JP6939651B2 - Transport device - Google Patents

Transport device Download PDF

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Publication number
JP6939651B2
JP6939651B2 JP2018042066A JP2018042066A JP6939651B2 JP 6939651 B2 JP6939651 B2 JP 6939651B2 JP 2018042066 A JP2018042066 A JP 2018042066A JP 2018042066 A JP2018042066 A JP 2018042066A JP 6939651 B2 JP6939651 B2 JP 6939651B2
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holding
article
alignment direction
pair
unit
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JP2019156516A (en
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大地 冨田
大地 冨田
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Daifuku Co Ltd
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Daifuku Co Ltd
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Priority to JP2018042066A priority Critical patent/JP6939651B2/en
Priority to PCT/JP2019/008274 priority patent/WO2019172155A1/en
Priority to CN201980015370.3A priority patent/CN111741911B/en
Priority to KR1020207022111A priority patent/KR102513293B1/en
Priority to TW108107625A priority patent/TWI799528B/en
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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
    • H01L21/67724—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations by means of a cart or a vehicule
    • 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
    • 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
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
    • H01L21/67706—Mechanical details, e.g. roller, belt
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
    • H01L21/6773—Conveying cassettes, containers or carriers
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
    • H01L21/67733—Overhead conveying
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0297—Wafer cassette

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Condensed Matter Physics & Semiconductors (AREA)
  • General Physics & Mathematics (AREA)
  • Manufacturing & Machinery (AREA)
  • Computer Hardware Design (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Power Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
  • Handcart (AREA)

Description

本発明は、レールに沿って走行する走行部と、走行部に連結され且つ物品を保持する保持部と、前記保持部に保持されている物品を鉛直方向に沿う縦軸心周りに旋回させる旋回部と、を備えた搬送装置に関する。 In the present invention, a traveling portion that travels along a rail, a holding portion that is connected to the traveling portion and holds an article, and an article that is held by the holding portion are swiveled around the center of the vertical axis along the vertical direction. With respect to a transport device provided with a section.

以下、背景技術について説明する。以下の説明において、かっこ書きの符号又は名称は、先行技術文献における符号又は名称とする。かかる搬送装置の従来例が、特開２０１６−１７２６０７号公報（特許文献１）に記載されている。特許文献１の搬送装置は、レールに沿って走行する走行部（２２）と、走行部（２２）に連結され且つ物品を保持する保持部（支持機構２４）と、保持部を縦軸心周りに旋回させる旋回部（回転操作機構２７）を備えている。この搬送装置は、旋回部により保持部を旋回させることで、保持物品が搬送対象箇所に応じた姿勢となるように保持物品を縦軸心周りに旋回させることができるように構成されている。 The background technology will be described below. In the following description, the reference numerals or names in parentheses shall be the reference numerals or names in the prior art documents. A conventional example of such a transfer device is described in Japanese Patent Application Laid-Open No. 2016-172607 (Patent Document 1). The transport device of Patent Document 1 has a traveling portion (22) traveling along a rail, a holding portion (support mechanism 24) connected to the traveling portion (22) and holding an article, and a holding portion around the center of the vertical axis. It is provided with a swivel portion (rotation operation mechanism 27) for swiveling. This transport device is configured so that the holding article can be swiveled around the center of the vertical axis so that the holding article is in a posture corresponding to the transport target portion by swirling the holding portion by the swivel portion.

また、搬送装置には、特開２０１５−１３１７０２号公報（特許文献２）に記載されているように、走行部が走行する方向に沿う並び方向に沿って配置された一対の規制体（３０）を備えているものがある。一対の規制体（３０）は、鉛直方向視で支持機構（１９）に保持されている物品の両側に分かれて配置されており、支持機構（１９）に保持されている物品が揺れた場合でも、物品が規制体（３０）に接触することで物品の揺れが規制されるようになっている。 Further, as described in Japanese Patent Application Laid-Open No. 2015-131702 (Patent Document 2), the transport device is a pair of regulators (30) arranged along an arrangement direction along the traveling direction of the traveling portion. Some are equipped with. The pair of regulators (30) are separately arranged on both sides of the article held by the support mechanism (19) in a vertical direction, even when the article held by the support mechanism (19) shakes. , The shaking of the article is regulated when the article comes into contact with the regulating body (30).

特開２０１６−１７２６０７号公報Japanese Unexamined Patent Publication No. 2016-172607 特開２０１５−１３１７０２号公報Japanese Unexamined Patent Publication No. 2015-131702

物品には、保持部に保持される被保持部が備えられており、この被保持部が、平面視で物品の中心からずれて配置されている物品がある。また、被保持部が平面視で物品の中心に配置されている場合であっても、縦軸心周りの外面の形状が規則的でない物品もある。このような物品を保持部により保持した場合、旋回部による保持部の縦軸心周りの旋回角度に応じて、物品の縦軸心周りの外面の位置が変化する。このような物品を搬送対象とする場合には、一対の規制体によって、旋回部による保持部の旋回角度に関わらず適切に物品の揺れを規制することは困難であった。 The article is provided with a held portion that is held by the holding portion, and there is an article in which the held portion is arranged so as to be deviated from the center of the article in a plan view. Further, even when the held portion is arranged at the center of the article in a plan view, there are some articles in which the shape of the outer surface around the center of the vertical axis is not regular. When such an article is held by the holding portion, the position of the outer surface around the vertical axis center of the article changes according to the turning angle around the vertical axis center of the holding portion by the rotating portion. When such an article is to be transported, it is difficult to properly regulate the swing of the article by a pair of regulators regardless of the turning angle of the holding portion by the swivel portion.

そこで、保持部の旋回角度に関わらず物品の揺れを適切に規制できる搬送装置の実現が望まれる。 Therefore, it is desired to realize a transport device that can appropriately regulate the shaking of the article regardless of the turning angle of the holding portion.

上記に鑑みた、搬送装置の特徴構成は、レールに沿って走行する走行部と、走行部に連結され且つ物品を保持する保持部と、前記保持部及び前記保持部に保持されている物品である保持物品を鉛直方向に沿う縦軸心周りに旋回させる旋回部と、鉛直方向視で前記保持物品の両側に分かれて配置される一対の規制体と、一対の前記規制体を移動させる規制体調節部と、を備え、
鉛直方向視で一対の前記規制体が並ぶ方向を並び方向とし、前記並び方向の一方側を並び方向第１側とし、その反対側を並び方向第２側とし、前記並び方向における一対の前記規制体の中央の位置を中央位置として、前記保持物品は、前記旋回部による前記保持部の旋回角度に応じて、前記並び方向第１側を向く第１側面と、前記並び方向第２側を向く第２側面との前記並び方向での位置が変化する形状であり、一対の前記規制体のうちの前記並び方向第１側にある第１規制体は、前記第１側面に対向して配置され、一対の前記規制体のうちの前記並び方向第２側にある第２規制体は、前記第２側面に対向して配置され、前記規制体調節部は、前記保持部の旋回によって変化する前記保持物品の姿勢に応じて、前記中央位置を調節する点にある。 In view of the above, the characteristic configuration of the transport device is a traveling portion that travels along the rail, a holding portion that is connected to the traveling portion and holds the article, and the holding portion and the article that is held by the holding portion. A swivel portion that swivels a holding article around the center of the vertical axis along the vertical direction, a pair of restrictors that are separately arranged on both sides of the holding article in a vertical direction, and a regulator that moves the pair of the restrictors. Equipped with an adjustment part,
In vertical view, the direction in which the pair of the restricting bodies are lined up is the alignment direction, one side of the alignment direction is the alignment direction first side, and the opposite side is the alignment direction second side, and the pair of the regulation bodies in the alignment direction. With the central position of the body as the central position, the holding article faces the first side surface facing the first side in the alignment direction and the second side in the alignment direction according to the rotation angle of the holding portion by the turning portion. The shape is such that the position with respect to the second side surface in the alignment direction changes, and the first regulator on the first side in the alignment direction of the pair of regulators is arranged so as to face the first side surface. The second regulator on the second side in the alignment direction of the pair of regulators is arranged to face the second side surface, and the regulator adjusting portion is changed by turning the holding portion. The point is to adjust the central position according to the posture of the holding article.

この構成によれば、旋回部により保持部が旋回することで、保持物品が縦軸心周りに旋回して保持物品の姿勢が変わり、保持物品の第１側面と第２側面との並び方向での位置が変化する。そこで、この構成によれば、規制体調節部が、保持物品の姿勢に応じて一対の規制体の中央位置を調節することで、一対の規制体を第１側面や第２側面に対応した位置に配置することができる。従って、保持部の旋回角度に関わらず、一対の規制体を適切な位置に配置することができる。そのため、保持部に保持されている物品が揺れた場合でも、その物品が規制体に接触することで物品の揺れを適切に規制することができる。 According to this configuration, when the holding portion is swiveled by the swivel portion, the holding article is swiveled around the center of the vertical axis to change the posture of the holding article, and the posture of the holding article is changed in the alignment direction of the first side surface and the second side surface of the holding article. The position of is changed. Therefore, according to this configuration, the regulator adjusting unit adjusts the central position of the pair of regulators according to the posture of the holding article, so that the pair of regulators are positioned corresponding to the first side surface and the second side surface. Can be placed in. Therefore, the pair of restrictors can be arranged at appropriate positions regardless of the turning angle of the holding portion. Therefore, even when the article held in the holding portion sways, the sway of the article can be appropriately regulated by the article coming into contact with the regulator.

