品寬度，來檢測該容置物品8為具有第1寬度W1的物品寬度之第1種物品81、或是具有第2寬度W2的物品寬度之第2種物品82。另外，側面位置檢測感測器Sw也可以檢測第1種物品81及第2種物品82以外的容置物品8的物品寬度。例如，在本例中，如圖5所示，側面位置檢測感測器Sw也可以檢測第N種物品的物品寬度Wn。另外，作為構成側面位置檢測感測器Sw的距離感測器，可以使用例如雷射感測器、光感測器、超音波感測器等公知的感測器。In the present embodiment, the side position detection sensor Sw detects the position of the side surface 8s of the accommodated article 8, thereby detecting the article width of the accommodated article 8. Specifically, the side position detection sensor Sw is attached to the cover 3 and arranged in the accommodating portion 2 . In this example, the side surface position detection sensor Sw is the first cover part 31 or the second cover part 32 attached to the cover 3 . The side surface position detection sensor Sw is configured as a distance sensor, and detects the distance to the side surface 8 s of the accommodated article 8 arranged in the accommodating portion 2 . Here, the holding portion 41 is disposed in the accommodating portion 2, and is held in the state of the holding portion 41 at the center position in the horizontal direction of the accommodating article 8 (shown by a dotted line passing through the held portion 8g in FIG. 4 ). The position of ) corresponds to the position of the holding portion 41 and is therefore known. The side position detection sensor Sw is based on the distance from the side position detection sensor Sw to the side 8s of the accommodated item 8 and the center position of the accommodated item 8 in the horizontal direction to detect the accommodated item 8. Item width. In addition, it is formed so that it can be detected whether the accommodated item 8 is the first kind of item 81 having the item width of the first width W1, or has the item width of the accommodation item 8 detected by the side position detection sensor Sw. The second article 82 of the article width of the second width W2. In addition, the side position detection sensor Sw may detect the article width of the accommodated article 8 other than the first-type article 81 and the second-type article 82 . For example, in this example, as shown in FIG. 5 , the side position detection sensor Sw can also detect the article width Wn of the Nth article. In addition, as a distance sensor which comprises the side position detection sensor Sw, a well-known sensor, such as a laser sensor, an optical sensor, and an ultrasonic sensor, can be used, for example.

在本實施形態中，下表面位置檢測感測器Sh是檢測容置物品8的下表面位置，藉此來檢測容置物品8的物品高度。具體而言，下表面位置檢測感測器Sh是安裝在罩蓋3而配置在容置部2。在本例中，下表面位置檢測感測器Sh是安裝在罩蓋3中的第1罩蓋部31或第2罩蓋部32。下表面位置檢測感測器Sh是構成為開啟關閉感測器，前述開啟關閉感測器是依據光軸的遮斷之有無來檢測檢測位置上的遮光物體之有無。並且，下表面位置檢測感測器Sh是將與配置在容置部2的各種類的容置物品8的下表面8d之上下方向的位置相對應的位置作為檢測位置，來檢測該檢測位置中的容置物品8的有無。下表面位置檢測感測器Sh是在上下方向的各檢測位置上，以橫切容置部2中的水平方向的整個區域的方式，沿著水平方向來投射檢測光。由於保持部41所保持的容置物品8的被保持部8g之上下方向的位置是已知的，因此各種類的容置物品8的下表面8d之上下方向的位置也是已知的。從而，下表面位置檢測感測器Sh是形成為可以在與各種類的容置物品8的下表面8d之上下方向的位置相因應而設定的複數個檢測位置中，依據容置物品8的有無之檢測結果，來檢測該容置物品8為具有第1高度H1的物品高度之第1種物品81、或為具有第2高度H2的物品高度之第2種物品82。In the present embodiment, the lower surface position detection sensor Sh detects the position of the lower surface of the accommodated article 8 , thereby detecting the article height of the accommodated article 8 . Specifically, the lower surface position detection sensor Sh is attached to the cover 3 and arranged in the accommodating portion 2 . In this example, the lower surface position detection sensor Sh is the first cover part 31 or the second cover part 32 attached to the cover 3 . The lower surface position detection sensor Sh is configured as an on-off sensor, and the above-mentioned on-off sensor detects the presence or absence of a light-shielding object at the detection position according to whether the optical axis is interrupted or not. Further, the lower surface position detection sensor Sh detects a position corresponding to the position in the vertical direction of the lower surface 8d of the various types of storage articles 8 arranged in the storage section 2 as a detection position, and detects the position in the detection position. The presence or absence of the accommodating item 8. The lower surface position detection sensor Sh projects detection light in the horizontal direction so as to traverse the entire region in the horizontal direction in the housing portion 2 at each detection position in the vertical direction. Since the position in the up-down direction of the held portion 8g of the accommodation article 8 held by the holding portion 41 is known, the position in the up-down direction of the lower surface 8d of the various types of accommodation articles 8 is also known. Therefore, the lower surface position detection sensor Sh is formed so as to be able to set a plurality of detection positions according to the position of the lower surface 8d of various types of the storage article 8 in the up-down direction according to the presence or absence of the storage article 8 The detection result is used to detect whether the accommodated article 8 is the first type article 81 having the article height of the first height H1 or the second type article 82 having the article height of the second height H2.

在本實施形態中，下表面位置檢測感測器Sh具備在沿著物品高度的方向(上下方向)上排列而配置的複數個感測器。在圖示的例子中，下表面位置檢測感測器Sh具備第1感測器Sh1、及配置在比第1感測器Sh1更下側的第2感測器Sh2。如上述，由於物品搬送車V可搬送的物品8的種類是事先設定的，因此第1感測器Sh1與第2感測器Sh2是配置在可以檢測因應於事先決定的物品8的種類之物品高度的位置上。更具體而言，第1感測器Sh1是配置成將會被第1種物品81與第2種物品82之任一者遮光的位置設為檢測位置，第2感測器Sh2是配置成將會被第1種物品81遮光但不會被第2種物品82遮光的位置設為檢測位置。In the present embodiment, the lower surface position detection sensor Sh includes a plurality of sensors arranged in a line along the direction (up-down direction) along the height of the article. In the illustrated example, the lower surface position detection sensor Sh includes a first sensor Sh1 and a second sensor Sh2 arranged below the first sensor Sh1. As described above, since the types of articles 8 that can be transported by the article transport vehicle V are set in advance, the first sensor Sh1 and the second sensor Sh2 are arranged to detect articles that can detect the types of articles 8 determined in advance. height position. More specifically, the first sensor Sh1 is arranged such that a position that will be shielded from light by any one of the first-type article 81 and the second-type article 82 is set as a detection position, and the second sensor Sh2 is arranged to be a detection position. A position that is shielded from light by the first-type article 81 but not shielded by the second-type article 82 is set as a detection position.

下表面位置檢測感測器Sh是依據第1感測器Sh1與第2感測器Sh2的檢測結果，來檢測容置物品8的物品高度。例如，在本例中，如圖4及圖5所示，在第1感測器Sh1所投射的檢測光被遮斷的情況(檢測結果：開啟(ON))，且第2感測器Sh2所投射的檢測光被遮斷的情況下(檢測結果：開啟(ON))，下表面位置檢測感測器Sh是檢測容置物品8的物品高度為第1高度H1。又，在第1感測器Sh1所投射的檢測光被遮斷的情況(檢測結果：開啟(ON))，且第2感測器Sh2所投射的檢測光未被遮斷的情況下(檢測結果：關閉(OFF))，下表面位置檢測感測器Sh是檢測容置物品8的物品高度為第2高度H2。藉此，下表面位置檢測感測器Sh即變得可以檢測第1種物品81的物品高度即第1高度H1、及第2種物品82的物品高度即第2高度H2。另外，在圖5所示的例子中，在第1感測器Sh1所投射的檢測光、以及第2感測器Sh2所投射的檢測光之雙方未被遮斷的情況下(檢測結果：關閉(OFF))，下表面位置檢測感測器Sh是檢測容置物品8的物品高度為第1高度H1及第2高度H2以外的高度，且是比第2高度H2更小的高度。在此圖示的例子中，在第1感測器Sh1及第2感測器Sh2的檢測結果為「關閉(OFF)」的情況下，則檢測容置物品8為第1種物品81及第2種物品82以外的物品8即第N種物品。The lower surface position detection sensor Sh detects the article height of the accommodated article 8 according to the detection results of the first sensor Sh1 and the second sensor Sh2. For example, in this example, as shown in FIGS. 4 and 5 , when the detection light projected by the first sensor Sh1 is blocked (detection result: ON), and the second sensor Sh2 When the projected detection light is blocked (detection result: ON), the lower surface position detection sensor Sh detects that the item height of the accommodated item 8 is the first height H1. Also, when the detection light projected by the first sensor Sh1 is blocked (detection result: ON), and the detection light projected by the second sensor Sh2 is not blocked (detection result: ON) Result: OFF (OFF), the lower surface position detection sensor Sh detects that the height of the item containing the item 8 is the second height H2. Thereby, the lower surface position detection sensor Sh can detect the first height H1 , which is the article height of the first kind of article 81 , and the second height H2 , which is the article height of the second kind of article 82 . In addition, in the example shown in FIG. 5, when both the detection light projected by the first sensor Sh1 and the detection light projected by the second sensor Sh2 are not blocked (detection result: OFF (OFF)), the lower surface position detection sensor Sh detects that the item height of the accommodated item 8 is a height other than the first height H1 and the second height H2, and is a height smaller than the second height H2. In the example shown in the figure, when the detection results of the first sensor Sh1 and the second sensor Sh2 are "OFF", the detected stored article 8 is the first type of article 81 and the second The item 8 other than the two items 82 is the Nth item.

如圖6~圖8所示，脫落限制部5具備：限制體51，將姿勢變更為限制姿勢Ar與遠離姿勢Ad，前述限制姿勢Ar限制容置物品8的脫落，前述遠離姿勢Ad是和限制姿勢Ar相較之下遠離容置物品8；及限制體控制部52，控制限制體51的姿勢變更。在本實施形態中，脫落限制部5更具備驅動限制體51的限制體驅動機構53(參照圖8)。並且，限制體控制部52是控制限制體驅動機構53，藉此來控制限制體51的姿勢變更。在本實施形態中，脫落限制部5具備一對限制體51。限制體控制部52是使一對限制體51互相接近及遠離而藉此使其等姿勢變更。As shown in FIGS. 6 to 8 , the dropout restricting portion 5 includes a restricting body 51 that changes the posture to a restricting posture Ar that restricts the falling off of the stored article 8, and a separating posture Ad that restricts The posture Ar is relatively far away from the accommodated article 8 ; and the restraining body control unit 52 controls the posture change of the restraining body 51 . In the present embodiment, the dropout restricting portion 5 further includes a restricting body drive mechanism 53 (see FIG. 8 ) that drives the restricting body 51 . In addition, the restricting body control unit 52 controls the restricting body drive mechanism 53 to control the posture change of the restricting body 51 . In the present embodiment, the dropout restricting portion 5 includes a pair of restricting bodies 51 . The restricting body control unit 52 changes the posture of the pair of restricting bodies 51 by moving the pair of restricting bodies 51 closer to and away from each other.

