TW202231559A - Transport vehicle - Google Patents
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- TW202231559A TW202231559A TW110143397A TW110143397A TW202231559A TW 202231559 A TW202231559 A TW 202231559A TW 110143397 A TW110143397 A TW 110143397A TW 110143397 A TW110143397 A TW 110143397A TW 202231559 A TW202231559 A TW 202231559A
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- 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
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/063—Transporting devices for sheet glass
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- 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
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- 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
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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
- H01L21/673—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere using specially adapted carriers or holders; Fixing the workpieces on such carriers or holders
- H01L21/6732—Vertical carrier comprising wall type elements whereby the substrates are horizontally supported, e.g. comprising sidewalls
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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
- H01L21/67718—Changing orientation of the substrate, e.g. from a horizontal position to a vertical position
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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
- H01L21/6773—Conveying cassettes, containers or carriers
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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
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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
- H01L21/67736—Loading to or unloading from a conveyor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0297—Wafer cassette
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
- Chain Conveyers (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
Description
發明領域Field of Invention
本發明是有關於一種用以搬送物品的搬送車。The present invention relates to a transport vehicle for transporting articles.
發明背景Background of the Invention
如上述之搬送車的一例已揭示於日本特開2012-64799號公報(專利文獻1)。以下,於背景技術的說明中顯示於括號內的符號是專利文獻1使用的。於專利文獻1中,作為用以搬送物品的搬送車,已揭示有用以搬送收納容器(4)的天花板搬送車(A)。該天花板搬送車(A)具備有沿著行走路徑(3)行走的行走部(11)、用以保持收納容器(4)的保持部(10)、及使保持部(10)對行走部(11)升降的升降裝置。An example of such a transport vehicle is disclosed in Japanese Patent Application Laid-Open No. 2012-64799 (Patent Document 1). Hereinafter, the symbols shown in parentheses in the description of the background art are used in
在專利文獻1中,收納容器(4)是在側面形成有用以將基板(5) 取出放入的開口(6)的開放式晶圓匣。為了防止基板(5)從保持於保持部(10)的收納容器(4)的開口(6)跑出去,在專利文獻1的天花板搬送車(A)中,設有具備可在接觸於基板(5)之側面的接觸位置、和從基板(5)的側面分離的分離位置移動的接觸體(26)的跑出防止機構(9)。In
發明概要Summary of Invention
在搬送車行走時,由於振動易於傳遞到保持於保持裝置的物品,所以不管是否有如專利文獻1之跑出防止機構的機構,希望是以易於較高確保對振動的容許度的保持姿勢,將物品保持於保持裝置。在專利文獻1中,由於物品是在側面具有開口部的容器,所以例如開口部向著斜上方的傾斜姿勢便會成為收容物(在專利文獻1中為基板)難以從開口部移動到物品的外部的保持姿勢,亦即易於較高確保對振動的容許度的保持姿勢。Since the vibration is easily transmitted to the article held by the holding device when the transport vehicle travels, regardless of whether or not there is a mechanism such as the escape prevention mechanism of
如上述,雖然會有希望以特定的保持姿勢(例如,上述的傾斜姿勢)藉由保持裝置來保持物品的情況,然而所希望的保持姿勢並非一定是與移載對像處(在與保持部之間移載物品之處)中之物品的姿勢一致。例如,在專利文獻1中,如該文獻的圖5所示,物品不是以傾斜姿勢,而是以開口部向著水平方向的水平姿勢,配置於移載對像處。像這樣在所希望的保持姿勢與移載對像處中之物品的姿勢不同的情況,為了以所希望的保持姿勢來保持物品,將用以變更物品的姿勢的機構設於移載對像處,與在保持裝置和移載對像處之間的物品移載動作分開地,於移載對像處進行物品的姿勢變更動作時,會有物品的處理效率下降之虞。As described above, although there may be cases where it is desirable to hold the article by the holding device in a specific holding posture (for example, the above-mentioned inclined posture), the desired holding posture is not necessarily the position where the object to be transferred (at the holding portion The posture of the items in the place where the items are transferred is the same. For example, in
所以,希望實現不管移載對像處之物品的姿勢,而可將物品以所希望的保持姿勢藉由保持裝置保持的技術。Therefore, it is desired to realize a technology that can hold the article in a desired holding posture by the holding device regardless of the posture of the article at the transfer object.
本揭示中的搬送車是一種用以搬送物品的搬送車,具備有:沿著移動路徑移動的本體部、用以保持前述物品的保持裝置、及使前述保持裝置相對於前述本體部升降的升降裝置,前述物品具備有形成有向著下方的被支撐面的被保持部,前述被支撐面是與該物品的底面平行地配置的面,前述保持裝置具備有:分別連結有從下方支撐前述被支撐面之支撐構件的一對支撐部、及使一對前述支撐部於第1方向相互地接近及分離的保持驅動部,一對前述支撐部的每一個中,將接近前述第1方向中之另一前述支撐部之側作為第1方向第1側,將遠離前述第1方向中之另一前述支撐部之側作為第1方向第2側,前述支撐構件是以與前述支撐部的連結部作為支點而可擺動地連結於前述支撐部,一對前述支撐構件的每一個中之與前述連結部為相反側的前端部配置於比前述連結部還上方且配置於比前述被保持部還下方,且將前述物品位在以比前述被保持部的前述第1方向的寬度還大的間隔而配置的一對前述前端部之間的狀態作為保持準備狀態,將一對前述支撐部比起前述保持準備狀態還朝前述第1方向相互地接近,且一對前述支撐構件的各自的前述前端部或連結於該前端部的構件對前述被支撐面從下方接觸而支撐前述物品的狀態作為保持狀態,一對前述支撐構件在從前述保持準備狀態轉移到前述保持狀態之間,各自的前述前端部朝前述第1方向第2側移動且在向著上方的方向繞前述支點擺動,而將前述被支撐面朝上方舉起。The transport vehicle in the present disclosure is a transport vehicle for transporting articles, and includes a main body portion that moves along a moving path, a holding device for holding the article, and a lifter for raising and lowering the holding device relative to the main body portion. A device, wherein the article includes a held portion having a supported surface facing downward, the supported surface is a surface arranged in parallel with a bottom surface of the article, and the holding device includes: A pair of support parts of the support member of the surface, and a holding drive part that makes the pair of the support parts approach and separate from each other in the first direction, each of the pair of the support parts will approach the other in the first direction The side of one of the support parts is set as the first side in the first direction, the side away from the other support part in the first direction is set as the second side in the first direction, and the support member is set as the connection part with the support part. A pivot point is swingably connected to the support portion, and a front end portion of each of the pair of support members on the opposite side to the connection portion is arranged above the connection portion and below the held portion, In addition, a state in which the article is positioned between a pair of the front end portions arranged at a distance larger than the width of the portion to be held in the first direction is regarded as a holding ready state, and the pair of the supporting portions is held more than the holding portion. In the ready state, the front end portions of each of the pair of supporting members or the member connected to the front end portions are in contact with the supported surface from below to support the article as they are approached to each other in the first direction as the holding state, A pair of said support members move the front end portion of each of the supporting members toward the second side in the first direction and the second side and swing around the fulcrum in the upward direction between the transition from the holding ready state to the holding state, and move the supported surface Lift up.
依據本構成,利用從保持準備狀態使一對支撐部相互地接近而轉移到保持狀態,而可將配置於移載對象處的物品藉由保持裝置保持。此時,可將和物品的底面平行地配置的被支撐面藉由一對支撐構件的各自的前端部而朝上方舉起以保持物品。因此,在移載對象處中之物品的姿勢和所希望的保持姿勢相同的情況,利用以不改變朝向將被支撐面舉起的方式來構成保持裝置,而可將物品以所希望的保持姿勢保持。又,在移載對象處中之物品的姿勢和所希望的保持姿勢不同的情況,利用以一面使朝向變化成在所希望的保持姿勢的朝向,一面將被支撐面舉起的方式來構成保持裝置,而可將物品以所希望的保持姿勢保持。According to this structure, by making a pair of support parts approach each other from the holding ready state, and shifting to the holding state, it is possible to hold the article arranged at the transfer target by the holding device. At this time, the supported surface arranged in parallel with the bottom surface of the article can be lifted upward by the respective front end portions of the pair of support members to hold the article. Therefore, when the posture of the article in the transfer object is the same as the desired holding posture, the holding device can be configured to lift the supported surface without changing the orientation, and the article can be held in the desired posture. Keep. Also, when the position of the article in the transfer object is different from the desired holding position, the holding position is configured by lifting the supported surface while changing the orientation to the desired holding position. The device can hold the item in the desired holding position.
如此,依據本構成,利用將保持裝置構成為藉由一對支撐構件之各自的前端部將被支撐面朝上方舉起而保持物品,不管移載對象處中之物品的姿勢,可將物品以所希望的保持姿勢藉由保持裝置保持。而且,在本構成中,由於可使朝上方舉起被支撐面的動作,和使一對支撐部接近的動作並行來進行,所以可抑制物品的處理效率降低且實現本揭示的搬送車。In this way, according to the present configuration, by comprising the holding device so as to hold the article by raising the supported surface upward by the respective front end portions of the pair of supporting members, the article can be held in the position of the article in the transfer object regardless of the posture of the article to be transferred. The desired holding posture is held by the holding device. Furthermore, in this configuration, since the operation of lifting the supported surface upward and the operation of bringing the pair of support parts closer together can be performed in parallel, the transport vehicle of the present disclosure can be realized while suppressing a reduction in the handling efficiency of articles.
