TW202225075A - Transport vehicle - Google Patents

Abstract

The present invention relates to a transport vehicle for transporting articles. In the transport vehicle, a support member (50) is provided with a support part (60) that contacts the bottom part (94) of the article (90) in a supported state. A state in which the bottom part (94) is separated from the support part (60) and the article (90) is held in the holding part (20) is set as the holding state, and the support part (60) is formed so that the inclination angle (A) of the article (90) in the supported state with respect to the horizontal plane (H) is different from the inclination angle (A) of the article (90) in the holding state with respect to the horizontal plane (H).

Description

truck

The present invention relates to a transport vehicle for transporting articles.

An example of such a transport vehicle is disclosed in Japanese Patent Application Laid-Open No. 2012-64799 (Patent Document 1). Hereinafter, in the description of the prior art, symbols shown in parentheses are symbols of Patent Document 1. FIG. In Patent Document 1, a ceiling transport vehicle (A) for transporting a storage container (4) is disclosed as a transport vehicle for transporting articles. The ceiling transport vehicle (A) is provided with: a traveling part (11) for traveling along a traveling path (3); a holding part (10) for holding the storage container (4); The running part (11) moves up and down. When the ceiling transport vehicle (A) travels, the storage container (4) is placed inside the cover (17) provided at the lower part of the traveling portion (11) while being held by the holding portion (10).

In Patent Document 1, the container (4) is an open-type wafer cassette (opencassette) having an opening (6) for taking in and out of the substrate (5) formed on the side surface. In order to prevent the substrate (5) from flying out from the opening (6) of the container (4) held by the holding portion (10), the ceiling transport vehicle (A) of Patent Document 1 is provided with a flying-out preventing mechanism (9), which is described above. The flyout prevention mechanism (9) is provided with a contact body (26) movable to a contact position contacting the side surface of the substrate (5) and a separation position separating from the side surface of the substrate (5).

Since the vibration is easily transmitted to the articles accommodated in the accommodating portion (inside of the cover body in Patent Document 1) when the transport vehicle travels, it is desirable to have a fly-out prevention mechanism as in Patent Document 1 with or without it. Both of the mechanisms can support the articles in the accommodating part in a posture that can easily ensure the tolerance to vibration when the transport vehicle is running. In this way, it is desirable to support the article in the accommodating portion in a posture suitable for the travel of the transport vehicle, but there may be a posture and a transfer object location suitable for the article when the transport vehicle travels (in When the posture of the article is different from the position of the article to be transferred between the holding parts). For example, in Patent Document 1, the article is a storage container with an opening formed on the side surface, and the transfer target location is a loading port of a processing apparatus that processes a substrate taken out from the storage container. Therefore, as shown in FIG. 5 of Patent Document 1, the required posture of the container at the transfer target site is a posture in which it is relatively easy for the substrate to enter and exit the container (specifically, a horizontal posture in which the opening faces the horizontal direction). On the other hand, the posture suitable for the storage container when the transport vehicle travels is a posture in which the substrate is difficult to move from the opening to the outside of the storage container (eg, an inclined posture with the opening facing obliquely upward).

In Patent Document 1, when the transport vehicle travels, the articles are placed in the accommodating portion in a state of being held by the holding portion. Therefore, when the posture of the article suitable for the traveling of the transport vehicle is different from the posture of the article requested at the transfer target site, the article is held in the holding portion in the posture suitable for the running of the transport vehicle. In the configuration, the article can be supported in the accommodating portion in a posture suitable for the traveling of the transportation vehicle, but when the article is transferred between the holding portion and the transfer object point, it is arranged at the transfer object point. The posture of the item will also be suitable for the transport vehicle when it is running. Therefore, it is necessary to provide a mechanism for changing the posture of the article between the posture suitable for the traveling of the transport vehicle and the posture required in the transfer target place, except for the articles between the holding part and the transfer target place. In addition to the transfer operation, the posture change operation of the article is also performed at the transfer target location, which may reduce the processing efficiency of the article.

Therefore, what is desired is the realization of the technology that can be suitable for the conveyance when the conveyance vehicle travels when the posture of the article suitable for the travel of the conveyance vehicle is different from the posture of the article required in the transfer target location. When the vehicle is traveling, the article is supported in the accommodating portion, and when the article is transferred between the holding portion and the transfer target point, the posture of the article placed at the transfer target point is set to the required transfer target point. posture.

The transport vehicle disclosed in the present disclosure is a transport vehicle for transporting articles, comprising: a main body part that moves along a moving path and is provided with an accommodating part for accommodating the articles; a holding part that holds the articles; and a supporting device for supporting the article accommodated in the accommodating portion, the supporting device includes: a supporting member for supporting the article from below; and a supporting driving portion for driving the supporting member, the supporting drive When the holding part is raised and lowered by the elevating device, and the article held by the holding part moves between the inside and the outside of the accommodating part, it is set as a lifting path for the support member from the article. A retracted state of retreat, and when the article has been accommodated in the accommodating portion, the support member is set as a support state in which the support member enters the elevating path to support the article from below by the support member, and the support member includes: The support portion that is in contact with the bottom of the article in the support state is formed such that the bottom portion is separated from the support portion and the article is held in the holding portion. The inclination angle of the article with respect to the horizontal plane is different from the inclination angle of the article in the holding state with respect to the horizontal plane.

According to this configuration, when the article is already accommodated in the accommodating portion, since the transport vehicle can be driven in a state where the bottom of the article is supported by the support portion in contact with the support portion, it is possible to appropriately restrain the article from falling off while the transport vehicle is running. to the outside of the receptacle. In addition, according to the present configuration, since the supporting portion is formed so that the inclination angle (hereinafter, simply referred to as the “inclination angle”) of the article in the supporting state with respect to the horizontal plane is different from the inclination angle in the holding state, the inclination angle in the supporting state can be changed. The angle is an inclination angle suitable for the posture of the article when the transport vehicle is traveling, and the inclination angle in the holding state is an inclination angle in accordance with the posture of the article requested at the transfer target location. According to this, it becomes possible to support the article in the accommodating portion in a posture suitable for the traveling of the transportation vehicle, and to arrange the article in the transfer object when the article is transferred between the holding portion and the transfer object point. The posture of the item at the location is set to the posture required at the transfer target location. In addition, when the technology of the present disclosure is applied to a transport vehicle provided with a restricting body (fall prevention body, etc.) for restricting the falling of articles from the accommodating portion, by utilizing the restricting body as a support member, it is possible to suppress the The apparatus configuration is complicated, and the transport vehicle of the present disclosure is realized.

Further features and advantages of the transport vehicle will become clear from the description of the embodiments described below with reference to the drawings.

Form for carrying out the invention [1st Embodiment] The first embodiment of the transport vehicle will be described with reference to the drawings ( FIGS. 1 to 10 ).