如圖3所示，一對限制體51是設置在罩蓋3，並且包夾容置部2而互相分開配置。在本例中，一對限制體51當中的一個是安裝於罩蓋3中的第1罩蓋部31，一對限制體51當中的另一個是安裝於罩蓋3中的第2罩蓋部32。在本實施形態中，一對限制體51是成為互相相同的構造。以下，針對限制體51的構造來進行說明的情況下，只要未特別說明，是設為針對一對限制體51各自的構造來說明。As shown in FIG. 3 , a pair of restricting bodies 51 are provided in the cover 3 , and are arranged so as to sandwich the accommodating portion 2 so as to be separated from each other. In this example, one of the pair of restricting bodies 51 is the first cover portion 31 attached to the cover 3 , and the other of the pair of restricting bodies 51 is the second cover portion attached to the cover 3 32. In the present embodiment, the pair of restricting bodies 51 have the same structure as each other. In the following, when the structure of the restricting body 51 is described, unless otherwise specified, it is assumed that the structure of each of the pair of restricting bodies 51 will be explained.

如圖7及圖8所示，限制體51具備：下表面相向部511，在限制姿勢Ar中相向於容置物品8的下表面8d；及側面相向部512，在限制姿勢Ar中相向於容置物品8的側面8s。在本實施形態中，下表面相向部511是形成為沿著水平方向的板狀。側面相向部512是和下表面相向部511一體地形成，且形成為從下表面相向部511的上表面往上方突出。在本例中，側面相向部512是形成為板狀。側面相向部512是在限制體51的限制姿勢Ar中，配置成其板面朝向容置物品8中的側面8s。在本實施形態中，側面相向部512是在下表面相向部511設置有複數個。複數個側面相向部512是在搬送方向X上的相同位置上分開配置成在交叉方向Y上排列。藉此，即使物品8的交叉方向Y的寬度因應於種類而不同，仍然可以使在交叉方向Y上排列的複數個側面相向部512當中的至少1個相向於容置物品8的側面8s來配置。As shown in FIGS. 7 and 8 , the restricting body 51 includes: a lower surface facing portion 511 that faces the lower surface 8d of the accommodating article 8 in the restricting posture Ar; and a side facing portion 512 that faces the receiving portion in the restricting posture Ar Place the side 8s of the item 8. In the present embodiment, the lower surface facing portion 511 is formed in a plate shape along the horizontal direction. The side facing portion 512 is integrally formed with the lower surface facing portion 511 , and is formed to protrude upward from the upper surface of the lower surface facing portion 511 . In this example, the side facing portion 512 is formed in a plate shape. The side facing portion 512 is disposed so that the plate surface thereof faces the side surface 8s in the accommodated article 8 in the restricting posture Ar of the restricting body 51 . In the present embodiment, a plurality of side facing portions 512 are provided on the lower surface facing portion 511 . The plurality of side facing portions 512 are spaced apart at the same position in the conveyance direction X so as to be aligned in the intersecting direction Y. As shown in FIG. Thereby, even if the width of the article 8 in the intersecting direction Y differs depending on the type, at least one of the plurality of side facing portions 512 arranged in the intersecting direction Y can be arranged to face the side surface 8s where the article 8 is accommodated .

如上述，將朝向交叉方向Y上的相反側的一對側面8s稱為前面8f及背面8r。如圖8所示，在本實施形態中，限制體51更具備：前面相向部513，在限制姿勢Ar中相向於容置物品8的前面8f；及背面相向部514，在限制姿勢Ar中相向於容置物品8的背面8r。前面相向部513及背面相向部514是和下表面相向部511一體地形成，且形成為從下表面相向部511的上表面往上方突出。在本例中，前面相向部513及背面相向部514是形成為板狀。前面相向部513是在限制體51的限制姿勢Ar中，配置成使其板面朝向容置物品8中的前面8f。背面相向部514是在限制體51的限制姿勢Ar中，配置成使其板面朝向容置物品8中的背面8r。在本實施形態中，在一對限制體51當中於其中一個形成有前面相向部513，在一對限制體51當中於另一個形成有背面相向部514。但是，一對限制體51亦可分別形成有前面相向部513及背面相向部514之雙方。另外，在圖7中，為了方便說明，省略了前面相向部513及背面相向部514。As described above, the pair of side surfaces 8s facing the opposite side in the intersecting direction Y are referred to as the front surface 8f and the back surface 8r. As shown in FIG. 8 , in the present embodiment, the restricting body 51 further includes: a front facing portion 513 facing the front surface 8f of the accommodated article 8 in the restricting posture Ar; and a rear facing portion 514 facing in the restricting posture Ar on the back 8r of the accommodating object 8 . The front facing portion 513 and the rear facing portion 514 are integrally formed with the lower facing portion 511 and are formed to protrude upward from the upper surface of the lower facing portion 511 . In this example, the front facing portion 513 and the rear facing portion 514 are formed in a plate shape. The front facing portion 513 is disposed so that its plate surface faces the front surface 8f of the accommodated article 8 in the restricting posture Ar of the restricting body 51 . The back surface facing portion 514 is arranged so that its plate surface faces the back surface 8r in the accommodated article 8 in the restricting posture Ar of the restricting body 51 . In the present embodiment, a front facing portion 513 is formed in one of the pair of restricting bodies 51 , and a rear facing portion 514 is formed in the other of the pair of restricting bodies 51 . However, the pair of restricting bodies 51 may be formed with both of the front facing portion 513 and the rear facing portion 514, respectively. In addition, in FIG. 7, for the convenience of description, the front surface opposing part 513 and the back surface opposing part 514 are abbreviate|omitted.

在本實施形態中，脫落限制部5具備驅動限制體51的限制體驅動機構53。限制體驅動機構53是藉由驅動限制體51，來進行限制體51的姿勢變更。在本例中，限制體驅動機構53是構成為具備複數個連桿的連桿機構。複數個連桿的每一個是構成為繞著沿上下軸心的旋轉軸53Ax而旋轉。在本實施形態中，限制體驅動機構53具備互相分開配置的一對連桿531。在一對連桿531上分別設置有連結於旋轉軸53Ax的旋轉軸部、及連結於限制體51的連結部。一對連桿531當中的至少1個是設為連結於驅動馬達M53的驅動連桿，並且受該驅動馬達M53驅動而旋轉。藉由驅動連桿即連桿531的旋轉，驅動力會傳達至連結於此驅動連桿的限制體51、以及連結於限制體51的其他連桿531。藉此，限制體51即沿著水平面來擺動。更具體而言，限制體51是以繞著旋轉軸53Ax旋繞的方式，而在圖8所示的箭頭的方向上擺動。藉此，限制體51即變得可以在搬送方向X及交叉方向Y之雙方上移動。In the present embodiment, the dropout restricting portion 5 includes a restricting body drive mechanism 53 that drives the restricting body 51 . The restricting body drive mechanism 53 changes the posture of the restricting body 51 by driving the restricting body 51 . In this example, the restricting body drive mechanism 53 is a link mechanism configured to include a plurality of links. Each of the plurality of links is configured to rotate around a rotation axis 53Ax along the vertical axis. In the present embodiment, the restricting body drive mechanism 53 includes a pair of links 531 that are arranged apart from each other. The pair of links 531 are respectively provided with a rotating shaft portion connected to the rotating shaft 53Ax, and a connecting portion connected to the restricting body 51 . At least one of the pair of links 531 is a drive link connected to the drive motor M53, and is driven to rotate by the drive motor M53. By the rotation of the link 531 , which is the driving link, the driving force is transmitted to the restricting body 51 connected to the driving link and other links 531 connected to the restricting body 51 . Thereby, the restricting body 51 swings along the horizontal plane. More specifically, the restricting body 51 swings in the direction of the arrow shown in FIG. 8 so as to revolve around the rotation axis 53Ax. Thereby, the restricting body 51 becomes movable in both the conveyance direction X and the cross direction Y.

像這樣，在本實施形態中，限制體51是構成為沿著水平面而擺動，並且在搬送方向X及交叉方向Y之雙方上移動。在本實施形態中，限制體51是在搬送方向X(第1方向)及交叉方向Y(第2方向)之雙方上，因應於物品8的種類而以不同的移動量來移動，而將姿勢變更為限制姿勢Ar與遠離姿勢Ad。限制體51是在搬送方向X上因應於容置物品8的種類而以不同的移動量來移動，藉此無論容置物品8的種類如何，都可以將下表面相向部511配置在相對於容置物品8的下表面8d而適當的位置上，並且可以將側面相向部512配置在相對於容置物品8的側面8s而適當的位置上。並且，限制體51是在交叉方向Y上因應於容置物品8的種類而以不同的移動量來移動，藉此無論容置物品8的種類如何，都可以將前面相向部513配置在相對於容置物品8的前面8f而適當的位置上，並且將背面相向部514配置在相對於容置物品8的背面8r而適當的位置上。As described above, in the present embodiment, the restricting body 51 is configured to swing along the horizontal plane and to move in both the conveyance direction X and the intersecting direction Y. In the present embodiment, the restricting body 51 moves in both the conveyance direction X (first direction) and the intersecting direction Y (second direction) by different moving amounts depending on the type of the article 8, and adjusts the posture. Changed to the restraint posture Ar and the distance posture Ad. The restricting body 51 moves in the conveying direction X by different amounts of movement according to the type of the accommodated article 8, whereby the lower surface facing portion 511 can be arranged relative to the container regardless of the type of the accommodated article 8. The lower surface 8d of the article 8 can be placed in an appropriate position, and the side facing portion 512 can be arranged in an appropriate position with respect to the side surface 8s of the article 8. In addition, the restricting body 51 moves in the intersecting direction Y by different amounts of movement according to the type of the accommodated article 8, whereby the front facing portion 513 can be arranged relative to the type of the accommodated article 8 regardless of the type of the accommodated article 8. The front surface 8f of the article 8 is accommodated in an appropriate position, and the rear surface facing portion 514 is arranged in an appropriate position with respect to the rear surface 8r of the article 8 accommodated.

接著，參照圖6來說明物品搬送車V的控制構成。Next, the control structure of the article transport vehicle V will be described with reference to FIG. 6 .