搬送車之進一步的特徵和優點從關於參照圖面進行說明的實施型態之以下記載而會變得明確。Further features and advantages of the transport vehicle will become clear from the following description of the embodiment described with reference to the drawings.
就有關搬送車的實施型態,參照圖面來進行說明。The embodiment of the transport vehicle will be described with reference to the drawings.
搬送車1在如圖3所例示的物品搬送設備100中,是沿著移動路徑2行走來搬送物品90。如圖1~圖3所示,搬送車1具備有沿著移動路徑2移動的本體部10、用以保持物品90的保持裝置20、使保持裝置20對本體部10升降的升降裝置50。此處,將移動路徑2的長度方向(移動路徑2延伸的方向)作為路徑長度方向L,將移動路徑2的寬度方向作為路徑寬度方向W。路徑寬度方向W是與路徑長度方向L及鉛直方向V的雙方直交的方向。又,以搬送車1為基準所定義的方向(亦即,因應搬送車1的姿勢變化的方向),且將在配置於移動路徑2的狀態下沿著路徑長度方向L的方向作為車體前後方向X,以搬送車1為基準所定義的方向,且將在配置於移動路徑2的狀態下沿著路徑寬度方向W的方向作為車體左右方向Y。In the
移動路徑2可以是實體地形成也可以是假想地設定。在本實施型態中,移動路徑2是使用軌道3而實體地形成。具體來說,物品搬送設備100具備有沿著移動路徑2而配置的軌道3(此處,為隔著間隔配置於路徑寬度方向W的一對軌道3),本體部10沿著軌道3移動。又,在本實施型態中,軌道3被從天花板4懸吊支撐,移動路徑2沿著天花板4而形成。亦即,在本實施型態中,搬送車1是沿著沿天花板4而形成的移動路徑2行走的天花板搬送車。而且,搬送車1也可以是天花板搬送車以外的搬送車。The
如圖1及圖2所示,本體部10具備有具有在軌道3(此處,為一對軌道3)的行走面上轉動的車輪12的行走部11、及連結於行走部11的罩部14。軌道3的行走面是向著鉛直方向V的上方V1的面,車輪12是繞與鉛直方向V直交的軸心旋轉。行走部11具備有使車輪12旋轉的行走驅動部70(例如,為伺服馬達等之電動馬達,參照圖9),車輪12藉由行走驅動部70而被旋轉驅動,藉以使行走部11沿著軌道3行走。如圖2所示,在本實施型態中,行走部11具備有在軌道3的導引面上轉動的導引輪13,行走部11在導引輪13接觸導引於軌道3的導引面的狀態下,沿著軌道3行走。軌道3的導引面是向著路徑寬度方向W的內側(向著一對軌道3間的路徑寬度方向W的中心位置之側)的面,導引輪13繞沿著鉛直方向V的軸心旋轉(在本例中,為空轉)。在圖1所示的例中,本體部10以排列於車體前後方向X的方式具備有一對行走部11。As shown in FIGS. 1 and 2 , the
如圖1所示,在本實施型態中,罩部14是在對行走部11配置於鉛直方向V的下方V2的狀態下,支撐於行走部11。在搬送車1行走時,保持於保持裝置20的狀態的物品90配置於罩部14的內部空間。如圖1所示,在本實施型態中,罩部14的內部空間是使車體前後方向X的兩側封閉,且使車體左右方向Y的至少一側開放。因此,配置於罩部14的內部空間的物品90藉由罩部14的壁部而至少被從車體前後方向X的兩側覆蓋。As shown in FIG. 1 , in the present embodiment, the
物品90的種類並不以此為限,然而如圖2所示,在本實施型態中,物品90是在側面90b具有開口部92的容器。開口部92是為了對物品90取出放入收容物而設置,透過開口部92進行收容物對物品90的取出放入。和開口部92為不同的開口(例如,為了輕量化或洗淨的開口,或是物品90的構造上形成的開口)也可以形成於物品90的側面90b,然而是以收容於物品90的收容物不通過開口部92便無法移動到物品90的外部的方式來構成物品90。在本實施型態中,玻璃基板或半導體晶圓等基板93(收容物的一例)是收容於物品90。又,在本實施型態中,物品90是構成為可將複數片基板93於上下方向(在底面90c被水平地配置的狀態下沿著鉛直方向V的方向)排列並收容。The type of the
在本實施型態中,物品90不具備有封閉開口部92的蓋件。例如,可將開放式晶圓匣作為物品90使用。物品90也可作成具備有封閉開口部92的蓋件的構成。於此情況,例如,可將FOUP(Front Opening Unified Pod)作為物品90使用。In the present embodiment, the
升降裝置50具備有使保持裝置20升降的升降驅動部71(例如,為伺服馬達等電動馬達,參照圖9)。升降裝置50在第1位置P1(參照圖2及圖3)、和比第1位置P1還下方V2之第2位置P2(參照圖3)之間,使保持裝置20升降。第1位置P1位於升降方向(鉛直方向V)的上端的位置。第1位置P1是本體部10移動時之保持裝置20的鉛直方向V的位置。亦即,第1位置P1是搬送車1行走時之保持裝置20的位置。在本實施型態中,第1位置P1是如保持於保持裝置20的狀態之物品90配置於罩部14之內部空間的保持裝置20的位置。又,第2位置P2是進行利用保持裝置20所進行之物品90的保持及保持解除時保持裝置20的鉛直方向V的位置。亦即,第2位置P2是進行利用保持裝置20所進行之物品90的保持及保持解除的位置,換言之,是物品90在保持裝置20和移載對象處6之間移載時之保持裝置20的位置。第2位置P2是因應各移載對象處6的高度(鉛直方向V的位置)而設定。The elevating
在圖3中,顯示鄰接處理裝置5而配置的載入埠,作為移載對象處6的一例。處理裝置5是將物品90作為處理對象的裝置,在本實施型態中,是對從物品90取出的基板93進行處理。如圖3所示,物品90配置於移載對象處6,以使開口部92向著處理裝置5側。在本實施型態中,物品90是以底面90c沿著水平面的水平姿勢S2配置於移載對象處6。水平姿勢S2由於是開口部92向著水平方向的姿勢,所以利用將物品90以水平姿勢S2配置於移載對象處6,而於移載對象處6,易於透過開口部92進行基板93對物品90的取出放入。In FIG. 3, the load port arrange|positioned adjacent to the
如圖2簡略化且示意地所示,升降裝置50具備有被旋轉驅動的旋轉體51、及卷取及拉開自如地捲繞於旋轉體51且連結於保持裝置20的傳動構件52。升降裝置50更具備有將旋轉體51旋轉驅動的上述升降驅動部71(參照圖9)。旋轉體51及升降驅動部71支撐於本體部10,在本實施型態中,配置於罩部14之內部空間中之上方V1的部分。例如,可作成傳動構件52為帶件,旋轉體51為將帶件捲取的捲取滑輪之構成,或是可作成傳動構件52為線材,旋轉體51為將線材捲取的捲取筒之構成。如圖3所示,設於傳動構件52中之從旋轉體51拉出的前端側的連結部52a是連結於保持裝置20。升降裝置50藉由升降驅動部71的驅動使旋轉體51旋轉,將傳動構件52捲取或拉出,藉以使保持裝置20上升或下降(亦即,使升降)。如此,升降裝置50在將保持裝置20懸吊支撐的狀態下,使保持裝置20升降。As simplified and schematically shown in FIG. 2 , the elevating
如圖2及圖3所示,在本實施型態中,升降裝置50具備有複數個旋轉體51,複數個旋轉體51的每一個捲繞有傳動構件52。圖2及圖3所示的例子中,升降裝置50具備有3個旋轉體51。而且,複數個傳動構件52(在本例中,為3個傳動構件52)之各自的連結部52a連結於保持裝置20。複數個連結部52a連結於保持裝置20中之相互不同的部分。而且,在圖2及圖3中,為了顯示升降裝置50具備有複數個旋轉體51,所以將複數個旋轉體51分別配置於不同的軸,然而也可以是,複數個旋轉體51排列並配置於同軸。又,在圖3中,雖然傳動構件52的連結部52a配置於捲繞有該傳動構件52的旋轉體51的正下方,然而也可以是作成傳動構件52中之從旋轉體51拉出的部分纏繞在導引用旋轉體(導引用滑輪等),傳動構件52的連結部52a配置於該導引用旋轉體的正下方的構成。As shown in FIGS. 2 and 3 , in the present embodiment, the lifting
如圖4及圖5所示,物品90具備有形成有被支撐面91a的被保持部91。被保持面91a是與物品90之底面90c平行配置的面,且是向著下方V2的面。如圖4及圖6所示,保持裝置20具備有分別連結有將被支撐面91a從下方V2支撐的支撐構件30的一對支撐部21,使用一對支撐部21保持物品90。在圖2所示的例子中,保持裝置20從上方V1保持物品90。以下,將連結於一對支撐部21的其中之一之支撐構件30、和連結於一對支撐部21之另一的支撐構件30合在一起,稱為一對支撐構件30。As shown in FIGS. 4 and 5 , the