物品搬送設備の側面図Side view of goods transport equipment 物品搬送設備の平面図Top view of goods transportation equipment 物品搬送車の側面図Side view of the goods carrier 制御ブロック図Control block diagram 一対の規制体の第１規制位置及び保持部の第１保持位置を示す図The figure which shows the 1st regulation position of a pair of regulation bodies, and the 1st holding position of a holding part. 一対の規制体の第２規制位置及び保持部の第２保持位置を示す図The figure which shows the 2nd regulation position of a pair of regulation bodies, and the 2nd holding position of a holding part 一対の規制体の第３規制位置及び保持部の第３保持位置を示す図The figure which shows the 3rd regulation position of a pair of regulation bodies, and the 3rd holding position of a holding part. 一対の規制体の第４規制位置及び保持部の第４保持位置を示す図The figure which shows the 4th regulation position of a pair of regulation bodies, and the 4th holding position of a holding part. 一対の規制体の第５規制位置を示す図The figure which shows the 5th regulation position of a pair of regulation bodies

１．実施形態
搬送装置を備えた物品搬送設備の実施形態について図面に基づいて説明する。
図１及び図２に示すように、物品搬送設備は、天井近くに設置されたレール１と、搬送装置に相当する物品搬送車２と、物品６に対して処理を行う処理装置３と、を備えている。処理装置３に対して隣接する位置に、物品６を支持する支持台４が設けられている。物品搬送車２は、レール１に沿って走行して物品６を搬送する。本実施形態では、処理装置３による処理が行われる前の物品６を、図外の搬送元から支持台４に搬送すると共に、処理装置３による処理が行われた後の物品６を、支持台４から図外の搬送先に搬送する。 1. 1. Embodiment An embodiment of an article transport facility provided with a transport device will be described with reference to the drawings.
As shown in FIGS. 1 and 2, the article transport facility includes a rail 1 installed near the ceiling, an article transport vehicle 2 corresponding to the transport device, and a processing device 3 for processing the article 6. I have. A support base 4 for supporting the article 6 is provided at a position adjacent to the processing device 3. The article transport vehicle 2 travels along the rail 1 to transport the article 6. In the present embodiment, the article 6 before the processing by the processing device 3 is transported from the transport source (not shown) to the support base 4, and the article 6 after the processing by the processing device 3 is performed on the support stand. Transport from 4 to a transport destination (not shown).

〔物品〕
本実施形態では、物品６は、板状の収容物を複数枚収容可能な容器である。より具体的には、本例に係る物品６は、ダイシングフレームを取り付けたウェハを複数枚収容する容器である。図３に示すように、物品６は、収容物を収容する本体部７と、本体部７の上面に取り付けられたフランジ部８と、を備えている。図５から図９に示すように、本体部７には、収容物を出し入れするための開口９が形成されている。尚、物品６を説明する場合において、鉛直方向Ｚ視において収容物を出し入れする方向を奥行方向Ｄと称し、鉛直方向視において奥行方向Ｄと直交する方向を幅方向Ｗと称する。 [Article]
In the present embodiment, the article 6 is a container capable of accommodating a plurality of plate-shaped containers. More specifically, the article 6 according to this example is a container for accommodating a plurality of wafers to which a dicing frame is attached. As shown in FIG. 3, the article 6 includes a main body 7 for accommodating an object and a flange 8 attached to the upper surface of the main body 7. As shown in FIGS. 5 to 9, the main body 7 is formed with an opening 9 for taking in and out the contents. In the case of explaining the article 6, the direction in which the contained object is taken in and out in the vertical direction Z is referred to as the depth direction D, and the direction orthogonal to the depth direction D in the vertical direction is referred to as the width direction W.

本実施形態では、物品６は、鉛直方向Ｚ視での形状が、幅方向Ｗの幅と奥行方向Ｄの幅とが同じとなる正方形状に形成されている。フランジ部８は、幅方向Ｗにおいて本体部７の中央に取り付けられ、奥行方向Ｄにおいて本体部７の中央より前側（中央に対して開口９が位置する側）に取り付けられている。ここでは、鉛直方向Ｚ視でのフランジ部８の中心位置が、後述する旋回操作部１８により旋回させられる場合の旋回軸心となる縦軸心Ｐ１の位置に相当する。そして、縦軸心Ｐ１（旋回中心）は、物品６における奥行方向Ｄの中心で且つ幅方向Ｗの中心に位置する物品中心Ｐ３より前側に位置する。なお、図１に示すように、物品６は、開口９が処理装置３に向く姿勢で、物品搬送車２により支持台４に搬送される。 In the present embodiment, the article 6 is formed in a square shape in which the width in the width direction W and the width in the depth direction D are the same in the vertical direction Z view. The flange portion 8 is attached to the center of the main body 7 in the width direction W, and is attached to the front side (the side where the opening 9 is located with respect to the center) of the main body 7 in the depth direction D. Here, the center position of the flange portion 8 in the vertical Z view corresponds to the position of the vertical axis center P1 which is the turning axis when the flange portion 8 is swiveled by the swivel operation unit 18 described later. The vertical axis center P1 (center of rotation) is located in front of the center P3 of the article, which is located at the center of the depth direction D and the center of the width direction W of the article 6. As shown in FIG. 1, the article 6 is transported to the support base 4 by the article transport vehicle 2 with the opening 9 facing the processing device 3.

〔物品搬送車〕
次に、物品搬送車２について説明する。尚、図１から図３に示すように、走行部１１が走行する方向を並び方向Ｘと称し、鉛直方向Ｚ視で並び方向Ｘと直交する方向を横幅方向Ｙと称する。また、並び方向Ｘの一方側を並び方向第１側Ｘ１と称し、その反対側を並び方向第２側Ｘ２と称する。また、横幅方向Ｙの一方側を横幅方向第１側Ｙ１と称し、その反対側を横幅方向第２側Ｙ２と称する。 [Goods carrier]
Next, the article transport vehicle 2 will be described. As shown in FIGS. 1 to 3, the direction in which the traveling unit 11 travels is referred to as the alignment direction X, and the direction orthogonal to the alignment direction X in the vertical direction Z view is referred to as the lateral width direction Y. Further, one side of the arrangement direction X is referred to as an arrangement direction first side X1, and the opposite side is referred to as an arrangement direction second side X2. Further, one side of the width direction Y is referred to as the first side Y1 in the width direction, and the opposite side is referred to as the second side Y2 in the width direction.

図３に示すように、物品搬送車２は、レール１上をレール１に沿って走行する走行部１１と、走行部１１に連結され且つ物品６を保持する保持部１２と、走行部１１に連結され且つ物品６を収容する収容室１３Ｃを形成する収容部１３と、を備えている。保持部１２及び収容部１３は、レール１より下方に位置するように走行部１１に連結されている。 As shown in FIG. 3, the article transport vehicle 2 has a traveling unit 11 traveling on the rail 1 along the rail 1, a holding unit 12 connected to the traveling unit 11 and holding the article 6, and the traveling unit 11. It includes a storage unit 13 that is connected and forms a storage chamber 13C that stores the article 6. The holding portion 12 and the accommodating portion 13 are connected to the traveling portion 11 so as to be located below the rail 1.

走行部１１は、レール１上を転動する走行車輪１１Ａと、その走行車輪１１Ａを回転駆動させる走行用モータ１１Ｂと、が備えている。走行部１１は、走行用モータ１１Ｂの駆動により走行車輪１１Ａを回転駆動させることによって、レール１に沿って走行するように構成されている。 The traveling unit 11 includes traveling wheels 11A that roll on the rail 1 and traveling motors 11B that rotationally drive the traveling wheels 11A. The traveling unit 11 is configured to travel along the rail 1 by rotationally driving the traveling wheels 11A by driving the traveling motor 11B.

保持部１２は、水平方向に沿って互いに接近離間移動自在な一対の把持爪１２Ａと、一対の把持爪１２Ａの夫々を互いに接近離間移動させる把持用モータ１２Ｂ（図４参照）と、を備えている。そして、保持部１２は、一対の把持用モータ１２Ｂの駆動により一対の把持爪１２Ａを互いに接近離間移動させることで、一対の把持爪１２Ａが物品６のフランジ部８を把持する状態と、一対の把持爪１２Ａによるフランジ部８に対する把持を解除する状態と、を切り換えるように構成されている。このように、保持部１２は、物品６の上端部、詳しくは、物品６の上端部に備えられているフランジ部８を保持するように構成されている。以下、保持部１２に保持されている物品６を保持物品６Ａと称して説明する。 The holding portion 12 includes a pair of gripping claws 12A that can move close to each other and apart from each other along the horizontal direction, and a gripping motor 12B (see FIG. 4) that moves each of the pair of gripping claws 12A close to and apart from each other. There is. Then, the holding portion 12 moves the pair of gripping claws 12A closer to each other by driving the pair of gripping motors 12B, so that the pair of gripping claws 12A grip the flange portion 8 of the article 6 and the pair. It is configured to switch between a state in which the gripping claw 12A is released from gripping the flange portion 8. As described above, the holding portion 12 is configured to hold the upper end portion of the article 6, specifically, the flange portion 8 provided at the upper end portion of the article 6. Hereinafter, the article 6 held by the holding section 12 will be referred to as a holding article 6A.

収容部１３は、保持部１２に対して並び方向第１側Ｘ１に位置する第１壁部１３Ａと、保持部１２に対して並び方向第２側Ｘ２に位置する第２壁部１３Ｂと、を備えている。第１壁部１３Ａと第２壁部１３Ｂとは並び方向Ｘ視で重なる状態で備えられており、これら第１壁部１３Ａと第２壁部１３Ｂとの間に収容室１３Ｃが形成されている。 The accommodating portion 13 has a first wall portion 13A located on the first side X1 in the alignment direction with respect to the holding portion 12, and a second wall portion 13B located on the second side X2 in the alignment direction with respect to the holding portion 12. I have. The first wall portion 13A and the second wall portion 13B are provided so as to overlap each other in the line-up direction X view, and a storage chamber 13C is formed between the first wall portion 13A and the second wall portion 13B. ..

更に、図３に示すように、物品搬送車２は、保持部１２を走行部１１に対して昇降移動させる昇降操作部１６と、保持部１２を走行部１１に対して横幅方向Ｙにスライド移動させるスライド操作部１７と、保持部１２を走行部１１に対して鉛直方向Ｚに沿う縦軸心Ｐ１周りに旋回させる旋回操作部１８と、を備えている。 Further, as shown in FIG. 3, the article transport vehicle 2 has an elevating operation unit 16 that moves the holding unit 12 up and down with respect to the traveling unit 11 and a holding unit 12 that slides the holding unit 12 with respect to the traveling unit 11 in the lateral width direction Y. A slide operation unit 17 for causing the slide operation unit 17 and a rotation operation unit 18 for rotating the holding unit 12 around the vertical axis center P1 along the vertical direction Z with respect to the traveling unit 11 are provided.

