TW201813901A - Article transport facility effectively uses the space to change the posture of the article so as to suppress the enlargement of the article transport vehicle - Google Patents

Article transport facility effectively uses the space to change the posture of the article so as to suppress the enlargement of the article transport vehicle Download PDF

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Publication number
TW201813901A
TW201813901A TW106123194A TW106123194A TW201813901A TW 201813901 A TW201813901 A TW 201813901A TW 106123194 A TW106123194 A TW 106123194A TW 106123194 A TW106123194 A TW 106123194A TW 201813901 A TW201813901 A TW 201813901A
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article
posture
transfer
transport vehicle
path
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TW106123194A
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Chinese (zh)
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TWI717535B (en
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北原素行
森本雄一
松尾研介
櫻井武司
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大福股份有限公司
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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
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—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
    • H01L21/67733—Overhead conveying
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H01L21/67763—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 the wafers being stored in a carrier, involving loading and unloading
    • H01L21/67778—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 the wafers being stored in a carrier, involving loading and unloading involving loading and unloading of wafers
    • 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
    • B65G2201/0235—Containers

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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)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The object of the present invention is to provide an article transport facility that integrally includes a posture change mechanism for changing the posture of an article on an article transport vehicle, and that can suppress the enlargement of the article transport vehicle. The solution means is: comprising an article transport vehicle that moves along a moving path to transport articles, and a control device that controls the article transport vehicle. The article transport vehicle includes an accommodating portion for accommodating articles, a covered cap portion for covering the accommodating portion, a transfer mechanism for transferring the articles between the transported object and the article transport vehicle, and a posture change mechanism for changing the posture of the article being conveyed, wherein the posture change mechanism can change the posture of the article between a first posture and a second posture. The covered cap portion is provided at a location that interferes with the article when the article is in the intermediate posture. The control device performs a posture change control which is performed on the way of the transfer path that is when the article is moved to the outside relative to the accommodating portion by the transfer mechanism, after the article is changed from the first posture to the second posture by the posture change mechanism, and when the article is accommodated in the accommodating portion by the transfer mechanism.

Description

物品搬送設備Goods handling equipment

發明領域 本發明是有關於一種具備有在複數個搬送對象場所之間沿著移動路徑移動來搬送物品之物品搬送車的物品搬送設備。FIELD OF THE INVENTION The present invention relates to an article transporting apparatus provided with an article transport vehicle that moves along a moving path between a plurality of transport target places and transports articles.

發明背景 例如，在下述專利文獻1所揭示之設備中，是以物品搬送車的移動路徑經由複數個搬送對象場所的狀態來設定。並且，在複數個搬送對象場所當中成為搬送目的地之搬送對象場所上，將物品的姿勢變更成用於移載該物品之適當的姿勢。像這樣，在搬送起點與搬送目的地變更物品的姿勢之理由是源自例如，在物品是僅在其一側面上具有用於讓內容物出入之開口的容器，且搬送對象場所是處理該內容物的處理部之情況下，必須使容器的開口相向於處理部等。並且，為了變更物品的姿勢，在專利文獻1的設備中，具備有以於移動路徑間連接的狀態設置，且與物品搬送車分開另行設置的姿勢變更機構。物品搬送車對此姿勢變更機構移交物品，且令姿勢變更機構使此物品旋繞，以藉此將物品的姿勢從第一姿勢變更成第二姿勢。 先前技術文獻 專利文獻BACKGROUND OF THE INVENTION For example, in the device disclosed in the following Patent Document 1, it is set in a state where a moving path of an article transport vehicle passes through a plurality of transport target places. In addition, the posture of the article is changed to a proper posture for transferring the article at the destination of the transport that is the destination of the transport among the plural destinations. In this manner, the reason for changing the posture of the article between the starting point and the destination of transportation is that, for example, the article has a container having an opening for allowing the contents to enter and exit on only one side of the article, and the place to be handled is to handle the content In the case of an object processing unit, the opening of the container must face the processing unit and the like. In addition, in order to change the posture of the article, the device of Patent Document 1 is provided with a posture changing mechanism provided in a state of being connected between the moving paths and separately provided from the article transport vehicle. The article transport vehicle delivers the article to the posture changing mechanism, and causes the posture changing mechanism to wind the article, thereby changing the posture of the article from the first posture to the second posture. Prior Art Literature Patent Literature

專利文獻1：日本專利特開2012-253070號公報Patent Document 1: Japanese Patent Laid-Open No. 2012-253070