在本實施型態中,構成物品90之上表面90a的上表面部(例如,板狀的天花板部)使用作為被保持部91。如圖4所示,被保持部91是形成為具有對物品90之側面90b朝外側(水平方向的外側)突出的突出部分,該突出部分的下表面構成被支撐面91a。而且,被保持部91的構成不以此為限,例如,也可作成在構成物品90之側面90b的側面部形成有被保持部91的構成。In the present embodiment, an upper surface portion (for example, a plate-shaped ceiling portion) constituting the
保持裝置20具備有使一對支撐部21於第1方向A相互地接近及分離的保持驅動部72(例如,電磁線圈或電動馬達,參照圖9)。第1方向A是一對支撐部21的排列方向(此處,為沿著水平面的水平方向),一對支撐部21是於第1方向A分離而配置。一對支撐部21可於第1方向A移動地支撐在連結有保持裝置20中之傳動構件52(具體來說,連結部52a)的部分(本體部)。而且,保持驅動部72使一對支撐部21的每一個沿著第1方向A移動,而使一對支撐部21相互地接近及分離。The holding
如圖2所示,在本實施型態中,保持裝置20是以底面90c對水平面傾斜(例如,傾斜5度)的傾斜姿勢S1保持物品90。具體來說,保持裝置20是以開口部92向著斜上方的姿勢(為傾斜姿勢S1的一例)保持物品90。而且,以沿著透過開口部92進行收容物(在本實施型態中,為基板93)取出放入時之收容物的移動方向,向著物品90的外部的方向作為開口部92的朝向。保持裝置20為了如此保持物品90,如圖3所示,在保持裝置20位於第1位置P1的狀態,或保持裝置20位於第1位置P1和第2位置P2之間的第3位置P3的狀態下,使物品90以傾斜姿勢S1保持於保持裝置20。As shown in FIG. 2 , in the present embodiment, the holding
圖2中,雖例示了保持裝置20以一對支撐部21於車體前後方向X(參照圖1)相互接近及分離的朝向(亦即,以第1方向A沿著車體前後方向X的朝向)被配置的情況,然而也可以是保持裝置20以一對支撐部21於車體左右方向Y相互接近及分離的朝向(亦即,以第1方向A沿著車體左右方向Y的朝向)被配置。又,在圖1~圖3中,雖例示了物品90以開口部92向著車體左右方向Y的其中一側的朝向,被保持於保持裝置20的情況,然而也可以是物品90以開口部92向著車體前後方向X的其中一側的朝向,被保持於保持裝置20。而且,也可以是作成搬送車1具備有使保持裝置20對本體部10日繞沿著鉛直方向V的軸心旋轉的機構。從可更確實地防止收容於物品90的基板93在搬送車1行走時從開口部92移動到物品90的外部的觀點,作成以開口部92向著罩部14的壁部的朝向,使物品90保持於保持裝置20的構成者為佳。In FIG. 2 , although the holding
如圖8所示,支撐構件30是以與支撐部21的連結部30a作為支點而可擺動地連結於支撐部21。在連結部30a設有可繞上述支點相對旋轉地連結支撐部21和支撐構件30的構件(例如,鉸鏈)。將俯視下與第1方向A直交的方向(在此為水平方向)作為第2方向B,支撐構件30可繞沿著第2方向B的軸心擺動地連結於支撐部21。於一對支撐部21的每一個,將接近第1方向A中之另一支撐部21之側作為第1方向第1側A1,將遠離第1方向A中之另一支撐部21之側作為第1方向第2側A2,支撐構件30中之與連結部30a為相反側的前端部30b對連結有該支撐構件30的支撐部21配置於第1方向第1側A1。因此,如圖4所示,一對前端部30b(一對支撐構件30之其中之一前端部30b和另一前端部30b)配置於一對支撐部21的第1方向A之間。As shown in FIG. 8 , the
支撐構件30前端部30b可以是以和支撐構件30的本體部(連接連結部30a和前端部30b的部分)相同的材質形成也可以是不同的材質形成,然而在本實施型態中,如後述的,前端部30b在對被支撐面91a從下方V2接觸的狀態下,使物品90保持於保持裝置20。因此,前端部30b是以可適切地確保被支撐面91a和前端部30b之間的磨擦力的材質(例如,橡膠)形成者為佳。而且,在圖4等雖是將前端部30b的形狀作成球狀,然而各圖中之各部的尺寸及形狀為概念性,實際的尺寸及形狀不以此為限。The
在本實施型態中,一對支撐部21的其中之一及與其連結的支撐構件30、和一對支撐部21的其中之另一及與其連結的支撐構件30是構成為在一對支撐部21間之第1方向A的中心位置將與第1方向A直交的面作為對稱面,會相互成為鏡像對稱的關係。因此,和圖8所示的支撐部21成對的支撐部21及與其連結的支撐構件30具有於第1方向A使圖8所示之支撐部21及與其連結的支撐構件30反轉的構成。In the present embodiment, one of the pair of
如圖8所示,在本實施型態中,支撐構件30具備有於第2方向B分離而配置的一對擺動構件,即第1擺動構件41和第2擺動構件42。因此,連結支撐部21和支撐構件30的連結部30a具備有使第1擺動構件41連結於支撐部21的第1連接部41a、和使第2擺動構件42連結於支撐部21的第2連結部42a。將第1擺動構件41的前端部30b作為第1前端部41b,且將第2擺動構件42的前端部30b作為第2前端部42b時,在本實施型態中,於支撐構件30的前端部30b包含有該支撐構件30所具備的第1擺動構件41的第1前端部41b、和該支撐構件30所具備的第2擺動構件42的第2前端部42b。以下,就有關第1擺動構件41和第2擺動構件42所共通的事項敘述時,不區別該等擺動構件而作為支撐構件30來進行說明,就有關第1前端部41b和第2前端部42b所共通的事項敘述時,不區別該等前端部而作為前端部30b來進行說明,就有關第1連結部41a和第2連結部42a所共通的事項敘述時,不區別該等連結部而作為連結部30a來進行說明。As shown in FIG. 8 , in the present embodiment, the
第1擺動構件41是以第1連結部41a為支點而可擺動地(具體來說,可繞沿著第2方向B的軸心擺動)連結於支撐部21,第2擺動構件42是以第2連結部42a為支點而可擺動地(具體來說,可繞沿著第2方向B的軸心擺動)連結於支撐部21。第1擺動構件41及第2擺動構件42的形狀並不限定於此,然而在本實施型態中,第1擺動構件41及第2擺動構件42是作成桿等棒狀構件,長度方向的一端側透過連結部30a連結於支撐部21。以下,將一對支撐構件30的其中之一所具備的第1擺動構件41、和一對支撐構件30的另一所具備的第1擺動構件41合在一起,稱為一對第1擺動構件41,一對支撐構件30的其中之一所具備的第2擺動部42、和一對支撐構件30的另一所具備的第2擺動構件42合在一起,稱為一對第2擺動構件42。The first rocking
此處,一對支撐構件30的各自的前端部30b配置於比連結部30a還上方V1,且是配置於比被保持部91還下方V2,並且將物品90(具體來說,配置於移載對像處6之物品90)位在以比被保持部91的第1方向A的寬度(以下,稱為「被保持部寬度」)還大的間隔配置的一對前端部30b之間的狀態,作為保持準備狀態。在保持準備狀態,一對前端部30b的每一個從物品90分離而配置。在本實施型態中,圖4中以實線表示支撐部21及支撐構件30的狀態為保持準備狀態。Here, the respective
而且,所謂支撐構件30的前端部30b位於比連結部30a還上方V1,是意味著支撐構件30的前端部30b配置成比連結該支撐構件30和支撐部21的連結部30a還上方V1。在本實施型態中,由於一對支撐構件30的其中之一與另一是配置成為上述之鏡像對稱的關係,所以連結一對支撐構件30的其中之一和支撐部21的連結部30a是配置於和連結一對支撐構件30之另一和支撐部21的連結構件30a相同的高度。又,在本實施型態中,所謂支撐構件30的前端部30b配置成比連結部30a還上方V1是意味著第1擺動構件41的第1前端部41b配置成比第1連結部41a還上方V1,且第2擺動構件42的第2前端部42b配置成比第2連結部42a還上方V1。Further, that the
又,所謂支撐構件30的前端部30b配置成比被保持部91還下方V2是意味著前端部30b於被保持部91中之後述的保持狀態,對該前端部30b所接觸的部分配置於下方V2。在本實施型態中,由於物品90以水平姿勢S2配置於移載對象處6,所以在物品90已配置於移載對象處6的狀態下被保持部91(具體來說,被支撐面91a)被沿著水平面配置,一對前端部30b在保持準備狀態下,配置於比被保持部91全體還下方V2。又,在本實施型態中,所謂支撐構件30的前端部30b配置於比被保持部91還下方V2是意味著第1擺動構件41的第1前端部41b配置於比被保持部91還下方V2,且第2擺動構件42的第2前端部42b配置於比被保持部91還下方V2。In addition, that the
在本實施型態中,所謂物品90位於以比被保持部寬度還大的間隔配置的一對前端部30b之間,是意味著物品90位於以比被保持部寬度還大的間隔配置的一對第1前端部41b(一對第1擺動構件41的其中之一第1前端部41b和另一第1前端部41b)之間,且物品90位於以比被保持部寬度還大的間隔配置的一對第2前端部42b(一對第2擺動構件42的其中之一第2前端部42b和另一第2前端部42b)之間。In the present embodiment, when the