In the article transport facility 100 illustrated in FIG. 3 , the transport vehicle 1 travels along the movement path 2 to transport 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 and is provided with an accommodating part 15 for accommodating an article 90 ; a holding part 20 that holds the article 90 ; a lifting device 30 , The holding portion 20 is raised and lowered relative to the body portion 10 ; and the supporting device 40 supports the articles 90 accommodated in the accommodating portion 15 . Here, the longitudinal direction of the moving path 2 (the direction in which the moving path 2 extends) is the path length direction L, and the width direction of the moving path 2 is 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 that changes according to 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 referred to as a vehicle The body front-rear direction X, and the direction defined with the transport vehicle 1 as a reference and the direction along the path width direction W in the state of being arranged on the moving path 2 is the vehicle body left-right direction Y.

The movement path 2 may be formed physically or may be set virtually. In the present embodiment, the moving path 2 is physically formed using the rails 3 . Specifically, the article conveyance apparatus 100 includes rails 3 (here, a pair of rails 3 arranged at intervals in the path width direction W) along the moving 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 . In addition, the transport vehicle 1 may be a transport vehicle other than the ceiling transport vehicle.

As shown in FIGS. 1 and 2 , the main body 10 includes: a running part 11 having wheels 12 that roll on running surfaces of rails 3 (here, a pair of rails 3 ); and a cover 14 connected to the running surface Section 11. 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 includes a traveling driving portion 70 (eg, an electric motor such as a servo motor, see FIG. 10 ) that rotates the wheels 12 . As shown in FIG. 2 , in the present embodiment, the running portion 11 includes guide wheels 13 that roll on the guide surfaces of the rails 3 . Walk along track 3. The guide surface of the rail 3 is a surface facing the inner side in the path width direction W (the side between the pair of rails 3 toward the center position of the path width direction W), and the guide pulley 13 rotates around the axis along the vertical direction V (in 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 arranged in the front-rear direction X of the vehicle body.

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 disposed in the downward direction V2 in the vertical direction V with respect to the traveling portion 11 . In the present embodiment, the accommodating portion 15 is formed by the inner space of the cover portion 14 . As shown in FIG. 1 , in the present embodiment, the inner space of the cover 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 articles 90 accommodated in the accommodating portion 15 are 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.

As shown in FIG. 2 , the holding portion 20 includes a support portion 21 that supports the held portion 91 formed on the article 90 , and the article 90 is held by the support portion 21 . In the example shown in FIG. 2, the holding|maintenance part 20 holds the article 90 from upper direction V1. Specifically, the held portion 91 is a flange portion formed on an upper surface portion (eg, a plate-shaped top plate portion) constituting the upper surface 90 a of the article 90 , and the support portion 21 is inserted into the support portion of the support portion 21 . The held portion 91 is supported from the lower side V2 in the state of the space between the holding portion 91 and the upper surface portion (hereinafter referred to as "supporting space"). In addition, the held portion 91 is not limited to the flange portion formed on the upper portion of the article 90, and may be configured, for example, in which the upper surface portion (specifically, the outer peripheral portion of the upper surface portion) of the article 90 is used as the The structure used by the holding part 91, the structure in which the holding part 91 is formed on the side part constituting the side surface 90b of the article 90, or the bottom surface part 90c (for example, a plate-shaped bottom part) forming the bottom surface of the article 90 is used as the holding part part 91 to use the configuration.

The holding part 20 is provided with a holding driving part 72 (for example, a solenoid or an electric motor, see FIG. 10 ) for holding and releasing the article 90 by the holding part 20 , and by the driving of the holding driving part 72 , Holding and releasing of the article 90 by the holding unit 20 are performed. In the example shown in FIG. 2 , the holding part 20 includes a pair of support parts 21 , and the holding drive part 72 is configured such that the pair of support parts 21 (specifically, one support part of the pair of support parts 21 and the other support part a support part) approaching and separating from each other.

When the direction in which the pair of support parts 21 approach and separate from each other is set as the target direction, when holding the article 90 by the holding part 20 , the holding drive part 72 makes the pair of support parts 21 approach each other, and The posture of the pair of supporting parts 21 is switched to the holding posture in which the interval between the pair of supporting parts 21 becomes smaller than the width of the held part 91 in the target direction. In addition, when releasing the holding of the article 90 by the holding portion 20, the holding driving portion 72 separates the pair of supporting portions 21 from each other, and switches the posture of the pair of supporting portions 21 to the holding releasing posture. The release posture is a posture in which the interval between the pair of support parts 21 becomes larger than the width of the held part 91 in the target direction. Here, the posture is used as a concept including at least one of a position and a direction, and the same applies to the posture of the support member 50 to be described later.

In a state where the holding portion 20 is arranged at a second position P2 (see FIG. 3 ), which will be described later, by switching the posture of the pair of support portions 21 from the holding release posture to the holding posture, the article arranged at the transfer target location 6 The supporting space of 90 is inserted into each supporting portion of the pair of supporting portions 21 . When the holding part 20 is raised in this state, the article 90 is raised together with the holding part 20 . In addition, in the state in which the holding portion 20 is arranged at the second position P2, the posture of the pair of supporting portions 21 is switched from the holding posture to the holding releasing posture, whereby the respective supporting portions of the pair of supporting portions 21 are removed from the holding portion 20. The space for support of the held article 90 is pulled out. When the holding part 20 is raised in this state, only the holding part 20 is raised in a state where the article 90 is left at the transfer target site 6 .

The type of the article 90 is not limited to this, but as shown in FIG. 2 , in the present embodiment, the article 90 is a container having an opening 92 on the side surface 90b. The opening 92 is provided to allow the container to enter and exit the article 90 , and the container can enter and exit the article 90 through the opening 92 . An opening different from the opening portion 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 , but the article 90 is configured to be accommodated by the article 90 . The container cannot move to the outside of the article 90 unless it passes through the opening 92 . In the present embodiment, a substrate 93 (an example of a container) such as a glass substrate or a semiconductor wafer is accommodated in the article 90 . In addition, in this embodiment, the article 90 is configured so that a plurality of substrates 93 can be arranged and accommodated in the up-down direction (the direction along the vertical direction V when the bottom surface portion 90c is horizontally arranged).

In the present embodiment, the article 90 does not include a lid that closes 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 .

In FIG. 2 , although the case where the holding portion 20 is arranged in a direction in which the pair of support portions 21 approach and separate from each other in the left-right direction Y of the vehicle body is exemplified, the holding portion 20 may be arranged in the direction in which the pair of support portions 21 approach and separate from each other in the left-right direction Y of the vehicle body. They are arranged in the directions of approaching and separating from each other in the vehicle body front-rear direction X (refer to FIG. 1 ). 1 to 3 illustrate the case where the article 90 is held by the holding portion 20 with the opening portion 92 facing the side of the vehicle body left-right direction Y, as shown in FIG. 11 to be referred to later. For example, the article 90 may be held by the holding portion 20 in a direction in which the opening portion 92 faces one side in the front-rear direction X of the vehicle body. In addition, the transport vehicle 1 may be configured to include a mechanism that rotates the holding portion 20 around the axis along the vertical direction V with respect to the main body portion 10 . From the viewpoint of more reliably preventing the substrate 93 containing the article 90 from moving from the opening 92 to the outside of the article 90 when the transport vehicle 1 travels, it is preferable to make the article 90 face the cover according to the opening 92 14 is held by the holding portion 20 in the direction of the wall portion.

