TW202231559A - Transport vehicle - Google Patents

Transport vehicle Download PDF

Info

Publication number
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
Authority
TW
Taiwan
Prior art keywords
holding
support
end portion
pair
article
Prior art date
Application number
TW110143397A
Other languages
Chinese (zh)
Inventor
安部健史
田村健二
Original Assignee
日商大福股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 日商大福股份有限公司 filed Critical 日商大福股份有限公司
Publication of TW202231559A publication Critical patent/TW202231559A/en

Links

Images

Classifications

    • 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
    • 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
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/673—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere using specially adapted carriers or holders; Fixing the workpieces on such carriers or holders
    • H01L21/6732—Vertical carrier comprising wall type elements whereby the substrates are horizontally supported, e.g. comprising sidewalls
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
    • H01L21/67718—Changing orientation of the substrate, e.g. from a horizontal position to a vertical position
    • 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
    • H01L21/67733—Overhead conveying
    • 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

Landscapes

  • 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

Each front end portion 30b of a pair of support members 30 is configured at a position V1 higher than a connection portion 30a and at a position V2 lower than a held portion 91. Moreover, an article 90 located between the pair of front end portions 30b is taken as a holding preparation state. A pair of support portions 21 is closer to each other along a first direction A than in the holding preparation state. A state of each front end portion 30b of the pair of support members 30 or a component connected to the front end portion 30b that is in contact with the supported surface 91a and supports the article 90 from the lower position V2 is taken as a holding state. During the transition from the holding preparation state to the holding state, the respective front end portion 30b of the pair of support members 30 swings around the fulcrum toward the upper position V1 while moving toward second side A2 along the first direction so as to lift the supported surface 91a toward the upper position V1.

Description

搬送車truck

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 Patent Document 1. FIG. In Patent Document 1, as a transport vehicle for transporting articles, a ceiling transport vehicle (A) for transporting a storage container (4) is disclosed. The ceiling transport vehicle (A) is provided with a traveling portion (11) that travels along the traveling path (3), a holding portion (10) for holding the storage container (4), and the holding portion (10) to the traveling portion (10). 11) Lifting device for lifting.

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 Patent Document 1, the container (4) is an open-type wafer cassette in which an opening (6) for taking out and inserting a substrate (5) is formed on the side surface. In order to prevent the substrate (5) from escaping from the opening (6) of the container (4) held in the holding part (10), the ceiling transport vehicle (A) of Patent Document 1 is provided with a device capable of contacting the substrate ( 5) The contact position of the side surface and the separation position of the side surface of the substrate (5) are moved to the contact body (26) which moves out of the preventing mechanism (9).

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 Patent Document 1, it is desirable to use a holding posture that can easily ensure a high tolerance for vibration. The item is held in the holding device. In Patent Document 1, since the article is a container having an opening on the side surface, for example, an inclined posture with the opening obliquely upward makes it difficult for the contained article (substrate in Patent Document 1) to move from the opening to the outside of the article. , that is, a holding posture that is easy to ensure a high tolerance to vibration.

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 Patent Document 1, as shown in FIG. 5 of this document, the article is not placed in an inclined posture but in a horizontal posture in which the opening is directed to the horizontal direction, and is placed at the transfer target. In this way, when the desired holding posture is different from the posture of the article in the transfer object, in order to hold the article in the desired holding posture, a mechanism for changing the posture of the article is provided at the transfer object. , when the article's posture change operation is performed at the transfer object, separately from the article transfer operation between the holding device and the transfer object, the processing efficiency of the article may decrease.

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 article conveyance facility 100 illustrated in FIG. 3 , the conveyance vehicle 1 travels along the movement path 2 to convey the article 90 . As shown in FIGS. 1 to 3 , the transport vehicle 1 includes a main body 10 that moves along the moving path 2 , a holding device 20 for holding the article 90 , and a lifting device 50 that lifts and lowers the main body 10 from the holding device 20 . Here, let the longitudinal direction of the moving path 2 (the direction in which the moving path 2 extends) be the path length direction L, and let the width direction of the moving path 2 be the path width direction W. The path width direction W is a direction orthogonal to both the path length direction L and the vertical direction V. As shown in FIG. In addition, the direction defined with the transport vehicle 1 as a reference (that is, the direction in response to the change in the posture of the transport vehicle 1 ), and the direction along the path length direction L in the state of being arranged on the moving path 2 is defined as the front and rear of the vehicle body The direction X is a direction defined with reference to the transport vehicle 1 , and the direction along the path width direction W in the state of being arranged on the moving path 2 is taken as the vehicle body left-right direction Y.

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 movement path 2 may be formed physically or may be set virtually. In the present embodiment, the moving path 2 is formed physically using the rails 3 . Specifically, the article conveyance apparatus 100 includes rails 3 (here, a pair of rails 3 arranged in the path width direction W at an interval) along the movement path 2 , and the main body 10 moves along the rails 3 . Moreover, in this embodiment, the rail 3 is suspended and supported from the ceiling 4, and the movement path 2 is formed along the ceiling 4. As shown in FIG. That is, in the present embodiment, the transport vehicle 1 is a ceiling transport vehicle that travels along the movement path 2 formed along the ceiling 4 . Further, the transport vehicle 1 may be a transport vehicle other than the ceiling transport vehicle.

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 main body 10 includes a traveling portion 11 having wheels 12 that rotate on a traveling surface of a rail 3 (here, a pair of rails 3 ), and a cover portion connected to the traveling portion 11 . 14. The running surface of the rail 3 is a surface facing upward V1 in the vertical direction V, and the wheel 12 rotates around an axis perpendicular to the vertical direction V. As shown in FIG. The traveling portion 11 is provided with a traveling driving portion 70 (for example, an electric motor such as a servo motor, see FIG. 9 ) that rotates the wheels 12 , and the wheels 12 are rotationally driven by the traveling driving portion 70 . Track 3 walks. As shown in FIG. 2 , in this embodiment, the traveling portion 11 is provided with a guide wheel 13 that rotates on the guide surface of the rail 3 , and the traveling portion 11 contacts the guide wheel 13 guided to the guide rail 3 . In the state of the surface, walk along the track 3. The guide surface of the rail 3 is a surface facing the inner side in the path width direction W (toward the side of the center position in the path width direction W between the pair of rails 3 ), and the guide pulley 13 rotates around the axis along the vertical direction V ( In this case, idling). In the example shown in FIG. 1 , the main body portion 10 is provided with a pair of running portions 11 so as to be arranged in the front-rear direction X of the vehicle body.

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 cover portion 14 is supported by the traveling portion 11 in a state of being arranged in a downward direction V2 in the vertical direction V with respect to the traveling portion 11 . When the transport vehicle 1 travels, the articles 90 held in the holding device 20 are arranged in the inner space of the cover portion 14 . As shown in FIG. 1 , in the present embodiment, the inner space of the cover portion 14 is closed on both sides in the vehicle body front-rear direction X, and at least one side in the vehicle body left-right direction Y is opened. Therefore, the article 90 arranged in the inner space of the cover portion 14 is covered by the wall portion of the cover portion 14 at least from both sides in the front-rear direction X of the vehicle body.