又,將比起保持準備狀態一對支撐部21朝第1方向A相互地接近,且一對支撐構件30的各自的前端部30b或連結於該前端部30b的構件對被支撐面91a從下方V2接觸而支撐物品90的狀態作為保持狀態。在本實施型態中,在保持狀態,一對支撐構件30各自的前端部30b對被支撐面91a從下方V2接觸。又,在本實施型態中,在保持狀態,一對支撐構件30使被支撐面91a相對水平面傾斜而予以支撐。在本實施型態中,於圖6中以實線表示支撐部21及支撐構件30的狀態為保持狀態。在本實施型態中,支撐構件30具備有第1擺動構件41及第2擺動構件42。因此,如圖6及圖7所示,在保持狀態,一對第1擺動構件41之各自的第1前端部41b及一對第2擺動構件42之各自的第2前端部42b對被支撐面91a從下方V2接觸。Moreover, the pair of
保持裝置20在配置於上述之第2位置P2(參照圖3)的狀態下,在可實現保持準備狀態的高度配置一對支撐部21。而且,於進行利用保持裝置20所進行之物品90的保持時,在保持裝置20配置於第2位置P2的狀態下,會驅動一對支撐部21以使從保持準備狀態朝保持狀態轉移,於進行利用保持裝置20所進行之物品90的保持解除時,在保持裝置20位於第2位置P2的狀態下,會驅動一對支撐部21以使從保持狀態朝保持解除狀態轉移。而且,保持解除狀態是與保持準備狀態相同的狀態,以下,也包含保持解除狀態稱為保持準備狀態。In the state where the holding
進行利用保持裝置20所進行之物品90的保持時,一對支撐構件30在從保持準備狀態轉移到保持狀態之間,各自的前端部30b朝第1方向第2側A2移動且在向著上方V1的方向繞支點擺動,而將被支撐面91a朝上方V1舉起。若具體說明,則是如上述,在保持準備狀態中,一對支撐構件30之各自的前端部30b是配置於比連結部30a還上方V1且配置於比被保持部91還下方V2。因此,利用從保持準備狀態使一對支撐部21於第1方向A相互地接近,可使一對前端部30b的每一個在物品90的被支撐面91a的下方V2朝第1方向第1側A1移動到接觸於物品90的側面90b的位置(圖4中以二點鏈線所示之前端部30b的位置)。亦即,利用從保持準備狀態使一對支撐部21朝第1方向A相互地接近,而實現一對前端部30b的每一個接觸於配置在移載對象處6之物品90的側面90b(具體來說,是比側面90b中之被支撐面91a還下方V2的部分)之中間狀態(圖4中支撐部21及支撐構件30被以二點鏈線顯示的狀態)。在本實施型態中,在中間狀態,一對第1前端部41b的每一個及一對第2前端部42b的每一個接觸於物品90的側面90b。When the
在保持準備狀態之一對前端部30b的高度是設定成在中間狀態的前端部30b和被支撐面91a之間隙變成所希望的大小。從縮短保持準備狀態和保持狀態之間的狀態轉移所需時間的觀點,該間隙設定較小者為佳,也可以是設定在保持準備狀態的一對前端部30b的高度,以使該間隙變成零(亦即,在中間狀態前端部30b接觸於被支撐面91a)。於該情況,一對前端部30b的每一個一面接觸被支撐面91a一面移動直到接觸於物品90的側面90b。The height of the pair of
從中間狀態進一步使一對支撐部21於第1方向A相互地接近時,一對支撐構件30朝各自的前端部30b朝第1方向第2側A2移動且向著上方V1的方向繞支點擺動。在本實施型態中,一對第1擺動構件41於各自的第1前端部41b朝第1方向第2側A2移動且向著上方V1的方向繞支點擺動,一對第2擺動構件42於各自的第2前端部42b朝第1方向第2側A2移動且向著上方V1的方向繞支點擺動。而且,在圖6中,以二點鏈線表示在中間狀態的支撐部21及支撐構件30,在圖7中以二點鏈線表示在中間狀態的前端部30b。由於一對支撐構件30是一對支撐部21一面於第1方向A相互地接近,而一面如上述般擺動,所以一對前端部30b(在本實施型態中,一對第1前端部41b及一對第2前端部42b)在第1方向A的相同位置朝上方V1移動。藉此,被支撐面91a藉由一對支撐部30b朝上方V1移動而被朝上方V1舉起,而實現保持狀態(圖6中以實線顯示支撐部21及支撐構件30的狀態)。When the pair of
進行利用保持裝置20所進行之物品90的保持解除時,一對支撐構件30在從保持狀態轉移到保持準備狀態之間,於各自的前端部30b朝第1方向第1側A1移動且向著下方V2的方向繞支點擺動,使被支撐面91a朝下方V2下降。具體說明時,從保持狀態(圖6中以實線表示支撐部21及支撐構件30的狀態)使一對支撐部21於第1方向A相互地分離時,一對支撐構件30是於各自的前端部30b朝第1方向第1側A1移動且向著下方V2的方向繞支點擺動。在本實施型態中,一對第1擺動構件41是於各自的第1前端部41b朝第1方向第1側A1移動且向著下方V2的方向繞支點擺動,一對第2擺動構件42是於各自的第2前端部42b朝第1方向第1側A1移動且向著下方V2的方向繞支點擺動。由於一對支撐構件30是一對支撐部21一面朝第1方向A相互地分離而一面如上述擺動,所以一對前端部30b(在本實施型態中,一對第1前端部41b及一對第2前端部42b)在第1方向A的相同位置朝下方V2移動。藉此,被支撐面91a藉由一對前端部30b朝下方V2移動而朝下方V2下降,使被支撐面91a下降到物品90配置於移載對象處6為止時,便實現中間狀態(圖4中以二點鏈線表示支撐部21及支撐構件30的狀態)。When releasing the holding of the
從中間狀態進一步使一對支撐部21於第1方向A相互地分離時,一對前端部30b的每一個到該等一對前端部30b的間隔成為比被保持部寬度還大的位置為止,在配置於移載對象處6的物品90的被支撐面91a的下方V2朝第1方向第2側A2移動,而實現保持準備狀態。When the pair of
如上述般,在進行利用保持狀裝置20所進行之物品90的保持時,使一對支撐構件30擺動,以使物品90的被支撐面91a被朝上方V1舉起,在進行利用保持裝置20所進行之物品90的保持解除時,使一對支撐構件30擺動,以使物品90的被支撐面91a朝下方V2下降。而且,在本實施型態中,不設用以驅動一對支撐構件30擺動的致動器,為了適切地進行利用保持裝置20所進行之物品90的保持及保持解除,將以下所述之賦予勢能機構61及限制機構62(參照圖8)設於搬送車1(具體來說,保持裝置20)。As described above, when the
賦予勢能機構61是在前端部30b朝第1方向第1側A1移動且向著下方V2擺動的方向,對支撐構件30賦予勢能的機構。前端部30b朝第1方向第1側A1移動且向著下方V2擺動的方向,於圖8中,是前端部30b從以二點鏈線所示的位置朝以實線所示的位置擺動的方向。而且,在圖8及之後參照的圖10及圖11中,以實線表示在保持準備狀態的支撐構件30,且以二點鏈線表示在保持狀態的支撐構件30。如圖8所示,在本實施型態中,對第1擺動構件41賦予勢能的賦予勢能機構61和對第2擺動構件42賦予勢能的賦予勢能機構61是各別地被設置。賦予勢能機構61,例如可以作成使用扭力線圈彈簧等彈簧構件的機構。而且,在之後所參照的圖10及圖11中,省略賦予勢能機構61的圖示。The potential
限制機構62是用以限制支撐構件30的擺動範圍在前端部30b配置於比連結部30a還上方V1規定高度H以上的範圍內的機構。規定高度H是設定成在保持準備狀態之以連結部30a為基準的前端部30b的高度(亦即,連結部30a和前端部30b之鉛直方向V的位置的差)。以比連結部30a還上方V1規定高度H的高度作為下限高度,限制機構62利用限制前端部30b移動到比下限高度還下方V2,而限制支撐構件30的擺動範圍在上述的範圍內。限制機構62,例如,如圖8示意地所示,可以作成藉由一端連結於支撐部21,另一端連結於支撐構件30的繩狀構件的張力,來限制前端部30b移動到比下限高度還下方V2的機構,或是圖雖省略,然而可藉由固定於支撐部21的抵接構件朝支撐構件30抵接,而限制前端部30b移動到比下限高度還下方V2的機構。The restricting
如圖8所示,在本實施型態中,記載第1擺動構件41的擺動範圍的限制機構62、和限制第2擺動構件42的擺動範圍的限制機構62是各別地設置。記載第1擺動構件41的擺動範圍的限制機構62將第1擺動構件41的擺動範圍限制在第1前端部41b配置於比第1連結部41a更往上方V1第1規定高度H1以上的範圍內。有關第1擺動構件41,上述之下限高度成為比第1連結部41a更往上方V1第1規定高度H1的高度。又,記載第2擺動構件42的擺動範圍的限制機構62限制第2擺動構件42的擺動範圍在第2前端部42b配置於比第2連結部42a更往上方V1第2規定高度H2以上的範圍內。有關第2擺動構件42,上述之下限高度成為比第2連結部42a更往上方V1第2規定高度H2的高度。如圖5所示,在本實施型態中,2個規定高度H,即第1規定高度H1和第2規定高度H2是設定為相互不同的大小。As shown in FIG. 8 , in this embodiment, the restricting