The elevating device 30 includes an elevating drive unit 71 (for example, an electric motor such as a servo motor, see FIG. 10 ) for elevating the holding unit 20 . The elevating device 30 raises and lowers the holding portion 20 between the fourth position P4 (see FIGS. 4 and 6 ) and the second position P2 (see FIG. 3 ) that is V2 below the fourth position P4 . The fourth position P4 is the position of the upper end in the ascending and descending direction (vertical direction V). The fourth position P4 is a position of the holding portion 20 where the article 90 held in the holding portion 20 is placed in the accommodating portion 15 . When the main body portion 10 is moved (that is, when the transport vehicle 1 is traveling), the holding portion 20 is arranged at the first position P1 between the fourth position P4 and the second position P2 (see FIGS. 2 , 3 , and 5 ). ). The second position P2 is a position in the vertical direction V of the holding portion 20 when holding and releasing of the article 90 by the holding portion 20 are performed. That is, the second position P2 is a position where the holding and releasing of the article 90 by the holding unit 20 is performed, in other words, the holding unit 20 when the article 90 is transferred between the holding unit 20 and the transfer target site 6 s position. The second position P2 is set according to the height (position in the vertical direction V) of each transfer object point 6 . In the present embodiment, the second position P2 is set to such a height that by switching the postures of the pair of support parts 21 between the holding posture and the holding release posture, the article 90 placed at the transfer target site 6 can be supported The height of each support part of a pair of support parts 21 is inserted and removed with space.

In FIG. 3, the load port arrange|positioned adjacent to the processing apparatus 5 is shown as an example of the transfer object location 6. As shown in 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 on the transfer target site 6 so that the opening 92 faces the processing apparatus 5 side. In the present embodiment, the article 90 is placed at the transfer target site 6 in the horizontal posture S2 in which the bottom surface portion 90c is along the horizontal plane H. As shown in FIG. Since the horizontal posture S2 is a posture in which the opening 92 faces the horizontal direction, by arranging the article 90 at the transfer target site 6 in the horizontal posture S2, it becomes easier to carry out the substrate 93 at the transfer target site 6. The entry and exit of the article 90 through the opening 92 .

As shown schematically in FIG. 2 , the lifting device 30 includes a rotary body 31 that is rotationally driven and a transmission member 32 . The elevating device 30 further includes the elevating drive unit 71 (see FIG. 10 ) described above for rotationally driving the rotating body 31 . The rotating body 31 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 accommodating part 15 . For example, the transmission member 32 may be a belt, and the rotating body 31 may be a winding pulley for winding the belt, or the transmission member 32 may be a rope, and the rotating body 31 may be a reel for winding the rope. As shown in FIG. 3 , the connecting portion 32 a is connected to the holding portion 20 , and the connecting portion 32 a is provided on the front end side of the transmission member 32 sent out from the rotating body 31 . The elevating device 30 rotates the rotating body 31 by the drive of the elevating drive part 71 to wind up or send out the transmission member 32 , thereby elevating or descending the holding part 20 (ie, elevating it). In this way, the lifting device 30 lifts and lowers the holding portion 20 in a state in which the holding portion 20 is supported and suspended.

As shown in FIGS. 2 and 3 , in the present embodiment, the lifting device 30 includes a plurality of rotating bodies 31 , and a transmission member 32 is wound around each of the plurality of rotating bodies 31 . In the example shown in FIGS. 2 and 3 , the elevating device 30 includes three rotating bodies 31 . Furthermore, the respective connection portions 32 a of the plurality of transmission members 32 (three transmission members 32 in this example) are connected to the holding portion 20 . The plurality of connection parts 32 a are connected to mutually different parts of the holding part 20 . 2 and 3 , in order to show that the lifting device 30 includes a plurality of rotary bodies 31, the plurality of rotary bodies 31 are arranged on different axes, but the plurality of rotary bodies 31 may be arranged coaxially. 3 , the connecting portion 32a of the transmission member 32 is arranged just below the rotating body 31 around which the transmission member 32 is wound, but a configuration may be made in which the transmission member 32 is sent out from the rotating body 31. The part of 1 is wound around the rotating body for guiding (the pulley for guiding, etc.), and the connecting portion 32a of the transmission member 32 is arranged directly below the rotating body for guiding.

The support device 40 that supports the article 90 accommodated in the accommodating portion 15 includes a support member 50 (see FIGS. 1 and 2 ) that supports the article 90 from below V2 , and a support drive portion 73 (eg, a solenoid) that drives the support member 50 or electric motor, see Figure 10). As shown in FIGS. 4 and 7 , when the holding part 20 is raised and lowered by the lifting device 30 and the article 90 held by the holding part 20 moves between the inside and the outside of the accommodating part 15 , the support driving part 73 A retracted state in which the support member 50 is retracted from the elevating path 7 of the article 90 is assumed. The raising/lowering path 7 is a space for raising/lowering the article 90 held by the holding unit 20 when the holding unit 20 is raised/lowered. Also in the retracted state, the support member 50 is retracted from the lifting path of the holding portion 20 (the space in which the holding portion 20 is raised and lowered). Furthermore, as shown in FIG. 5 , when the article 90 has been accommodated in the accommodating portion 15 , the support drive portion 73 is configured to allow the support member 50 to enter the lifting path 7 and to support the article 90 from below V2 via the support member 50 . support state. In the present embodiment, as described later, after the support driving part 73 enters the support member 50 into the lifting path 7, the lifting driving part 71 lowers the article 90, thereby realizing the support state.

As shown in FIGS. 1 , 2 , and 5 , the support member 50 includes a support portion that contacts the bottom portion 94 of the article 90 (specifically, the planar bottom surface portion 90 c included in the bottom portion 94 ) in a supported state. 60. That is, the bottom part 94 of the article 90 is provided with the planar bottom surface part 90c which contacts the support part 60 (specifically, the upper surface of the support part 60) in a support state. In the present embodiment, the support portion 60 is formed by a plate-shaped member. By setting the article 90 in the supporting state when the article 90 is already accommodated in the accommodating portion 15 , the transport vehicle 1 can be moved while the bottom portion 94 of the article 90 is contacted and supported by the supporting portion 60 .

The support drive unit 73 changes at least one of the position and the direction of the support member 50, thereby switching the posture of the support member 50 to the retraction posture for realizing the retracted state (the position of the support member 50 shown in FIGS. 4 and 7 ). posture) and a supporting posture for realizing the supporting state (the posture of the supporting member 50 shown in FIGS. 5 and 6 ). As shown in FIGS. 4 to 7 , the support member 50 is supported by the main body portion 10 (specifically, the cover portion 14 ) through the posture change mechanism 41 , and the support drive portion 73 drives the posture change mechanism 41 to switch the support member 50 . posture. The posture changing mechanism 41 is, for example, a link mechanism or a slide mechanism (linear motion mechanism) provided with an arm.

As shown in FIG. 1 , in the present embodiment, the support device 40 includes a pair of support members 50 that approach and separate from each other by the support drive portion 73 . One of the pair of supporting members 50 is referred to as the first supporting member 51 , and the other is referred to as the second supporting member 52 . The pair of support members 50 are driven to approach and separate from each other in the alignment direction (in this embodiment, the vehicle body front-rear direction X). In the present embodiment, the vehicle body front-rear direction X corresponds to the "first direction".