スライド操作部１７は、走行部１１に対して横幅方向Ｙに沿ってスライド移動自在な中継体１７Ａと、中継体１７Ａを横幅方向Ｙに沿ってスライド移動させるスライド用モータ１７Ｂ（図４参照）と、を備えている。スライド操作部１７は、スライド用モータ１７Ｂの駆動により中継体１７Ａを横幅方向Ｙに沿ってスライド移動させることで、保持部１２及び保持物品６Ａを横幅方向Ｙに沿って移動させるように構成されている。尚、スライド操作部１７が、保持部１２の位置を調節する保持調節部に相当する。 The slide operation unit 17 includes a relay body 17A that can slide and move the relay body 17A along the width direction Y with respect to the traveling unit 11, and a slide motor 17B (see FIG. 4) that slides and moves the relay body 17A along the width direction Y. , Is equipped. The slide operation unit 17 is configured to move the holding unit 12 and the holding article 6A along the width direction Y by sliding the relay body 17A along the width direction Y by driving the slide motor 17B. There is. The slide operation unit 17 corresponds to a holding adjustment unit that adjusts the position of the holding unit 12.

旋回操作部１８は、中継体１７Ａに対して縦軸心Ｐ１周りに回転自在に支持された旋回体１８Ａと、旋回体１８Ａを縦軸心Ｐ１周りに旋回させる旋回用モータ１８Ｂ（図４参照）と、を備えている。旋回操作部１８は、旋回用モータ１８Ｂの駆動により旋回体１８Ａを旋回させることで、保持部１２及び保持物品６Ａを縦軸心Ｐ１周りに沿って旋回させるように構成されている。尚、旋回操作部１８は、保持部１２及び保持物品６Ａを縦軸心Ｐ１周りに旋回させる旋回部に相当する。 The swivel operation unit 18 includes a swivel body 18A rotatably supported around the vertical axis P1 with respect to the relay body 17A, and a swivel motor 18B that swivels the swivel body 18A around the vertical axis P1 (see FIG. 4). And have. The swivel operation unit 18 is configured to swivel the swivel body 18A by driving the swivel motor 18B so that the holding portion 12 and the holding article 6A are swiveled along the vertical axis center P1. The swivel operation unit 18 corresponds to a swivel unit that swivels the holding unit 12 and the holding article 6A around the vertical axis center P1.

昇降操作部１６は、旋回体１８Ａに支持された巻回体１６Ａと、巻回体１６Ａに巻回されて先端部に保持部１２が連結された巻き取りベルト１６Ｂと、巻回体１６Ａを回転駆動させる昇降用モータ１６Ｃ（図４参照）と、を備えている。昇降操作部１６は、昇降用モータ１６Ｃの駆動により巻回体１６Ａを正転方向に回転させて、巻き取りベルト１６Ｂを巻き取ることで、保持部１２及び保持物品６Ａを上昇させる。また、昇降操作部１６は、昇降用モータ１６Ｃの駆動により巻回体１６Ａを逆転方向に回転させて、巻き取りベルト１６Ｂを繰り出すことで、保持部１２及び保持物品６Ａを下降させる。昇降操作部１６は、このようにして保持部１２及び保持物品６Ａを昇降移動させるように構成されている。 The elevating operation unit 16 rotates the winding body 16A supported by the rotating body 18A, the winding belt 16B wound around the winding body 16A and the holding portion 12 connected to the tip portion, and the winding body 16A. It is equipped with a lifting motor 16C (see FIG. 4) to be driven. The elevating operation unit 16 rotates the winding body 16A in the forward rotation direction by driving the elevating motor 16C, and winds up the winding belt 16B to raise the holding unit 12 and the holding article 6A. Further, the elevating operation unit 16 lowers the holding unit 12 and the holding article 6A by rotating the winding body 16A in the reverse direction by driving the elevating motor 16C and paying out the take-up belt 16B. The elevating operation unit 16 is configured to move the holding unit 12 and the holding article 6A up and down in this way.

昇降操作部１６は、上述の如く保持部１２を昇降移動させることで、保持部１２を走行部１１近くの上昇位置（図１及び図３参照）と上昇位置より下方の下方位置（図１参照）とに昇降させる。尚、昇降用モータ１６Ｃが、保持部１２を上昇位置と下降位置とに昇降させる昇降駆動部に相当する。 By moving the holding unit 12 up and down as described above, the elevating operation unit 16 raises the holding unit 12 near the traveling unit 11 (see FIGS. 1 and 3) and a lower position below the ascending position (see FIG. 1). ) And up and down. The elevating motor 16C corresponds to an elevating drive unit that elevates and lowers the holding portion 12 to an ascending position and a descending position.

図１及び図３に示すように、保持部１２が上昇位置にある状態では、保持物品６Ａは収容室１３Ｃに収容されており、物品搬送車２は、保持部１２が上昇位置にある状態で走行する。また、物品搬送車２は、保持物品６Ａが収容室１３Ｃに収容されている状態から保持部１２を下降位置に下降させることで、保持物品６Ａを支持台４に載せる。また、物品搬送車２は、下降位置に下降させた保持部１２が支持台４上の物品６を保持した後、保持部１２を上昇位置に上昇させることで、保持物品６Ａを収容室１３Ｃに収容する。 As shown in FIGS. 1 and 3, in the state where the holding portion 12 is in the raised position, the holding article 6A is housed in the storage chamber 13C, and in the article transport vehicle 2, the holding portion 12 is in the raised position. Run. Further, the article transport vehicle 2 puts the holding article 6A on the support base 4 by lowering the holding section 12 from the state where the holding article 6A is accommodated in the accommodating chamber 13C to the lowering position. Further, in the article transport vehicle 2, after the holding portion 12 lowered to the lowered position holds the article 6 on the support base 4, the holding section 12 is raised to the raised position to bring the holding article 6A into the storage chamber 13C. Contain.

保持部１２は、物品６のフランジ部８を保持する。物品６のフランジ部８は、幅方向Ｗにおいて本体部７の中央に取り付けられ、奥行方向Ｄにおいて本体部７の中央より前側（開口９側）に取り付けられている。そのため、保持物品６Ａは、旋回操作部１８による保持部１２の旋回角度に応じて、並び方向第１側Ｘ１を向く第１側面Ｆ１と、並び方向第２側Ｘ２を向く第２側面Ｆ２との並び方向Ｘでの位置が変化する形状となっている。 The holding portion 12 holds the flange portion 8 of the article 6. The flange portion 8 of the article 6 is attached to the center of the main body 7 in the width direction W, and is attached to the front side (opening 9 side) of the main body 7 in the depth direction D. Therefore, the holding article 6A has a first side surface F1 facing the first side X1 in the alignment direction and a second side surface F2 facing the second side X2 in the arrangement direction according to the turning angle of the holding unit 12 by the turning operation unit 18. It has a shape in which the position in the alignment direction X changes.

物品搬送車２の並び方向Ｘ及び横幅方向Ｙの基準となる搬送車基準位置Ｐ２に対して、並び方向Ｘにおける搬送車基準位置Ｐ２と第１側面Ｆ１との離間距離を第１距離Ｌ１とし、並び方向Ｘにおける搬送車基準位置Ｐ２と第２側面Ｆ２との離間距離を第２距離Ｌ２とする。なお、本実施形態では、搬送車基準位置Ｐ２は、物品搬送車２の収容室１３Ｃにおける並び方向Ｘの中心位置で且つ規制体２１の横幅方向Ｙの中心位置である。そして、鉛直方向Ｚ視において、収容室１３Ｃの中心部は、搬送車基準位置Ｐ２に一致している。 The distance between the transport vehicle reference position P2 and the first side surface F1 in the alignment direction X is set to the first distance L1 with respect to the transport vehicle reference position P2 which is the reference for the alignment direction X and the width direction Y of the article transport vehicle 2. The separation distance between the transport vehicle reference position P2 and the second side surface F2 in the alignment direction X is defined as the second distance L2. In the present embodiment, the transport vehicle reference position P2 is the center position of the alignment direction X in the accommodation chamber 13C of the article transport vehicle 2 and the center position of the restrictor 21 in the width direction Y. Then, in the vertical direction Z view, the central portion of the accommodation chamber 13C coincides with the transport vehicle reference position P2.

図５に示すように、保持物品６Ａの姿勢を、開口９が並び方向第２側Ｘ２に向く姿勢（第１姿勢）とした状態では、第１距離Ｌ１は第２距離Ｌ２より長くなる。図６に示すように、保持物品６Ａの姿勢を、開口９が並び方向第１側Ｘ１に向く姿勢（第２姿勢）とした状態では、第１距離Ｌ１は第２距離Ｌ２より短くなる。図７に示すように、保持物品６Ａの姿勢を、開口９を横幅方向第１側Ｙ１に向く姿勢（第３姿勢）とした状態や、図８に示すように、保持物品６Ａの姿勢を、開口９が横幅方向第２側Ｙ２を向く姿勢（第４姿勢）とした状態では、第１距離Ｌ１は第２距離Ｌ２と等しくなる。 As shown in FIG. 5, when the posture of the holding article 6A is the posture in which the openings 9 are arranged and face the second side X2 in the direction (first posture), the first distance L1 is longer than the second distance L2. As shown in FIG. 6, when the posture of the holding article 6A is the posture in which the openings 9 are arranged and face the first side X1 in the direction (second posture), the first distance L1 is shorter than the second distance L2. As shown in FIG. 7, the posture of the holding article 6A is set to a posture in which the opening 9 faces the first side Y1 in the width direction (third posture), and as shown in FIG. 8, the posture of the holding article 6A is changed. In a state in which the opening 9 faces the second side Y2 in the width direction (fourth posture), the first distance L1 is equal to the second distance L2.