發明概要 發明欲解決之課題 如上所述，在與物品搬送車分開另行設置有姿勢變更機構的設備中，會變得需要有該姿勢變更機構的配置空間，並且變得設備成本增加相當於設置該姿勢變更機構的量。於是，本申請的發明人對使姿勢變更機構一體地設置於物品搬送車上之作法進行了檢討。但是，在由物品搬送車所進行的物品之搬送中，收容物品的收容部是被罩蓋部所覆蓋。並且，為了抑制物品搬送車的大型化，是將罩蓋部與已收容於收容部的物品之間隙設定為最低限度。為了進行收容於這種收容部的物品之姿勢變更，必須使物品與罩蓋部的間隙變寬，其結果，會有不得不使物品搬送車大型化的問題。SUMMARY OF THE INVENTION The problem to be solved by the invention is as described above. In a device provided with a posture changing mechanism separately from the article transport vehicle, a space for disposing the posture changing mechanism becomes necessary, and an increase in equipment cost is equivalent to installing the device. The amount of posture change mechanism. Then, the inventor of the present application reviewed the method of integrally installing the posture changing mechanism on the article transport vehicle. However, in the transportation of the articles by the article transport vehicle, the accommodating section that accommodates the articles is covered by the cover section. In addition, in order to suppress an increase in the size of the article transport vehicle, the gap between the cover portion and the article already accommodated in the accommodation portion is set to a minimum. In order to change the posture of an article stored in such a receiving section, it is necessary to widen the gap between the article and the cover section. As a result, there is a problem that the article transport vehicle has to be enlarged.

於是，所期望的是在物品搬送車上一體地具備有用於變更物品的姿勢之姿勢變更機構，並且可以抑制物品搬送車的大型化之物品搬送設備的實現。 用以解決課題之手段Therefore, it is desirable that the article transport vehicle is integrally provided with a posture changing mechanism for changing the posture of the article, and the realization of the article transport equipment that can suppress an increase in the size of the article transport vehicle is expected. Means to solve the problem

一種物品搬送設備，具備有在複數個搬送對象場所之間沿著移動路徑移動來搬送物品的物品搬送車、及控制該物品搬送車的控制裝置， 前述物品搬送車具有收容前述物品的收容部、覆蓋該收容部的罩蓋部、在前述收容部與相對於該收容部而位於外側之前述複數個搬送對象場所的一個之間，使前述物品移動而進行該搬送對象場所與前述物品搬送車之間的前述物品之移載的移載機構、及變更搬送中的前述物品之姿勢的姿勢變更機構， 前述姿勢變更機構可以將前述物品的姿勢變更為第一姿勢及第二姿勢，該第一姿勢是在成為搬送起點之前述搬送對象場所的移載用之姿勢，該第二姿勢是在成為搬送目的地之前述搬送對象場所的移載用之姿勢， 前述罩蓋部是設置在下述位置：當收容在前述收容部的狀態之前述物品為前述第一姿勢的情況及第二姿勢的情況下，與前述物品不相干涉，當前述物品的姿勢為在前述第一姿勢與前述第二姿勢之間進行變更的過程之姿勢的中間姿勢的情況下，會與前述物品相干涉， 前述控制裝置會執行姿勢變更控制，該姿勢變更控制是下述之控制：在從前述搬送起點到前述搬送目的地之路徑的搬送路徑之途中，藉由前述移載機構使前述物品相對於前述收容部移動到外側的狀態下，藉由前述姿勢變更機構將前述物品從前述第一姿勢變更成前述第二姿勢之後，藉由前述移載機構將前述物品收容到前述收容部。An article transporting apparatus includes an article transporting vehicle that moves an article along a movement path between a plurality of transported destinations, and a control device that controls the article transporting vehicle, wherein the article transporting vehicle includes a storage unit that accommodates the article, A cover portion covering the storage portion, and moving the article between the storage portion and one of the plurality of transportation target locations located outside the storage portion to carry out the transportation between the transportation target location and the transportation vehicle; A transfer mechanism for transferring the articles in between, and a posture changing mechanism for changing the posture of the articles during transportation, the posture changing mechanism may change the posture of the articles to a first posture and a second posture, the first posture The second posture is the posture for transferring in the aforementioned transfer target place which is the starting point of the transfer. The second posture is the posture for transferring in the aforementioned transfer target place which is the transfer destination. The cover part is provided at the following position: When the article stored in the storage section is in the first posture and in the second posture If there is no interference with the item, when the posture of the item is an intermediate posture of a process of changing between the first posture and the second posture, the object interferes with the object, and the control device executes Posture change control, which is a control that moves the article to the outside with respect to the storage unit by the transfer mechanism in the course of the transport path from the transport start point to the transport destination. In the state, after the article is changed from the first posture to the second posture by the posture changing mechanism, the article is stored in the storage portion by the transfer mechanism.