在本實施形態中，物品搬送設備具備管理設備整體的上位控制裝置Ct，物品搬送車V具備控制該物品搬送車V的各部的下位控制裝置Cv。上位控制裝置Ct與下位控制裝置Cv是構成為可相互通訊。上位控制裝置Ct及下位控制裝置Cv具備例如微電腦等之處理器、記憶體等之周邊電路等。並且，可藉由這些硬體與在電腦等的處理器上執行的程式之協同合作，來實現各個功能。In the present embodiment, the article conveyance facility includes a high-level control device Ct that manages the entire facility, and the article conveyance vehicle V includes a lower-level control device Cv that controls each part of the article conveyance vehicle V. The upper control device Ct and the lower control device Cv are configured to communicate with each other. The upper control device Ct and the lower control device Cv are provided with peripheral circuits such as a processor such as a microcomputer, and a memory, for example. Furthermore, each function can be realized by cooperation between these hardwares and a program executed on a processor such as a computer.

上位控制裝置Ct是將物品8的搬送指令發送至下位控制裝置Cv。在本實施形態中，物品搬送車V具備從上位控制裝置Ct取得物品8的搬送指令之指令取得部6。已取得來自上位控制裝置Ct的搬送指令之指令取得部6，是將已取得的搬送指令發送至下位控制裝置Cv，下位控制裝置Cv是依照該搬送指令來控制物品搬送車V而搬送物品8。在指令取得部6所取得的搬送指令中，包含有顯示與該搬送指令相關之物品8的搬送起點之搬送起點資訊、及顯示搬送目的地之搬送目的地資訊。此外，在本實施形態中，在此搬送指令中，包含有顯示與該搬送指令相關之物品8的種類之物品種類資訊。亦即，在本例中，上位控制裝置Ct是指定搬送起點與搬送目的地，並且透過指令取得部6將搬送第1種物品81、第2種物品82、或其以外的物品8(例如第N種物品)的搬送指令發送至下位控制裝置Cv。The upper control device Ct transmits the conveyance command of the article 8 to the lower control device Cv. In the present embodiment, the article transport vehicle V includes a command acquisition unit 6 that acquires a transport command of the article 8 from the upper control device Ct. The command acquisition unit 6 that has acquired the conveyance command from the upper control device Ct transmits the acquired conveyance command to the lower control device Cv, and the lower control device Cv controls the article conveyance vehicle V to convey the article 8 in accordance with the conveyance command. The conveyance instruction acquired by the instruction acquisition unit 6 includes conveyance origin information indicating the conveyance origin of the article 8 related to the conveyance instruction, and conveyance destination information indicating the conveyance destination. In addition, in the present embodiment, the conveyance command includes article type information indicating the type of the article 8 related to the conveyance command. That is, in this example, the upper control device Ct specifies the transfer origin and the transfer destination, and the first article 81, the second article 82, or the other articles 8 (for example, the first article 8) are transferred through the command acquisition unit 6. The conveyance command of N kinds of articles) is sent to the lower control device Cv.

已接收搬送指令的下位控制裝置Cv是控制行走機構1與移載機構4，來進行與該搬送指令相關之物品8的搬送及移載。在本實施形態中，下位控制裝置Cv是控制行走用馬達M1、把持用馬達M41、升降用馬達M42、滑動用馬達M43、旋繞用馬達M44的一部分或全部，來進行與搬送指令相關之物品8的搬送及移載。The lower control device Cv that has received the transfer command controls the traveling mechanism 1 and the transfer mechanism 4 to carry out the transfer and transfer of the article 8 related to the transfer command. In the present embodiment, the lower control device Cv controls a part or all of the traveling motor M1, the gripping motor M41, the raising and lowering motor M42, the sliding motor M43, and the winding motor M44, so as to execute the article 8 related to the conveyance command. transport and transfer.

限制體控制部52是構成為取得物品檢測部S所進行之物品8的種類的檢測結果。在本實施形態中，限制體控制部52是構成為透過下位控制裝置Cv，來取得物品檢測部S所進行之物品8的種類的檢測結果。具體而言，如圖6所示，下位控制裝置Cv是取得物品檢測部S所進行之物品8的種類的檢測結果。並且，下位控制裝置Cv是將來自物品檢測部S的檢測結果發送至限制體控制部52。藉此，限制體控制部52是取得物品檢測部S所進行之物品8的種類的檢測結果。The restricting body control unit 52 is configured to acquire the detection result of the type of the article 8 by the article detection unit S. In the present embodiment, the restricting body control unit 52 is configured to acquire the detection result of the type of the article 8 by the article detection unit S through the lower control device Cv. Specifically, as shown in FIG. 6 , the lower control device Cv acquires the detection result of the type of the article 8 by the article detection unit S. As shown in FIG. Then, the lower control device Cv transmits the detection result from the article detection unit S to the restricting body control unit 52 . Thereby, the restricting body control unit 52 acquires the detection result of the type of the article 8 by the article detection unit S.

限制體控制部52是依據物品檢測部S所進行之物品8的種類的檢測結果，來控制限制體驅動機構53(驅動馬達M53)。並且，限制體控制部52是控制限制體驅動機構53，藉此將限制體51的姿勢變更為第1限制姿勢Ar1、第2限制姿勢Ar2、或遠離姿勢Ad(參照圖7及圖8)。The restricting body control unit 52 controls the restricting body drive mechanism 53 (drive motor M53 ) based on the detection result of the type of the article 8 by the article detection unit S. The restricting body control unit 52 controls the restricting body drive mechanism 53 to change the posture of the restricting body 51 to the first restricting posture Ar1, the second restricting posture Ar2, or the distance posture Ad (see FIGS. 7 and 8 ).

如圖7之上圖所示，限制體控制部52是在物品檢測部S所檢測的容置物品8的種類為第1種物品81的情況下，使限制體51進行姿勢變更，以成為第1限制姿勢Ar1，前述第1限制姿勢Ar1為限制姿勢Ar，其使下表面相向部511在上下方向視角下配置在重疊於第1種物品81的位置，並且使側面相向部512在上下方向視角下配置在沿著第1種物品81的側面8s的位置。藉此，可以藉由下表面相向部511及側面相向部512來適當地限制第1種物品81的脫落。在本實施形態中，在第1限制姿勢Ar1中，前面相向部513在上下方向視角下配置在沿著第1種物品81的前面8f的位置，背面相向部514在上下方向視角下配置在沿著第1種物品81的背面8r的位置(參照圖8)。藉此，在容置物品8為第1種物品81的情況下，可以將限制體51的各部配置成相向於第1種物品81的各面，而可以更適當地限制第1種物品81從容置部2脫落。As shown in the top view of FIG. 7 , the restricting body control unit 52 changes the posture of the restricting body 51 to become the first type of article 81 when the type of the accommodated article 8 detected by the article detection unit S is the first type article 81 . 1. The restriction posture Ar1, the first restriction posture Ar1 is the restriction posture Ar, in which the lower surface facing portion 511 is arranged in a position overlapping the first article 81 in the vertical direction viewing angle, and the side facing portion 512 is in the vertical direction viewing angle. The lower part is arranged at a position along the side surface 8s of the first article 81 . As a result, the lower surface facing portion 511 and the side surface facing portion 512 can appropriately restrict the falling off of the first type article 81 . In the present embodiment, in the first restriction posture Ar1, the front facing portion 513 is arranged along the front surface 8f of the first article 81 in the vertical viewing angle, and the rear facing portion 514 is arranged along the vertical viewing angle. The position of the back surface 8r of the first article 81 (see FIG. 8 ). In this way, when the accommodated article 8 is the first-type article 81, each part of the restricting body 51 can be arranged to face each surface of the first-type article 81, and the first-type article 81 can be more appropriately restricted The setting part 2 falls off.

又，如圖7之下圖所示，限制體控制部52是在物品檢測部S所檢測的容置物品8的種類為第2種物品82的情況下，使限制體51進行姿勢變更，以成為第2限制姿勢Ar2，前述第2限制姿勢Ar2為限制姿勢Ar，其使下表面相向部511在上下方向視角下配置在重疊於第2種物品82的位置，並且使側面相向部512在上下方向視角下配置在沿著第2種物品82的側面8s的位置且和第1種物品81重疊的位置。藉此，可以藉由下表面相向部511及側面相向部512來適當地限制第2種物品82的脫落。另外，在第2限制姿勢Ar2中，側面相向部512是配置在上下方向視角下不與第2種物品82重疊，而與第1種物品81重疊的位置。藉此，和側面相向部512配置在上下方向視角下不與第1種物品81及第2種物品82之雙方重疊的位置之情況相較之下，可以使第2限制姿勢Ar2下的側面相向部512與第2種物品82的側面8s的相向間隔較接近。從而，可以藉由側面相向部512來適當地限制第2種物品82的脫落。在本實施形態中，在第2限制姿勢Ar2中，是和上述第1限制姿勢Ar1的情況同樣地，前面相向部513在上下方向視角下配置在沿著第2種物品82的前面8f的位置，背面相向部514在上下方向視角下配置在沿著第2種物品82的背面8r的位置(參照圖8)。藉此，在容置物品8為第2種物品82的情況下，可以將限制體51的各部配置成相向於第2種物品82的各面，而可以更適當地限制第2種物品82從容置部2脫落。In addition, as shown in the lower part of FIG. 7 , the restricting body control unit 52 changes the posture of the restricting body 51 when the type of the accommodated article 8 detected by the article detecting unit S is the second type article 82 . The second restricting posture Ar2 is the restricting posture Ar in which the lower surface facing portion 511 is disposed at a position overlapping the second article 82 in the vertical viewing angle, and the side facing portion 512 is vertically positioned. It is arrange|positioned in the position along the side surface 8s of the 2nd type article 82 and the position which overlaps with the 1st type article 81 in the directional viewing angle. In this way, the lower surface facing portion 511 and the side surface facing portion 512 can appropriately restrict the falling off of the second article 82 . Moreover, in the 2nd restraint attitude|position Ar2, the side surface opposing part 512 is arrange|positioned at the position which does not overlap the 2nd type article 82 but overlaps with the 1st type article 81 in the vertical viewing angle. As a result, the side surfaces in the second restraint posture Ar2 can be made to face each other, compared with the case where the side surface facing portion 512 is arranged at a position that does not overlap with both the first type article 81 and the second type article 82 in the vertical viewing angle. The facing interval between the portion 512 and the side surface 8s of the second article 82 is relatively close. Therefore, the falling off of the second kind of article 82 can be appropriately restricted by the side facing portion 512 . In the present embodiment, in the second restricting posture Ar2, as in the case of the above-mentioned first restricting posture Ar1, the front facing portion 513 is arranged at a position along the front surface 8f of the second article 82 when viewed in the vertical direction. , the back surface facing portion 514 is arranged at a position along the back surface 8r of the second article 82 when viewed in the vertical direction (refer to FIG. 8 ). In this way, when the accommodated article 8 is the second-type article 82 , each part of the restricting body 51 can be arranged to face each surface of the second-type article 82 , so that the second-type article 82 can be restrained more appropriately. The setting part 2 falls off.