〔規制体〕
物品搬送車２は、上記に加えて更に、保持物品６Ａの揺れを規制する一対の規制体２１と、一対の規制体２１を移動させる一対の調節用モータ２３と、を備えている。そこで、次に、規制体２１の動作について説明するが、その際、図３に示すように、保持部１２が上方位置にある状態に基づいて説明する。 [Regulator]
In addition to the above, the article transport vehicle 2 further includes a pair of regulating bodies 21 that regulate the shaking of the holding article 6A, and a pair of adjusting motors 23 that move the pair of restricting bodies 21. Therefore, next, the operation of the restrictor 21 will be described, and at that time, as shown in FIG. 3, the operation will be described based on the state in which the holding portion 12 is in the upper position.

一対の規制体２１は、鉛直方向Ｚ視で保持物品６Ａの両側に分かれて配置されている。ここでは、一対の規制体２１として、第１規制体２４と、第１規制体２４に対して並び方向第２側Ｘ２に位置する第２規制体２５と、が物品搬送車２に設けられている。保持物品６Ａの並び方向第１側Ｘ１を向く面を第１側面Ｆ１とし、保持物品６Ａの並び方向第２側Ｘ２を向く面を第２側面Ｆ２として、本実施形態では、第１規制体２４は、保持物品６Ａの第１側面Ｆ１に対向して配置される第１側面対向部２１Ａと、保持物品６Ａの下面Ｆ３に対向して配置される第１下面対向部２２Ａと、を備えている。また、第２規制体２５は、保持物品６Ａの第２側面Ｆ２に対向して配置される第２側面対向部２１Ｂと、保持物品６Ａの下面Ｆ３に対向して配置される第２下面対向部２２Ｂと、を備えている。 The pair of restrictors 21 are separately arranged on both sides of the holding article 6A in the vertical direction Z view. Here, as a pair of regulators 21, a first regulator 24 and a second regulator 25 located on the second side X2 in the alignment direction with respect to the first regulator 24 are provided on the article transport vehicle 2. There is. The surface of the holding article 6A facing the first side X1 in the alignment direction is defined as the first side surface F1, and the surface of the holding article 6A facing the second side X2 in the alignment direction is defined as the second side surface F2. Includes a first side surface facing portion 21A arranged to face the first side surface F1 of the holding article 6A, and a first lower surface facing portion 22A arranged to face the lower surface F3 of the holding article 6A. .. Further, the second regulator 25 has a second side surface facing portion 21B arranged to face the second side surface F2 of the holding article 6A and a second lower surface facing portion arranged to face the lower surface F3 of the holding article 6A. It is equipped with 22B.

より具体的には、第１規制体２４の第１側面対向部２１Ａは、第１側面Ｆ１に対向して配置されており、保持物品６Ａの第１側面Ｆ１の下端より下方から第１側面Ｆ１の下端より上方に亘って存在している。第２規制体２５の第２側面対向部２１Ｂは、第２側面Ｆ２に対向して配置されており、保持物品６Ａの第２側面Ｆ２の下端より下方から第２側面Ｆ２の下端より上方に亘って存在している。 More specifically, the first side surface facing portion 21A of the first regulator 24 is arranged so as to face the first side surface F1, and the first side surface F1 is arranged from below the lower end of the first side surface F1 of the holding article 6A. It exists above the lower end of. The second side surface facing portion 21B of the second regulator 25 is arranged so as to face the second side surface F2, and extends from below the lower end of the second side surface F2 of the holding article 6A to above the lower end of the second side surface F2. Exists.

第１下面対向部２２Ａ及び第２下面対向部２２Ｂは、保持物品６Ａの下面Ｆ３より下方に、下面Ｆ３に対して間隔を空けた状態で存在している。ここでは、第１下面対向部２２Ａは、第１側面対向部２１Ａの下端に連結されており、保持物品６Ａの下面Ｆ３における第１側面Ｆ１側の部分に対向して配置されている。また、第２下面対向部２２Ｂは、第２側面対向部２１Ｂの下端に連結されており、保持物品６Ａの下面Ｆ３における第２側面Ｆ２側の部分に対向して配置されている。 The first lower surface facing portion 22A and the second lower surface facing portion 22B exist below the lower surface F3 of the holding article 6A in a state of being spaced apart from the lower surface F3. Here, the first lower surface facing portion 22A is connected to the lower end of the first side surface facing portion 21A, and is arranged so as to face the portion of the holding article 6A on the lower surface F3 on the first side surface F1 side. Further, the second lower surface facing portion 22B is connected to the lower end of the second side surface facing portion 21B, and is arranged so as to face the second side surface F2 side portion of the lower surface F3 of the holding article 6A.

本実施形態では、第１側面対向部２１Ａ及び第２側面対向部２１Ｂは、横幅方向Ｙ及び鉛直方向Ｚに沿う姿勢の板状体により構成されている。また、第１下面対向部２２Ａ及び第２下面対向部２２Ｂは、並び方向Ｘ及び横幅方向Ｙに沿う姿勢の板状体により構成されている。 In the present embodiment, the first side surface facing portion 21A and the second side surface facing portion 21B are formed of a plate-like body having a posture along the lateral width direction Y and the vertical direction Z. Further, the first lower surface facing portion 22A and the second lower surface facing portion 22B are formed of a plate-like body having a posture along the alignment direction X and the lateral width direction Y.

第１側面対向部２１Ａは、第１下面対向部２２Ａにおける並び方向第２側Ｘ２の端部より並び方向第１側Ｘ１の部分に立設されている。第１側面対向部２１Ａが、保持物品６Ａの第１側面Ｆ１に接触している状態では、第１下面対向部２２Ａにおける並び方向第２側Ｘ２の部分が、保持物品６Ａの第１側面Ｆ１よりも並び方向第２側Ｘ２に位置している。
第２側面対向部２１Ｂは、第２下面対向部２２Ｂにおける並び方向第１側Ｘ１の端部より並び方向第２側Ｘ２の部分に立設されている。第２側面対向部２１Ｂが、保持物品６Ａの第２側面Ｆ２に接触している状態では、第２下面対向部２２Ｂにおける並び方向第１側Ｘ１の部分が、保持物品６Ａの第２側面Ｆ２よりも並び方向第１側Ｘ１に位置している。 The first side surface facing portion 21A is erected on the portion of the first lower surface facing portion 22A on the first side X1 in the alignment direction from the end portion of the second side X2 in the alignment direction. In a state where the first side surface facing portion 21A is in contact with the first side surface F1 of the holding article 6A, the portion of the first lower surface facing portion 22A on the second side X2 in the alignment direction is from the first side surface F1 of the holding article 6A. Is also located on the second side X2 in the alignment direction.
The second side surface facing portion 21B is erected on the portion of the second lower surface facing portion 22B on the second side X2 in the alignment direction from the end portion of the first side X1 in the alignment direction. In a state where the second side surface facing portion 21B is in contact with the second side surface F2 of the holding article 6A, the portion of the second lower surface facing portion 22B on the first side X1 in the alignment direction is from the second side surface F2 of the holding article 6A. Is also located on the first side X1 in the alignment direction.

物品搬送車２は、一対の調節用モータ２３として、第１規制体２４を並び方向Ｘに沿って移動させる第１調節用モータ２３Ａと、第２規制体２５を並び方向Ｘに沿って移動させる第２調節用モータ２３Ｂとを備えている。第１調節用モータ２３Ａは、第１壁部１３Ａ内に設置されており、第２調節用モータ２３Ｂは、第２壁部１３Ｂ内に設置されている。第１調節用モータ２３Ａは、第１規制体２４を並び方向Ｘに移動させることで第１側面対向部２１Ａと第１下面対向部２２Ａとを一体的に並び方向Ｘに沿って移動させる。第２調節用モータ２３Ｂは、第２規制体２５を並び方向Ｘに移動させることで第２側面対向部２１Ｂと第２下面対向部２２Ｂとを一体的に並び方向Ｘに沿って移動させる。 As a pair of adjusting motors 23, the article transport vehicle 2 moves the first adjusting motor 23A for moving the first regulating body 24 along the aligned direction X and the second regulating body 25 for moving along the aligned direction X. It is equipped with a second adjustment motor 23B. The first adjustment motor 23A is installed in the first wall portion 13A, and the second adjustment motor 23B is installed in the second wall portion 13B. The first adjusting motor 23A moves the first regulator 24 in the alignment direction X so that the first side surface facing portion 21A and the first lower surface facing portion 22A are integrally aligned and moved along the alignment direction X. The second adjusting motor 23B moves the second regulator 25 in the alignment direction X so that the second side surface facing portion 21B and the second lower surface facing portion 22B are integrally aligned and moved along the alignment direction X.

ここで、並び方向Ｘにおける一対の規制体２１の中央の位置を中央位置Ｓとする。より詳しくは、並び方向Ｘに対向する一対の規制体２１（すなわち第１側面対向部２１Ａ及び第２側面対向部２１Ｂ）の距離の中間点の位置を中央位置Ｓとする。一対の調節用モータ２３は、一対の規制体２１を各別に並び方向Ｘに移動させることで、並び方向Ｘにおける一対の規制体２１の中央位置Ｓを調節することができる。また、一対の調節用モータ２３は、一対の規制体２１を各別に並び方向Ｘに移動させることで、並び方向Ｘにおける一対の規制体２１の間隔も調節することができる。尚、一対の規制体２１を移動させる規制体調節部は、一対の調節用モータ２３及びそれぞれの調節用モータ２３と規制体２１とを連結する機構を含んで構成されている。 Here, the central position of the pair of restrictors 21 in the alignment direction X is defined as the central position S. More specifically, the position of the intermediate point of the distance between the pair of restrictors 21 facing the alignment direction X (that is, the first side surface facing portion 21A and the second side surface facing portion 21B) is defined as the central position S. The pair of adjusting motors 23 can adjust the center position S of the pair of restricting bodies 21 in the arranging direction X by moving the pair of restricting bodies 21 separately in the arranging direction X. Further, the pair of adjusting motors 23 can also adjust the distance between the pair of restricting bodies 21 in the arranging direction X by moving the pair of restricting bodies 21 separately in the arranging direction X. The regulating body adjusting unit for moving the pair of regulating bodies 21 includes a pair of adjusting motors 23 and a mechanism for connecting the respective adjusting motors 23 and the regulating body 21.