由於設有如上述之賦予勢能機構61及限制機構62,所以可藉由賦予勢能機構61使朝第1方向第1側A1移動且向著下方V2擺動的方向的力作用於前端部30b,且藉由限制機構62限制前端部30b移動到比下限高度還下方V2。故而,在保持準備狀態下,如圖4及圖5所示,可適切地維持前端部30b配置於比連結部30a還上方規定高度H的狀態(在本實施型態中,第1前端部41b配置於比第1連結部41a還上方第1規定高度H1,且第2前端部42b配置於比第2連結部42a還上方第2規定高度H2的狀態)。另一方面,在保持狀態下,如圖6所示,由於可藉由因應賦予勢能機構61的賦予勢能力而作用於前端部30b的力,先將一對前端部30b(在本實施型態中,一對第1前端部41b及一對第2前端部42b)壓抵物品90以使從第1方向A的兩側夾著物品90,而可適切地維持保持狀態。Since the potential
又,從保持準狀態朝保持狀態轉移時(具體來說,從中間狀態朝保持狀態轉移時),可一面藉由因應賦予勢能機構61的賦予勢能力而作用於前端部30b的力,將前端部30b壓抵於物品90,一面藉由因與物品90的接觸所產生的反力而使前端部30b於朝第1方向第2側A2移動且向著上方V1的方向(亦即,抵抗賦予勢能機構61的賦予勢能力的方向)擺動,將被支撐面91a舉起。另一方面,在從保持狀態朝保持準備狀態轉移時(具體來說,從保持狀態朝中間狀態轉移時),可一面藉由因應賦予勢能機構61的賦予勢能力而作用於前端部30b的力,將前端部30b壓碰物品90,一面使前端部30b於朝第1方向第1側A1移動且向著下方V2的方向擺動,而下降被支撐面91a。從而,可在保持準備狀態和保持狀態之間的狀態轉移時(具體來說,中間狀態和保持狀態之間的狀態轉移時),使被支撐面91a安定地升降。In addition, when transitioning from the holding standard state to the holding state (specifically, when transitioning from the intermediate state to the holding state), the
然而,如圖3所示,在本實施型態中,移載對象處6中之物品90的姿勢作成水平姿勢S2。因此,在物品90配置於移載對象處6的狀態下,被支撐面91a配置成沿著水平面,且配合此,在保持準備狀態,一對前端部30b(在本實施型態中,一對第1前端部41b及一對第2前端部42b)配置於相同高度(參照圖4、圖5)。又,在保持準備狀態,於一對支撐構件30的每一個,第1前端部41b和第2前端部42b配置於第1方向A的相同位置。However, as shown in FIG. 3, in the present embodiment, the posture of the
另一方面,如圖6及圖7所示,在本實施型態中,在保持狀態,於一對支撐構件30的每一個,第2前端部42b與第1前端部41b在第1方向A的相同位置,是配置於比第1前端部41b還在上方V1。又,在保持狀態,一對第1前端部41b配置於相同高度,一對第2前端部42b配置於相同高度。因此,在保持狀態,被支撐面91a是以對第2方向B傾斜的姿勢,藉由一對支撐構件30支撐。對被支撐面91a的水平面的傾斜角度(在本實施型態中,對第2方向B的傾斜角度)是因應第1前端部41b和第2前端部42b的高低差而決定,例如定為5度。將相對第2方向B中之第1前端部41b配置有第2前端部42b之側(圖7中之左側)作為第2方向第1側,在保持狀態,被支撐面91a以隨著向第2方向第1側而向著上方V1的方向傾斜的姿勢,藉由一對支撐構件30支撐。而且,物品90以開口部92在俯視視角下向著第2方向第1側的朝向藉由保持裝置20保持,藉此,物品90以開口部92向著斜上方的傾斜姿勢S1保持於保持裝置20。On the other hand, as shown in FIGS. 6 and 7 , in the present embodiment, in the holding state, the second
於保持準備狀態及保持狀態下,由於如上述般配置一對第1前端部41b及一對第2前端部42b,所以在進行利用保持裝置20所進行之物品90的保持及保持解除時,可以使被支撐面91a對第2方向B的傾斜角度變化的方式,使被支撐面91a升降。在本實施型態中,在進行利用保持裝置20所進行的物品90的保持時,以使被支撐面91a對第2方向B的傾斜角度從0度增大的方式,舉起被支撐面91a,而使以水平姿勢S2配置於移載對象處6的物品90以傾斜姿勢S1保持於保持裝置20。又,進行利用保持裝置20所進行之物品90的保持解除時,以使被支撐面91a對第2方向B的傾斜角度減少到0度的方式,下降被支撐面91a,而使以傾斜姿勢S1保持於保持裝置20的物品90以水平姿勢S2放置於移載對象處6。In the holding ready state and the holding state, since the pair of first
如圖4及圖5所示,在本實施型態中,第1連結部41a配置於比第2連結部42a還下方V2,且第1擺動構件41中之從第1連結部41a到第1前端部41b的長度,比第2擺動構件42中之從第2連結部42a到第2前端部42b的長度還長。而且,在本實施型態中,如圖4及圖5所示,構成限制機構62,以於保持準備狀態下,第1前端部41b和第2前端部42b在第1方向A的相同位置配置於相同高度。如此,由於在保持準備狀態,第1前端部41b和第2前端部42b在第1方向A的相同位置配置於相同高度,所以在保持狀態下,如圖6及圖7所示,第2前端部42b和第1前端部41b在第1方向A的相同位置配置於比第1前端部41b還上方V1,使被支撐面91a以對第2方向B傾斜的姿勢被支撐。As shown in FIGS. 4 and 5 , in the present embodiment, the first connecting
如圖9所示,物品搬送設備100具備有用以控制搬送車1之動作的控制部80。控制部80具備有CPU等計算處理裝置且具備有記憶體等周邊電路,藉由該等硬體和在計算處理裝置等軟體上實行的程式的協動,而實現控制部80的各機能。控制部80可設於搬送車1,也可與搬送車1獨立地設置。又,控制部80具備有可相互通信地分離的複數個硬體時,也可以是一部分的硬體設於搬送車1,剩下的硬體與搬送車1獨立地設置。As shown in FIG. 9 , the
控制部80利用控制行走驅動部70的驅動,而使本體部10進行沿著移動路徑2移動的移動動作。具體來說,控制部80利用控制行走驅動部70的驅動,而使行走部11進行沿著軌道3行走的行走動作。在本實施型態中,藉由行走部11的行走動作而實現本體部10的移動動作。控制部80在將保持裝置20所保持的物品90搬送到移載對象處6時,在保持裝置20保持了物品90的狀態下使行走部11進行行走動作。又,控制部80利用控制升降驅動部71的驅動,而使升降裝置50進行使保持裝置20升降的升降動作。如上述,由於保持裝置20以傾斜姿勢S1保持物品90,因此如圖3所示,保持於保持裝置20的狀態的物品90以傾斜姿勢S1升降。又,控制部80利用控制保持驅動部72的驅動,使保持裝置20進行保持物品90之保持動作及解除物品90的保持之保持解除動作。物品90的保持動作是從保持準備狀態使一對支撐部21於第1方向A相互地接近而轉移成保持狀態的動作,物品90的保持解除動作是從保持狀態使一對支撐部21於第1方向A相互地分離而轉移成保持準備狀態的動作。The
從移載對象處6將物品90移載到保持裝置20時(亦即,從移載對象處6搬出物品90時),控制部80使行走部11進行使搬送車1行走到對應於移載對象處6的位置(此處,為比移載對象處6還上方V1的位置,且是以俯視視角與移載對象處6重複的位置)的行走動作後,使升降裝置50進行將未保持物品90的保持裝置20從第1位置P1下降到第2位置P2的升降動作。保持裝置20到達第2位置P2時,控制部80使保持裝置20進行物品90的保持動作,之後,使升降裝置50進行使保持裝置20從第2位置P2上升到第1位置P1的升降動作。藉此,保持了物品90的保持裝置20上升到第1位置P1。When the
另一方面,從保持裝置20將物品90移載到移載對象處6時(亦即,將物品90搬入到移載對象處6),控制部80在使行走部11進行使搬送車1行走到對應於移載對象處6的位置的行走動作後,使升降裝置50進行使已保持物品90狀態的保持裝置20從第1位置P1下降到第2位置P2的升降動作。保持裝置20到達第2位置P2時,控制部80使保持裝置20進行物品90的保持解除動作,之後,使升降裝置50進行使保持裝置20從第2位置P2上升到第1位置P1的升降動作。藉此,在將物品90殘留於移載對象處6的狀態下,未保持物品90的保持裝置20上升到第1位置P1。On the other hand, when the
[其他實施型態] 接著,就有關搬送車的其他實施型態進行說明。 [Other implementations] Next, another embodiment of the transport vehicle will be described.