又，如圖1及圖8所示，限制體控制部52在保持部41已保持住物品8的狀態下藉由升降機構42升降的情況下，是使限制體51進行姿勢變更以成為遠離姿勢Ad，前述遠離姿勢Ad是將限制體51配置在不與保持部41所保持的物品8的移動軌跡重疊的位置上。藉此，在限制體51為遠離姿勢Ad的狀態下，由於無論保持部41所保持的物品8為第1種物品81或為第2種物品82，都是將限制體51配置在不與該等物品的升降移動軌跡重疊的位置，因此在使保持部41在容置部2與移載對象地點9之間升降的情況下，可以設為使限制體51不會成為妨礙。1 and 8 , when the restraining body control unit 52 is raised and lowered by the elevating mechanism 42 in a state in which the holding unit 41 holds the article 8, the restraining body 51 changes the posture so as to be in the away posture. Ad, the aforementioned separation posture Ad is that the restricting body 51 is arranged at a position that does not overlap with the movement locus of the article 8 held by the holding unit 41 . In this way, in the state where the restricting body 51 is in the away posture Ad, the restricting body 51 is arranged so as not to be in contact with the article 8 held by the holding unit 41 regardless of whether the article 8 held by the holding unit 41 is the first-type article 81 or the second-type article 82 . Since the lifting and lowering trajectories of the articles overlap, when the holding portion 41 is raised and lowered between the accommodating portion 2 and the transfer target site 9 , the restricting body 51 can be set so as not to interfere.

在本實施形態中，如圖6所示，限制體控制部52是依據指令取得部6取得的搬送指令所包含的物品種類資訊、以及物品檢測部S所進行之物品8的種類的檢測結果，來使限制體51進行姿勢變更。藉此，有關於物品8的種類，可以依據從不同的資訊來源取得的2個資訊來使限制體51動作，而可以使限制體進行因應於物品8的種類之確實性較高的動作。另外，在本例中，限制體控制部52是透過下位控制裝置Cv，從指令取得部6取得搬送指令所包含的物品種類資訊。In the present embodiment, as shown in FIG. 6 , the restricting body control unit 52 is based on the article type information included in the conveyance command acquired by the command acquisition unit 6 and the detection result of the type of the article 8 by the article detection unit S, to change the posture of the restricting body 51 . Thereby, regarding the type of the article 8 , the restricting body 51 can be operated based on two pieces of information obtained from different information sources, and the restricting body can be made to operate with high certainty according to the type of the article 8 . In addition, in this example, the restricting body control unit 52 obtains the item type information included in the conveyance command from the command obtaining unit 6 through the lower control device Cv.

並且，限制體控制部52在物品種類資訊所示的物品8的種類、與物品檢測部S所檢測的物品8的種類為一致的情況下，是使限制體51進行姿勢變更以成為因應於該種類的限制姿勢Ar。例如，在物品種類資訊所示的物品8的種類為第1種物品81，且物品檢測部S所檢測的物品8的種類也是第1種物品81的情況下，限制體控制部52是使限制體51進行姿勢變更成第1限制姿勢Ar1(參照圖7上圖)。又，在物品種類資訊所示的物品8的種類為第2種物品82，且物品檢測部S所檢測的物品8的種類也是第2種物品82的情況下，限制體控制部52是使限制體51進行姿勢變更成第2限制姿勢Ar2(參照圖7下圖)。Then, when the type of the article 8 indicated by the article type information matches the type of the article 8 detected by the article detection unit S, the restricting body control unit 52 changes the posture of the restricting body 51 so as to correspond to the type of the article 8 detected by the article detection unit S. Kind of restriction pose Ar. For example, when the type of the article 8 indicated by the article type information is the first type of article 81 and the type of the article 8 detected by the article detection unit S is also the first type of article 81, the restricting body control unit 52 makes the restriction The posture of the body 51 is changed to the first restriction posture Ar1 (refer to the upper drawing of FIG. 7 ). In addition, when the type of the article 8 indicated by the article type information is the second type of article 82 and the type of the article 8 detected by the article detection unit S is also the second type of article 82, the restricting body control unit 52 restricts The posture of the body 51 is changed to the second restraint posture Ar2 (see the lower diagram of FIG. 7 ).

在此，限制體51在第2限制姿勢Ar2的狀態下，在容置物品8為第1種物品81的情況下，會配置在與該第1種物品81重疊的位置。因此，若在容置物品8的種類為第1種物品81的情況下，錯誤地將限制體51設為第2限制姿勢Ar2，則會變成限制體51干涉到容置物品8(第1種物品81)的情形。但是，限制體51的第1限制姿勢Ar1是對應於外形比第2種物品82更大的第1種物品81的姿勢。因此，在限制體51為第1限制姿勢Ar1的狀態下，在容置物品8為第1種物品81及第2種物品82之任一種的情況下，限制體51都不會干涉到該容置物品8。Here, the restricting body 51 is arranged at a position overlapping with the first type article 81 when the accommodated article 8 is the first type article 81 in the state of the second restricting posture Ar2. Therefore, when the type of the stored article 8 is the first type of article 81, if the restricting body 51 is mistakenly set to the second restricting posture Ar2, the restricting body 51 will interfere with the stored article 8 (the first type of article 81). Item 81). However, the first restricting posture Ar1 of the restricting body 51 is a posture corresponding to the first-type article 81 whose external shape is larger than that of the second-type article 82 . Therefore, in a state where the restricting body 51 is in the first restricting posture Ar1, and when the accommodated article 8 is any one of the first type article 81 and the second type article 82, the restricting body 51 does not interfere with the accommodation. Item 8.

於是，在本實施形態中，限制體控制部52在物品種類資訊所示的物品8的種類、與物品檢測部S所檢測的物品8的種類為不一致的情況下，是使限制體51進行姿勢變更以成為第1限制姿勢Ar1。亦即，在本實施形態中，雖然物品種類資訊所示的物品8的種類為第1種物品81，但物品檢測部S所檢測的物品8的種類為第2種物品82的情況、以及雖然物品種類資訊所示的物品8的種類為第2種物品82，但物品檢測部S所檢測的物品8的種類為第1種物品81的情況下，限制體控制部52是使限制體51進行姿勢變更成第1限制姿勢Ar1(參照圖7上)。藉此，無論實際的容置物品8為第1種物品81及第2種物品82之任一種，都可以確實地防止限制體51干涉到該容置物品8的情形。Therefore, in the present embodiment, the restricting body control unit 52 causes the restricting body 51 to take a posture when the type of the article 8 indicated by the article type information and the type of the article 8 detected by the article detection unit S do not match. It is changed to be the first restriction posture Ar1. That is, in the present embodiment, although the type of the article 8 indicated by the article type information is the first type of article 81, the case where the type of the article 8 detected by the article detection unit S is the second type of article 82, and the The type of the article 8 indicated by the article type information is the second type of article 82, but when the type of the article 8 detected by the article detection unit S is the first type of article 81, the restricting body control unit 52 causes the restricting body 51 to perform The posture is changed to the first restriction posture Ar1 (refer to the upper part of FIG. 7 ). Thereby, regardless of whether the actual accommodated article 8 is any one of the first-type article 81 and the second-type article 82 , it is possible to reliably prevent the restricting body 51 from interfering with the accommodated article 8 .

在本實施形態中，如圖7所示，限制體控制部52在第1限制姿勢Ar1及第2限制姿勢Ar2之任一狀態下，都是將限制體51配置成使從容置物品8的被保持部8g到下表面相向部511的上表面之上下方向的距離(以下，稱為下端距離Dd)比第1高度H1更大，並且使從容置物品8的被保持部8g到側面相向部512的上端之距離(以下，稱為上端距離Du)比第2高度H2更小。亦即，無論限制體51為第1限制姿勢Ar1及第2限制姿勢Ar2之任一狀態，下端距離Dd都是比第1高度H1更大，上端距離Du都是比第2高度H2更小。換言之，無論限制體51為第1限制姿勢Ar1及第2限制姿勢Ar2之任一狀態，下表面相向部511的上表面都是配置在比容置物品8(第1種物品81及第2種物品82)的下表面8d更下側，側面相向部512的上端都是配置在比容置物品8(第1種物品81及第2種物品82)的下表面8d更上側。In the present embodiment, as shown in FIG. 7 , the restricting body control unit 52 disposes the restricting body 51 so that the object 8 is accommodated in any state of the first restricting posture Ar1 and the second restricting posture Ar2. The distance from the holding portion 8g to the upper surface of the lower surface facing portion 511 in the up-down direction (hereinafter referred to as the lower end distance Dd) is larger than the first height H1, and the distance from the held portion 8g containing the article 8 to the side surface facing portion 512 is greater than the first height H1. The distance from the upper end of the (hereinafter, referred to as the upper end distance Du) is smaller than the second height H2. That is, regardless of whether the restricting body 51 is in either the first restricting posture Ar1 or the second restricting posture Ar2, the lower end distance Dd is larger than the first height H1, and the upper end distance Du is smaller than the second height H2. In other words, regardless of whether the restricting body 51 is in any state of the first restricting posture Ar1 and the second restricting posture Ar2, the upper surface of the lower surface facing portion 511 is arranged on a higher surface than the accommodating articles 8 (the first article 81 and the second article 81). The lower surface 8d of the article 82) is further below, and the upper end of the side-facing portion 512 is disposed above the lower surface 8d of the article 8 (the first article 81 and the second article 82).

如上述，在本例中，限制體51是構成為沿著水平面移動，而不在上下方向上移動。從而，下表面相向部511的上表面的位置是設定成：在物品搬送車V所搬送的複數個種類的物品8當中，配合物品高度成為最大的物品8(在本例中為第1種物品81)，而在限制姿勢Ar中配置在比該物品8的下表面8d更下側。並且，側面相向部512的上端的位置是設定成：在物品搬送車V所搬送的複數個種類的物品8當中，配合物品高度成為最小的物品8(在本例中為第2種物品82)，在限制姿勢Ar中配置在比該物品8的下表面8d更上側。根據上述的構成，由於不需要配合物品高度互相不同的第1種物品81與第2種物品82的每一個來變更限制體51的上下方向的位置，因此可以將限制體控制部52的構成簡單化。並且，在不變更限制體51的上下方向的位置之情形下，無論限制體51為第1限制姿勢Ar1及第2限制姿勢Ar2之任一狀態下，都可以將下表面相向部511與側面相向部512配置在用於限制第1種物品81或第2種物品82的脫落之適當的位置上。As described above, in this example, the restricting body 51 is configured to move along the horizontal plane and not to move in the up-down direction. Therefore, the position of the upper surface of the lower surface facing portion 511 is set such that among the plurality of types of articles 8 conveyed by the article conveyance vehicle V, the article 8 with the largest height of the articles (in this example, the first type of article) 81), and is arranged on the lower side than the lower surface 8d of the article 8 in the restraint posture Ar. In addition, the position of the upper end of the side facing portion 512 is set so that among the plurality of types of articles 8 conveyed by the article conveyance vehicle V, the article 8 with the smallest height of the articles (in this example, the second type of article 82 ) is matched. , is arranged above the lower surface 8d of the article 8 in the restraining posture Ar. According to the above-mentioned configuration, it is not necessary to change the position of the restricting body 51 in the up-down direction according to each of the first-type article 81 and the second-type article 82 whose article heights are different from each other, so that the configuration of the restricting body control unit 52 can be simplified. change. In addition, without changing the position of the restricting body 51 in the up-down direction, the lower surface facing portion 511 can be opposed to the side surface regardless of whether the restricting body 51 is in any state of the first restricting posture Ar1 and the second restricting posture Ar2 The portion 512 is arranged at an appropriate position for restricting the falling of the first article 81 or the second article 82 .