In the present embodiment, the support driving unit 73 makes the pair of support members 50 separated from each other in the vehicle body front-rear direction X to be in a retracted state. That is, the support driving part 73 realizes the retracted state by separating the pair of support members 50 from each other in the vehicle body front-rear direction X, and setting the respective postures of the pair of support members 50 as the retracted posture. Further, the support driving portion 73 makes the pair of support members 50 approach each other in the vehicle body front-rear direction X, and arranges the respective support portions 60 of the pair of support members 50 on the lower side V2 of the bottom surface portion 90c (specifically, the bottom surface portion 90c ). The position facing the bottom surface portion 90c in the vertical direction V in the lower portion V2 of ). That is, the support driving part 73 makes the pair of support members 50 approach each other in the vehicle body front-rear direction X, and the respective postures of the pair of support members 50 are set such that the support part 60 is arranged in the downward direction V2 of the bottom surface part 90c. Posture for support. The posture of the supporting member 50 is switched to the supporting posture in a state in which the bottom portion 94 of the article 90 held by the holding portion 20 is arranged V1 above the supporting portion 60 (the state shown in FIG. 4 ), and the supporting member is placed. After the posture of 50 is switched to the supporting posture, the holding portion 20 is lowered so that the bottom portion 94 is brought into contact with the supporting portion 60, thereby realizing a supporting state (see FIG. 5 ).

Here, the state in which the bottom part 94 is separated from the support part 60 and the article 90 is held in the holding part 20 is referred to as the holding state. Here, the state in which the holding part 20 holding the article 90 is located at the fourth position P4 (see FIGS. 4 and 6 ) is assumed to be the holding state. In the present embodiment, the bottom surface portion 90c is arranged along the horizontal plane H in the holding state. That is, the inclination angle A (hereinafter, simply referred to as “inclination angle A”, see FIG. 3 ) of the article 90 (specifically, the bottom surface portion 90c ) with respect to the horizontal plane H in the holding state is set to 0 degrees, and in the holding state The posture of the article 90 is the horizontal posture S2 in which the bottom surface portion 90c is along the horizontal plane H. As shown in FIG. In the present embodiment, a common elevating drive unit 71 for rotationally driving a plurality of rotating bodies 31 is provided, and the holding unit 20 is maintained in a holding state (here, horizontal posture S2 ) by the elevating device 30 . to lift. Therefore, as shown in FIG. 3 , in the state where the holding part 20 is located at the second position P2 or the state where the holding part 20 is located at the third position P3 between the first position P1 and the second position P2, the holding part 20 holds the The posture of the article 90 is set to the horizontal posture S2.

On the other hand, in the present embodiment, the support portion 60 is formed to support the article 90 with the opening portion 92 facing obliquely upward in the support state. That is, the supporting portion 60 is formed so that the inclination angle A in the supporting state is different from the inclination angle A in the holding state, and in the present embodiment, the inclination angle A in the supporting state is set to an angle larger than 0 degrees (for example, 5 degrees). Here, the inclination angle A is defined as follows: when the opening 92 faces the horizontal direction, the inclination angle A is 0 degrees, and when the opening 92 faces obliquely upward, the inclination angle A is a positive acute angle, and the opening When the portion 92 faces directly upward, the inclination angle A is 90 degrees.

One side in the left-right direction Y of the vehicle body is referred to as the first side Y1, and the other side in the left-right direction Y of the vehicle body is referred to as the second side Y2, as shown in FIGS. 1 to 3 , in this embodiment, a Each support part 60 of the support member 50 is provided with the inclined surface 60a which inclines in the direction toward the downward direction V2 as it goes to the 1st side Y1. The inclined surface 60 a is formed on the upper surface of the support portion 60 . Here, the inclined surface 60a is formed in a planar shape. Then, in the supported state, the inclined surface 60 a of the support portion 60 is in contact with the bottom surface portion 90 c of the article 90 . Accordingly, the posture of the article 90 in the supported state is the inclined posture S1 in which the bottom portion 90c of the article 90 is inclined in accordance with the inclination direction of the inclined surface 60a. As shown in FIGS. 2 and 3 , the article 90 is supported by the support member 50 in a direction in which the opening 92 faces the second side Y2 in a plan view. Therefore, in the supported state, the article 90 is supported by the support member 50 in the inclined posture S1 in which the opening portion 92 faces obliquely upward. In the present embodiment, the vehicle body left-right direction Y corresponds to the "second direction (direction orthogonal to the first direction in a plan view)", and the first side Y1 corresponds to the "second direction first side".

As shown in FIG. 10 , the article transport facility 100 includes a control unit 80 that controls the operation of the transport vehicle 1 . The control unit 80 includes an arithmetic processing device such as a CPU and peripheral circuits such as a memory, and the control unit 80 can realize the operation of the control unit 80 by cooperation between these hardwares and a program executed on the hardware of the arithmetic processing device or the like. each function. 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 communicate with each other and are separated, some of the hardwares may be installed in the transport vehicle 1 , and the rest of the hardware may be installed independently of the transport vehicle 1 .

The control unit 80 controls the driving of the traveling drive unit 70 to perform a movement operation of moving the main body 10 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 transports the article 90 accommodated in the accommodating unit 15 to the transfer target site 6, the control unit 80 causes the traveling unit 11 to travel while the article 90 is supported by the support member 50 from below V2. action. Moreover, the control part 80 controls the drive of the raising/lowering drive part 71, and makes the raising/lowering device 30 perform raising/lowering operation|movement which raises and lowers the holding part 20. In addition, the control unit 80 controls the driving of the holding drive unit 72 to cause the holding unit 20 to perform the holding operation of holding the article 90 or the holding release operation of releasing the holding of the article 90 . In the present embodiment, the holding operation of the article 90 is an operation of bringing the pair of support parts 21 close to each other (in other words, the operation of switching the posture of the pair of support parts 21 to the holding posture), and the holding release operation of the article 90 is a The operation of separating the support parts 21 from each other (in other words, the operation of switching the posture of the pair of support parts 21 to the holding release posture). In addition, the control unit 80 controls the drive of the support drive unit 73 to cause the support device 40 to perform a posture switching operation of switching the posture of the support member 50 between the retracting posture and the supporting posture.

When the article 90 arranged at the lower V2 of the accommodating portion 15 is accommodated in the accommodating portion 15, as shown in FIG. Control (step #02) and lowering control during storage (step #03). That is, under the control of the control unit 80 , after the elevating drive unit 71 performs the ascending control during accommodation, the support drive unit 73 executes the entry control, and then the ascending and descending drive unit 71 executes the descending control during accommodation.