〔規制体の調節〕
図４に示すように、物品搬送車２は、図外の上位コントローラからの指令に基づいて物品搬送車２を制御する制御装置Ｈを備えている。制御装置Ｈは、保持物品６Ａの姿勢に応じて、並び方向Ｘにおける一対の規制体２１の中央位置Ｓを調節するために、一対の調節用モータ２３を制御すると共に、横幅方向Ｙにおける保持部１２の位置を調節するために、スライド用モータ１７Ｂを制御する。スライド用モータ１７Ｂを有するスライド操作部１７は、保持物品６Ａが収容室１３Ｃの横幅方向Ｙの範囲内に収まるように保持部１２の位置を調節する。 [Adjustment of regulator]
As shown in FIG. 4, the article transport vehicle 2 includes a control device H that controls the article transport vehicle 2 based on a command from a higher-level controller (not shown). The control device H controls the pair of adjusting motors 23 in order to adjust the center position S of the pair of restricting bodies 21 in the alignment direction X according to the posture of the holding article 6A, and also controls the holding portion in the width direction Y. The slide motor 17B is controlled to adjust the position of 12. The slide operation unit 17 having the slide motor 17B adjusts the position of the holding unit 12 so that the holding article 6A fits within the range of the accommodation chamber 13C in the lateral width direction Y.

本実施形態では、物品搬送車２が走行するときの保持物品６Ａの姿勢として、第１姿勢（図５参照）、第１姿勢から１８０°旋回させた第２姿勢（図６参照）、第１姿勢から時計回りに９０°旋回させた第３姿勢（図７参照）、第１姿勢から反時計回りに９０°旋回させた第４姿勢（図８参照）と、がある。これらの保持物品６Ａの姿勢の変化は、旋回操作部１８により保持部１２が縦軸心Ｐ１周りに旋回することで行われる。すなわち、本実施形態では、旋回操作部１８は、保持部１２及び保持物品６Ａを、縦軸心Ｐ１周りに９０°ずつ旋回させるように構成されている。 In the present embodiment, the postures of the holding article 6A when the article carrier 2 travels are the first posture (see FIG. 5), the second posture (see FIG. 6) swiveled 180 ° from the first posture, and the first posture. There is a third posture (see FIG. 7) that is turned 90 ° clockwise from the posture, and a fourth posture (see FIG. 8) that is turned 90 ° counterclockwise from the first posture. The posture of the holding article 6A is changed by turning the holding portion 12 around the vertical axis center P1 by the turning operation unit 18. That is, in the present embodiment, the turning operation unit 18 is configured to rotate the holding unit 12 and the holding article 6A by 90 ° around the vertical axis center P1.

図５に示すように、保持物品６Ａが第１姿勢の場合では、制御装置Ｈは、一対の規制体２１を第１規制位置に移動させると共に、保持部１２を第１保持位置に移動させるように、一対の調節用モータ２３及びスライド用モータ１７Ｂを制御する。第１規制位置は、一対の規制体２１の中央位置Ｓが搬送車基準位置Ｐ２より並び方向第１側Ｘ１に位置し、且つ、第１規制体２４が第１側面Ｆ１に接触すると共に第２規制体２５が第２側面Ｆ２に接触する位置である。また、第１保持位置は、並び方向Ｘ及び横幅方向Ｙの双方において縦軸心Ｐ１が搬送車基準位置Ｐ２と同じ位置となる。また、第１保持位置は、並び方向Ｘにおいて物品中心Ｐ３が搬送車基準位置Ｐ２に対して並び方向第１側Ｘ１に位置し、横幅方向Ｙにおいて第１姿勢の物品６の物品中心Ｐ３と搬送車基準位置Ｐ２とが同じ位置となる。 As shown in FIG. 5, when the holding article 6A is in the first posture, the control device H moves the pair of restricting bodies 21 to the first regulating position and moves the holding portion 12 to the first holding position. In addition, a pair of adjustment motors 23 and a slide motor 17B are controlled. In the first regulation position, the central position S of the pair of regulation bodies 21 is located on the first side X1 in the alignment direction from the transport vehicle reference position P2, and the first regulation body 24 comes into contact with the first side surface F1 and is second. This is the position where the regulator 25 comes into contact with the second side surface F2. Further, in the first holding position, the vertical axis center P1 is the same as the transport vehicle reference position P2 in both the alignment direction X and the width direction Y. Further, in the first holding position, the article center P3 is located on the first side X1 in the alignment direction with respect to the transport vehicle reference position P2 in the alignment direction X, and is conveyed to the article center P3 of the article 6 in the first posture in the width direction Y. The vehicle reference position P2 is the same position.

図６に示すように、保持物品６Ａが第２姿勢の場合では、制御装置Ｈは、一対の規制体２１を第２規制位置に移動させると共に、保持部１２を第２保持位置に移動させるように、一対の調節用モータ２３及びスライド用モータ１７Ｂを制御する。第２規制位置は、一対の規制体２１の中央位置Ｓが搬送車基準位置Ｐ２より並び方向第２側Ｘ２に位置し、且つ、第１規制体２４が第１側面Ｆ１に接触すると共に第２規制体２５が第２側面Ｆ２に接触する位置である。また、第２保持位置は、並び方向Ｘ及び横幅方向Ｙの双方において縦軸心Ｐ１が搬送車基準位置Ｐ２と同じ位置となる。また、第２保持位置は、並び方向Ｘにおいて物品中心Ｐ３が搬送車基準位置Ｐ２に対して並び方向第２側Ｘ２に位置し、横幅方向Ｙにおいて物品中心Ｐ３と搬送車基準位置Ｐ２とが同じ位置となる。尚、本実施形態では、第２保持位置は、第１保持位置と同じ位置である。 As shown in FIG. 6, when the holding article 6A is in the second posture, the control device H moves the pair of regulating bodies 21 to the second regulating position and moves the holding portion 12 to the second holding position. In addition, a pair of adjustment motors 23 and a slide motor 17B are controlled. In the second regulation position, the central position S of the pair of regulation bodies 21 is located on the second side X2 in the alignment direction with respect to the transport vehicle reference position P2, and the first regulation body 24 comes into contact with the first side surface F1 and is second. This is the position where the regulator 25 comes into contact with the second side surface F2. Further, in the second holding position, the vertical axis center P1 is the same as the transport vehicle reference position P2 in both the alignment direction X and the width direction Y. Further, in the second holding position, the article center P3 is located on the second side X2 in the alignment direction with respect to the transport vehicle reference position P2 in the alignment direction X, and the article center P3 and the transport vehicle reference position P2 are the same in the width direction Y. It becomes the position. In this embodiment, the second holding position is the same as the first holding position.

図７に示すように、保持物品６Ａが第３姿勢の場合では、制御装置Ｈは、一対の規制体２１を第３規制位置に移動させると共に、保持部１２を第３保持位置に移動させるように、一対の調節用モータ２３及びスライド用モータ１７Ｂを制御する。第３規制位置は、一対の規制体２１の中央位置Ｓが搬送車基準位置Ｐ２に位置し、且つ、第１規制体２４が第１側面Ｆ１に接触すると共に第２規制体２５が第２側面Ｆ２に接触する位置である。また、第３保持位置は、並び方向Ｘにおいて縦軸心Ｐ１が搬送車基準位置Ｐ２と同じ位置となり、横幅方向Ｙにおいて縦軸心Ｐ１が搬送車基準位置Ｐ２に対して横幅方向第１側Ｙ１となる。また、第３保持位置は、並び方向Ｘ及び横幅方向Ｙの双方において物品中心Ｐ３と搬送車基準位置Ｐ２とが同じ位置となる。尚、第３保持位置は、第１保持位置及び第２保持位置に対して横幅方向第１側Ｙ１の位置である。 As shown in FIG. 7, when the holding article 6A is in the third posture, the control device H moves the pair of regulating bodies 21 to the third regulating position and moves the holding portion 12 to the third holding position. In addition, a pair of adjustment motors 23 and a slide motor 17B are controlled. In the third regulation position, the central position S of the pair of regulation bodies 21 is located at the transport vehicle reference position P2, the first regulation body 24 is in contact with the first side surface F1, and the second regulation body 25 is on the second side surface. This is the position where it comes into contact with F2. Further, in the third holding position, the vertical axis P1 is at the same position as the transport vehicle reference position P2 in the alignment direction X, and the vertical axis P1 is the first side Y1 in the width direction with respect to the transport vehicle reference position P2 in the width direction Y. It becomes. Further, in the third holding position, the article center P3 and the transport vehicle reference position P2 are at the same position in both the alignment direction X and the width direction Y. The third holding position is a position on the first side Y1 in the width direction with respect to the first holding position and the second holding position.