[其他的實施形態] 接著，針對物品搬送車的其他實施形態進行說明。[other embodiments] Next, another embodiment of the article transport vehicle will be described.

(1)在上述實施形態中，是針對在物品8中至少包含有第1種物品81與第2種物品82之2個種類的例子進行了說明。從而，物品8的種類亦可為3個種類以上。例如，如圖9所示，亦可包含物品寬度或物品高度不同的3個種類以上的物品8，前述物品8是可因應於側面位置檢測感測器Sw的檢測結果與下表面位置檢測感測器Sh的檢測結果之組合來檢測的物品。在圖9中的縱向的行中顯示有例如物品寬度相互相等，物品高度分別不同的第10種物品、第11種物品、第12種物品…。在圖9中的橫向的行中顯示有例如物品高度相互相等，物品寬度分別不同的第10種物品、第20種物品…。(1) In the above-described embodiment, an example has been described in which the article 8 includes at least two types of the first article 81 and the second article 82 . Therefore, the types of the articles 8 may be three or more types. For example, as shown in FIG. 9 , three or more types of articles 8 with different article widths or article heights may be included, and the aforementioned articles 8 may be detected in response to the detection result of the side position detection sensor Sw and the lower surface position detection sensor. The item to be detected is the combination of the detection results of the device Sh. In the vertical row in FIG. 9 , for example, a tenth type article, an eleventh type article, a twelfth type article . . In the horizontal row in FIG. 9, for example, a tenth type article, a twentieth type article, etc., whose heights are equal to each other and whose widths are different from each other, are displayed.

(2)在上述實施形態中，是針對限制體51構成為沿著水平面擺動，而在搬送方向X(第1方向)及交叉方向Y(第2方向)之雙方上移動的例子進行了說明。但是，並不限定於像這樣的例子，限制體51亦可構成為僅在搬送方向X上移動。或者，例如如圖10所示，限制體51亦可構成為除了搬送方向X及交叉方向Y之外，也在上下方向上移動。限制體51可移動的方向是藉由驅動限制體51的限制體驅動機構53的構造來決定。(2) In the above-described embodiment, an example in which the restricting body 51 is configured to swing along the horizontal plane and move in both the conveyance direction X (first direction) and the intersecting direction Y (second direction) has been described. However, it is not limited to such an example, The restricting body 51 may be comprised so that it may move only in the conveyance direction X. Alternatively, for example, as shown in FIG. 10 , the restricting body 51 may be configured to move in the vertical direction in addition to the conveyance direction X and the intersecting direction Y. The direction in which the restricting body 51 can move is determined by the structure of the restricting body driving mechanism 53 that drives the restricting body 51 .

(3)在上述實施形態中，是針對以下例子進行了說明：物品檢測部S是藉由檢測容置物品8的側面8s的位置之側面位置檢測感測器Sw、以及檢測容置物品8的下表面8d的位置之下表面位置檢測感測器Sh，來檢測物品8的種類。但是，並不限定於像這樣的例子，例如，物品檢測部S亦可具備檢測容置物品8的重量的重量檢測感測器，並且依據重量檢測感測器所檢測的容置物品8的重量，來檢測物品8的種類。在此情況下，物品搬送車V宜具備將可成為搬送對象的複數個種類的物品8各自的重量作為重量資訊來儲存的儲存部，並且依據儲存部所儲存的重量資訊與重量檢測感測器所檢測的容置物品8的重量，來特定出該容置物品8的種類。(3) In the above-described embodiment, the description was given for an example in which the article detection unit S detects the stored article 8 by the side position detection sensor Sw that detects the position of the side surface 8s of the accommodated article 8 and detects the accommodated article 8 The position of the lower surface 8d The lower surface position detection sensor Sh detects the type of the article 8 . However, it is not limited to such an example. For example, the article detection unit S may include a weight detection sensor that detects the weight of the accommodated article 8, and the weight of the accommodated article 8 detected by the weight detection sensor may be used. , to detect the type of item 8. In this case, the article transport vehicle V preferably includes a storage unit that stores the weights of the plurality of types of articles 8 that can be conveyed as weight information, and the weight detection sensor and the weight information stored in the storage unit are used. The detected weight of the accommodating object 8 is used to specify the type of the accommodating object 8 .

(4)在上述實施形態中，是針對側面位置檢測感測器Sw構成為距離感測器的例子進行了說明。但是，並不限定於像這樣的例子，側面位置檢測感測器Sw亦可構成為開啟關閉感測器，前述開啟關閉感測器是根據光軸的遮斷之有無，來檢測檢測位置中的遮光物體之有無。又，在上述實施形態中，雖然是針對側面位置檢測感測器Sw安裝在罩蓋3中的第1罩蓋部31或第2罩蓋部32的例子進行了說明，但是在如上述地側面位置檢測感測器Sw是構成為具備複數個開啟關閉感測器的情況下，例如側面位置檢測感測器Sw宜安裝在罩蓋3中的上側罩蓋部30。在此情況下，宜將複數個開啟關閉感測器構成為在沿著容置物品8的物品寬度(搬送方向X)的方向上排列而配置，來檢測容置物品8的側面8s的位置。(4) In the above-described embodiment, the description has been given of an example in which the side surface position detection sensor Sw is configured as a distance sensor. However, it is not limited to such an example, and the side position detection sensor Sw may also be configured as an open/close sensor that detects the detection position based on whether the optical axis is interrupted or not. The presence or absence of shading objects. Further, in the above-described embodiment, the description has been given of an example in which the side surface position detection sensor Sw is attached to the first cover portion 31 or the second cover portion 32 of the cover 3, but the side surface position detection sensor Sw is described above as described above. When the position detection sensor Sw is configured to include a plurality of open/close sensors, for example, the side position detection sensor Sw is preferably attached to the upper cover portion 30 of the cover 3 . In this case, a plurality of open/close sensors are preferably arranged to be arranged in a direction along the article width (conveying direction X) of the stored article 8 to detect the position of the side surface 8s of the stored article 8 .

(5)在上述實施形態中，是針對以下例子進行了說明：下表面位置檢測感測器Sh構成為開啟關閉感測器，前述開啟關閉感測器是依據光軸的遮斷之有無來檢測檢測位置上的遮光物體之有無。但是，並不限定於像這樣的例子，下表面位置檢測感測器Sh亦可構成為距離感測器。在此情況下，下表面位置檢測感測器Sh宜構成為在相對於容置物品8的下表面8d而交叉的方向上投射檢測光。並且，下表面位置檢測感測器Sh是檢測從該下表面位置檢測感測器Sh到容置物品8的下表面8d的距離，並且依據此距離、以及藉由保持部41的位置而已知之被保持部8g的上下方向的位置，來檢測容置物品8的物品高度。(5) In the above-described embodiment, the description has been given for an example in which the lower surface position detection sensor Sh is configured as an on-off sensor, and the on-off sensor detects whether or not the optical axis is interrupted. Detects the presence or absence of a light-shielding object at the position. However, it is not limited to such an example, and the lower surface position detection sensor Sh may be configured as a distance sensor. In this case, the lower surface position detection sensor Sh is preferably configured to project detection light in a direction intersecting with the lower surface 8d of the accommodated article 8 . In addition, the lower surface position detection sensor Sh detects the distance from the lower surface position detection sensor Sh to the lower surface 8d of the accommodated article 8, and is known based on the distance and the position of the holding portion 41. The position of the holding portion 8g in the up-down direction is used to detect the article height of the accommodated article 8 .

(6)在上述實施形態中，是針對側面相向部512和下表面相向部511一體地形成的例子進行了說明。但是，並不限定於像這樣的例子，側面相向部512與下表面相向部511亦可分開地形成。在此情況下，側面相向部512與下表面相向部511亦可分別藉由不同的驅動機構來驅動。(6) In the above-mentioned embodiment, the example in which the side facing portion 512 and the lower surface facing portion 511 are integrally formed has been described. However, it is not limited to such an example, and the side surface opposing part 512 and the lower surface opposing part 511 may be formed separately. In this case, the side facing portion 512 and the lower surface facing portion 511 may be driven by different driving mechanisms, respectively.

(7)在上述實施形態中，是針對側面相向部512形成為板狀的例子進行了說明。但是，並不限定於像這樣的例子，側面相向部512亦可形成為多角柱狀或圓柱狀，或者亦可形成為塊狀。(7) In the above-described embodiment, an example in which the side facing portion 512 is formed in a plate shape has been described. However, it is not limited to such an example, and the side surface opposing part 512 may be formed in a polygonal columnar shape, a columnar shape, or may be formed in a block shape.

(8)在上述實施形態中，是針對限制體驅動機構53構成為具備複數個連桿的連桿機構之例子進行了說明。但是，並不限定於像這樣的例子，限制體驅動機構53亦可由連桿機構以外之公知的機構來構成。例如，限制體驅動機構53亦可構成為具備滾珠螺桿等的直線運動機構。(8) In the above-described embodiment, an example in which the restricting body drive mechanism 53 is configured as a link mechanism including a plurality of links has been described. However, it is not limited to such an example, The restricting body drive mechanism 53 may be comprised by a well-known mechanism other than a link mechanism. For example, the restricting body drive mechanism 53 may be configured as a linear motion mechanism including a ball screw or the like.

(9)在上述實施形態中，是針對脫落限制部5具備一對限制體51的例子進行了說明。但是，並不限定於像這樣的例子，脫落限制部5亦可僅具備1個限制體51，或者具備3個以上的限制體51。(9) In the above-described embodiment, the description has been given of an example in which the dropout restricting portion 5 includes the pair of restricting bodies 51 . However, it is not limited to such an example, and the drop-out restricting portion 5 may include only one restricting body 51 , or may include three or more restricting bodies 51 .