在本構成中，覆蓋收容部的罩蓋部是設置在下述位置：在收容部中收容有第一姿勢或第二姿勢的物品的狀態下，與該物品不相干涉的位置。另一方面，此罩蓋部所設置的位置是形成為在被收容部收容的狀態之物品成為中間姿勢的情況下，會與該物品相干涉的位置。也就是說，覆蓋收容部的罩蓋部與物品之間隙是設定得比較小。因此，根據本構成之物品搬送設備，即可以抑制物品搬送車的大型化。又，在本構成中，物品搬送車在從搬送起點到搬送目的地的路徑之搬送路徑的途中，是在藉由移載機構使物品相對於收容部移動到外側的狀態下，藉由姿勢變更機構來將物品的姿勢從第一姿勢變更成第二姿勢。從而，根據本構成，可以有效地利用用於物品搬送的時間及空間，來進行物品的姿勢變更。因此，相較於與物品搬送車分開另行設置姿勢變更機構的情況，會變得較容易謀求設備的小型化及低成本化。In this configuration, the cover portion that covers the storage portion is provided at a position that does not interfere with the article in a state where the article in the first posture or the second posture is stored in the storage portion. On the other hand, the position where this cover part is provided is a position which interferes with the article formed in the state where the article accommodated in the accommodation section has an intermediate posture. That is, the gap between the cover portion covering the storage portion and the article is set to be relatively small. Therefore, according to the article transport facility of this configuration, it is possible to suppress an increase in the size of the article transport vehicle. Furthermore, in this configuration, the article transport vehicle changes the posture during the transport path of the route from the starting point to the transport destination while the article is moved to the outside with respect to the storage portion by the transfer mechanism. Mechanism to change the posture of the article from a first posture to a second posture. Therefore, according to this configuration, it is possible to effectively use the time and space for article transportation to change the posture of the article. Therefore, compared with a case where a posture changing mechanism is provided separately from the article transport vehicle, it becomes easier to reduce the size and cost of the equipment.

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

用以實施發明之形態 1.第一實施形態 參照圖式並針對物品搬送設備的第一實施形態進行說明。 如圖1所示，物品搬送設備1具備有：物品搬送車2，在複數個搬送對象場所6之間沿著移動路徑R移動來搬送物品W；及控制裝置H，控制該物品搬送車2(也參照圖5)。並且，此物品搬送設備1是構成為在將物品W從複數個搬送對象場所6當中成為搬送起點的搬送對象場所6，搬送到成為搬送目的地之其他搬送對象場所6的途中，可以變更該物品W的姿勢。Forms for Implementing the Invention 1. First Embodiment A first embodiment of an article transport facility will be described with reference to the drawings. As shown in FIG. 1, the article transfer facility 1 includes an article transfer vehicle 2 that moves along a moving path R between a plurality of transfer target places 6 to transfer an article W, and a control device H that controls the article transfer vehicle 2 ( See also Figure 5). In addition, the article transfer facility 1 is configured such that the article W can be changed while the article W is a transfer destination 6 from a plurality of transfer destinations 6 and is transferred to another transfer destination 6 as a transfer destination. W pose.