When the article 90 is unloaded from the transfer object site 6, the control unit 80 causes the elevating device 30 to perform the elevating operation after causing the traveling unit 11 to perform a walking operation, which is to make the transport vehicle 1 travel to the transfer object. The position corresponding to the point 6 (here, the position V1 above the transfer object point 6 and overlapping with the transfer object point 6 in a plan view), the aforementioned lifting action is to move the holding part 20 that does not hold the article 90 from the holding part 20 . The current position (in this embodiment, the fourth position P4) is lowered to the second position P2. Then, the control unit 80 executes each control shown in FIG. 8 after the holding unit 20 performs the holding operation of the article 90 . In addition, when the holding part 20 that does not hold the article 90 is lowered from the inside of the accommodating part 15 to the target position (here, the second position P2 ) outside, in the present embodiment, the elevating driving part 71 makes the holding part 71 hold The part 20 is lowered to the target position in one direction from the current position (here, the fourth position P4 ) of the holding part 20 .

The lift control during storage is a control to lift the holding portion 20 holding the article 90 in the retracted state so that the bottom portion 94 is arranged above the support portion 60 by V1 . Here, that the bottom portion 94 is disposed above the support portion 60 V1 means that the bottom portion 94 is disposed above the support portion 60 V1 at each position in the vehicle body left-right direction Y. In the present embodiment, as shown in FIG. 4 , in the lifting control at the time of storage, the holding part 20 holding the article 90 is raised from the current position (here, the second position P2 ) to the bottom 94 and is arranged to be higher than the support The part 60 is further above the fourth position P4 of V1.

The entry control is to allow the support member 50 to enter the lift path 7 so that the support portion 60 is disposed below V2 of the bottom portion 94 (specifically, a position facing the bottom portion 94 in the vertical direction V in the downward direction V2 of the bottom portion 94 ). control. In the present embodiment, as shown in FIG. 5 , in the entry control, the pair of support members 50 are brought close to each other in the vehicle body front-rear direction X, and the respective support portions 60 of the pair of support members 50 are arranged on the bottom surface portion The V2 below the 90c.

The lowering control during accommodation is a control for lowering the holding portion 20 so that the bottom portion 94 comes into contact with the support portion 60 . Descending control during accommodation is performed to achieve a support state. In the lowering control during storage, the holding portion 20 is lowered so that a part or all of the load of the article 90 is received by the support members 50 (a pair of support members 50 in this embodiment). In the present embodiment, as shown in FIG. 5 , in the storage-time lowering control, the holding portion 20 is lowered to the first position P1 so that the bottom surface portion 90c is connected to the support portion 60 on both sides in the vehicle body front-rear direction X. The provided inclined surface 60a is in contact with each other. In the present embodiment, in the supporting state, the supporting portion 60 (here, the inclined surface 60 a ) is in contact with the bottom surface portion 90 c so as to cover the entire area in the left-right direction Y of the vehicle body. In addition, in the present embodiment, in the supporting state, the posture of the pair of supporting parts 21 included in the holding part 20 is maintained in the holding posture.

When the article 90 supported by the support member 50 is moved to the outside of the accommodating portion 15 , as shown in FIG. 9 , the control portion 80 executes the ascending control at the time of discharge (step #10 ) and the retraction control (step #11 ) in this order. ) and lowering control during discharge (step #12). That is, under the control of the control unit 80 , after the elevating drive unit 71 executes the elevating control during discharge, the support drive unit 73 executes the retraction control, and then the elevating drive unit 71 executes the descending control during ejection. When the article 90 is carried into the transfer object site 6, the control unit 80 executes each control shown in FIG. 9 after causing the traveling unit 11 to perform a traveling operation, which is to cause the transport vehicle 1 to travel to and from the transfer object. The location corresponding to location 6.

The elevating control at the time of discharge is a control to elevate the holding part 20 so that the bottom part 94 is separated from the support part 60 to the upper direction V1. In the elevating control at the time of discharge, the holding part 20 is raised in a state where the posture of the pair of support parts 21 is switched to the holding posture, whereby the article 90 is raised along with the rising of the holding part 20, and the bottom part 94 is lifted from the support part. 60 to the upper V1 separation. In the present embodiment, as shown in FIG. 6 , in the upward control at the time of discharge, the holding portion 20 is raised from the first position P1 (see FIG. 5 ) to the fourth position P4 .

The retraction control is a control for retracting the support member 50 from the elevating path 7 to be in a retracted state. In the present embodiment, as shown in FIG. 7 , in the retraction control, the pair of support members 50 are separated from each other in the vehicle body front-rear direction X to be in the retracted state. The descending control at the time of discharge is a control for descending the holding part 20 holding the article 90 so that the article 90 is placed outside the accommodating part 15 . In the present embodiment, as shown in FIG. 7 , in the ejection lowering control, the holding portion 20 holding the article 90 is lowered from the fourth position P4 to the target position (here, the second position P2 ).

When the article 90 is carried into the transfer target site 6, after the descending control at the time of ejection is executed, the control unit 80 causes the holding unit 20 to perform the holding release operation of the article 90, and then causes the lifting device 30 to raise the holding unit 20 to the The lifting and lowering action of the interior of the accommodating portion 15 . In this way, when the holding part 20 not holding the article 90 is raised from the outside to the inside of the accommodating part 15 , in the present embodiment, the elevating drive part 71 moves the holding part 20 from the current position of the holding part 20 (in the This is the second position P2 ) after rising in one direction to the reference position (the fourth position P4 in the present embodiment) inside the accommodating portion 15 , the holding portion 20 is maintained at the reference position.

[Second Embodiment] The second embodiment of the transport vehicle will be described with reference to the drawings ( FIG. 11 ). Hereinafter, the transport vehicle of the present embodiment will be described focusing on the differences from the first embodiment. Points that are not particularly clearly described are the same as in the first embodiment, and the same reference numerals are attached, and detailed descriptions are omitted.

In the present embodiment, unlike the first embodiment, the upper surface of the support portion 60 (the surface that contacts the bottom surface portion 90c of the article 90 in the supported state) is formed uniformly in the left-right direction Y of the vehicle body. The upper surface of is not inclined in the direction toward the downward V2 as it goes toward the first side Y1, nor is it inclined in the direction toward the upper V1 as it goes toward the first side Y1. Moreover, in this embodiment, as shown in FIG. 11, the one support part 60 and the other support part 60 of a pair of support member 50 are arrange|positioned at the mutually different height. Accordingly, as shown in FIG. 11 , the posture of the article 90 in the supported state becomes the inclined posture S1, and the above-mentioned inclined posture S1 is that the bottom surface portion 90c of the article 90 corresponds to the one supporting portion 60 of the pair of supporting members 50 and the other supporting The posture in which the portion 60 is inclined due to the height difference.

In the present embodiment, the support portion 60 of the first support member 51 is arranged above the support portion 60 of the second support member 52 by V1. In addition, the article 90 faces the side of the front-rear direction X of the vehicle body (specifically, the first support member 51 is arranged with respect to the second support member 52 in the front-rear direction X of the vehicle body in the plane view from the opening portion 92 ). side, the left side in FIG. 11 ) is supported by the support member 50 . Therefore, in the supported state, the article 90 is supported by the support member 50 in the inclined posture S1 in which the opening portion 92 faces obliquely upward.