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 article 90 is not limited to this, however, as shown in FIG. 2 , in the present embodiment, the article 90 is a container having an opening 92 on the side surface 90b. The opening 92 is provided for taking out and inserting the articles 90 , and the articles 90 are taken out and inserted through the opening 92 . An opening different from the opening 92 (for example, an opening for weight reduction or cleaning, or an opening formed in the structure of the article 90 ) may be formed on the side surface 90 b of the article 90 . The article 90 is configured so that the article cannot move to the outside of the article 90 without passing through the opening 92 . In the present embodiment, the substrate 93 (an example of the accommodated object) such as a glass substrate or a semiconductor wafer is accommodated in the article 90 . Moreover, in the present embodiment, the article 90 is configured such that a plurality of substrates 93 can be arranged and accommodated in an up-down direction (a direction along the vertical direction V in a state where the bottom surface 90c is horizontally arranged).

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 article 90 is not provided with a cover for closing the opening 92 . For example, an open cassette can be used as the item 90 . The article 90 may be configured to include a lid that closes the opening 92 . In this case, for example, a FOUP (Front Opening Unified Pod) can be used as the article 90 .

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 device 50 includes an elevating drive unit 71 (for example, an electric motor such as a servo motor, see FIG. 9 ) that elevates the holding device 20 . The elevating device 50 elevates the holding device 20 between a first position P1 (see FIGS. 2 and 3 ) and a second position P2 (see FIG. 3 ) that is V2 below the first position P1 . The first position P1 is located at the upper end of the vertical direction (vertical direction V). The first position P1 is a position in the vertical direction V of the holding device 20 when the main body portion 10 is moved. That is, the first position P1 is the position of the holding device 20 when the transport vehicle 1 is traveling. In the present embodiment, the first position P1 is a position where the article 90 in the state held by the holding device 20 is disposed in the holding device 20 in the inner space of the cover portion 14 . In addition, the second position P2 is a position in the vertical direction V of the holding device 20 when holding and releasing the article 90 by the holding device 20 are performed. That is, the second position P2 is a position where the holding and releasing of the article 90 by the holding device 20 is performed, in other words, the holding device 20 when the article 90 is transferred between the holding device 20 and the transfer object 6 s position. The second position P2 is set according to the height of each transfer object 6 (position in the vertical direction V).

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 processing apparatus 5 is shown as an example of the transfer object 6. FIG. The processing apparatus 5 is an apparatus which treats the article 90 as a processing object, and in this embodiment, processes the substrate 93 taken out from the article 90 . As shown in FIG. 3 , the article 90 is arranged at the transfer object 6 so that the opening 92 faces the processing apparatus 5 side. In the present embodiment, the article 90 is placed at the transfer object 6 in the horizontal posture S2 with the bottom surface 90c along the horizontal plane. Since the horizontal posture S2 is a posture in which the opening 92 faces the horizontal direction, by placing the article 90 at the transfer object 6 in the horizontal posture S2, the substrate 93 can be easily placed on the article 90 through the opening 92 at the transfer target 6. take out and put in.

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 device 50 includes a rotary body 51 that is rotationally driven, and a transmission member 52 that is freely wound around the rotary body 51 and coupled to the holding device 20 . The elevating device 50 further includes the elevating drive unit 71 (refer to FIG. 9 ) that drives the rotating body 51 to rotate. The rotating body 51 and the elevating driving part 71 are supported by the main body part 10 , and in the present embodiment, are arranged in the upper part V1 of the inner space of the cover part 14 . For example, the transmission member 52 may be a belt, and the rotating body 51 may be a winding pulley for winding the belt, or the transmission member 52 may be a wire, and the rotating body 51 may be a winding drum for winding the wire. constitute. As shown in FIG. 3 , the connecting portion 52 a provided on the front end side of the transmission member 52 drawn out from the rotating body 51 is connected to the holding device 20 . The elevating device 50 rotates the rotating body 51 by the driving of the elevating driving part 71 , and winds up or pulls out the transmission member 52 , thereby elevating or descending the holding device 20 (ie, elevating). In this way, the lifting device 50 lifts and lowers the holding device 20 in a state where the holding device 20 is suspended and supported.

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 device 50 includes a plurality of rotating bodies 51 , and a transmission member 52 is wound around each of the plurality of rotating bodies 51 . In the example shown in FIGS. 2 and 3 , the elevating device 50 includes three rotating bodies 51 . Furthermore, the respective connection portions 52 a of the plurality of transmission members 52 (in this example, three transmission members 52 ) are connected to the holding device 20 . The plurality of connection parts 52a are connected to different parts of the holding device 20 . 2 and 3 , in order to show that the lifting device 50 includes a plurality of rotating bodies 51, the plurality of rotating bodies 51 are arranged on different axes, but the plurality of rotating bodies 51 may be arranged and arranged in a row. on the coaxial. 3, although the connection part 52a of the transmission member 52 is arranged just below the rotating body 51 around which the transmission member 52 is wound, it may be a part of the transmission member 52 pulled out from the rotating body 51. It is wound around a rotating body for guiding (a pulley for guiding, etc.), and the connecting portion 52a of the transmission member 52 is arranged directly below the rotating body for guiding.

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 article 90 is provided with a held portion 91 in which a supported surface 91 a is formed. The held surface 91a is a surface arranged in parallel with the bottom surface 90c of the article 90, and is a surface facing downward V2. As shown in FIGS. 4 and 6 , the holding device 20 includes a pair of support parts 21 to which the support members 30 supported by the support surface 91 a from below V2 are respectively connected, and the article 90 is held by the pair of support parts 21 . In the example shown in FIG. 2 , the holding device 20 holds the article 90 from above V1 . Hereinafter, the support member 30 connected to one of the pair of support parts 21 and the support member 30 connected to the other of the pair of support parts 21 are collectively referred to as a pair of support members 30 .

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 upper surface 90 a of the article 90 is used as the held portion 91 . As shown in FIG. 4 , the held portion 91 is formed to have a protruding portion protruding outward (horizontally outward) with respect to the side surface 90b of the article 90, and the lower surface of the protruding portion constitutes a supported surface 91a. Furthermore, the configuration of the held portion 91 is not limited to this, and for example, a configuration in which the held portion 91 is formed on the side surface portion of the side surface 90b constituting the article 90 may be employed.

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 device 20 includes a holding driving unit 72 (for example, an electromagnetic coil or an electric motor, see FIG. 9 ) that makes the pair of support portions 21 approach and separate from each other in the first direction A. As shown in FIG. The first direction A is the arrangement direction of the pair of support parts 21 (here, the horizontal direction along the horizontal plane), and the pair of support parts 21 are separated in the first direction A and arranged. The pair of support portions 21 are supported so as to be movable in the first direction A by a portion (body portion) to which the transmission member 52 (specifically, the connection portion 52 a ) of the holding device 20 is connected. Then, the holding drive portion 72 moves each of the pair of support portions 21 along the first direction A, and causes the pair of support portions 21 to approach and separate from each other.