(10)在上述實施形態中，是針對以下例子進行了說明：在限制體51為第1限制姿勢Ar1及第2限制姿勢Ar2之任一狀態下，從容置物品8的被保持部8g到下表面相向部511的上表面之上下方向的距離(下端距離Dd)都是比第1高度H1更大，從容置物品8的被保持部8g到側面相向部512的上端之距離(上端距離Du)都是比第2高度H2更小。但是，並不限定於像這樣的例子，亦可將限制體51構成為可在上下方向上移動，並且因應於物品8的種類來變更下端距離Dd與上端距離Du。亦即，在容置物品8為第1種物品81的情況下，在限制體51為因應於第1種物品81的第1限制姿勢Ar1的狀態下，上端距離Du只要比第1高度H1更小，亦可比第2高度H2更大。又，在容置物品8為第2種物品82的情況下，在限制體51為因應於第2種物品82的第2限制姿勢Ar2的狀態下，下端距離Dd只要比第2高度H2更大，亦可比第1高度H1更小。(10) In the above-described embodiment, the description was given for an example in which the restraint body 51 is in either the first restraint posture Ar1 or the second restraint posture Ar2, and the movement from the held portion 8g of the accommodating article 8 to the bottom The distance in the vertical direction (lower end distance Dd) of the upper surface of the surface facing portion 511 is greater than the first height H1, and the distance from the held portion 8g of the accommodated article 8 to the upper end of the side facing portion 512 (upper end distance Du) Both are smaller than the second height H2. However, it is not limited to such an example, and the restricting body 51 may be configured to be movable in the vertical direction, and the lower end distance Dd and the upper end distance Du may be changed according to the type of the article 8 . That is, when the accommodated article 8 is the first type of article 81, the upper end distance Du only needs to be larger than the first height H1 when the restricting body 51 is in the state corresponding to the first restriction posture Ar1 of the first type of article 81. small, and may be larger than the second height H2. In addition, when the accommodated article 8 is the second-type article 82, the lower end distance Dd only needs to be larger than the second height H2 in a state where the restricting body 51 is in the second restricting posture Ar2 corresponding to the second-type article 82 , and may be smaller than the first height H1.

(11)在上述實施形態中，是針對以下例子進行了說明：限制體控制部52在物品種類資訊所示的物品8的種類、與物品檢測部S所檢測的物品8的種類為不一致的情況下，是使限制體51進行姿勢變更以成為第1限制姿勢Ar1。但是，並不限定於像這樣的例子，例如，限制體控制部52亦可在物品種類資訊所示的物品8的種類、與物品檢測部S所檢測的物品8的種類為不一致的情況下，停止限制體51的動作並且通知錯誤。(11) In the above-described embodiment, the description has been made for the case where the type of the article 8 indicated by the restricting body control unit 52 in the article type information does not match the type of the article 8 detected by the article detection unit S Next, the posture of the restraining body 51 is changed to become the first restraining posture Ar1. However, it is not limited to such an example. For example, when the type of the article 8 indicated by the article type information does not match the type of the article 8 detected by the article detection unit S, the restricting body control unit 52 may The action of the restricting body 51 is stopped and an error is notified.

(12)在上述實施形態中，是針對以下例子進行了說明：限制體控制部52是依據指令取得部6取得的搬送指令所包含的物品種類資訊、以及物品檢測部S所進行之物品8的種類的檢測結果，來使限制體51進行姿勢變更。但是，並不限定於像這樣的例子，限制體控制部52亦可不考慮指令取得部6取得的搬送指令所包含的物品種類資訊，而僅依據物品檢測部S所進行之物品8的種類的檢測結果，來使限制體51進行姿勢變更。或者，限制體控制部52亦可不考慮物品檢測部S所進行之物品8的種類的檢測結果，而僅依據指令取得部6取得的搬送指令所包含的物品種類資訊，來使限制體51進行姿勢變更。(12) In the above-mentioned embodiment, the description was given for the example in which the restricting body control unit 52 performs the detection of the article 8 based on the article type information included in the conveyance command acquired by the command acquisition unit 6 and the article detection unit S. The position of the restricting body 51 is changed based on the detection result of the type. However, it is not limited to such an example, and the restricting body control unit 52 may be based only on the detection of the type of the article 8 by the article detection unit S, regardless of the article type information included in the conveyance command acquired by the command acquisition unit 6 . As a result, the posture of the restricting body 51 is changed. Alternatively, the restricting body control unit 52 may cause the restricting body 51 to perform the posture based only on the article type information included in the conveyance command acquired by the command acquiring unit 6, regardless of the detection result of the type of the article 8 by the article detecting unit S. change.

(13)另外，上述實施形態所揭示的構成，只要沒有發生矛盾，亦可與其他的實施形態所揭示的構成組合而應用。關於其他的構成，在本說明書中所揭示的實施形態在全部的點上均只不過是例示。從而，在不脫離本揭示的主旨之範圍內，可適當地進行各種改變。(13) In addition, the structures disclosed in the above-mentioned embodiments may be applied in combination with the structures disclosed in other embodiments as long as there is no conflict. Regarding other configurations, the embodiments disclosed in this specification are merely examples in all points. Therefore, various changes can be appropriately made without departing from the gist of the present disclosure.

[上述實施形態的概要] 以下，針對在上述所說明之物品搬送車進行說明。[Outline of the above-mentioned embodiment] Hereinafter, the article transport vehicle described above will be described.

一種物品搬送車，是沿著移動路徑移動來搬送複數個種類的物品的物品搬送車， 前述物品搬送車具備：容置部，容置前述物品；移載機構，在前述容置部與位於比該容置部更下側的移載對象地點之間進行前述物品的移載；脫落限制部，限制容置在前述容置部的狀態之前述物品從前述容置部脫落至外側的情形；及物品檢測部，檢測容置在前述容置部的狀態之前述物品即容置物品的種類， 前述移載機構具備：保持部，保持前述物品；及升降機構，使前述保持部在前述容置部與前述移載對象地點之間升降， 在前述物品中包含有第1種物品與第2種物品之至少2個種類，前述第2種物品是平面視角下的外形比前述第1種物品更小， 前述脫落限制部具備：限制體，將姿勢變更為限制姿勢與遠離姿勢，前述限制姿勢是限制前述容置物品的脫落，前述遠離姿勢是和前述限制姿勢相較之下遠離前述容置物品；及限制體控制部，控制前述限制體的姿勢變更， 前述限制體具備：下表面相向部，在前述限制姿勢中相向於前述容置物品的下表面；及側面相向部，在前述限制姿勢中相向於前述容置物品的側面， 前述限制體控制部是進行下述控制： 在前述物品檢測部所檢測的前述容置物品的種類為前述第1種物品的情況下，使前述限制體進行姿勢變更，以成為第1限制姿勢，前述第1限制姿勢為前述限制姿勢，其使前述下表面相向部在沿著上下方向的上下方向視角下配置在重疊於前述第1種物品的位置，並且使前述側面相向部在前述上下方向視角下配置在沿著前述第1種物品的側面的位置， 在前述物品檢測部所檢測的前述容置物品的種類為前述第2種物品的情況下，使前述限制體進行姿勢變更，以成為第2限制姿勢，前述第2限制姿勢為前述限制姿勢，其使前述下表面相向部在前述上下方向視角下配置在重疊於前述第2種物品的位置，並且使前述側面相向部在前述上下方向視角下配置在沿著前述第2種物品的側面的位置且和前述第1種物品重疊的位置， 在前述保持部已保持前述物品的狀態下藉由前述升降機構來升降的情況下，使前述限制體進行姿勢變更，以成為前述遠離姿勢，前述遠離姿勢使前述限制體配置在不和前述保持部所保持的前述物品的移動軌跡重疊的位置。An article conveying vehicle is an article conveying vehicle that moves along a moving path to convey a plurality of types of articles, The article transport vehicle includes: an accommodating part for accommodating the article; a transfer mechanism for transferring the article between the accommodating part and a transfer target point located below the accommodating part; an article detection part that detects the type of the article that is in the state of being accommodated in the accommodating part. , The transfer mechanism includes: a holding part for holding the article; and an elevating mechanism for raising and lowering the holding part between the accommodating part and the transfer object point, The aforementioned articles include at least two types of the first type of article and the second type of article, and the aforementioned second type of article is smaller in shape than the aforementioned first type of article in a plane viewing angle, The drop-off restricting portion includes: a restricting body that changes a posture into a restricting posture and a distance-away posture, the restricting posture restricts the falling off of the contained article, and the far-away posture is a distance away from the contained article compared with the restraining posture; and The restraining body control unit controls the posture change of the restraining body, The restricting body includes: a lower surface facing portion facing the lower surface of the storage article in the restricting posture; and a side facing portion facing the side surface of the storage article in the restricting posture, The aforementioned restricting body control unit performs the following controls: When the type of the stored article detected by the article detection unit is the first article, the position of the restriction body is changed to become the first restriction position, and the first restriction position is the restriction position. The lower surface facing portion is arranged at a position overlapping the first article in a vertical viewing angle along the vertical direction, and the side facing portion is arranged along the first article in the vertical viewing angle. side position, When the type of the stored article detected by the article detection unit is the second article, the position of the restricting body is changed to become a second restricting posture, and the second restricting posture is the restricting posture, which The lower surface facing portion is arranged at a position overlapping the second article in the vertical viewing angle, and the side facing portion is arranged along the side surface of the second article in the vertical viewing angle. The position that overlaps with the aforementioned first item, When the holding portion is held by the article and is raised and lowered by the elevating mechanism, the position of the restraining body is changed so as to be the distanced posture, and the restraining body is disposed in the distance away from the holding portion. A position where the moving trajectories of the held items overlap.

根據本構成，可以藉由限制體控制部，將限制體的姿勢變更為第1限制姿勢、第2限制姿勢、及遠離姿勢。在限制體為第1限制姿勢的狀態下，由於下表面相向部在上下方向視角下配置在重疊於第1種物品的位置，並且側面相向部在上下方向視角下配置在沿著第1種物品的側面的位置，因此可以藉由下表面相向部及側面相向部來適當地限制第1種物品的脫落。又，在限制體為第2限制姿勢的狀態下，由於下表面相向部在上下方向視角下配置在重疊於第2種物品的位置，並且側面相向部在上下方向視角下配置在沿著第2種物品的側面的位置且和第1種物品重疊的位置，因此可以藉由下表面相向部及側面相向部來適當地限制第2種物品的脫落。在此，在第2限制姿勢中，由於側面相向部是配置在越與第1種物品重疊則越接近第2種物品的側面的位置，因此可以更適當地限制平面視角下的外形比第1種物品更小的第2種物品的脫落。從而，根據本構成，無論物品的種類如何，都可以適當地限制搬送中的物品之脫落。此外，在限制體為遠離姿勢的狀態下，由於無論保持部所保持的物品為第1種物品或為第2種物品，都是將限制體配置在不與該等物品的升降移動軌跡重疊的位置，因此在使保持部在容置部與移載對象地點之間升降的情況下，可以設為使限制體不會成為妨礙。According to this configuration, the restraint body control unit can change the posture of the restraint body to the first restraint posture, the second restraint posture, and the away posture. In the state where the restricting body is in the first restricting posture, the lower surface facing portion is disposed at a position overlapping the first article in the vertical viewing angle, and the side facing portion is disposed along the first article in the vertical viewing angle. Therefore, the falling off of the first article can be appropriately restricted by the lower surface facing portion and the side facing portion. In addition, in the state where the restricting body is in the second restricting posture, the lower surface facing portion is disposed at a position overlapping the second article in the vertical viewing angle, and the side facing portion is disposed along the second article in the vertical viewing angle. Since the position of the side surface of the article and the position overlapped with the article of the first article, the lower surface facing portion and the facing portion of the side surface can appropriately restrain the falling off of the article of the second article. Here, in the second restriction posture, since the side facing portion is arranged at a position closer to the side surface of the second article as it overlaps with the first article, it is possible to more appropriately restrict the outer shape of the plane viewing angle than the first article. The shedding of a second, smaller item. Therefore, according to the present configuration, it is possible to appropriately restrict the falling off of the article being conveyed regardless of the type of the article. In addition, in the state where the restricting body is in the away position, regardless of whether the article held by the holding portion is the first type article or the second type article, the restricting body is arranged so as not to overlap with the lifting and lowering movement locus of these articles. Therefore, when the holding portion is moved up and down between the accommodating portion and the transfer target site, the restricting body can be set so as not to interfere.