(1)在上述實施型態中,是以在保持狀態,一對支撐構件30各自的前端部30b對被支撐面91a從下方V2接觸的構成為例來進行說明。然而,本揭示並不限定於如此構成,也可作成在保持狀態,連結於一對支撐部30各自的前端部30b的構件對被支撐面91a從下方V2接觸的構成。將如此構成的一例顯示於圖10。在圖10所示的例子中,連結構件43是相當於「連結於前端部的構件」。(1) In the above-described embodiment, in the holding state, the
在圖10所示的例子中,和上述實施型態相同,支撐構件30具備有於第2方向B分離而配置的一對擺動構件,即第1擺動構件41和第2擺動構件42。而且,第1前端部41b和第2前端部42b藉由連結構件43而連結。在圖10所示的例子中,連結構件43形成為朝第2方向B延伸的棒狀(具體來說,四角柱狀),連結構件43的上表面(從下方V2支撐被支撐面91a的支撐面)沿著第2方向B一樣地形成。從而,於保持狀態,連結構件43沿著第2方向B連續地接觸於被支撐面91a。連結構件43中之至少上表面是以可適切地確保被支撐面91a和連結構件43之間的摩擦力的材質(例如,橡膠)形成者為佳。而且,也可以作成在連結構件43的上表面沿第2方向B交互地形成有凹部和凸部的構成等,於保持狀態,連結構件43在沿著第2方向B排列的複數處接觸於被支撐面91a的構成。In the example shown in FIG. 10 , the
在圖10所示的例子中,和上述實施型態相同,在保持狀態下,第2前端部42b和第1前端部41b在第1方向A的相同位置配置於比第1前端部41b還上方V1。因此,在保持狀態下,連結構件43的上表面因應第1前端部41b和第2前端部42b的高低差對水平面傾斜而配置,物品90以傾斜姿勢S1保持於保持裝置20。又,在圖10所示的例子中,和上述實施型態相同,在保持準備狀態下,第1前端部41b和第2前端部42b在第1方向A的相同位置配置於相同高度。因此,第1前端部41b和第2前端部42b的分離距離在保持準備狀態和保持狀態不同,連結構件43以容許在保持準備狀態和保持狀態之間的上述分離距離的變化的方式,連結第1前端部41b和第2前端部42b。例如,可作成使連結構件43為橡膠等彈性構件,且藉由連結構件43的伸縮變形而容許上述分離距離的變化之構成,或是使第1前端部41b及第2前端部42b的至少其中之一和連結構件43的連結構造,作成具有容許相對移動的柔軟性的連結構造,藉以容許上述分離距離的變化的構成。In the example shown in FIG. 10 , as in the above-described embodiment, in the holding state, the second
(2)在上述實施型態中,是以第1連結部41a配置於比第2連結部42a還下方V2,且第1擺動構件41的長度(具體來說,第1擺動構件41中之從第1連結部41a到第1前端部41b的長度)比第2擺動構件42的長度(具體來說,第2擺動構件42之從第2連結部42a到第2前端部42b的長度)還長的構成為例來進行說明。然而,本揭示並部限定於如此之構成,也可以是作成第1連結部41a配置成和第2連結部42a相同的高度的構成、第1擺動構件41的長度和第2擺動構件42的長度相等之構成、或是將該等組合後的構成。圖11顯示第1連結部41a配置成和第2連結部42a相同的高度,且第1擺動構件41的長度和第2擺動構件42的長度相等的構成的一例。例如,被支撐面91a之對第2方向B的傾斜角度於保持準備狀態及保持狀態之任一狀態皆使為0度時,可使用圖11所示的支撐構件30。(2) In the above-described embodiment, the first connecting
將使用圖11所示的支撐構件30的保持裝置20的一例顯示於圖12。在上述實施型態中,相對於在保持狀態,一對支撐構件30使被支撐面91a對水平面傾斜而被支撐(亦即,保持裝置20以傾斜姿勢S1保持物品90),在圖12所示的例子中,在保持狀態,一對支撐構件30將被支撐面91a支撐成沿著水平面(亦即,保持裝置20以水平姿勢S2保持物品90)。圖12所示的保持裝置20,例如可用於使以水平姿勢S2配置於移載對象處6的物品90,就以水平姿勢S2藉由保持裝置20保持的情況。An example of the holding
使用圖11所示的支撐構件30的保持裝置20的其他例子,顯示於圖13。在圖12所示的例子中,和上述實施型態相同,是構成為一對支撐部21的其中之一及與其連結的支撐構件30、以及一對支撐部21的另一及與其連結的支撐構件30相互地成為鏡像對稱的關係,然而在圖13所示的例子中並未如此構成。具體來說,使一對支撐構件30的其中之一為第1支撐構件31,一對支撐構件30的另一為第2支撐構件32,在圖13的例子中,第1支撐構件31的長度(具體來說,第1支撐構件31之從連結部30a到前端部30b的長度)比第2支撐構件32的長度(具體來說,第2支撐構件32之從連結部30a到前端部30b的長度)還長。而且,第1支撐構件31的長度是第1支撐構件31所具備的第1擺動構件41及第2擺動構件42的長度,第2支撐構件32的長度是第2支撐構件32所具備之第1擺動構件41及第2擺動構件42的長度。又,在圖13所示的例子中,連結第1支撐構件31和支撐部21的連結部30a是配置於和連結第2支撐構件32和支撐部21的連結部30a相同高度。Another example of the holding
而且,與圖12所示的例子不同,在圖13所示的例子中,在保持狀態,一對支撐構件30使被支撐面91a對第1方向A傾斜而予以支撐。被支撐面91a對第1方向A的傾斜角度是因應第1支撐構件31的前端部30b和第2支撐構件32的前端部30b的高低差而決定。圖13所示的保持裝置20,例如,可使用於使以水平姿勢S2配置於移載對象處6的物品90,以底面90c對第1方向A傾斜的傾斜姿勢S1藉由保持裝置20保持的情況。而且,在圖13所示的例子中,也可以是使連結第1支撐構件31和支撐部21的連結部30a配置於和連結第2支撐構件32和支撐部21的連結部30a不同的高度,於此情況,也可以是使第1支撐構件31的長度和第2支撐構件32的長度相等。Moreover, unlike the example shown in FIG. 12 , in the example shown in FIG. 13 , in the holding state, the pair of supporting
如此,依據本揭示的技術,利用使第1前端部41b和第2前端部42b的高低差在保持準備狀態和保持狀態不同,而可使被支撐面91a對第2方向B的傾斜角度在保持準備狀態和保持狀態不同,且利用使第1支撐構件31的前端部30b和第2支撐構件32的前端部30b的高低差在保持準備狀態和保持狀態不同,而可使被支撐面91a對第1方向A的傾斜角度在保持準備狀態和保持狀態部不同。進而,也可利用使該等高低差在保持準備狀態和保持狀態相同,而使被支撐面91a的姿勢在保持準備狀態和保持狀態相同。從而,即使是移載對象處6中之物品90的姿勢是傾斜姿勢S1及水平姿勢S2的任一者,也皆可適用本揭示的技術,且即使是利用保持裝置20所進行的物品90的保持姿勢(所希望的保持姿勢)是傾斜姿勢S1及水平姿勢S2的任一者,也皆可適用本揭示的技術。In this way, according to the technology of the present disclosure, the inclination angle of the supported
(3)在上述的實施型態中,支撐構件30是以具備有於第2方向B分離而配置的一對擺動構件,即第1擺動構件41和第2擺動構件42的構成為例來進行說明。但是,本揭示並不限定於如此之構成,例如,支撐構件30可作成取代一對擺動構件而具備有1片板狀構件的構成。(3) In the above-described embodiment, the
(4)在上述的實施型態中,是以未設用以驅動一對支撐構件30的致動器的構成為例來進行說明。然而,本揭示並不限定於此構成,也可作為設有用以驅動一對支撐構件30擺動的致動器的構成。如此在設有用以驅動一對支撐構件30擺動的致動器的情況,也可以是設有在上述實施型態中的賦予勢能機構61及限制機構62的至少任一者。(4) In the above-described embodiment, a configuration in which an actuator for driving the pair of
(5)而且,在上述的各實施型態中所揭示的構成,只要不生矛盾,也可以是和其他實施型態中所揭示的構成而適用(包含作為其他實施型態所說明的實施型態彼此的組合)。關於其他構成,本說明書中所揭示的實施型態在全部的點上也不過是單純的例示。因此,在不脫離本揭示的主旨的範圍內,可適宜地進行種種的改變。(5) Furthermore, the configurations disclosed in the above-mentioned respective embodiments may be applied to the configurations disclosed in other embodiments (including the embodiments described as other embodiments) as long as there is no contradiction. combinations of states). Regarding other configurations, the embodiments disclosed in this specification are mere illustrations in all points. Therefore, various changes can be suitably made in the range which does not deviate from the summary of this disclosure.
[上述實施型態的概要] 以下,就有關上述所說明的搬送車的概要進行說明。 [Outline of the above-mentioned embodiment] Hereinafter, the outline of the transport vehicle described above will be described.
一種用以搬送物品的搬送車,具備有:沿著移動路徑移動的本體部、用以保持前述物品的保持裝置、及使前述保持裝置相對於前述本體部升降的升降裝置,前述物品具備有形成有向著下方的被支撐面的被保持部,前述被支撐面是與該物品的底面平行地配置的面,前述保持裝置具備有:分別連結有從下方支撐前述被支撐面之支撐構件的一對支撐部、及使一對前述支撐部於第1方向相互地接近及分離的保持驅動部,一對前述支撐部的每一個中,將接近前述第1方向中之另一前述支撐部之側作為第1方向第1側,將遠離前述第1方向中之另一前述支撐部之側作為第1方向第2側,前述支撐構件是以與前述支撐部的連結部作為支點而可擺動地連結於前述支撐部,一對前述支撐構件的每一個中之與前述連結部為相反側的前端部配置於比前述連結部還上方且配置於比前述被保持部還下方,且將前述物品位在以比前述被保持部的前述第1方向的寬度還大的間隔而配置的一對前述前端部之間的狀態作為保持準備狀態,將一對前述支撐部比起前述保持準備狀態還朝前述第1方向相互地接近,且一對前述支撐構件的各自的前述前端部或連結於該前端部的構件對前述被支撐面從下方接觸而支撐前述物品的狀態作為保持狀態,一對前述支撐構件在從前述保持準備狀態轉移到前述保持狀態之間,各自的前述前端部朝前述第1方向第2側移動且在向著上方的方向繞前述支點擺動,而將前述被支撐面朝上方舉起。A transport vehicle for transporting articles, comprising: a main body portion moving along a moving path, a holding device for holding the article, and a lifting device for raising and lowering the holding device relative to the main body portion, wherein the article is provided with a formed The held portion has a supported surface facing downward, the supported surface is a surface arranged in parallel with the bottom surface of the article, and the holding device includes a pair of support members each connected to a support member that supports the supported surface from below A support portion, and a holding drive portion for causing a pair of the support portions to approach and separate from each other in the first direction, in each of the pair of the support portions, the side close to the other support portion in the first direction is defined as On the first side in the first direction, the side away from the other support portion in the first direction is defined as the second side in the first direction, and the support member is swingably connected to the support member using the connection portion with the support portion as a fulcrum. In the support portion, a front end portion of each of the pair of support members that is on the opposite side to the connection portion is arranged above the connection portion and below the held portion, and the article is positioned at the following A state between a pair of the front end portions arranged at a distance larger than the width of the held portion in the first direction is regarded as a holding ready state, and a pair of the supporting portions are positioned further toward the first than the holding ready state. The direction is close to each other, and the respective front end portions of a pair of the support members or the members connected to the front end portions are in contact with the supported surface from below to support the article as a holding state. During the transition from the holding preparation state to the holding state, each of the front end portions moves toward the second side in the first direction and swings around the fulcrum in the upward direction to lift the supported surface upward.