図８に示すように、保持物品６Ａが第４姿勢の場合では、制御装置Ｈは、一対の規制体２１を第４規制位置に移動させると共に、保持部１２を第４保持位置に移動させるように、一対の調節用モータ２３及びスライド用モータ１７Ｂを制御する。第４規制位置は、一対の規制体２１の中央位置Ｓが搬送車基準位置Ｐ２に位置し、且つ、第１規制体２４が第１側面Ｆ１に接触すると共に第２規制体２５が第２側面Ｆ２に接触する位置である。尚、本実施形態では、第４規制位置は並び方向Ｘにおいて第３規制位置と同じ位置である。また、第４保持位置は、並び方向Ｘにおいて縦軸心Ｐ１が搬送車基準位置Ｐ２と同じ位置となり、横幅方向Ｙにおいて縦軸心Ｐ１が搬送車基準位置Ｐ２に対して横幅方向第２側Ｙ２となる。また、第４保持位置は、並び方向Ｘ及び横幅方向Ｙの双方において物品中心Ｐ３と搬送車基準位置Ｐ２とが同じ位置となる。尚、第４保持位置は、第１保持位置及び第２保持位置に対して横幅方向第２側Ｙ２の位置である。 As shown in FIG. 8, when the holding article 6A is in the fourth posture, the control device H moves the pair of restricting bodies 21 to the fourth regulating position and moves the holding portion 12 to the fourth holding position. In addition, a pair of adjustment motors 23 and a slide motor 17B are controlled. In the fourth regulation position, the central position S of the pair of regulation bodies 21 is located at the transport vehicle reference position P2, the first regulation body 24 is in contact with the first side surface F1, and the second regulation body 25 is on the second side surface. This is the position where it comes into contact with F2. In the present embodiment, the fourth regulated position is the same position as the third regulated position in the arrangement direction X. Further, in the fourth holding position, the vertical axis P1 is at the same position as the transport vehicle reference position P2 in the alignment direction X, and the vertical axis P1 is the second side Y2 in the width direction with respect to the transport vehicle reference position P2 in the width direction Y. It becomes. Further, in the fourth holding position, the article center P3 and the transport vehicle reference position P2 are at the same position in both the alignment direction X and the width direction Y. The fourth holding position is a position on the second side Y2 in the width direction with respect to the first holding position and the second holding position.

このように、制御装置Ｈは、保持物品６Ａの姿勢に応じて、一対の規制体２１の並び方向Ｘの位置を、一対の規制体２１の位置を第１規制位置、第２規制位置、第３規制位置（第４規制位置も同じ）の３位置に移動させるべく、一対の調節用モータ２３を制御する。また、制御装置Ｈは、保持物品６Ａの姿勢に応じて、保持部１２の横幅方向Ｙの位置を、第１保持位置（第２保持位置も同じ）、第３保持位置、第４保持位置の３位置に移動させるべく、スライド用モータ１７Ｂを制御する。また、保持部１２を上昇位置から下降位置に下降させる場合は、制御装置Ｈは、図９に示すように、一対の規制体２１を保持物品６Ａの並び方向Ｘの長さより広い間隔となる第５規制位置に移動させると共に、保持部１２の横幅方向Ｙの位置及び姿勢が、支持台４等の保持物品６Ａを搬送する搬送対象箇所に応じた位置及び姿勢に対応するように、一対の調節用モータ２３、スライド用モータ１７Ｂ及び旋回用モータ１８Ｂを制御する。その結果、保持物品６Ａが第１姿勢から第４姿勢の何れの姿勢の場合でも保持物品６Ａは収容室１３Ｃの横幅方向Ｙの範囲内に収まる。 As described above, the control device H sets the position of the pair of restricting bodies 21 in the arrangement direction X and the position of the pair of restricting bodies 21 as the first regulated position, the second regulated position, and the second regulated body 21 according to the posture of the holding article 6A. The pair of adjusting motors 23 are controlled so as to move to the three positions of the three regulated positions (the same applies to the fourth regulated position). Further, the control device H sets the position of the holding portion 12 in the lateral width direction Y at the first holding position (the same applies to the second holding position), the third holding position, and the fourth holding position according to the posture of the holding article 6A. The slide motor 17B is controlled so as to move to three positions. Further, when the holding portion 12 is lowered from the ascending position to the descending position, the control device H arranges the pair of restricting bodies 21 at intervals wider than the length of the arrangement direction X of the holding articles 6A, as shown in FIG. A pair of adjustments are made so that the position and orientation of the holding portion 12 in the lateral width direction Y correspond to the position and orientation corresponding to the transport target location for transporting the holding article 6A such as the support base 4 while moving to the 5 regulation position. Motor 23, slide motor 17B, and swivel motor 18B are controlled. As a result, the holding article 6A fits within the width direction Y of the storage chamber 13C regardless of the posture of the holding article 6A from the first posture to the fourth posture.

２．その他の実施形態
次に、搬送装置のその他の実施形態について説明する。 2. Other Embodiments Next, other embodiments of the transport device will be described.

（１）上記実施形態では、一対の規制体２１の規制位置（第１から第４規制位置）を、一対の規制体２１が保持物品６Ａに接触する位置に設定したが、これに限定されない。第１規制体２４が第１側面Ｆ１に対して離間して対向し、第２規制体２５が第２側面Ｆ２に対して離間して対向するように、一対の規制体２１の規制位置を設定してもよい。 (1) In the above embodiment, the regulation positions (first to fourth regulation positions) of the pair of regulation bodies 21 are set to positions where the pair of regulation bodies 21 come into contact with the holding article 6A, but the present invention is not limited to this. The regulation positions of the pair of regulators 21 are set so that the first regulator 24 faces the first side surface F1 at a distance and the second regulator 25 faces the second side surface F2 at a distance. You may.

（２）上記実施形態では、第１規制体２４が、第１側面対向部２１Ａと第１下面対向部２２Ａとを備える構成を例として説明したが、第１規制体２４が、第１側面対向部２１Ａと第１下面対向部２２Ａとのうちの第１側面対向部２１Ａのみを備えた構成であってもよい。同様に、第２規制体２５が、第２側面対向部２１Ｂと第２下面対向部２２Ｂとのうちの第２側面対向部２１Ｂのみを備えた構成であってもよい。 (2) In the above embodiment, the configuration in which the first regulator 24 includes the first side surface facing portion 21A and the first bottom surface facing portion 22A has been described as an example, but the first regulator 24 has the first side facing portion 24. A configuration may be configured in which only the first side surface facing portion 21A of the portion 21A and the first lower surface facing portion 22A is provided. Similarly, the second regulator 25 may be configured to include only the second side surface facing portion 21B of the second side surface facing portion 21B and the second lower surface facing portion 22B.

（３）上記実施形態では、物品６の鉛直方向Ｚ視での形状が、幅方向Ｗの長さと奥行方向Ｄの長さとが等しい正方形状である場合を例として説明したが、これには限定されない。物品６の鉛直方向Ｚ視の形状は、これ以外の形状であってもよく、例えば、物品６の鉛直方向Ｚ視の形状が、長方形状等の幅方向Ｗの長さと奥行方向Ｄの長さが異なる矩形状であってもよく、或いは、三角形状、六角形状、八角形状等の各種多角形状であってもよい。また、一部の面が円弧状や台形状等に突出した形状状等、縦軸心Ｐ１周りの外面の形状が規則的でない物品であってもよい。 (3) In the above embodiment, the case where the shape of the article 6 in the vertical direction Z in the vertical direction Z is a square shape in which the length in the width direction W and the length in the depth direction D are equal to each other has been described as an example, but the present invention is limited to this. Not done. The shape of the article 6 in the vertical direction Z may be any other shape. For example, the shape of the article 6 in the vertical direction Z may be a rectangular shape or the like in the width direction W and the depth direction D. It may have a different rectangular shape, or it may have various polygonal shapes such as a triangular shape, a hexagonal shape, and an octagonal shape. Further, the shape of the outer surface around the vertical axis P1 may be irregular, such as a shape in which a part of the surface protrudes into an arc shape or a trapezoidal shape.

（４）上記実施形態では、保持物品６Ａの姿勢に応じて、並び方向Ｘにおける一対の規制体２１の中央位置Ｓを調節する構成を例として説明したがこれには限定されない。例えば、物品６の鉛直方向Ｚ視の形状が長方形状である場合等には、保持物品６Ａの姿勢に応じて、並び方向Ｘにおける一対の規制体２１の間隔及び中央位置Ｓの双方を調節する構成とすると好適である。具体的には、第１規制位置及び第２規制位置における一対の規制体２１の間隔と、第３規制位置及び第４規制位置における一対の規制体２１の間隔とを異ならせると好適である。 (4) In the above embodiment, the configuration in which the central position S of the pair of restrictors 21 in the arrangement direction X is adjusted according to the posture of the holding article 6A has been described as an example, but the present invention is not limited to this. For example, when the shape of the article 6 in the vertical direction Z is rectangular, both the distance between the pair of restrictors 21 and the center position S in the alignment direction X are adjusted according to the posture of the holding article 6A. The configuration is suitable. Specifically, it is preferable that the distance between the pair of regulatory bodies 21 at the first regulation position and the second regulation position and the distance between the pair of regulation bodies 21 at the third regulation position and the fourth regulation position are different.

（５）上記実施形態では、並び方向Ｘを、走行部１１が走行する方向に沿う方向としたが、鉛直方向Ｚ視で走行部１１が走行する方向に対して交差する方向（例えば直交する方向）を並び方向Ｘとしてもよい。 (5) In the above embodiment, the alignment direction X is the direction along the traveling direction of the traveling unit 11, but the direction intersecting the traveling direction of the traveling unit 11 in the vertical direction Z (for example, the direction orthogonal to each other). ) May be arranged in the direction X.

（６）上記実施形態では、搬送装置を、天井に吊り下げられたレール１に沿って走行する物品搬送車２としたが、搬送装置は、レール１上をレール１に沿って走行する走行部１１と物品６を保持する保持部１２とを有していればよく、例えばスタッカークレーン等の他の装置としてもよい。 (6) In the above embodiment, the transport device is an article transport vehicle 2 that travels along the rail 1 suspended from the ceiling, but the transport device is a traveling unit that travels along the rail 1 on the rail 1. It suffices to have the 11 and the holding portion 12 for holding the article 6, and may be another device such as a stacker crane.

（７）上記実施形態では、旋回操作部１８が、保持部１２及び保持物品６Ａを、縦軸心Ｐ１周りに９０°ずつ旋回させる構成を例として説明した。しかし、これに限定されず、旋回操作部１８が、保持部１２及び保持物品６Ａを、１８０°ずつ旋回させる構成であってもよい。或いは、旋回操作部１８が、保持部１２及び保持物品６Ａを、４５°や６０°等、上記以外の角度で旋回させる構成であってもよい。 (7) In the above embodiment, the configuration in which the swivel operation unit 18 swivels the holding unit 12 and the holding article 6A by 90 ° around the vertical axis center P1 has been described as an example. However, the present invention is not limited to this, and the swivel operation unit 18 may be configured to swivel the holding unit 12 and the holding article 6A by 180 °. Alternatively, the swivel operation unit 18 may be configured to swivel the holding unit 12 and the holding article 6A at an angle other than the above, such as 45 ° or 60 °.