在此，較理想的是， 前述脫落限制部具備一對前述限制體， 前述限制體控制部是使一對前述限制體互相接近及遠離而藉此使其等姿勢變更。Here, ideally, The dropout restricting portion includes a pair of the restricting bodies, The said restricting body control part changes the attitude|position of a pair of said restricting bodies by making a pair of said restricting bodies approach and move away from each other.

根據本構成，在已設成限制姿勢的情況下，可以設成藉由一對限制體來從兩側包夾容置物品的狀態。從而，可以更適當地限制物品的脫落。又，可以將一對限制體各自的移動範圍縮小，而可以謀求一對限制體的姿勢變更所需要的時間之縮短。According to this configuration, when the restricting posture is already set, the pair of restricting bodies can set the state in which the article is sandwiched and accommodated from both sides. Therefore, it is possible to more appropriately restrict the falling off of articles. Moreover, the movement range of each of the pair of restricting bodies can be narrowed, and the time required for changing the posture of the pair of restricting bodies can be shortened.

又，較理想的是， 前述物品具備：物品本體部；及被保持部，設置在比前述物品本體部更上側，並且被前述保持部所保持， 將從前述物品本體部的下表面到前述被保持部的尺寸設為物品高度，前述第1種物品具有第1高度，前述第2種物品具有比前述第1高度更小的第2高度， 前述限制體控制部無論在前述第1限制姿勢及前述第2限制姿勢之任一狀態下，都是將前述限制體配置成使從前述被保持部到前述下表面相向部的上表面之前述上下方向的距離比前述第1高度更大，並且使從前述被保持部到前述側面相向部的上端之距離比前述第2高度更小。Also, ideally, The article includes: an article body part; and a held part provided on the upper side of the article main body part and held by the holding part, The dimension from the lower surface of the article main body to the held portion is the article height, the first article has a first height, the second article has a second height smaller than the first height, The restricting body control unit disposes the restricting body so that the upper and lower surfaces from the held portion to the upper surface of the lower surface opposing portion are in any state of the first restricting posture and the second restricting posture. The distance in the direction is larger than the first height, and the distance from the held portion to the upper end of the side facing portion is made smaller than the second height.

根據本構成，由於不需要配合物品高度互相不同的第1種物品與第2種物品的每一個來變更限制體的上下方向的位置，因此可以將限制體控制部的構成簡單化。並且，在不變更限制體的上下方向的位置之情形下，無論限制體為第1限制姿勢及第2限制姿勢之任一狀態下，都可以將下表面相向部與側面相向部配置在用於限制第1種物品或第2種物品的脫落之適當的位置上。According to this configuration, since it is not necessary to change the vertical position of the restricting body for each of the first and second articles whose heights are different from each other, the configuration of the restricting body control unit can be simplified. In addition, without changing the position of the restricting body in the up-down direction, regardless of whether the restricting body is in either the first restricting posture or the second restricting posture, the lower surface facing portion and the side surface facing portion can be arranged for In an appropriate position to limit the falling off of the first or second article.

又，較理想的是， 前述物品檢測部具備：側面位置檢測感測器，檢測前述容置物品的側面的位置；及下表面位置檢測感測器，檢測前述容置物品的下表面的位置，並且依據前述側面位置檢測感測器及前述下表面位置檢測感測器之雙方的檢測結果來檢測前述物品的種類。Also, ideally, The article detection unit includes: a side position detection sensor for detecting the position of the side surface of the storage article; and a lower surface position detection sensor for detecting the position of the lower surface of the storage article, and based on the side position detection sense. The detection results of both the detector and the lower surface position detection sensor are used to detect the type of the article.

根據本構成，藉由側面位置檢測感測器來檢測容置物品的側面的位置，藉此即可以間接地檢測容置物品的平面視角下的外形尺寸。並且，藉由下表面位置檢測感測器來檢測容置物品的下表面的位置，藉此即可以間接地檢測容置物品的高度尺寸。從而，根據本構成，可以特定出容置物品的大小或形狀，藉此，可以特定出大小或形狀不同的物品的種類。According to this configuration, the position of the side surface of the accommodated article is detected by the side surface position detection sensor, whereby the external dimension of the accommodated article in a plane viewing angle can be indirectly detected. In addition, the position of the lower surface of the accommodated article is detected by the lower surface position detection sensor, whereby the height dimension of the accommodated article can be indirectly detected. Therefore, according to this configuration, the size and shape of the accommodated article can be specified, and thereby, the types of articles having different sizes or shapes can be specified.

又，較理想的是， 前述物品搬送車具備從上位控制裝置取得前述物品的搬送指令的指令取得部， 在前述指令取得部所取得的前述搬送指令中，包含有顯示與該搬送指令相關之前述物品的種類之物品種類資訊， 前述限制體控制部在前述物品種類資訊所示的前述物品的種類、與前述物品檢測部所檢測的前述物品的種類為一致的情況下，是使前述限制體進行姿勢變更以成為因應於該種類的前述限制姿勢，在不一致的情況下，是使前述限制體進行姿勢變更以成為前述第1限制姿勢。Also, ideally, The article transport vehicle includes a command acquisition unit that acquires a transport command of the article from a host control device, The conveyance instruction acquired by the instruction acquisition unit includes article type information indicating the type of the article related to the conveyance instruction, When the type of the article indicated by the article type information matches the type of the article detected by the article detection unit, the restricting body control unit changes the posture of the restricting body so as to correspond to the type. If the above-mentioned restricting postures are not identical, the posture of the restricting body is changed to become the above-mentioned first restricting posture.

根據本構成，有關於物品的種類，由於可以依據從不同的資訊來源取得的2個資訊來使限制體動作，因此可以使限制體進行因應於物品的種類之確實性較高的動作。在此，由於限制體在第2限制姿勢的狀態下是配置在與第1種物品重疊的位置，因此若在容置物品的種類為第1種物品的情況下，錯誤地將限制體設為第2限制姿勢，則會變成限制體干涉到物品的情形。但是，根據本構成，在從上位控制裝置取得的物品種類資訊所示的物品的種類、與物品檢測部所檢測的物品的種類為不一致的情況下，是使限制體進行姿勢變更以成為第1限制姿勢。因此，在顯示物品的種類之2個資訊為不一致的情況下，無論容置部所容置的物品為第1種物品及第2種物品之任一種，都可以設成使限制體不會干涉到該物品。 產業上之可利用性According to this configuration, the restricting body can be operated based on two pieces of information acquired from different information sources regarding the type of the article, so that the restricting body can be operated with high certainty according to the type of the article. Here, since the restricting body is arranged in a position overlapping with the first article in the state of the second restricting posture, if the type of the stored article is the first article, the restricting body is erroneously set as the first article. In the second restricting posture, the restricting body interferes with the article. However, according to this configuration, when the type of the article indicated by the article type information obtained from the upper control device does not match the type of the article detected by the article detection unit, the position of the restricting body is changed to become the first Restricted posture. Therefore, in the case where the two pieces of information indicating the types of the articles do not match, regardless of whether the article accommodated in the accommodating portion is either the first type of article or the second type of article, it is possible to set the restricting body so that it does not interfere with each other. to the item. industrial availability

本揭示之技術可以利用在沿著移動路徑移動來搬送複數個種類的物品之物品搬送車上。The technology of the present disclosure can be used for an article transport vehicle that moves along a moving path and transports a plurality of types of articles.

1:行走機構 2:容置部 3:罩蓋 4:移載機構 5:脫落限制部 6:指令取得部 8:物品 8:容置物品 8b:物品本體部 8d:下表面 8f:前面 8g:被保持部 8r:背面 8s:側面 9:移載對象地點 10:行走車輪 30:上側罩蓋部 31:第1罩蓋部 32:第2罩蓋部 41:保持部 42:升降機構 43:滑動機構 44:旋繞機構 51:限制體 52:限制體控制部 53:限制體驅動機構 53Ax:旋轉軸 81:第1種物品 82:第2種物品 91:處理裝置 92:支撐台 411:把持爪 421:滑輪 422:皮帶 431:滑動體 441:旋繞體 511:下表面相向部 512:側面相向部 513:前面相向部 514:背面相向部 531:連桿 Ad:遠離姿勢 Ar:限制姿勢 Ar1:第1限制姿勢 Ar2:第2限制姿勢 Ct:上位控制裝置 Cv:下位控制裝置 Dd:下端距離 Du:上端距離 H1:第1高度 H2:第2高度 M1:行走用馬達 M41:把持用馬達 M42:升降用馬達 M43:滑動用馬達 M44:旋繞用馬達 M53:驅動馬達 R:移動路徑 Ra:軌道 S:物品檢測部 Sh:下表面位置檢測感測器 Sh1:第1感測器 Sh2:第2感測器 Sw:側面位置檢測感測器 V:物品搬送車 W1:第1寬度 W2:第2寬度 Wn:物品寬度 X:搬送方向 Y:交叉方向1: Walking mechanism 2: accommodating part 3: cover 4: Transfer mechanism 5: Dropout restricting part 6: Instruction acquisition department 8: Items 8: accommodating items 8b: Item body part 8d: lower surface 8f: Front 8g: Retained part 8r: Back 8s: side 9: Transfer object location 10: Walking wheels 30: Upper cover part 31: 1st cover part 32: Second cover part 41: Keeping Department 42: Lifting mechanism 43: Sliding mechanism 44: Winding mechanism 51: Restricted body 52: Restriction Body Control Department 53: Limiting body drive mechanism 53Ax: Rotation axis 81: Item 1 82: Item 2 91: Processing device 92: Support table 411: Holding Claws 421: Pulley 422: Belt 431: Slider 441: Convoluted body 511: Opposing part of the lower surface 512: Side Opposite Part 513: Front Opposite Department 514: opposite part on the back 531: connecting rod Ad: stay away from posture Ar: Restricted pose Ar1: 1st limit pose Ar2: 2nd restrictive posture Ct: upper control device Cv: Lower control device Dd: lower end distance Du: distance from upper end H1: first height H2: 2nd height M1: motor for walking M41: Motor for holding M42: Lifting motor M43: Motor for sliding M44: Motor for winding M53: drive motor R: move path Ra: Orbit S: Item Inspection Department Sh: Lower surface position detection sensor Sh1: 1st sensor Sh2: 2nd sensor Sw: Side position detection sensor V: Item handling vehicle W1: 1st width W2: 2nd width Wn: item width X: conveying direction Y: cross direction