In the present embodiment, the support portion 60 of each of the pair of support members 50 is provided with the inclined surface 60a along the bottom surface portion 90c in the supported state. Here, the inclined surface 60a is formed in a planar shape. Unlike the inclined surface 60a in the first embodiment, this inclined surface 60a is inclined in the direction toward the upper direction V1 as it goes toward the above-mentioned side in the vehicle body front-rear direction X. As shown in FIG. In the support state, the inclined surface 60 a of the support portion 60 is in contact with the bottom surface portion 90 c of the article 90 .

[Other Embodiments] Next, another embodiment of the transport vehicle will be described.

(1) In the above-described first embodiment, the following description was given as an example of the configuration in which the bottom surface portion of the article 90 is formed by forming the inclined surface 60a at the portion of the support portion 60 that is in contact with the bottom surface portion 90c of the article 90 . 90c is inclined according to the inclination direction of the inclined surface 60a. However, the present disclosure is not limited to such a configuration. For example, a configuration in which a plurality of members (for example, block members or columnar members) are provided in the portion of the support portion 60 that is in contact with the bottom surface portion 90c, and The bottom face portion 90c of the article 90 is inclined in accordance with the inclination direction of the virtual plane including the upper ends of the plurality of members by being provided so that the height becomes lower toward the first side Y1.

(2) In the above-described second embodiment, the configuration is described as an example in which the support portion 60 of each of the pair of support members 50 includes the inclined surface 60a along the bottom surface portion 90c in the supported state. However, the present disclosure is not limited to such a configuration. For example, a configuration in which the upper surface of the support portion 60 of one or both of the pair of support members 50 is formed in a planar shape along the horizontal plane H may be employed.

(3) In each of the above-described embodiments, descriptions have been given by taking the following configuration as an example: when the article 90 arranged at the lower V2 of the accommodating portion 15 is accommodated in the accommodating portion 15, when the accommodating portion 15 is executed After the ascending control and the entry control when set, the descending control when contained is executed to realize the support state. However, the present disclosure is not limited to such a configuration, and the support member 50 may be configured to be raised and lowered, and after the lifting control and the entry control during accommodation are executed, the control for lifting the support member 50 is executed, In order to make the support part 60 contact with the bottom 94 and bear part or all of the load of the article 90 by the support member 50 , the support state is realized. At this time, when the article 90 supported by the support member 50 is moved to the outside of the accommodating portion 15 , instead of executing the evacuation control and the descending control during ejection after executing the ascending control during ejection, the following can be changed. Configuration: After the control of lowering the support member 50 is performed so that the support portion 60 is separated from the bottom portion 94 toward the downward V2, the retraction control and the lowering control at the time of discharge are performed.

(4) In each of the above-described embodiments, descriptions have been given by taking the following configuration as an example: in a state where the bottom portion 94 of the article 90 is placed above the support portion 60 V1 in a state where the support state is realized, the support is The member 50 enters the lift path 7 of the article 90 . However, the present disclosure is not limited to such a configuration, and may be a configuration in which the upper surface (for example, at least a part of the inclined surface 60 a ) of the support portion 60 is formed with V2 that goes downward as it goes to the side of the lift path 7 . The support member 50 is allowed to enter the lifting path 7 of the article 90 in a state where the bottom portion 94 of the article 90 is arranged at the same height as the inclined surface. At this time, it is possible to adopt a configuration in which, along with the entry of the support member 50 into the lift path 7 , by the contact between the inclined surface and the bottom portion 94 of the article 90 , a force directed upward V1 acts on the bottom portion 94 , and the article 90 is The posture of is changed from the posture in the holding state to the posture in the supporting state to realize the supporting state.

(5) In each of the above-described embodiments, the following descriptions have been given as examples of the configuration in which the pair of support members 50 are arranged side by side in the vehicle body front-rear direction X. However, the present disclosure is not limited to such a configuration, and a configuration in which the pair of support members 50 are arranged in a row in the vehicle body left-right direction Y, and the pair of support members 50 may be driven in the vehicle body left-right direction close to and separate from each other on Y. At this time, the vehicle body left-right direction Y corresponds to the "first direction", and the vehicle body front-rear direction X corresponds to the "second direction".

(6) In each of the above-described embodiments, the following description was given as an example in which the support device 40 includes a pair of support members 50 . However, the present disclosure is not limited to such a configuration, and, for example, a configuration in which the support device 40 includes only one support member 50 may be employed.

(7) In each of the above-described embodiments, descriptions have been given by taking the following configuration as an example: in the holding state, the bottom surface portion 90c is arranged along the horizontal plane H, that is, the position of the article 90 in the holding state with respect to the horizontal plane H. The inclination angle A is set to 0 degrees. However, the present disclosure is not limited to such a configuration, and a configuration may be adopted in which the inclination angle A in the holding state is set to an angle larger than 0 degrees (however, an angle different from the inclination angle A in the supporting state) ).

(8) The configurations disclosed in the above-described embodiments may be applied in combination with the configurations disclosed in other embodiments (including combinations of the embodiments described as other embodiments) as long as there is no conflict. Regarding other configurations, the embodiments disclosed in this specification are mere illustrations in every respect. Therefore, various changes can be appropriately made without departing from the gist of the present disclosure.

[Outline of the above-mentioned embodiment] Hereinafter, the outline of the transport vehicle described above will be described.

A transport vehicle for transporting articles, comprising: a main body part that moves along a moving path and includes an accommodating part for accommodating the articles; a holding part that holds the articles; ; and a supporting device for supporting the article accommodated in the accommodating portion, the supporting device comprising: a supporting member for supporting the article from below; and a supporting driving portion for driving the supporting member, the supporting driving portion borrowing from the holding portion When the article held by the holding part moves between the inside and the outside of the accommodating part when the article is raised and lowered by the elevating device, the support member is set to a retracted state in which the support member is retracted from the elevating path of the article, and When the article has been accommodated in the accommodating portion, it is set to a support state in which the support member enters the lifting path and the article is supported from below by the support member, and the support member is provided in the support state with The support part in which the bottom of the article is in contact is set in a state where the bottom part is separated from the support part and the article is held by the holding part, and the support part is formed so that the article in the support state is in a state with respect to a horizontal plane. The inclination angle is different from the inclination angle of the aforementioned article in the aforementioned holding state with respect to the horizontal plane.

According to this configuration, when the article is already accommodated in the accommodating portion, since the transport vehicle can be driven in a state where the bottom of the article is supported by the support portion in contact with the support portion, it is possible to appropriately restrain the article from falling off while the transport vehicle is running. to the outside of the receptacle. In addition, according to the present configuration, since the supporting portion is formed so that the inclination angle (hereinafter, simply referred to as the “inclination angle”) of the article in the supporting state with respect to the horizontal plane is different from the inclination angle in the holding state, the inclination angle in the supporting state can be changed. The angle is an inclination angle suitable for the posture of the article when the transport vehicle is traveling, and the inclination angle in the holding state is an inclination angle in accordance with the posture of the article requested at the transfer target location. According to this, it becomes possible to support the article in the accommodating portion in a posture suitable for the traveling of the transportation vehicle, and to arrange the article in the transfer object when the article is transferred between the holding portion and the transfer object point. The posture of the item at the location is set to the posture required at the transfer target location. In addition, when the technology of the present disclosure is applied to a transport vehicle provided with a restricting body (fall prevention body, etc.) for restricting the falling of articles from the accommodating portion, by utilizing the restricting body as a support member, it is possible to suppress the The apparatus configuration is complicated, and the transport vehicle of the present disclosure is realized.