依據本構成,利用從保持準備狀態使一對支撐部相互地接近而轉移到保持狀態,而可將配置於移載對象處的物品藉由保持裝置保持。此時,可將和物品的底面平行地配置的被支撐面藉由一對支撐構件的各自的前端部而朝上方舉起以保持物品。因此,在移載對象處中之物品的姿勢和所希望的保持姿勢相同的情況,利用以不改變朝向將被支撐面舉起的方式來構成保持裝置,而可將物品以所希望的保持姿勢保持。又,在移載對象處中之物品的姿勢和所希望的保持姿勢不同的情況,利用以一面使朝向變化成在所希望的保持姿勢的朝向,一面將被支撐面舉起的方式來構成保持裝置,而可將物品以所希望的保持姿勢保持。According to this structure, by making a pair of support parts approach each other from the holding ready state, and shifting to the holding state, it is possible to hold the article arranged at the transfer target by the holding device. At this time, the supported surface arranged in parallel with the bottom surface of the article can be lifted upward by the respective front end portions of the pair of support members to hold the article. Therefore, when the posture of the article in the transfer object is the same as the desired holding posture, the holding device can be configured to lift the supported surface without changing the orientation, and the article can be held in the desired posture. Keep. Also, when the position of the article in the transfer object is different from the desired holding position, the holding position is configured by lifting the supported surface while changing the orientation to the desired holding position. The device can hold the item in the desired holding position.
如此,依據本構成,利用將保持裝置構成為藉由一對支撐構件之各自的前端部將被支撐面朝上方舉起而保持物品,不管移載對象處中之物品的姿勢,可將物品以所希望的保持姿勢藉由保持裝置保持。而且,在本構成中,由於可使朝上方舉起被支撐面的動作,和使一對支撐部接近的動作並行來進行,所以可抑制物品的處理效率降低且實現本揭示的搬送車。In this way, according to the present configuration, by comprising the holding device so as to hold the article by raising the supported surface upward by the respective front end portions of the pair of supporting members, the article can be held in the position of the article in the transfer object regardless of the posture of the article to be transferred. The desired holding posture is held by the holding device. Furthermore, in this configuration, since the operation of lifting the supported surface upward and the operation of bringing the pair of support parts closer together can be performed in parallel, the transport vehicle of the present disclosure can be realized while suppressing a reduction in the handling efficiency of articles.
此處,以下述者為佳:將在俯視視角下與前述第1方向直交的方向作為第2方向,前述支撐構件具備有於前述第2方向分離而配置的一對擺動構件,即第1擺動構件和第2擺動構件,前述連結部具備有前述第1擺動構件連結於前述支撐部的第1連結部、及前述第2擺動構件連結於前述支撐部的第2連結部,前述第1連結部配置於比前述第2連結部還下方,將前述第1擺動構件的前述前端部作為第1前端部,將前述第2擺動構件的前述前端部作為第2前端部,前述第1擺動構件中之從前述第1連結部到前述第1前端部的長度,比前述第2擺動構件中之從前述第2連結部到前述第2前端部的長度還長。Here, it is preferable that a direction perpendicular to the first direction in a plan view is taken as the second direction, and the support member includes a pair of swinging members disposed apart from the second direction, that is, a first swinging member. A member and a second swinging member, wherein the connecting portion includes a first connecting portion where the first swinging member is connected to the support portion, and a second connecting portion where the second swinging member is connected to the support portion, the first connecting portion It is arranged below the second connecting portion, and the front end portion of the first swing member is referred to as a first front end portion, and the front end portion of the second swing member is referred to as a second front end portion. The length from the first connection portion to the first front end portion is longer than the length from the second connection portion to the second front end portion of the second rocking member.
依據本構成,由於可使第1前端部和第2前端部的高低差在保持準備狀態和保持狀態不同,所以以使被支撐面對第2方向的傾斜角度變化的方式舉起被支撐面,而可將配置於移載對象處的物品藉由保持裝置保持。從而,利用移載對象處中之物品的姿勢和所希望的保持姿勢,在底面對第2方向的傾斜角度為不同的姿勢的情況適用本構成,而可將配置於移載對象處的物品,以所希望的姿勢藉由保持裝置保持。例如,利用移載對象處中之物品的姿勢是底面沿著水平面的水平姿勢,所希望的姿勢是底面對第2方向傾斜的傾斜姿勢的情況適用本構成,而可將在移載對象處以水平姿勢配置的物品,以底面對第2方向傾斜的傾斜姿勢藉由保持裝置保持。According to this configuration, since the height difference between the first front end portion and the second front end portion can be made different between the holding ready state and the holding state, the supported surface is lifted so that the inclination angle of the supported surface in the second direction is changed, In addition, the article arranged at the transfer object can be held by the holding device. Therefore, by applying the present configuration when the inclination angle of the bottom face in the second direction is different using the posture of the article at the transfer target and the desired holding posture, the article placed at the transfer target can be , held by the holding device in the desired posture. For example, when the posture of the article in the transfer object is a horizontal posture with the bottom surface along the horizontal plane, and the desired posture is an inclined posture in which the bottom surface is inclined in the second direction, this configuration can be applied, and the transfer object can be The article placed in the horizontal posture is held by the holding device in an inclined posture in which the bottom face is inclined in the second direction.
又,以下述者為佳:將一對前述支撐構件的其中一者作為第1支撐構件,將一對前述支撐構件的另一者作為第2支撐構件,前述第1支撐構件之從前述連結部到前述前端部的長度,比前述第2支撐構件之從前述連結部到前述前端部的長度還長。Moreover, it is preferable to use one of the pair of the support members as the first support member, the other of the pair of the support members as the second support member, and the first support member from the connection portion. The length to the front end portion is longer than the length from the connection portion to the front end portion of the second support member.
依據本構成,相較於第1支撐構件之從連結部到前端部的長度、和第2支撐構件之從連結部到前端部的長度相同的情況,易於使第1支撐構件的前端部和第2支撐構件的前端部的高低差在保持準備狀態和保持狀態變化。從而,利用移載對象處中之物品的姿勢和所希望的保持姿勢,在底面對第1方向的傾斜角度為不同的姿勢的情況適用本構成,而可將配置於移載對象處物品以所希望的保持姿勢藉由保持裝置保持。例如,利用在移載對象處中之物品的姿勢為底面沿著水平面的水平姿勢,所希望的保持姿勢為底面對第1方向傾斜的傾斜姿勢的情況適用本構成,而可將以水平姿勢配置於移載對象處之物品,以底面對第1方向傾斜的傾斜姿勢藉由保持裝置保持。According to this configuration, compared to the case where the length from the connection portion to the front end portion of the first support member and the length from the connection portion to the front end portion of the second support member are the same, the front end portion of the first support member and the front end portion of the first support member can be easily made. 2. The height difference of the front end portion of the support member changes between the holding ready state and the holding state. Therefore, by applying the present configuration when the inclination angle of the bottom face in the first direction is different using the posture of the article in the transfer target and the desired holding posture, the article placed at the transfer target can be The desired holding posture is held by the holding device. For example, the present configuration can be applied to the case where the posture of the article in the transfer object is a horizontal posture with the bottom surface along the horizontal plane, and the desired holding posture is an inclined posture with the bottom surface inclined in the first direction, and the horizontal posture can be used. The article arranged at the transfer object is held by the holding device in an inclined posture in which the bottom face is inclined in the first direction.
又,以下述者為佳:將在俯視視角下與前述第1方向直交的方向作為第2方向,前述支撐構件具備有於前述第2方向分離而配置的一對擺動構件,即第1擺動構件和第2擺動構件,將前述第1擺動構件的前述前端部作為第1前端部,將前述第2擺動構件的前述前端部作為第2前端部,前述第1前端部和前述第2前端部藉由連結構件連結,在前述保持狀態中,前述連結構件沿著前述第2方向連續地、或是在沿著前述第2方向排列的複數處,接觸於前述被支撐面。In addition, it is preferable that a direction perpendicular to the first direction in a plan view is taken as the second direction, and the support member includes a pair of swing members arranged to be separated from the second direction, that is, a first swing member. and a second swing member, wherein the front end portion of the first swing member is referred to as a first front end portion, the front end portion of the second swing member is referred to as a second front end portion, and the first front end portion and the second front end portion are Connected by a connecting member, in the holding state, the connecting member is in contact with the supported surface continuously along the second direction or at plural places arranged along the second direction.