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 device 20 holds the article 90 in the inclined posture S1 in which the bottom surface 90c is inclined (eg, inclined at 5 degrees) with respect to the horizontal plane. Specifically, the holding device 20 holds the article 90 in a posture (an example of the inclined posture S1 ) in which the opening portion 92 faces obliquely upward. The direction of the opening 92 is defined as the direction toward the outside of the article 90 along the moving direction of the stored object when the object (in this embodiment, the substrate 93 ) is taken out and inserted through the opening 92 . In order to hold the article 90 in this way, as shown in FIG. 3, the holding device 20 is in a state in which the holding device 20 is located at the first position P1, or in a state in which the holding device 20 is located at the third position P3 between the first position P1 and the second position P2. Next, the article 90 is held by the holding device 20 in the inclined posture S1.

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 device 20 is illustrated in the orientation in which the pair of support parts 21 approach and separate from each other in the vehicle body front-rear direction X (refer to FIG. 1 ) (that is, the first direction A is along the vehicle body front-rear direction X). However, the holding device 20 may be arranged in an orientation in which the pair of support parts 21 approach and separate from each other in the vehicle body left-right direction Y (that is, an orientation along the vehicle body left-right direction Y in the first direction A) ) is configured. 1 to 3 illustrate the case where the article 90 is held by the holding device 20 with the opening 92 facing one of the vehicle body left-right directions Y, but the article 90 may be held by the opening 92 is held by the holding device 20 in the direction of one of the sides in the vehicle body front-rear direction X. Furthermore, the transport vehicle 1 may be provided with a mechanism for rotating the holding device 20 around the axis along the vertical direction V with respect to the main body portion 10 . From the viewpoint of more reliably preventing the substrate 93 accommodated in the article 90 from moving from the opening 92 to the outside of the article 90 when the transport vehicle 1 travels, the article 90 is oriented so that the opening 92 faces the wall of the cover 14 . It is preferable that the structure is held by the holding device 20 .

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 support member 30 is swingably connected to the support portion 21 with the connection portion 30 a with the support portion 21 serving as a fulcrum. The connection part 30a is provided with a member (for example, a hinge) that connects the support part 21 and the support member 30 so as to be relatively rotatable about the fulcrum. The support member 30 is connected to the support portion 21 so as to be able to swing about the axis along the second direction B by making the direction perpendicular to the first direction A (here, the horizontal direction) as the second direction B in plan view. For each of the pair of support parts 21 , the side close to the other support part 21 in the first direction A is designated as the first side A1 in the first direction, and the side away from the other support part 21 in the first direction A is designated as the first side A1 . On the first direction second side A2, the front end portion 30b of the support member 30 on the opposite side to the connecting portion 30a is disposed on the first direction first side A1 with respect to the support portion 21 to which the support member 30 is connected. Therefore, as shown in FIG. 4 , the pair of front end portions 30 b (one front end portion 30 b and the other front end portion 30 b of the pair of support members 30 ) are arranged between the first direction A of the pair of support portions 21 .

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 front end portion 30b of the support member 30 may be formed of the same material as the main body portion of the support member 30 (the portion connecting the connection portion 30a and the front end portion 30b), or may be formed of a different material. However, in this embodiment, as will be described later Yes, the front end portion 30b holds the article 90 in the holding device 20 in a state in which the front end portion 30b is in contact with the supported surface 91a from below V2. Therefore, the front end portion 30b is preferably formed of a material (eg, rubber) that can appropriately secure the frictional force between the supported surface 91a and the front end portion 30b. In addition, although the shape of the front-end|tip part 30b is made into a spherical shape in FIG. 4 etc., the size and shape of each part in each figure are conceptual, and the actual size and shape are not limited to this.

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 support parts 21 and the support member 30 connected to it, and the other of the pair of support parts 21 and the support member 30 connected to it are configured such that the pair of support parts The center position of the 1st direction A between 21 sets the plane orthogonal to the 1st direction A as a symmetry plane, and becomes a mirror-symmetrical relationship with each other. Therefore, the support portion 21 paired with the support portion 21 shown in FIG. 8 and the support member 30 connected thereto have a configuration in which the support portion 21 shown in FIG. 8 and the support member 30 connected thereto are reversed in the first direction A .

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 support member 30 includes a pair of rocking members that are spaced apart in the second direction B, that is, a first rocking member 41 and a second rocking member 42 . Therefore, the connection portion 30 a that connects the support portion 21 and the support member 30 includes a first connection portion 41 a that connects the first swing member 41 to the support portion 21 , and a second connection portion that connects the second swing member 42 to the support portion 21 . part 42a. When the front end portion 30b of the first rocking member 41 is used as the first front end portion 41b, and the front end portion 30b of the second rocking member 42 is used as the second front end portion 42b, in this embodiment, the front end portion of the support member 30 is 30 b includes a first front end portion 41 b of the first rocking member 41 included in the support member 30 , and a second front end portion 42 b of the second swing member 42 included in the support member 30 . Hereinafter, when describing matters common to the first rocking member 41 and the second rocking member 42, these rocking members will not be distinguished and will be described as the support member 30, and the first front end portion 41b and the second front end portion 42b will be described. When describing the common items, these front end portions will be described as the front end portion 30b without distinguishing them, and when describing the common matters about the first connecting portion 41a and the second connecting portion 42a, these connecting portions will be described without distinguishing them as the front end portion 30b. The connection part 30a is demonstrated.

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 member 41 is connected to the support portion 21 so as to be rockable (specifically, rockable about the axis along the second direction B) using the first connecting portion 41 a as a fulcrum, and the second rocking member 42 is connected to the support portion 21 by using the first connecting portion 41 a as a fulcrum. 2. The connection part 42a is connected to the support part 21 so that it can rock|fluctuate (specifically, it can rock|fluctuate about the axis center along the 2nd direction B) as a fulcrum. The shape of the first rocking member 41 and the second rocking member 42 is not limited to this, but in the present embodiment, the first rocking member 41 and the second rocking member 42 are rod-shaped members such as rods, and one end in the longitudinal direction is The side is connected to the support part 21 through the connection part 30a. Hereinafter, the first rocking member 41 provided in one of the pair of support members 30 and the first rocking member 41 provided in the other of the pair of supporting members 30 are collectively referred to as a pair of first rocking members 41. The second rocking portion 42 provided on one of the pair of supporting members 30 and the second rocking member 42 provided on the other of the pair of supporting members 30 are collectively referred to as a pair of second rocking members 42 .

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 front end portions 30b of the pair of support members 30 are arranged above the connecting portion 30a by V1 and below the held portion 91 by V2, and the article 90 (specifically, the article 90 (specifically, is arranged in the transfer) A state in which the article 90 at the object 6) is positioned between a pair of front end portions 30b arranged at an interval larger than the width of the held portion 91 in the first direction A (hereinafter, referred to as "the width of the held portion"). , as a hold-ready state. In the holding ready state, each of a pair of front-end|tip parts 30b is spaced apart from the article|item 90, and is arrange|positioned. In this embodiment, the state of the support portion 21 and the support member 30 indicated by the solid line in FIG. 4 is the holding ready state.