圖1是物品搬送設備的側面圖。 圖2是物品搬送設備的平面圖。 圖3是物品搬送車的側面圖。 圖4是顯示檢測物品的種類之情形的說明圖。 圖5是顯示物品檢測部的檢測結果與物品的種類之關係的表。 圖6是物品搬送設備的控制方塊圖。 圖7是顯示限制體的第1限制姿勢與第2限制姿勢的說明圖。 圖8是顯示限制體的動作的說明圖。 圖9是顯示在其他實施形態中，物品檢測部的檢測結果與物品的種類之關係的表。 圖10是顯示在其他實施形態中，限制體的動作的說明圖。FIG. 1 is a side view of the article conveying apparatus. Fig. 2 is a plan view of the article conveying apparatus. 3 is a side view of the article transport vehicle. FIG. 4 is an explanatory diagram showing the state of detecting the type of the article. FIG. 5 is a table showing the relationship between the detection result of the article detection unit and the type of article. Fig. 6 is a control block diagram of the article conveying apparatus. 7 is an explanatory diagram showing a first restricting posture and a second restricting posture of the restricting body. FIG. 8 is an explanatory diagram showing the operation of the restricting body. FIG. 9 is a table showing the relationship between the detection result of the article detection unit and the type of article in another embodiment. FIG. 10 is an explanatory diagram showing the operation of the restricting body in another embodiment.

5:脫落限制部5: Dropout restricting part

8:物品8: Items

8d:下表面8d: lower surface

8g:被保持部8g: Retained part

8s:側面8s: side

51:限制體51: Restricted body

81:第1種物品81: Item 1

82:第2種物品82: Item 2

511:下表面相向部511: Opposing part of the lower surface

512:側面相向部512: Side Opposite Part

Ar:限制姿勢Ar: Restricted pose

Ar1:第1限制姿勢Ar1: 1st limit pose

Ar2:第2限制姿勢Ar2: 2nd restrictive posture

Dd:下端距離Dd: lower end distance

Du:上端距離Du: distance from upper end

H1:第1高度H1: first height

H2:第2高度H2: 2nd height

X:搬送方向X: conveying direction

Claims (5)

一種物品搬送車，是沿著移動路徑移動來搬送複數個種類的物品之物品搬送車，具備以下： 容置部，容置前述物品； 移載機構，在前述容置部與位於比該容置部更下側的移載對象地點之間進行前述物品的移載； 脫落限制部，限制容置在前述容置部的狀態之前述物品從前述容置部脫落至外側的情形；及 物品檢測部，檢測容置於前述容置部的狀態之前述物品即容置物品的種類； 前述物品搬送車具有以下之特徵： 前述移載機構具備：保持部，保持前述物品；及升降機構，使前述保持部在前述容置部與前述移載對象地點之間升降， 在前述物品中包含有第1種物品與第2種物品之至少2個種類，前述第2種物品是平面視角下的外形比前述第1種物品更小， 前述脫落限制部具備：限制體，將姿勢變更為限制姿勢與遠離姿勢，前述限制姿勢是限制前述容置物品的脫落，前述遠離姿勢是和前述限制姿勢相較之下遠離前述容置物品；及限制體控制部，控制前述限制體的姿勢變更， 前述限制體具備：下表面相向部，在前述限制姿勢中相向於前述容置物品的下表面；及側面相向部，在前述限制姿勢中相向於前述容置物品的側面， 前述限制體控制部是進行下述控制： 在前述物品檢測部所檢測出的前述容置物品的種類為前述第1種物品的情況下，使前述限制體進行姿勢變更，以成為第1限制姿勢，前述第1限制姿勢為前述限制姿勢，其使前述下表面相向部在沿著上下方向的上下方向視角下配置在重疊於前述第1種物品的位置，並且使前述側面相向部在前述上下方向視角下配置在沿著前述第1種物品的側面的位置， 在前述物品檢測部所檢測的前述容置物品的種類為前述第2種物品的情況下，使前述限制體進行姿勢變更，以成為第2限制姿勢，前述第2限制姿勢為前述限制姿勢，其使前述下表面相向部在前述上下方向視角下配置在重疊於前述第2種物品的位置，並且使前述側面相向部在前述上下方向視角下配置在沿著前述第2種物品的側面的位置且和前述第1種物品重疊的位置， 在前述保持部已保持前述物品的狀態下藉由前述升降機構來升降的情況下，使前述限制體進行姿勢變更，以成為前述遠離姿勢，前述遠離姿勢使前述限制體配置在不和前述保持部所保持的前述物品的移動軌跡重疊的位置。An article conveying vehicle is an article conveying vehicle that moves along a moving path to convey a plurality of types of articles, and includes the following: an accommodating portion, accommodating the aforementioned items; a transfer mechanism for transferring the article between the accommodating portion and a transfer object location located on the lower side of the accommodating portion; A drop-off restricting portion for restricting the situation that the article accommodated in the accommodating portion falls off from the accommodating portion to the outside; and The article detection part detects the type of the article contained in the above-mentioned article in the state of the above-mentioned accommodating part; The aforementioned article handling vehicle has the following characteristics: The transfer mechanism includes: a holding part for holding the article; and an elevating mechanism for raising and lowering the holding part between the accommodating part and the transfer object point, The aforementioned articles include at least two types of the first type of article and the second type of article, and the aforementioned second type of article is smaller than the aforementioned first type of article in a plane viewing angle, The drop-off restricting portion includes: a restricting body that changes a posture into a restricting posture and a distance-away posture, the restraining posture restricts the falling off of the contained article, and the distance-going posture is a distance away from the contained article compared with the restraining posture; and The restraining body control unit controls the posture change of the restraining body, The restricting body includes: a lower surface facing portion facing the lower surface of the storage article in the restricting posture; and a side facing portion facing the side surface of the storage article in the restricting posture, The aforementioned restricting body control unit performs the following controls: When the type of the accommodated article detected by the article detection unit is the first article, the restricting body is changed in posture so as to be a first restricting posture, and the first restricting posture is the above-mentioned restricting posture, The lower surface facing portion is arranged at a position overlapping the first article in the vertical viewing angle along the vertical direction, and the side facing portion is arranged along the first article in the vertical viewing angle. the lateral position of , When the type of the stored article detected by the article detection unit is the second article, the position of the restriction body is changed to become the second restriction position, and the second restriction position is the restriction position, which The lower surface facing portion is arranged at a position overlapping the second article in the vertical viewing angle, and the side facing portion is arranged along the side surface of the second article in the vertical viewing angle. The position that overlaps with the aforementioned first item, When the holding portion is held by the article and is raised and lowered by the elevating mechanism, the restraining body is changed in posture so as to be the distanced posture, and the restraining body is disposed in the distance away from the holding portion. A position where the moving trajectories of the held items overlap. 如請求項1之物品搬送車，其中前述脫落限制部具備一對前述限制體， 前述限制體控制部是使一對前述限制體互相接近及遠離而藉此使其等姿勢變更。The article transport vehicle according to claim 1, wherein the dropout restricting portion includes a pair of the restricting bodies, The restraining body control unit changes the posture of the restraining body by bringing the pair of restraining bodies closer to and away from each other. 如請求項1之物品搬送車，其中前述物品具備：物品本體部；及被保持部，設置在比前述物品本體部更上側，並且被前述保持部所保持， 將從前述物品本體部的下表面到前述被保持部的尺寸設為物品高度，前述第1種物品具有第1高度，前述第2種物品具有比前述第1高度更小的第2高度， 前述限制體控制部無論在前述第1限制姿勢及前述第2限制姿勢之任一狀態下，都是將前述限制體配置成使從前述被保持部到前述下表面相向部的上表面之前述上下方向的距離比前述第1高度更大，並且使從前述被保持部到前述側面相向部的上端之距離比前述第2高度更小。The article transport vehicle according to claim 1, wherein the article includes: an article body part; and a held part provided on the upper side of the article body part and held by the holding part, The dimension from the lower surface of the article body to the held portion is the article height, the first article has a first height, the second article has a second height smaller than the first height, The restricting body control unit arranges the restricting body so that the upper and lower surfaces of the upper surface from the held portion to the lower surface opposing portion are in any state of the first restricting posture and the second restricting posture. The distance in the direction is larger than the first height, and the distance from the held portion to the upper end of the side facing portion is made smaller than the second height. 如請求項1之物品搬送車，其中前述物品檢測部具備： 側面位置檢測感測器，檢測前述容置物品的側面的位置；及 下表面位置檢測感測器，檢測前述容置物品的下表面的位置， 並且依據前述側面位置檢測感測器及前述下表面位置檢測感測器之雙方的檢測結果來檢測前述物品的種類。The article transport vehicle of claim 1, wherein the article detection unit has: a side position detection sensor for detecting the position of the side of the above-mentioned accommodating article; and The lower surface position detection sensor detects the position of the lower surface of the above-mentioned accommodating article, And according to the detection results of both the side surface position detection sensor and the lower surface position detection sensor, the type of the article is detected. 如請求項1至4中任一項之物品搬送車，其具備從上位控制裝置取得前述物品的搬送指令的指令取得部， 在前述指令取得部取得的前述搬送指令中，包含有顯示與該搬送指令相關之前述物品的種類之物品種類資訊， 前述限制體控制部在前述物品種類資訊所示的前述物品的種類與前述物品檢測部所檢測的前述物品的種類為一致的情況下，是使前述限制體進行姿勢變更以成為因應於該種類的前述限制姿勢，在不一致的情況下，是使前述限制體進行姿勢變更以成為前述第1限制姿勢。The article transport vehicle according to any one of Claims 1 to 4, which includes an instruction acquisition unit that acquires a transport instruction of the article from the upper control device, The conveyance instruction acquired by the instruction acquisition unit includes article type information indicating the type of the article related to the conveyance instruction, When the type of the article indicated by the article type information matches the type of the article detected by the article detection unit, the restricting body control unit changes the posture of the restricting body so as to correspond to the type. When the above-mentioned restricting postures do not match, the above-mentioned restricting body is subjected to a posture change to become the above-mentioned first restricting posture.
TW110111201A 2020-06-29 2021-03-26 Article transport vehicle TW202200468A (en)

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