依據本構成,相較於在未設有連結第1前端部和第2前端部的連結構件的情況,可較廣地確保保持狀態中之被支撐面的支撐面積,且易於安定地支撐被支撐面。According to this configuration, compared with the case where the connecting member for connecting the first front end portion and the second front end portion is not provided, the supporting area of the supported surface in the holding state can be secured widely, and the supported surface can be easily supported stably. noodle.
而且,以下述者為佳:於上述各構成的搬送車中具備有:賦予勢能機構,在前述前端部朝前述第1方向第1側移動且向著下方擺動的方向對前述支撐構件賦予勢能;及限制機構,將前述支撐構件的擺動範圍限制在前述前端部配置於比前述連結部更上方規定高度以上的的範圍內。Furthermore, it is preferable that the transport vehicle of each of the above-mentioned structures is provided with a potential energy imparting mechanism for imparting potential energy to the support member in a direction in which the front end portion moves toward the first side in the first direction and swings downward; and The restricting mechanism restricts the swinging range of the support member to a range in which the front end portion is disposed above the connecting portion by a predetermined height or more.
依據本構成,可藉由賦予勢能機構使朝第1方向第1側移動且向著下方擺動的方向的力作用於前端部,且可藉由限制機構限制前端部移動到比起比連結部上方規定高度的高度還下方。從而,在前端部從物品分離而配置的保持準備狀態,可適切地維持支撐構件的前端部配置於比連結部還上方規定高度的狀態。又,從保持準備狀態朝保持狀態轉移時,可一面藉由因應賦予勢能機構的賦予勢能力而作用於前端部的力將前端部壓抵物品,一面藉由與物品的接觸所產生的反力而使前端部在朝第1方向第2側移動且向著上方的方向(亦即,與賦予勢能機構的賦予勢能力抵抗的方向)擺動,將被支撐面舉起。從而,從保持準備狀態朝保持狀態轉移時,可安定地舉起被支撐面。又,在保持狀態,由於可藉由因應賦予勢能機構的賦予勢能力而作用於前端部的力,先將一對前端部壓抵物品以使從第1方向的兩側夾著物品,所以可適切地維持保持狀態。According to this configuration, the force in the direction of moving toward the first side in the first direction and swinging downward by the potential energy imparting mechanism can act on the front end portion, and the movement of the front end portion can be restricted by the restriction mechanism to a predetermined position above the connecting portion. The height of the height is also below. Therefore, in the holding ready state in which the distal end portion is separated from the article and disposed, the state in which the distal end portion of the support member is disposed at a predetermined height above the connecting portion can be appropriately maintained. In addition, when transitioning from the holding ready state to the holding state, the front end portion can be pressed against the article by the force acting on the front end portion according to the potential energy imparted by the potential energy imparting mechanism, and the reaction force generated by the contact with the article can be used. Then, the front end portion is moved to the second side in the first direction and is swung in the upward direction (that is, the direction that resists the potential imparting force of the potential energy imparting mechanism), and the supported surface is lifted. Therefore, the supported surface can be lifted stably when transitioning from the holding ready state to the holding state. Also, in the holding state, the pair of front end portions can be pressed against the article by the force acting on the front end portion in accordance with the potential energy imparted by the potential energy imparting mechanism, so that the article can be sandwiched from both sides in the first direction. Maintain the state appropriately.
又,以下述者為佳:前述物品是於側面具有開口部的容器,前述保持裝置以前述開口部向著斜上方的姿勢保持前述物品。Moreover, it is preferable that the said article is a container which has an opening part in the side surface, and the said holding|maintenance means hold|maintains the said article in the attitude|position which the said opening part faces obliquely upward.
依據本構成,物品為側面具有開口部的容器的情況,可以收容於該物品之收容物難以從開口部移動到物品的外部的姿勢,藉由保持裝置保持物品。According to this configuration, when the article is a container having an opening on the side surface, the article can be held by the holding device in a posture in which the article accommodated in the article is difficult to move from the opening to the outside of the article.
本揭示中之搬送車,在上述之各效果中,只要是可達成至少1個的話即可。In the transport vehicle of the present disclosure, at least one of the above-mentioned effects may be achieved.
1:搬送車 2:移動路徑 3:軌道 4:天花板 5:處理裝置 6:移載對象處 10:本體部 11:行走部 12:車輪 13:導引輪 14:罩部 20:保持裝置 21:支撐部 30:支撐構件 30a:連結部 30b:前端部 31:第1支撐構件 32:第2支撐構件 41:第1擺動構件 41a:第1連接部 41b:第1前端部 42:第2擺動構件 42a:第2連結部 42b:第2前端部 43:連結構件(連結於前端部的構件) 50:升降裝置 51:旋轉體 52:傳動構件 52a:連結部 61:賦予勢能機構 62:限制機構 70:行走驅動部 71:升降驅動部 72:保持驅動部 80:控制部 90:物品 90a:上表面 90b:側面 90c:底面 91:被保持部 91a:被支撐面 92:開口部 93:基板 100:物品搬送設備 A:第1方向 A1:第1方向第1側 A2:第1方向第2側 B:第2方向 H:規定高度 H1:第1規定高度 H2:第2規定高度 L:路徑長度方向 P1:第1位置 P2:第2位置 P3:第3位置 S1:傾斜姿勢 S2:水平姿勢 V:鉛直方向 V1:上方 V2:下方 W:路徑寬度方向 X:車體前後方向 Y:車體左右方向 1: Transporter 2: moving path 3: Track 4: Ceiling 5: Processing device 6: Transfer object 10: Main body 11: Walking Department 12: Wheels 13: Guide wheel 14: Cover part 20: Holding device 21: Support part 30: Support member 30a: Links 30b: Front end 31: 1st support member 32: Second support member 41: 1st swing member 41a: 1st connection part 41b: 1st front end 42: 2nd swing member 42a: Second Link 42b: Second front end 43: Connecting member (member connected to the front end) 50: Lifting device 51: Rotary body 52: Transmission components 52a: Links 61: Empowering Agencies 62: Restricted Agencies 70: Travel drive part 71: Lifting drive part 72: Keep the drive part 80: Control Department 90:Item 90a: upper surface 90b: side 90c: Bottom 91: Retained Ministry 91a: Supported surface 92: Opening 93: Substrate 100: Item handling equipment A: 1st direction A1: 1st direction, 1st side A2: 1st direction, 2nd side B: 2nd direction H: specified height H1: The first specified height H2: The second specified height L: Path length direction P1: 1st position P2: 2nd position P3: 3rd position S1: Leaning Pose S2: Horizontal pose V: vertical direction V1: Above V2: Below W: Path width direction X: Front and rear direction of the car body Y: the left and right direction of the vehicle body
圖1是搬送車的立體圖。 圖2是搬送車的前視圖。 圖3是顯示在保持裝置和移載對像處之間移載物品的狀況的圖示。 圖4是保持準備狀態的說明圖。 圖5是保持準備狀態的說明圖。 圖6是保持狀態的說明圖。 圖7是保持狀態的說明圖。 圖8是支撐部及其附近的立體圖。 圖9是控制塊狀圖。 圖10是其他實施型態中之支撐部及其附近的立體圖。 圖11是其他實施型態中之支撐部及其附近的立體圖。 圖12是其他實施型態中之保持狀態的說明圖。 圖13是其他實施型態中之保持狀態的說明圖。 FIG. 1 is a perspective view of a transfer vehicle. FIG. 2 is a front view of the transport vehicle. FIG. 3 is a diagram showing a state in which an article is transferred between a holding device and a transfer object. FIG. 4 is an explanatory diagram of a holding ready state. FIG. 5 is an explanatory diagram of a holding ready state. FIG. 6 is an explanatory diagram of a holding state. FIG. 7 is an explanatory diagram of a holding state. FIG. 8 is a perspective view of a support portion and its vicinity. FIG. 9 is a control block diagram. FIG. 10 is a perspective view of the support portion and its vicinity in another embodiment. FIG. 11 is a perspective view of the support portion and its vicinity in another embodiment. FIG. 12 is an explanatory diagram of a holding state in another embodiment. FIG. 13 is an explanatory diagram of a holding state in another embodiment.
6:移載對象處 6: Transfer object
21:支撐部 21: Support Department
30:支撐構件 30: Support member
30a:連結部 30a: Links
30b:前端部 30b: Front end
41:第1擺動構件 41: 1st swing member
41a:第1連接部 41a: 1st connection part
41b:第1前端部 41b: 1st front end
42:第2擺動構件 42: 2nd swing member
42a:第2連結部 42a: Second Link
42b:第2前端部 42b: Second front end
90:物品 90:Item
90a:上表面 90a: upper surface
90b:側面 90b: side
90c:底面 90c: Bottom
91:被保持部 91: Retained Ministry
91a:被支撐面 91a: Supported surface
A:第1方向 A: 1st direction
A1:第1方向第1側 A1: 1st direction, 1st side
A2:第1方向第2側 A2: 1st direction, 2nd side
S1:傾斜姿勢 S1: Leaning Pose
V:鉛直方向 V: vertical direction
V1:上方 V1: Above
V2:下方 V2: Below
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JPH08188375A (en) * | 1995-01-04 | 1996-07-23 | Tsubakimoto Chain Co | Tilting mechanism of cassette for work conveying |
JP5574177B2 (en) * | 2010-09-16 | 2014-08-20 | 株式会社ダイフク | Transport device |
JP2013045964A (en) | 2011-08-25 | 2013-03-04 | Sharp Corp | Immersion processing method of substrate to be processed and immersion processing device |
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CN114538103A (en) | 2022-05-27 |
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KR20220071902A (en) | 2022-05-31 |
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