Here, it is preferable that the elevating device includes an elevating drive unit that elevates and lowers the holding portion, and when the article arranged below the accommodating portion is accommodated in the accommodating portion, the elevating driving portion After the lift control unit executes the rising control during accommodation, the support driving unit executes the entry control, and then the elevating driving unit executes the lowering control during accommodation. The holding portion is raised so that the bottom portion is arranged above the support portion, and the entry control is a control for causing the support member to enter the lift path so that the support portion is arranged below the bottom portion. The descending control is a control for descending the holding portion so that the bottom portion is brought into contact with the support portion.

According to this configuration, when an article arranged below the accommodating portion is accommodated in the accommodating portion, the ascending control during accommodating, the entry control, and the descending control during accommodating are sequentially performed, thereby avoiding the need for support The interference of the members, and after the article is raised to the inside of the accommodating portion, the article is lowered to realize the support state. When performing entry control, since the bottom portion is arranged above the support portion, vibration and dust generation due to friction between the bottom portion and the support portion can be avoided, and the support member can be brought into the lifting and lowering of the article in order to realize the support state. path.

As described above, it is preferable that, in the case where the article arranged below the accommodating portion is accommodated in the accommodating portion, after the elevating driving portion performs the lifting control during accommodating, the supporting driving portion In the configuration in which the entry control is executed, and then the elevating drive unit executes the lowering control during storage, when the holding unit that does not hold the article is raised from the outside to the inside of the storage unit, the elevating drive is performed. The part maintains the holding part at the reference position after raising the holding part in one direction from the current position of the holding part to a reference position inside the accommodating part.

According to this structure, the raising/lowering control of the holding part in the case where the holding part not holding the article is raised from the outside to the inside of the accommodating part can be made a simple structure.

Preferably, in each of the above-described transport vehicles, the elevating device includes an elevating drive unit that elevates and lowers the holding portion, and when the article supported by the support member is moved to the outside of the accommodating portion After the elevating drive unit executes the elevating control at the time of discharge, the support drive unit executes the retraction control, and then the elevating drive unit executes the descending control during the ejection. The control for separating the support portion upward, the retraction control is a control for retracting the support member from the elevating path to make the retracted state, and the lowering control during ejection is for lowering the holding portion holding the article so that the The article is placed in the control outside the accommodating portion.

According to this configuration, when the article supported by the support member is moved to the outside of the accommodating portion, the ascending control at the time of discharge, the retraction control, and the descending control at the time of discharge are sequentially executed, whereby the article can be lifted so that the bottom portion can be moved upward. After being separated from the support portion, interference with the support member is avoided, and the article is lowered to the outside of the accommodating portion. When the retraction control is performed, since the bottom portion is separated from the support portion and disposed upward, vibration and dust generation due to friction between the bottom portion and the support portion can be avoided, and the support member can be removed from the article in order to realize the retracted state. Elevation path retreat.

As described above, when the article supported by the support member is moved to the outside of the accommodating portion, it is preferable that the support drive portion executes the retraction control after the elevating drive portion executes the elevating control during ejection. Then, in the configuration in which the elevating drive unit executes the descending control at the time of discharge, when the holding unit that does not hold the article is lowered from the inside of the accommodating unit to a target position outside the accommodating unit, the elevating drive unit makes The aforementioned holding portion descends in one direction from the current position of the aforementioned holding portion to the aforementioned target position.

According to this configuration, the lifting control of the holding portion when the holding portion not holding the article is lowered from the inside to the outside of the accommodating portion can be a simple configuration.

Preferably, in each of the above-described transport vehicles, the bottom portion includes a planar bottom surface portion that contacts the support portion in the supporting state, and the bottom surface portion is disposed along a horizontal plane in the holding state. The support device includes a pair of the support members that are approached and separated from each other in the first direction by the support drive unit, and the support drive unit separates the pair of the support members from each other in the first direction to provide the retraction In the first direction, a pair of the support members are brought close to each other, and the support portions of the pair of the support members are arranged below the bottom surface portion in a direction orthogonal to the first direction in a plan view. The second direction is set, and one side in the second direction is set as the first side in the second direction. sloping surface inclined in the direction.

According to this configuration, the posture of the article in the holding state can be the horizontal posture, and the posture of the article in the supporting state can be the inclined posture, the horizontal posture is the posture in which the bottom part is along the horizontal plane, and the inclined posture is the posture of the article A posture in which the bottom face portion is inclined in accordance with the inclination direction of the inclined face. According to this, the present configuration can be applied when the posture of the article requested at the transfer target site is the horizontal posture and the posture suitable for the article when the transport vehicle travels is the inclined posture, so that the transport vehicle can travel with the proper posture. The article is supported in the accommodating portion in the posture when the transport vehicle is traveling, and when the article is transferred between the holding portion and the transfer target point, the posture of the article placed at the transfer target point is set to the transfer target point. the required posture.

Furthermore, preferably, the bottom portion includes a planar bottom surface portion that contacts the support portion in the support state, the bottom surface portion is disposed along a horizontal plane in the holding state, and the support device includes a support device provided by the support. A pair of the support members that are approached and separated from each other in the first direction by the drive unit, the support drive unit separates the pair of the support members from each other in the first direction to make the retracted state, and makes the pair of the support members The members approach each other in the first direction, and the respective support portions of a pair of the support members are arranged below the bottom surface portion, and the one support portion and the other support portion of the pair of the support members are arranged at different positions from each other. the height of.

According to this configuration, the posture of the article in the holding state can be the horizontal posture, and the posture of the article in the supporting state can be the inclined posture, the horizontal posture is the posture in which the bottom part is along the horizontal plane, and the inclined posture is the posture of the article The bottom face portion is inclined according to the height difference between the one support portion and the other support portion of the pair of support members. According to this, the present configuration can be applied when the posture of the article requested at the transfer target site is the horizontal posture and the posture suitable for the article when the transport vehicle travels is the inclined posture, so that the transport vehicle can travel with the proper posture. The article is supported in the accommodating portion in the posture when the transport vehicle is traveling, and when the article is transferred between the holding portion and the transfer target point, the posture of the article placed at the transfer target point is set to the transfer target point. the required posture.

As described above, in a configuration in which one of the support parts and the other support part of a pair of the support members are arranged at mutually different heights, the support parts of the pair of the support members are preferably provided with a It is along the inclined surface of the bottom surface in the supported state.

According to this configuration, in the supporting state, the contact area between the supporting portion and the bottom surface portion can be secured to be wide, and the article can be stably supported.

Preferably, in each of the above-described transport vehicles, the article is a container having an opening on a side surface, and the support portion is formed to support the article with the opening facing obliquely upward in the supporting state. .

According to this configuration, when the article is a container having an opening on the side surface, the article can be supported in such a posture that the container contained in the article is difficult to move from the opening to the outside of the article in the supported state.

The transport vehicle of the present disclosure may exhibit at least one effect among the above-mentioned effects.