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 front end portion 30b of the support member 30 is positioned above the connection portion 30a by V1 means that the front end portion 30b of the support member 30 is disposed above the connection portion 30a connecting the support member 30 and the support portion 21 by V1. In the present embodiment, since one of the pair of support members 30 and the other are arranged in a mirror-symmetrical relationship as described above, the connecting portion 30a connecting one of the pair of support members 30 and the support portion 21 is It is arrange|positioned at the same height as the connection member 30a which connects the other one of a pair of support members 30 and the support part 21. In addition, in this embodiment, the expression that the front end portion 30b of the support member 30 is arranged higher than the connection portion 30a V1 means that the first front end portion 41b of the first rocking member 41 is arranged higher than the first connection portion 41a. V1, and the second front end portion 42b of the second rocking member 42 is disposed above the second connecting portion 42a by V1.

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 distal end portion 30b of the support member 30 is arranged lower than the held portion 91 by V2 means that the distal end portion 30b is held in the held portion 91, which will be described later, and the portion that contacts the distal end portion 30b is arranged downward. v2. In the present embodiment, since the article 90 is placed at the transfer target 6 in the horizontal posture S2, the held portion 91 (specifically, the supported surface 91a) is in a state where the article 90 is placed at the transfer target 6 ) are arranged along the horizontal plane, and the pair of front end portions 30b are arranged at a lower position V2 than the entire portion to be held 91 in the holding ready state. Further, in the present embodiment, that the front end portion 30 b of the support member 30 is arranged below the held portion 91 V2 means that the first front end portion 41 b of the first rocking member 41 is arranged below the held portion 91 . V2, and the second front end portion 42b of the second rocking member 42 is disposed below the held portion 91 by V2.

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 article 90 is positioned between the pair of front end portions 30b arranged at a distance larger than the width of the held portion, it means that the article 90 is positioned at a distance larger than the width of the held portion. The articles 90 are arranged at a distance larger than the width of the held portion between the first front end portions 41b (one of the first front end portions 41b of the pair of first swing members 41 and the other first front end portion 41b) between the pair of second front end portions 42b (one second front end portion 42b of the pair of second swing members 42 and the other second front end portion 42b).

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 support parts 21 are brought closer to each other in the first direction A than in the holding ready state, and the respective front end parts 30 b of the pair of supporting members 30 or the members connected to the front end parts 30 b are viewed from below to the supported surface 91 a The state in which V2 contacts and supports the article 90 is regarded as the holding state. In the present embodiment, in the holding state, the respective front end portions 30b of the pair of supporting members 30 are in contact with the supported surface 91a from below V2. In addition, in the present embodiment, in the holding state, the pair of support members 30 support the supported surface 91a by inclining the surface 91a with respect to the horizontal surface. In this embodiment, the state of the support portion 21 and the support member 30 shown by the solid line in FIG. 6 is the holding state. In the present embodiment, the support member 30 includes a first rocking member 41 and a second rocking member 42 . Therefore, as shown in FIGS. 6 and 7 , in the holding state, the respective first front end portions 41b of the pair of first rocking members 41 and the respective second front end portions 42b of the pair of second rocking members 42 are opposed to the supported surface. 91a contacts V2 from below.

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 device 20 is arranged at the above-mentioned second position P2 (see FIG. 3 ), the pair of support portions 21 are arranged at a height that enables the holding ready state. Then, when the article 90 is held by the holding device 20, in a state where the holding device 20 is arranged at the second position P2, the pair of support parts 21 are driven to shift from the holding ready state to the holding state, and the When releasing the holding of the article 90 by the holding device 20, the pair of support parts 21 are driven to shift from the holding state to the holding releasing state while the holding device 20 is at the second position P2. In addition, the hold release state is the same state as the hold preparation state, and hereinafter, the hold release state is also referred to as the hold preparation state.

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 article 90 is held by the holding device 20, the respective front end portions 30b of the pair of support members 30 move toward the second side A2 in the first direction and move toward the upper V1 between the holding ready state and the holding state. The direction swings around the fulcrum, and the supported surface 91a is lifted upwards V1. Specifically, as described above, in the holding ready state, the respective front end portions 30b of the pair of support members 30 are arranged above the connecting portion 30a by V1 and below the held portion 91 by V2. Therefore, by bringing the pair of support parts 21 close to each other in the first direction A from the holding ready state, each of the pair of front end parts 30 b can be made to face the first side in the first direction below V2 of the supported surface 91 a of the article 90 A1 moves to the position where it contacts the side surface 90b of the article 90 (the position of the front end portion 30b shown by the two-dot chain line in FIG. 4). That is, by bringing the pair of support portions 21 closer to each other in the first direction A from the holding ready state, each of the pair of front end portions 30b is brought into contact with the side surface 90b of the article 90 placed at the transfer object 6 (specifically, In other words, it is an intermediate state (a state in which the support portion 21 and the support member 30 are shown by a two-dot chain line in FIG. 4 ) than the supported surface 91a of the side surface 90b (the portion V2 below). In the present embodiment, in the intermediate state, each of the pair of first front end portions 41 b and each of the pair of second front end portions 42 b are in contact with the side surface 90 b of the article 90 .

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 front end portions 30b in one of the holding ready states is set so that the gap between the front end portion 30b and the supported surface 91a in the intermediate state becomes a desired size. From the viewpoint of shortening the time required for the state transition between the holding ready state and the holding state, the gap is preferably set to be smaller, and the height of the pair of front end portions 30b in the holding ready state may be set so that the gap becomes Zero (that is, the front end portion 30b is in contact with the supported surface 91a in the intermediate state). In this case, each of the pair of front end portions 30b moves until it contacts the side surface 90b of the article 90 while contacting the supported surface 91a.

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 support parts 21 are further brought close to each other in the first direction A from the intermediate state, the pair of support members 30 move toward the first direction second side A2 toward the respective front end parts 30b and swing around the fulcrum in the direction of the upper V1. In the present embodiment, the pair of first rocking members 41 move toward the second side A2 in the first direction at the respective first front end portions 41b and swing around the fulcrum in the direction of the upper V1, and the pair of second rocking members 42 are respectively The 2nd front-end part 42b moves toward the 1st direction 2nd side A2, and swings about a fulcrum in the direction of upper V1. Moreover, in FIG. 6, the support part 21 and the support member 30 in the intermediate state are shown by the two-dotted chain line, and the front end part 30b in the intermediate state is shown by the two-dotted chain line in FIG. The pair of support members 30 is formed by the pair of support portions 21 being close to each other in the first direction A and swinging as described above, so the pair of front end portions 30b (in the present embodiment, the pair of first front end portions 41b And a pair of 2nd front-end|tip part 42b) moves to upper direction V1 at the same position of 1st direction A. Thereby, the supported surface 91a is lifted upward V1 by the pair of support parts 30b moving upward V1, and a holding state is realized (the state of the support part 21 and the support member 30 is shown by a solid line in FIG. 6).