1-1.物品搬送設備的機械性構成 物品W是藉由物品搬送車2而被搬送的對象。在此，物品W在平面視角下是形成為非圓形狀。物品W在例如平面視角下是形成為多角形狀，更具體而言，是形成為四角形狀(參照圖4)。再者，於四角形狀中也包含嚴格來說即使不是四角形，但整體看起來可視為四角形的形狀。又，多角形狀也包含一部分是以圓弧等曲線形成的形狀。例如，物品W的平面視角之形狀也可以是D形。以下，使用「狀」的表現來說明物等的形狀之情況下，其用意在於不嚴格地特定該形狀。又，有關於物品W之立體上的形狀，在此是設為柱狀體。物品W是例如收納內容物的容器。在本實施形態中，物品W是收納半導體基板的容器。在此，物品W是形成為長方體狀，且可將複數片半導體基板分為複數層來收容。在本實施形態中，物品W的上表面及底面是始終封堵的狀態。又，於物品W的上表面設置有物品W的搬送之時用於讓物品搬送車2把持的凸緣部Wa。又，於物品W的4個側面當中的一面上，設置有用來讓半導體基板出入的開口部Wb。1-1. Mechanical configuration of the article transport facility The article W is an object to be transported by the article transport vehicle 2. Here, the article W is formed into a non-circular shape in a plan view. The article W is formed in a polygonal shape in a planar view, and more specifically, it is formed in a quadrangular shape (see FIG. 4). Furthermore, the shape of a quadrangle also includes a shape that looks like a quadrilateral as a whole, even if it is not strictly a quadrangle. In addition, the polygonal shape also includes a shape formed in part by a curve such as an arc. For example, the shape of the plane viewing angle of the article W may be a D shape. In the following, when the shape of an object or the like is described using the expression "shape", the intention is not to specify the shape strictly. The three-dimensional shape of the article W is a columnar body. The article W is, for example, a container for storing contents. In this embodiment, the article W is a container that houses a semiconductor substrate. Here, the article W is formed in a rectangular parallelepiped shape, and a plurality of semiconductor substrates can be divided into a plurality of layers for storage. In this embodiment, the upper surface and the bottom surface of the article W are always closed. Moreover, when the article W is transported on the upper surface of the article W, a flange portion Wa for holding the article transport vehicle 2 is provided. An opening Wb is provided on one of the four side surfaces of the article W for allowing the semiconductor substrate to come in and out.

搬送對象場所6是成為物品W的搬送起點之場所、或者是成為物品W的搬送目的地之場所。搬送對象場所6是設置在物品搬送設備1中的複數個位置。在搬送對象場所6上，可進行例如物品W的處理。在本實施形態中，是如圖1所示，於搬送對象場所6中包含有收授部6b，該收授部6b是用於在進行對半導體基板的處理之處理裝置6a、與物品搬送車2之間的物品W之接收授與。在本實施形態中，是將使開口部Wb對於處理裝置6a形成相向的狀態之物品W搬送至收授部6b。又，物品W所收納的半導體基板是藉由處理裝置6a所具備的支臂等，從開口部Wb取出。並且，半導體基板可藉由處理裝置6a來處理。為了像這樣藉由處理裝置6a來處理半導體基板，在本實施形態中，是在將物品W設為開口部Wb相對於處理裝置6a相向之適當的姿勢後，被物品搬送車2搬送至收授部6b。The transfer target place 6 is a place that becomes the starting point of the transfer of the article W or a place that becomes the transfer destination of the article W. The transfer target places 6 are a plurality of positions provided in the article transfer facility 1. In the transport target place 6, for example, the processing of the article W can be performed. In this embodiment, as shown in FIG. 1, a receiving unit 6 b is included in the transfer target place 6. The receiving unit 6 b is a processing device 6 a for processing semiconductor substrates and an article transport vehicle. Receiving grant of item W between 2. In the present embodiment, the article W with the opening Wb facing the processing device 6a is transferred to the receiving unit 6b. The semiconductor substrate accommodated in the article W is taken out from the opening Wb by an arm or the like provided in the processing device 6a. The semiconductor substrate can be processed by the processing device 6a. In order to process the semiconductor substrate by the processing device 6a as described above, in this embodiment, after the article W is set to an appropriate posture in which the opening Wb faces the processing device 6a, the article W is transported to the receiving device 2部 6b. 6b.

移動路徑R是物品搬送車2在物品搬送設備1上移動的路徑。如圖1所示，移動路徑R會經由複數個搬送對象場所6。移動路徑R可設置在例如地面上、或者是設置在從地面朝上方間隔有距離的位置。在本實施形態中，移動路徑R是由天花板99懸吊支撐的軌道98所決定的(參照圖2及圖3)。如圖1所示，在本實施形態中，軌道98是以可經由複數個收授部6b的狀態被設置。又，軌道98是由沿著移動路徑R延伸並且在橫向方向Y上間隔開的狀態下設置的一對長條構件所構成(參照圖2及圖3)。在本實施形態中，移動路徑R是包含步驟內路徑Ri與步驟間路徑Rc而構成。並且，複數個收授部6b是藉由步驟內路徑Ri來連結，且複數個步驟內路徑Ri是藉由步驟間路徑Rc來連結。The moving path R is a path in which the article transport vehicle 2 moves on the article transport facility 1. As shown in FIG. 1, the movement path R passes through a plurality of transfer target places 6. The moving path R may be provided, for example, on the ground or at a position spaced apart from the ground upward. In this embodiment, the movement path R is determined by a rail 98 suspended from the ceiling 99 (see FIGS. 2 and 3). As shown in FIG. 1, in the present embodiment, the rail 98 is provided in a state capable of passing through the plurality of receiving units 6b. The rail 98 is composed of a pair of elongated members provided along a moving path R and spaced apart in the lateral direction Y (see FIGS. 2 and 3). In the present embodiment, the moving path R is configured to include an intra-step path Ri and an inter-step path Rc. In addition, the plurality of receiving units 6b are connected by an intra-step path Ri, and the plurality of in-step paths Ri are connected by an inter-step path Rc.