（８）上記実施形態では、保持調節部としてのスライド操作部１７が、旋回操作部１８による保持部１２の旋回角度に応じて、横幅方向Ｙにおける保持部１２の位置を調節する構成を例として説明した。しかしこれに限定されず、旋回操作部１８による保持部１２の旋回角度に関わらずスライド操作部１７が保持部１２を一定の位置に維持する構成とし、或いは、保持部１２の旋回角度とは無関係にスライド操作部１７が保持部１２の位置を調節する構成としてもよい。 (8) In the above embodiment, as an example, the slide operation unit 17 as the holding adjustment unit adjusts the position of the holding unit 12 in the width direction Y according to the turning angle of the holding unit 12 by the turning operation unit 18. explained. However, the present invention is not limited to this, and the slide operation unit 17 maintains the holding unit 12 at a fixed position regardless of the turning angle of the holding unit 12 by the turning operation unit 18, or is irrelevant to the turning angle of the holding unit 12. The slide operation unit 17 may be configured to adjust the position of the holding unit 12.

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

３．上記実施形態の概要
以下、上記において説明した搬送装置の概要について説明する。 3. 3. Outline of the above-described embodiment The outline of the transfer device described above will be described below.

搬送装置は、レールに沿って走行する走行部と、走行部に連結され且つ物品を保持する保持部と、前記保持部及び前記保持部に保持されている物品である保持物品を鉛直方向に沿う縦軸心周りに旋回させる旋回部と、鉛直方向視で前記保持物品の両側に分かれて配置される一対の規制体と、一対の前記規制体を移動させる規制体調節部と、を備え、
鉛直方向視で一対の前記規制体が並ぶ方向を並び方向とし、前記並び方向の一方側を並び方向第１側とし、その反対側を並び方向第２側とし、前記並び方向における一対の前記規制体の中央の位置を中央位置として、前記保持物品は、前記旋回部による前記保持部の旋回角度に応じて、前記並び方向第１側を向く第１側面と、前記並び方向第２側を向く第２側面との前記並び方向での位置が変化する形状であり、一対の前記規制体のうちの前記並び方向第１側にある第１規制体は、前記第１側面に対向して配置され、一対の前記規制体のうちの前記並び方向第２側にある第２規制体は、前記第２側面に対向して配置され、前記規制体調節部は、前記保持部の旋回によって変化する前記保持物品の姿勢に応じて、前記中央位置を調節する。 The transport device vertically follows a traveling portion that travels along the rail, a holding portion that is connected to the traveling portion and holds the article, and the holding portion and the holding article that is the article held by the holding portion. A swivel portion that swivels around the center of the vertical axis, a pair of restrictors that are separately arranged on both sides of the holding article in a vertical direction, and a regulator adjusting unit that moves the pair of the restrictors are provided.
In vertical view, the direction in which the pair of the restricting bodies are lined up is the alignment direction, one side of the alignment direction is the alignment direction first side, and the opposite side is the alignment direction second side, and the pair of the regulation bodies in the alignment direction. With the central position of the body as the central position, the holding article faces the first side surface facing the first side in the alignment direction and the second side in the alignment direction according to the rotation angle of the holding portion by the turning portion. The shape is such that the position with respect to the second side surface in the alignment direction changes, and the first regulator on the first side in the alignment direction of the pair of regulators is arranged so as to face the first side surface. The second regulator on the second side in the alignment direction of the pair of regulators is arranged to face the second side surface, and the regulator adjusting portion is changed by turning the holding portion. The central position is adjusted according to the posture of the holding article.

この構成によれば、旋回部により保持部が旋回することで、保持物品が縦軸心周りに旋回して保持物品の姿勢が変わり、保持物品の第１側面と第２側面との並び方向での位置が変化する。そこで、この構成によれば、規制体調節部が、保持物品の姿勢に応じて一対の規制体の中央位置を調節することで、一対の規制体を第１側面や第２側面に対応した位置に配置することができる。従って、保持部の旋回角度に関わらず、一対の規制体を適切な位置に配置することができる。そのため、保持部に保持されている物品が揺れた場合でも、その物品が規制体に接触することで物品の揺れを適切に規制することができる。 According to this configuration, when the holding portion is swiveled by the swivel portion, the holding article is swiveled around the center of the vertical axis to change the posture of the holding article, and the posture of the holding article is changed in the alignment direction of the first side surface and the second side surface of the holding article. The position of is changed. Therefore, according to this configuration, the regulator adjusting unit adjusts the central position of the pair of regulators according to the posture of the holding article, so that the pair of regulators are positioned corresponding to the first side surface and the second side surface. Can be placed in. Therefore, the pair of restrictors can be arranged at appropriate positions regardless of the turning angle of the holding portion. Therefore, even when the article held in the holding portion sways, the sway of the article can be appropriately regulated by the article coming into contact with the regulator.

ここで、前記旋回部による前記保持部の旋回角度に応じて、鉛直方向視における前記並び方向に直交する方向における前記保持部の位置を調節する保持調節部を更に備え、前記規制体調節部は、前記保持調節部による前記保持部の移動に応じた前記中央位置の調節を行わないと好適である。 Here, the restricting body adjusting unit further includes a holding adjusting unit that adjusts the position of the holding unit in a direction orthogonal to the alignment direction in the vertical view according to the turning angle of the holding unit by the rotating unit. It is preferable not to adjust the central position according to the movement of the holding portion by the holding adjusting portion.

この構成によれば、保持部が旋回して保持物品の姿勢が変わることで、並び方向に対して交差する方向において走行部に対して偏った位置に保持物品が配置されることになる場合でも、保持調節部により保持部の位置を調節することで、保持物品の走行部に対する位置の偏りを低減できる。従って、走行部の走行を適切に行い易い。 According to this configuration, even when the holding article is swiveled and the posture of the holding article is changed, the holding article is arranged at a position biased with respect to the traveling portion in the direction intersecting the alignment direction. By adjusting the position of the holding portion by the holding adjusting portion, it is possible to reduce the bias of the position of the holding article with respect to the traveling portion. Therefore, it is easy to properly run the traveling unit.

また、前記並び方向は、前記走行部が走行する方向に沿う方向であり、鉛直方向視における前記並び方向に対して直交する方向を横幅方向として、前記保持調節部は、前記横幅方向に沿って前記保持部を移動させると好適である。 Further, the alignment direction is a direction along the traveling direction of the traveling portion, and the direction orthogonal to the alignment direction in the vertical direction is the lateral width direction, and the holding adjustment portion is along the lateral width direction. It is preferable to move the holding portion.

この構成によれば、保持部が旋回して保持物品の姿勢が変わることで、横幅方向において走行部に対して偏った位置に保持物品が配置されることになる場合でも、保持調節部により保持部の位置を調節することで、保持物品の走行部に対する横幅方向の位置の偏りを低減できる。従って、走行部の走行を適切に行い易くなると共に、走行部の走行中に、走行経路に対して横幅方向の両側に設置された設置物に保持物品が干渉する可能性を低減できる。 According to this configuration, even if the holding article is swiveled and the posture of the holding article is changed so that the holding article is arranged at a position biased with respect to the traveling portion in the lateral width direction, the holding article is held by the holding adjusting portion. By adjusting the position of the portion, it is possible to reduce the bias of the position of the holding article with respect to the traveling portion in the lateral width direction. Therefore, the traveling portion can be easily traveled, and the possibility that the holding article interferes with the installation objects installed on both sides in the lateral width direction with respect to the traveling route can be reduced while the traveling portion is traveling.

また、前記保持物品を収容する収容室を形成する収容部を更に備え、前記保持調節部は、前記保持物品が前記収容室の前記横幅方向の範囲内に収まるように前記保持部の位置を調節すると好適である。 Further, an accommodating portion for forming an accommodating chamber for accommodating the holding article is further provided, and the holding adjusting portion adjusts the position of the holding portion so that the holding article is contained within the width direction of the accommodating chamber. Then it is suitable.

この構成によれば、保持部が旋回して保持物品の姿勢が変わることで、収容室における横幅方向の中央部に対して横幅方向に偏った位置に保持物品が配置されることになる場合でも、保持調節部により保持部の位置を調節することで、保持物品を収容室の横幅方向の範囲内に収めることができる。そのため、保持物品が収容部から横幅方向に突出することを防止できる。従って、走行部の走行中に、走行経路に対して横幅方向の両側に設置された設置物に保持物品が干渉する可能性を低減できる。 According to this configuration, even when the holding article is swiveled and the posture of the holding article is changed, the holding article is arranged at a position biased in the width direction with respect to the central portion in the width direction in the storage chamber. By adjusting the position of the holding portion by the holding adjusting portion, the holding article can be accommodated within the range in the width direction of the storage chamber. Therefore, it is possible to prevent the holding article from protruding from the accommodating portion in the lateral width direction. Therefore, it is possible to reduce the possibility that the holding article interferes with the installation objects installed on both sides in the lateral width direction with respect to the traveling path while the traveling portion is traveling.

また、前記保持部は、物品の上端部を保持するように構成され、前記第１規制体は、前記保持物品の前記第１側面に対向して配置される第１側面対向部に加えて、前記保持物品の下面に対向して配置される第１下面対向部を更に備え、前記第２規制体は、前記保持物品の前記第２側面に対向して配置される第２側面対向部に加えて、前記保持物品の下面に対向して配置される第２下面対向部を更に備えていると好適である。 Further, the holding portion is configured to hold the upper end portion of the article, and the first regulator is in addition to the first side surface facing portion arranged to face the first side surface of the holding article. A first lower surface facing portion is further provided so as to face the lower surface of the holding article, and the second regulator is in addition to a second side facing portion that is arranged to face the second side surface of the holding article. Therefore, it is preferable that the second lower surface facing portion is further provided so as to face the lower surface of the holding article.