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 article 90 by the holding device 20, the pair of support members 30 move toward the first side A1 in the first direction and downward at the respective front end portions 30b between the holding state and the holding ready state. The direction of V2 swings around the fulcrum, and the supported surface 91a is lowered toward the downward V2. Specifically, when the pair of support parts 21 are separated from each other in the first direction A from the holding state (the state in which the support part 21 and the support member 30 are shown by solid lines in FIG. 6 ), the pair of support members 30 are separated from each other. The front end portion 30b moves toward the first side A1 in the first direction and swings around the fulcrum in the direction of the downward direction V2. In the present embodiment, the pair of first rocking members 41 move toward the first side A1 in the first direction at the respective first front end portions 41b and swing around the fulcrum in the direction of the downward V2, and the pair of second rocking members 42 are It moves to the 1st direction 1st side A1 in each 2nd front-end|tip part 42b, and swings about a fulcrum in the direction of downward V2. Since the pair of support members 30 are the pair of support portions 21 separated from each other in the first direction A and swing as described above, the pair of front end portions 30b (in the present embodiment, the pair of first front end portions 41b and A pair of 2nd front-end|tip part 42b) moves to the downward direction V2 at the same position in the 1st direction A. Thereby, the supported surface 91a is lowered toward the downward V2 by the pair of front end portions 30b moving downward V2, and when the supported surface 91a is lowered until the article 90 is placed at the transfer object 6, an intermediate state is achieved ( FIG. 4 ). The states of the support portion 21 and the support member 30 are indicated by a two-dot chain line).

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 support portions 21 are further separated from each other in the first direction A from the intermediate state, the distance between each of the pair of front end portions 30b and the pair of front end portions 30b becomes a position larger than the width of the held portion, The lower V2 of the supported surface 91a of the article 90 arranged at the transfer object 6 moves toward the second side A2 in the first direction, thereby realizing the holding ready state.

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 article 90 is held by the holding device 20, the pair of support members 30 is swung so that the supported surface 91a of the article 90 is lifted upward V1, and the holding device 20 is used to hold the article 90. When the holding of the article 90 is released, the pair of support members 30 is swung so that the supported surface 91a of the article 90 is lowered downward V2. Furthermore, in the present embodiment, an actuator for driving the pair of support members 30 to swing is not provided, and in order to appropriately perform the holding and release of the article 90 by the holding device 20, the following is given to The potential energy mechanism 61 and the restriction mechanism 62 (see FIG. 8 ) are provided in the transport vehicle 1 (specifically, the holding device 20 ).

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 energy imparting mechanism 61 is a mechanism for imparting potential energy to the support member 30 in the direction in which the distal end portion 30b moves toward the first side A1 in the first direction and swings downward V2. The direction in which the front end portion 30b moves toward the first side A1 in the first direction and swings downward V2 is the direction in which the front end portion 30b swings from the position shown by the two-dot chain line to the position shown by the solid line in FIG. 8 . . In addition, in FIG. 8 and FIGS. 10 and 11 referred to later, the support member 30 in the holding ready state is shown by a solid line, and the support member 30 in the holding state is shown by a two-dot chain line. As shown in FIG. 8 , in the present embodiment, a potential energy imparting mechanism 61 for imparting potential energy to the first rocking member 41 and a potential energy imparting mechanism 61 for imparting potential energy to the second rocking member 42 are provided separately. The potential energy imparting mechanism 61 may be, for example, a mechanism using a spring member such as a torsion coil spring. In addition, in FIGS. 10 and 11 to be referred to later, illustration of the potential energy imparting mechanism 61 is omitted.

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 mechanism 62 is a mechanism for restricting the swinging range of the support member 30 in a range in which the distal end portion 30b is disposed above the connecting portion 30a by a predetermined height H above V1. The predetermined height H is set to be the height of the front end portion 30b with respect to the connection portion 30a in the holding ready state (that is, the difference in the position of the connection portion 30a and the front end portion 30b in the vertical direction V). The lower limit height is the height H above the connecting portion 30a by a predetermined height V1, and the restricting mechanism 62 restricts the movement of the front end portion 30b to V2 below the lower limit height by restricting the swing range of the support member 30 within the above-mentioned range. For example, as schematically shown in FIG. 8 , the restricting mechanism 62 may be configured to restrict the movement of the front end portion 30b to a height lower than the lower limit height by the tension of a string-like member whose one end is connected to the support portion 21 and the other end is connected to the support member 30 . The mechanism of the lower V2 may be a mechanism that restricts the movement of the front end portion 30b to the lower V2 lower than the lower limit height by abutting the abutting member fixed to the supporting portion 21 against the supporting member 30, although the figure is omitted.

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 mechanism 62 describing the swinging range of the first swinging member 41 and the restricting mechanism 62 restricting the swinging range of the second swinging member 42 are provided separately. The restricting mechanism 62 that describes the swinging range of the first swinging member 41 restricts the swinging range of the first swinging member 41 to a range where the first front end portion 41b is disposed above the first connecting portion 41a and above the first predetermined height H1. . About the 1st rocking member 41, the said lower limit height becomes the height of the 1st predetermined height H1 further upwards V1 than the 1st connection part 41a. In addition, the restricting mechanism 62 describing the swinging range of the second swinging member 42 restricts the swinging range of the second swinging member 42. The second front end portion 42b is arranged above the second connecting portion 42a in a range above the second predetermined height H2 V1 Inside. About the 2nd rocking member 42, the said lower limit height becomes the height of the 2nd predetermined height H2 further upwards V1 than the 2nd connection part 42a. As shown in FIG. 5 , in the present embodiment, the two predetermined heights H, that is, the first predetermined height H1 and the second predetermined height H2 are set to have different magnitudes from each other.

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 energy imparting mechanism 61 and the restricting mechanism 62 are provided as described above, the force imparting force in the direction of moving toward the first side A1 in the first direction and swinging in the downward direction V2 can act on the front end portion 30b by the potential energy imparting mechanism 61, and by The restricting mechanism 62 restricts the movement of the front end portion 30b to a lower position V2 than the lower limit height. Therefore, in the holding ready state, as shown in FIGS. 4 and 5 , the state in which the distal end portion 30b is arranged at a predetermined height H higher than the connecting portion 30a can be appropriately maintained (in the present embodiment, the first distal end portion 41b It is arrange|positioned at the 1st predetermined height H1 higher than the 1st connection part 41a, and the 2nd front-end part 42b is arrange|positioned at the 2nd predetermined height H2 higher than the 2nd connection part 42a). On the other hand, in the holding state, as shown in FIG. 6 , the pair of front end portions 30b (in the present embodiment) can be firstly attached to the front end portions 30b by the force acting on the front end portions 30b according to the potential energy imparted to the potential energy mechanism 61 . Among them, the pair of first front end portions 41b and the pair of second front end portions 42b) press against the article 90 so as to sandwich the article 90 from both sides in the first direction A, so that the holding state can be appropriately maintained.