1: Transporter 2: moving path 3: Track 4: Ceiling 5: Processing device 6: Transfer object location 7: Lifting path 10: Main body 11: Walking Department 12: Wheels 13: Guide wheel 14: Cover 15: accommodating part 20: Keeping Department 21: Support Department 30: Lifting device 31: Rotary body 32: Transmission components 32a: Links 40: Support device 41: Posture change mechanism 50: Support member 51: 1st support member 52: Second support member 60: Support part 60a: Inclined surface 70: Travel drive part 71: Lifting drive part 72: Keep the drive part 73: Support drive part 80: Control Department 90:Item 90a: upper surface 90b: side 90c: Bottom face 91: Retained Ministry 92: Opening 93: Substrate 94: Bottom 100: Item handling equipment A: Inclination angle H: horizontal plane L: Path length direction P1: 1st position P2: 2nd position P3: 3rd position P4: 4th 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 Y1: side 1 Y2: side 2 #01, #02, #03, #10, #11, #12: Steps

FIG. 1 is a perspective view of a transport vehicle according to the first embodiment. Fig. 2 is a front view of the transport vehicle according to the first embodiment. Fig. 3 is a front view of a transport vehicle and a transfer object site according to the first embodiment. FIG. 4 is an explanatory diagram of the lift control at the time of storage in the transport vehicle according to the first embodiment. FIG. 5 is an explanatory diagram of the entry control and the lowering control at the time of storage in the transport vehicle according to the first embodiment. FIG. 6 is an explanatory diagram of the ascending control at the time of discharge in the transport vehicle according to the first embodiment. 7 is an explanatory diagram of the retraction control and the descending control at the time of discharge in the transport vehicle according to the first embodiment. FIG. 8 is a control flowchart when the article is accommodated in the accommodating portion. FIG. 9 is a control flowchart when the article is moved to the outside of the accommodating portion. Fig. 10 is a control block diagram. Fig. 11 is a side view of the transfer vehicle according to the second embodiment.

1: Transporter

2: moving path

3: Track

4: Ceiling

5: Processing device

6: Transfer object location

10: Main body

11: Walking Department

14: Cover

15: accommodating part

20: Keeping Department

30: Lifting device

31: Rotary body

32: Transmission components

32a: Links

40: Support device

50: Support member

60: Support part

60a: Inclined surface

90:Item

90c: Bottom face

92: Opening

93: Substrate

94: Bottom

100: Item handling equipment

A: Inclination angle

H: horizontal plane

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

Y: the left and right direction of the vehicle body

Y1: side 1

Y2: side 2

Claims (9)

A transport vehicle is a transport vehicle for transporting articles, which has the following characteristics: have: a body part, which moves along the moving path and is provided with an accommodating part for accommodating the aforementioned articles; A holding part, holding the aforementioned items; an elevating device for raising and lowering the holding portion relative to the body portion; and a supporting device, supporting the aforementioned articles accommodated in the aforementioned accommodating portions, The aforementioned support device includes: a support member to support the aforementioned items from below; and a support driving part for driving the aforementioned support member, When the holding portion is raised and lowered by the elevating device and the article held by the holding portion moves between the inside and the outside of the accommodating portion, the support driving unit is configured to cause the support member to move from the side of the article. A retracted state in which the lift path is retracted, and when the article is already accommodated in the accommodating portion, the support member is set to enter the lift path and the support member supports the article from below by the support state, The support member includes a support portion that contacts the bottom of the article in the support state, The state in which the bottom part is separated from the support part and the article is held in the holding part is set as the holding state, The support portion is formed so that the inclination angle of the article in the supporting state with respect to the horizontal plane is different from the inclination angle of the article in the holding state with respect to the horizontal plane. The transport vehicle according to claim 1, wherein the elevating device includes an elevating drive section for elevating the holding section, In the case where the article arranged below the accommodating portion is accommodated in the accommodating portion, after the elevating driving portion executes the ascending control during accommodation, the supporting driving portion executes the entry control, and then the elevating driving portion The part executes the drop control when accommodating, The lifting control during storage is a control for raising the holding portion holding the article in the retracted state so that the bottom portion is arranged above the support portion, The entry control is a control for causing the support member to enter the lift path so that the support portion is arranged below the bottom portion, The lowering control at the time of accommodation is a control for lowering the holding portion so that the bottom portion is brought into contact with the supporting portion. The transport vehicle according to claim 2, wherein when the holding portion not holding the article is raised from the outside to the inside of the accommodating portion, the elevating drive portion moves the holding portion from the current position of the holding portion After rising to the reference position inside the accommodating portion in one direction, the holding portion is maintained at the reference position. The transport vehicle according to any one of claims 1 to 3, wherein the lift device includes a lift drive section that lifts and lowers the holding section, When the article supported by the support member is moved to the outside of the accommodating portion, after the elevating drive unit executes the ascending control at the time of ejection, the support drive unit executes the retraction control, and then the elevating drive unit executes the ejection time drop control, The above-mentioned ascending control at the time of discharge is a control for ascending the holding portion so as to separate the bottom portion upward from the supporting portion, The retraction control is a control for retracting the support member from the elevating path to be in the retracted state, The lowering control at the time of discharge is a control for lowering the holding portion holding the article so that the article is placed outside the accommodating portion. The transport vehicle according to claim 4, wherein, when the holding portion that does not hold the article is lowered from the inside of the housing portion to a target position outside the housing portion, the elevating drive portion causes the holding portion to move from the holding portion to the outside of the holding portion. The current position descends in one direction to the aforementioned target position. The transport vehicle according to any one of claims 1 to 3, wherein the bottom portion includes a planar bottom surface portion that contacts the support portion in the support state, In the above-mentioned holding state, the above-mentioned bottom surface portion is arranged along the horizontal plane, The support device includes a pair of the support members that are approached and separated from each other in the first direction by the support drive portion, The support driving unit separates a pair of the support members from each other in the first direction to be in the retracted state, and brings the pair of the support members closer to each other in the first direction to move the respective one of the pair of the support members. The support part is arranged below the bottom surface part, Let the direction orthogonal to the first direction in the plane view be the second direction, and let one side of the second direction be the first side of the second direction, The said support part of each of a pair of said support member is provided with the inclined surface which inclines in the downward direction toward the said 2nd direction 1st side. The transport vehicle according to any one of claims 1 to 3, wherein the bottom portion includes a planar bottom surface portion that contacts the support portion in the support state, In the above-mentioned holding state, the above-mentioned bottom surface portion is arranged along the horizontal plane, The support device includes a pair of the support members that are approached and separated from each other in the first direction by the support drive portion, The support driving unit separates a pair of the support members from each other in the first direction to be in the retracted state, and brings the pair of the support members closer to each other in the first direction to move the respective one of the pair of the support members. The support part is arranged below the bottom surface part, One of the said support part and the other said support part of a pair of said support member are arrange|positioned at the mutually different height. The transport vehicle according to claim 7, wherein the support portion of each of the pair of support members is provided with an inclined surface along the bottom surface portion in the support state. 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 support part is formed so that it may support the said article in the attitude|position which the said opening part faces obliquely upwards in the said support state.

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