この構成によれば、物品の側面が第１側面対向部や第２側面対向部に接触することで、保持部に保持された物品の揺れを規制できる。また仮に、保持部による物品に対する保持が外れた場合でも、第１下面対向部と第２下面対向部とで物品を下方から受け止めることができるため、物品が落下することを抑制できる。また、第１下面対向部及び第２下面対向部は、規制体調節部により、保持物品の姿勢に応じて、並び方向における中央位置を調節できるため、保持部の旋回によって変化する保持物品の姿勢に関わらず、保持物品の落下を適切に抑制できる。 According to this configuration, the side surface of the article comes into contact with the first side surface facing portion or the second side surface facing portion, so that the shaking of the article held by the holding portion can be regulated. Further, even if the holding portion does not hold the article, the first lower surface facing portion and the second lower surface facing portion can catch the article from below, so that the article can be prevented from falling. Further, since the center position in the arrangement direction of the first lower surface facing portion and the second lower surface facing portion can be adjusted by the restricting body adjusting portion according to the posture of the holding article, the posture of the holding article changes by the rotation of the holding portion. Regardless of this, the falling of the held article can be appropriately suppressed.

また、前記保持部は、前記レールより下方に位置し、前記保持部を前記走行部の近くの上昇位置と前記上昇位置より下方の下降位置とに昇降させる昇降駆動部を更に備え、前記第１規制体は、前記保持部が前記上昇位置にある状態で前記第１側面に対向して配置され、前記第２規制体は、前記保持部が前記上昇位置にある状態で前記第２側面に対向して配置されると好適である。 Further, the holding portion is located below the rail, and further includes an elevating drive portion for raising and lowering the holding portion to an ascending position near the traveling portion and a descending position below the ascending position. The restricting body is arranged to face the first side surface with the holding portion in the raised position, and the second restricting body faces the second side surface with the holding portion in the raised position. It is preferable that they are arranged in the same manner.

この構成によれば、搬送装置は、保持部を上昇位置にある状態で走行させ、保持部を上昇位置から下降位置に下降させることで、物品を下方に搬送することができる。そして、走行部を走行させる場合に、一対の規制体によって保持物品の揺れを適切に規制できる。 According to this configuration, the transport device can transport the article downward by traveling the holding portion in the ascending position and lowering the holding portion from the ascending position to the descending position. Then, when the traveling portion is traveled, the shaking of the holding article can be appropriately regulated by the pair of restricting bodies.

本開示に係る技術は、レールに沿って走行する走行部と、走行部に連結され且つ物品を保持する保持部と、前記保持部に保持されている物品を鉛直方向に沿う縦軸心周りに旋回させる旋回部と、を備えた搬送装置に利用することができる。 The technique according to the present disclosure includes a traveling portion that travels along a rail, a holding portion that is connected to the traveling portion and holds an article, and an article that is held by the holding portion around the center of the vertical axis along the vertical direction. It can be used for a transport device provided with a swivel portion for swiveling.

１：レール
２：物品搬送車（搬送装置）
６：物品
６Ａ：保持物品
１１：走行部
１３：収容部
１３Ｃ：収容室
１７Ｂ：スライド用モータ（保持調節部）
１８：旋回操作部（旋回部）
２１：規制体
２１Ａ：第１側面対向部
２１Ｂ：第２側面対向部
２２Ａ：第１下面対向部
２２Ｂ：第２下面対向部
２３：調節用モータ（規制体調節部）
２４：第１規制体
２５：第２規制体
Ｆ１：第１側面
Ｆ２：第２側面
Ｆ３：下面
Ｓ：中央位置
Ｘ：並び方向
Ｘ１：並び方向第１側
Ｘ２：並び方向第２側
Ｚ：鉛直方向
1: Rail 2: Goods carrier (transport device)
6: Article 6A: Holding article 11: Traveling unit 13: Accommodating unit 13C: Accommodating chamber 17B: Slide motor (holding adjustment unit)
18: Swivel operation unit (swivel unit)
21: Regulator 21A: First side surface facing portion 21B: Second side surface facing portion 22A: First lower surface facing portion 22B: Second lower surface facing portion 23: Adjustment motor (regulator adjusting unit)
24: 1st regulator 25: 2nd regulator F1: 1st side surface F2: 2nd side surface F3: Bottom surface S: Center position X: Alignment direction X1: Alignment direction 1st side X2: Alignment direction 2nd side Z: Vertical direction

Claims (6)

レールに沿って走行する走行部と、
走行部に連結され且つ物品を保持する保持部と、
前記保持部及び前記保持部に保持されている物品である保持物品を鉛直方向に沿う縦軸心周りに旋回させる旋回部と、
鉛直方向視で前記保持物品の両側に分かれて配置される一対の規制体と、
一対の前記規制体を移動させる規制体調節部と、を備えた搬送装置であって、
鉛直方向視で一対の前記規制体が並ぶ方向を並び方向とし、前記並び方向の一方側を並び方向第１側とし、その反対側を並び方向第２側とし、前記並び方向における一対の前記規制体の中央の位置を中央位置として、
前記保持物品は、前記旋回部による前記保持部の旋回角度に応じて、前記並び方向第１側を向く第１側面と、前記並び方向第２側を向く第２側面との前記並び方向での位置が変化する形状であり、
一対の前記規制体のうちの前記並び方向第１側にある第１規制体は、前記第１側面に対向して配置され、
一対の前記規制体のうちの前記並び方向第２側にある第２規制体は、前記第２側面に対向して配置され、
前記規制体調節部は、前記保持部の旋回によって変化する前記保持物品の姿勢に応じて、前記中央位置を調節する搬送装置。 The running part that runs along the rail and
A holding part that is connected to the traveling part and holds the article,
A swivel portion that swivels the holding portion and the holding article, which is an article held by the holding portion, around the center of the vertical axis along the vertical direction.
A pair of restrictors arranged on both sides of the holding article in a vertical direction,
A transport device including a regulator adjusting unit for moving the pair of regulators.
In vertical view, the direction in which the pair of the restricting bodies are lined up is the alignment direction, one side of the alignment direction is the alignment direction first side, and the opposite side is the alignment direction second side, and the pair of the regulation bodies in the alignment direction. With the center position of the body as the center position
The holding article is in the alignment direction of the first side surface facing the first side in the alignment direction and the second side surface facing the second side in the alignment direction according to the rotation angle of the holding portion by the swing portion. It is a shape that changes position,
The first regulator on the first side in the alignment direction of the pair of regulators is arranged so as to face the first side surface.
The second regulator on the second side in the alignment direction of the pair of regulators is arranged so as to face the second side surface.
The restricting body adjusting unit is a transport device that adjusts the central position according to the posture of the holding article that changes due to the rotation of the holding unit. 前記旋回部による前記保持部の旋回角度に応じて、鉛直方向視における前記並び方向に直交する方向における前記保持部の位置を調節する保持調節部を更に備え、
前記規制体調節部は、前記保持調節部による前記保持部の移動に応じた前記中央位置の調節を行わない、請求項１に記載の搬送装置。 A holding adjusting unit for adjusting the position of the holding portion in a direction orthogonal to the alignment direction in the vertical direction is further provided according to the turning angle of the holding portion by the turning portion .
The transport device according to claim 1, wherein the restricting body adjusting unit does not adjust the central position according to the movement of the holding unit by the holding adjusting unit. 前記並び方向は、前記走行部が走行する方向に沿う方向であり、
鉛直方向視における前記並び方向に対して直交する方向を横幅方向として、
前記保持調節部は、前記横幅方向に沿って前記保持部を移動させる請求項２に記載の搬送装置。 The alignment direction is a direction along the traveling direction of the traveling portion.
The width direction is the direction orthogonal to the alignment direction in the vertical direction.
The transport device according to claim 2, wherein the holding adjustment unit moves the holding unit along the width direction. 前記保持物品を収容する収容室を形成する収容部を更に備え、
前記保持調節部は、前記保持物品が前記収容室の前記横幅方向の範囲内に収まるように前記保持部の位置を調節する請求項３に記載の搬送装置。 Further provided with an accommodating portion forming an accommodating chamber for accommodating the holding article.
The transport device according to claim 3, wherein the holding adjustment unit adjusts the position of the holding unit so that the holding article fits within the width direction of the storage chamber. 前記保持部は、物品の上端部を保持するように構成され、
前記第１規制体は、前記保持物品の前記第１側面に対向して配置される第１側面対向部に加えて、前記保持物品の下面に対向して配置される第１下面対向部を更に備え、
前記第２規制体は、前記保持物品の前記第２側面に対向して配置される第２側面対向部に加えて、前記保持物品の下面に対向して配置される第２下面対向部を更に備えている請求項１から４のいずれか一項に記載の搬送装置。 The holding portion is configured to hold the upper end portion of the article.
In addition to the first side surface facing portion arranged to face the first side surface of the holding article, the first restricting body further includes a first lower surface facing portion arranged to face the lower surface of the holding article. Prepare,
In addition to the second side surface facing portion arranged to face the second side surface of the holding article, the second restricting body further includes a second lower surface facing portion arranged to face the lower surface of the holding article. The transport device according to any one of claims 1 to 4. 前記保持部は、前記レールより下方に位置し、
前記保持部を前記走行部の近くの上昇位置と前記上昇位置より下方の下降位置とに昇降させる昇降駆動部を更に備え、
前記第１規制体は、前記保持部が前記上昇位置にある状態で前記第１側面に対向して配置され、
前記第２規制体は、前記保持部が前記上昇位置にある状態で前記第２側面に対向して配置される請求項１から５のいずれか一項に記載の搬送装置。 The holding portion is located below the rail and
Further provided with an elevating drive unit for elevating and lowering the holding portion to an ascending position near the traveling portion and a descending position below the ascending position.
The first regulator is arranged so as to face the first side surface with the holding portion in the raised position.
The transport device according to any one of claims 1 to 5, wherein the second regulator is arranged so as to face the second side surface in a state where the holding portion is in the raised position.
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