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 front end portion 30b can be moved by a force acting on the front end portion 30b in accordance with the potential energy imparted to the potential energy mechanism 61 . The portion 30b is pressed against the article 90, and the front end portion 30b is moved in the direction of the second side A2 in the first direction and in the direction of the upper V1 by the reaction force generated by the contact with the article 90 (that is, resisting the imparted potential energy). The direction in which the mechanism 61 imparts potential energy) swings, and is lifted by the supported surface 91a. On the other hand, when transitioning from the holding state to the holding ready state (specifically, when transitioning from the holding state to the intermediate state), the force acting on the front end portion 30 b in accordance with the potential energy imparted to the potential energy mechanism 61 can be applied. The front end portion 30b is pressed against the article 90, and the supported surface 91a is lowered while the front end portion 30b is moved toward the first side A1 in the first direction and swung in the direction of the downward V2. Therefore, the supported surface 91a can be stably raised and lowered during the state transition between the holding ready state and the holding state (specifically, during the state transition between the intermediate state and the holding state).

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 article 90 in the transfer object 6 is the horizontal posture S2. Therefore, in the state where the article 90 is arranged at the transfer object 6, the supported surface 91a is arranged along the horizontal plane, and in accordance with this, the pair of front end portions 30b (in the present embodiment, a pair of front ends 30b) The 1st front-end|tip part 41b and a pair of 2nd front-end|tip part 42b) are arrange|positioned at the same height (refer FIG. 4, FIG. 5). Moreover, in the holding|maintenance preparation state, the 1st front-end|tip part 41b and the 2nd front-end|tip part 42b are arrange|positioned at the same position in the 1st direction A for each of a pair of support member 30. As shown in FIG.

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 front end portion 42 b and the first front end portion 41 b of each of the pair of support members 30 are in the first direction A. The same position of , is arranged above the first front end portion 41b by V1. Moreover, in a holding state, a pair of 1st front-end|tip part 41b is arrange|positioned at the same height, and a pair of 2nd front-end|tip part 42b is arrange|positioned at the same height. Therefore, in the holding state, the supported surface 91 a is supported by the pair of supporting members 30 in a posture inclined with respect to the second direction B. As shown in FIG. The inclination angle with respect to the horizontal plane of the supported surface 91a (in the present embodiment, the inclination angle in the second direction B) is determined according to the height difference between the first front end portion 41b and the second front end portion 42b, and is, for example, 5 Spend. The side where the second front end portion 42b is arranged with respect to the first front end portion 41b in the second direction B (the left side in FIG. 7 ) is referred to as the first side in the second direction. The posture in which the two are inclined in the direction of the upper V1 toward the first side is supported by a pair of support members 30 . The article 90 is held by the holding device 20 with the opening 92 facing toward the first side in the second direction in plan view, whereby the article 90 is held by the holding device 20 in the inclined posture S1 with the opening 92 facing obliquely upward.

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 front end portions 41b and the pair of second front end portions 42b are arranged as described above, it is possible to hold and release the article 90 by the holding device 20. The supported surface 91a is raised and lowered so that the inclination angle of the supported surface 91a with respect to the second direction B is changed. In the present embodiment, when holding the article 90 by the holding device 20, the supported surface 91a is lifted so that the inclination angle of the supported surface 91a with respect to the second direction B is increased from 0 degrees , and the article 90 placed at the transfer object 6 in the horizontal posture S2 is held by the holding device 20 in the inclined posture S1. In addition, when releasing the holding of the article 90 by the holding device 20, the supported surface 91a is lowered so that the inclination angle of the supported surface 91a with respect to the second direction B is reduced to 0 degrees, and the inclined posture S1 is made. The article 90 held by the holding device 20 is placed on the transfer object 6 in the horizontal posture S2.

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 portion 41a is arranged below the second connecting portion 42a by V2, and the first connecting portion 41a to the first connecting portion 41a of the first rocking member 41 is located below the second connecting portion 42a by V2. The length of the distal end portion 41b is longer than the length from the second connecting portion 42a to the second distal end portion 42b in the second rocking member 42 . Furthermore, in the present embodiment, as shown in FIGS. 4 and 5 , the restricting mechanism 62 is configured so that the first distal end portion 41b and the second distal end portion 42b are arranged at the same position in the first direction A in the holding ready state. at the same height. In this way, in the holding ready state, the first front end portion 41b and the second front end portion 42b are arranged at the same position in the first direction A and at the same height. Therefore, in the holding state, as shown in FIGS. 6 and 7 , the second front end portion 42b The portion 42b and the first front end portion 41b are arranged at the same position in the first direction A by V1 above the first front end portion 41b, and the supported surface 91a is supported in a posture inclined with respect to the second direction B.

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 article conveyance facility 100 includes a control unit 80 for controlling the operation of the conveyance vehicle 1 . The control unit 80 includes a calculation processing device such as a CPU and peripheral circuits such as a memory, and each function of the control unit 80 is realized by the cooperation of the hardware and a program executed on software such as the calculation processing device. The control unit 80 may be provided in the transport vehicle 1 or may be provided independently of the transport vehicle 1 . Furthermore, when the control unit 80 includes a plurality of hardwares that can be separated from each other, a part of the hardwares may be provided in the transport vehicle 1 , and the remaining hardwares may be provided independently of the transport vehicle 1 .

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 control unit 80 controls the driving of the travel drive unit 70 to cause the main body 10 to perform a movement operation to move along the movement path 2 . Specifically, the control unit 80 controls the driving of the traveling drive unit 70 to cause the traveling unit 11 to perform a traveling operation of traveling along the rail 3 . In the present embodiment, the moving operation of the main body portion 10 is realized by the walking operation of the walking portion 11 . When the control unit 80 conveys the article 90 held by the holding device 20 to the transfer object 6 , the control unit 80 causes the traveling unit 11 to perform a traveling operation in a state in which the article 90 is held by the holding device 20 . In addition, the control unit 80 controls the driving of the raising/lowering drive unit 71 to cause the raising/lowering device 50 to perform a raising/lowering operation for raising and lowering the holding device 20 . As described above, since the holding device 20 holds the article 90 in the inclined posture S1 , as shown in FIG. 3 , the article 90 held in the holding device 20 moves up and down in the inclined posture S1 . In addition, the control unit 80 controls the driving of the holding drive unit 72 to cause the holding device 20 to perform a holding operation for holding the article 90 and a holding releasing operation for releasing the holding of the article 90 . The holding operation of the article 90 is an operation of moving the pair of support parts 21 toward each other in the first direction A from the holding ready state and shifting to the holding state, and the holding releasing operation of the article 90 is moving the pair of support parts 21 from the holding state to the first 1 The direction A is separated from each other and shifted to the operation of maintaining the ready state.

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 article 90 is transferred from the transfer object 6 to the holding device 20 (that is, when the article 90 is unloaded from the transfer object 6 ), the control unit 80 causes the traveling unit 11 to travel the transport vehicle 1 to a position corresponding to the transfer. After the position of the object 6 (here, it is a position V1 above the transfer object 6, and it is a position that overlaps with the transfer object 6 in a plan view), the lifting device 50 is moved to The lifting and lowering operation in which the holding device 20 of the article 90 is lowered from the first position P1 to the second position P2. When the holding device 20 reaches the second position P2, the control unit 80 causes the holding device 20 to perform the holding operation of the article 90, and then causes the lifting device 50 to perform the lifting and lowering operation to raise the holding device 20 from the second position P2 to the first position P1. Thereby, the holding device 20 holding the article 90 is raised to the first position P1.

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 article 90 is transferred from the holding device 20 to the transfer target 6 (that is, when the article 90 is transferred to the transfer target 6 ), the control unit 80 causes the traveling unit 11 to move the transport vehicle 1 . After the traveling operation to the position corresponding to the transfer object 6, the lifting and lowering device 50 is caused to perform the lifting and lowering operation of lowering the holding device 20 in the state of holding the article 90 from the first position P1 to the second position P2. When the holding device 20 reaches the second position P2, the control unit 80 causes the holding device 20 to perform the holding release operation of the article 90, and then causes the lifting device 50 to perform the lifting and lowering operation to raise the holding device 20 from the second position P2 to the first position P1. . Thereby, the holding device 20 that does not hold the article 90 moves up to the first position P1 in a state where the article 90 is left on the transfer object 6 .

[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 front end portion 30b of each of the pair of supporting members 30 is in contact with the supported surface 91a from the lower side V2 as an example. However, the present disclosure is not limited to such a configuration, and a configuration in which the members connected to the front end portions 30b of the pair of support portions 30 in the holding state may be in contact with the supported surface 91a from below V2. An example of such a configuration is shown in FIG. 10 . In the example shown in FIG. 10, the connection member 43 corresponds to a "member connected to the distal end".

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 support member 30 is provided with a pair of rocking members separated in the second direction B, that is, a first rocking member 41 and a second rocking member 42 , as in the above-described embodiment. And the 1st front-end|tip part 41b and the 2nd front-end|tip part 42b are connected by the connection member 43. In the example shown in FIG. 10 , the connecting member 43 is formed in a rod shape (specifically, a square column shape) extending in the second direction B, and the upper surface of the connecting member 43 (supporting the supported surface 91 a from the lower side V2 surface) are formed in the same manner along the second direction B. Therefore, in the holding state, the connecting member 43 continuously contacts the supported surface 91a along the second direction B. As shown in FIG. At least the upper surface of the connecting member 43 is preferably formed of a material (eg, rubber) that can appropriately ensure the frictional force between the supported surface 91 a and the connecting member 43 . In addition, the upper surface of the connecting member 43 may have a configuration in which concave portions and convex portions are alternately formed along the second direction B. In the holding state, the connecting members 43 are arranged in a plurality of places along the second direction B in contact with the object. The configuration of the support surface 91a.

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 distal end portion 42b and the first distal end portion 41b are arranged at the same position in the first direction A above the first distal end portion 41b v1. Therefore, in the holding state, the upper surface of the connecting member 43 is disposed to be inclined with respect to the horizontal plane according to the level difference between the first front end portion 41b and the second front end portion 42b, and the article 90 is held by the holding device 20 in the inclined posture S1. Also, in the example shown in FIG. 10 , the first distal end portion 41b and the second distal end portion 42b are arranged at the same position in the first direction A and at the same height in the stand-by state as in the above-described embodiment. Therefore, the separation distance between the first front end portion 41b and the second front end portion 42b is different between the holding ready state and the holding state, and the connecting member 43 connects the 1 front end portion 41b and second front end portion 42b. For example, the connecting member 43 may be an elastic member such as rubber, and the above-mentioned change in the separation distance may be allowed by the expansion-contraction deformation of the connecting member 43, or at least one of the first front end portion 41b and the second front end portion 42b may be formed. One of the connection structures with the connection member 43 is a connection structure having flexibility that allows relative movement, thereby allowing changes in the separation distance described above.

(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 portion 41a is arranged V2 below the second connecting portion 42a, and the length of the first rocking member 41 (specifically, the length of the first rocking member 41 from The length from the first connection portion 41a to the first front end portion 41b) is longer than the length of the second swing member 42 (specifically, the length from the second connection portion 42a to the second front end portion 42b of the second swing member 42). The structure of , is described as an example. However, the present disclosure is not limited to such a configuration, and a configuration in which the first connecting portion 41a is arranged at the same height as the second connecting portion 42a, the length of the first swing member 41 and the length of the second swing member 42 may be made. An equivalent structure, or a combination of these. FIG. 11 shows an example of a configuration in which the first connecting portion 41a is arranged at the same height as the second connecting portion 42a, and the length of the first swing member 41 and the length of the second swing member 42 are equal. For example, when the inclination angle of the supported surface 91a with respect to the second direction B is set to 0 degrees in both the holding ready state and the holding state, the support member 30 shown in FIG. 11 can be used.

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 device 20 using the support member 30 shown in FIG. 11 is shown in FIG. 12 . In the above-described embodiment, the pair of supporting members 30 are supported by inclining the supported surface 91 a with respect to the horizontal plane relative to the holding state (that is, the holding device 20 holds the article 90 in the inclined posture S1 ), as shown in FIG. 12 . In the holding state, the pair of support members 30 support the supported surface 91a along the horizontal plane (that is, the holding device 20 holds the article 90 in the horizontal posture S2). The holding device 20 shown in FIG. 12 can be used, for example, when the article 90 placed at the transfer object 6 in the horizontal posture S2 is held by the holding device 20 in the horizontal posture S2.

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 device 20 using the support member 30 shown in FIG. 11 is shown in FIG. 13 . In the example shown in FIG. 12 , as in the above-described embodiment, one of the pair of support parts 21 and the support member 30 connected thereto, and the other of the pair of support parts 21 and the support connected to it are constituted The members 30 are in a mirror-symmetrical relationship with each other, but are not so constituted in the example shown in FIG. 13 . Specifically, one of the pair of support members 30 is the first support member 31 , and the other of the pair of support members 30 is the second support member 32 . In the example of FIG. 13 , the length of the first support member 31 (Specifically, the length of the first support member 31 from the connection portion 30a to the front end portion 30b) is longer than the length of the second support member 32 (specifically, the length of the second support member 32 from the connection portion 30a to the front end portion 30b) length) is also long. In addition, the length of the first support member 31 is the length of the first swing member 41 and the second swing member 42 included in the first support member 31 , and the length of the second support member 32 is the first swing member 41 included in the second support member 32 . The length of the rocking member 41 and the second rocking member 42 . Moreover, in the example shown in FIG. 13, the connection part 30a which connects the 1st support member 31 and the support part 21 is arrange|positioned at the same height as the connection part 30a which connects the 2nd support member 32 and the support part 21.

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 members 30 support the supported surfaces 91 a by inclining the first direction A. As shown in FIG. The inclination angle of the supported surface 91 a with respect to the first direction A is determined according to the height difference between the front end portion 30 b of the first support member 31 and the front end portion 30 b of the second support member 32 . The holding device 20 shown in FIG. 13 can be used, for example, to hold the article 90 placed at the transfer object 6 in the horizontal posture S2 in the inclined posture S1 in which the bottom surface 90c is inclined to the first direction A by the holding device 20 Happening. Furthermore, in the example shown in FIG. 13 , the connecting portion 30a connecting the first support member 31 and the support portion 21 may be arranged at a different height from the connecting portion 30a connecting the second support member 32 and the support portion 21, In this case, the length of the first support member 31 and the length of the second support member 32 may be made equal.

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 surface 91a with respect to the second direction B can be maintained at the same level by making the height difference between the first front end portion 41b and the second front end portion 42b different in the holding ready state and the holding state. The ready state and the holding state are different, and by making the height difference between the front end portion 30b of the first support member 31 and the front end portion 30b of the second support member 32 different in the holding ready state and the holding state, the supported surface 91a can The inclination angle of the 1-direction A is different between the holding ready state and the holding state. Furthermore, it is also possible to make the posture of the supported surface 91a the same in the holding preparation state and the holding state by making the height difference the same in the holding preparation state and the holding state. Therefore, even if the posture of the article 90 in the transfer object 6 is either the inclined posture S1 or the horizontal posture S2, the technique of the present disclosure can be applied, and even if the article 90 is held by the holding device 20 The holding posture (desired holding posture) is any of the inclined posture S1 and the horizontal posture S2, and the technology of the present disclosure can also be applied.

(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 support member 30 is implemented as an example of the configuration including the first swing member 41 and the second swing member 42 , which are a pair of swing members disposed apart from each other in the second direction B illustrate. However, the present disclosure is not limited to such a configuration. For example, the support member 30 may be configured to include one plate-shaped member instead of the pair of swing members.

(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 support members 30 is not provided is described as an example. However, the present disclosure is not limited to this configuration, and a configuration in which an actuator for driving the pair of support members 30 to swing may be provided. In this way, when an actuator for driving the pair of support members 30 to swing is provided, at least one of the potential energy imparting mechanism 61 and the restricting mechanism 62 in the above-described embodiment may be provided.

(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

Claims (6)

一種搬送車，用以搬送物品，具有以下的特徵： 前述搬送車具備有：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 is used for transporting articles, and has the following characteristics: The transport vehicle includes: a main body part that moves 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 part, The article includes a held portion on which a supported surface facing downward is formed, and the supported surface is a surface arranged in parallel with a bottom surface of the article, The holding device includes: a pair of support parts respectively connected to a support member supporting the supported surface from below; and a holding drive part that makes the pair of support parts approach and separate from each other in the first direction, In each of a pair of the support parts, the side close to the other support part in the first direction is regarded as the first side in the first direction, and the side away from the other support part in the first direction is regarded as the first direction. 1 direction 2nd side, The support member is swingably connected to the support portion using the connection portion with the support portion as a fulcrum, In each of a pair of said support members, the front end part on the opposite side to the said connection part is arranged above the said connection part and arranged below the said held part, and the said article is positioned so as to be more than the said held part A state between a pair of the front end portions arranged at a larger interval in the first direction of the portion is regarded as a holding ready state, and a pair of the support portions are closer to each other in the first direction than the holding ready state. , and a state in which the front end portion of each of the pair of supporting members or the member connected to the front end portion is in contact with the supported surface from below to support the article as a 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. 如請求項1之搬送車，其中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。 The transport vehicle according to claim 1, wherein a direction perpendicular to the first direction in a plan view is defined as the second direction, The support member includes a pair of rocking members that are spaced apart in the second direction, that is, a first rocking member and a second rocking member, The connection portion includes a first connection portion in which the first swing member is connected to the support portion, and a second connection portion in which the second swing member is connected to the support portion, The first connection portion is arranged below the second connection portion, Let the front end portion of the first rocking member be a first front end portion, and the front end portion of the second rocking member shall be a second front end portion, The length from the first connection portion to the first distal end portion of the first swing member is longer than the length from the second connection portion to the second distal end portion of the second swing member. 如請求項1之搬送車，其中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。The transport vehicle according to claim 1, wherein one of the pair of support members is used as a first support member, the other of the pair of support members is used as a second support member, and the first support member is connected from the The length from the second support member to the front end portion is longer than the length from the connection portion to the front end portion of the second support member. 如請求項1至3中任一項之搬送車，其中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。 The transport vehicle according to any one of claims 1 to 3, wherein a direction perpendicular to the first direction in a plan view is defined as the second direction, The support member includes a pair of rocking members that are spaced apart in the second direction, that is, a first rocking member and a second rocking member, Let the front end portion of the first rocking member be a first front end portion, and the front end portion of the second rocking member shall be a second front end portion, The first front end portion and the second front end portion are connected by a connecting member, In the said holding state, the said connection member contacts the said supported surface continuously along the said 2nd direction, or at plural places arranged along the said 2nd direction. 如請求項1至3中任一項之搬送車，其具備有： 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範圍內。 If the transport vehicle of any one of claim 1 to 3, it has: 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. 如請求項1至3中任一項之搬送車，其中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。 The transport vehicle according to any one of claims 1 to 3, wherein the article is a container having an opening on the side, The said holding|maintenance apparatus hold|maintains the said article in the attitude|position which the said opening part faces diagonally upwards.
TW110143397A 2020-11-24 2021-11-22 Transport vehicle TW202231559A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020-194359 2020-11-24
JP2020194359A JP7302579B2 (en) 2020-11-24 2020-11-24 carrier

Publications (1)

Publication Number Publication Date
TW202231559A true TW202231559A (en) 2022-08-16

Family

ID=81668738

Family Applications (1)

Application Number Title Priority Date Filing Date
TW110143397A TW202231559A (en) 2020-11-24 2021-11-22 Transport vehicle

Country Status (4)

Country Link
JP (1) JP7302579B2 (en)
KR (1) KR20220071902A (en)
CN (1) CN114538103A (en)
TW (1) TW202231559A (en)

Family Cites Families (3)

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

Also Published As

Publication number Publication date
JP7302579B2 (en) 2023-07-04
CN114538103A (en) 2022-05-27
JP2022083100A (en) 2022-06-03
KR20220071902A (en) 2022-05-31

Similar Documents

Publication Publication Date Title
KR102583574B1 (en) Carriage robot and tower lift including the same
TW202231559A (en) Transport vehicle
TW202146308A (en) Article transport facility
JP7234754B2 (en) overhead carrier
JP7306364B2 (en) carrier
JP7342841B2 (en) Transport vehicle
TW202225075A (en) Transport vehicle
TW202227347A (en) Transport vehicle
JP7392634B2 (en) Transport vehicle
JP7476865B2 (en) Item transport device
JP7276474B2 (en) overhead carrier
US20240002148A1 (en) Overhead transport vehicle
JP2022083397A (en) Transport vehicle
KR102651030B1 (en) Transfering unit, article transferring system and controlling method of transfering unit
TWI827842B (en) overhead transport truck
JP2001298065A (en) Automatic guided vehicle
TW202408829A (en) Travel facility
TW202413261A (en) Article transport vehicle
TW202406829A (en) Overhead transport vehicle
KR20220055781A (en) Vehicle and Overhead Hoist Transport System
JP2022057451A (en) Industrial robot and control method thereof
JP2000191110A (en) Article storage facility