物品搬送車2是在複數個搬送對象場所6之間沿著移動路徑R移動來搬送物品W。在本實施形態中，物品搬送車2可以藉由在步驟間路徑Rc移動，而移動到以步驟間路徑Rc連結的複數個步驟內路徑Ri的每一個。因此，物品搬送車2可以藉由在複數個步驟內路徑Ri的每一個中移動，而移動到被步驟內路徑Ri連結的複數個收授部6b的每一個。再者，在本實施形態中，是形成為物品搬送車2在移動路徑R上只能朝單一方向移動，而無法朝相反方向移動。又，物品搬送車2具備有位置檢測感測器Se6(參照圖5)，該位置檢測感測器Se6會檢測移動路徑R內的該物品搬送車2之現在位置。在本實施形態中，是在移動路徑R上以分散的狀態配置有複數個位置資訊儲存部(省略圖示)。並且，位置資訊儲存部是對區劃了移動路徑R的複數個區域的每一個進行分配。又，複數個位置資訊儲存部的每一個儲存有已在移動路徑R內各自配置的位置之資訊。在本實施形態中，位置檢測感測器Se6是以藉由讀取配置在移動路徑R內的複數個位置資訊儲存部的每一個所儲存的位置資訊之作法，而可檢測移動路徑R內的物品搬送車2的現在位置之方式被構成。例如，作為位置資訊儲存部也可以是顯示有條碼的板牌等。此時的位置檢測感測器Se6較佳是條碼掃描器。The article transport vehicle 2 moves an article W by moving along a movement path R between a plurality of transport target places 6. In this embodiment, the article transport vehicle 2 can be moved to each of the plurality of in-step paths Ri connected by the inter-step path Rc by moving through the inter-step path Rc. Therefore, the article transport vehicle 2 can move to each of the plurality of receiving units 6b connected by the route Ri in the steps by moving through each of the routes Ri in the steps. Furthermore, in this embodiment, the article transport vehicle 2 is formed so that it can only move in a single direction on the moving path R, and cannot move in the opposite direction. The article transport vehicle 2 includes a position detection sensor Se6 (see FIG. 5), and the position detection sensor Se6 detects the current position of the article transport vehicle 2 in the movement path R. In the present embodiment, a plurality of position information storage units (not shown) are arranged in a dispersed state on the movement path R. The position information storage unit allocates each of a plurality of areas in which the movement path R is divided. In addition, each of the plurality of position information storage sections stores information on positions that have been individually arranged in the movement path R. In this embodiment, the position detection sensor Se6 can detect the position information in the movement path R by reading the position information stored in each of the plurality of position information storage sections arranged in the movement path R. The present position of the article transport vehicle 2 is configured. For example, the position information storage unit may be a plate or the like on which a bar code is displayed. The position detection sensor Se6 at this time is preferably a barcode scanner.

如圖2及圖3所示，物品搬送車2具有可在軌道98上行走自如的行走部21、以及由行走部21懸吊支撐的本體部22。再者，在以下的說明中，「物品搬送車2沿著移動路徑R移動」與「物品搬送車2沿著移動路徑R行走」是同義。又，在圖3中，為了說明的方便，省略了後述的支撐構件5。物品搬送車2具有收容物品W的收容部22a、以及覆蓋該收容部22a的罩蓋部22b。在本實施形態中，收容部22a及罩蓋部22b是作為本體部22的一部分而構成。As shown in FIGS. 2 and 3, the article transport vehicle 2 includes a running portion 21 capable of freely walking on the rail 98, and a main body portion 22 suspended and supported by the running portion 21. In the following description, "the article transport vehicle 2 moves along the movement path R" is synonymous with "the article transport vehicle 2 moves along the movement path R". In FIG. 3, for convenience of explanation, a support member 5 described later is omitted. The article transport vehicle 2 includes a storage portion 22a that stores the article W, and a cover portion 22b that covers the storage portion 22a. In this embodiment, the accommodating portion 22 a and the cover portion 22 b are configured as a part of the main body portion 22.

物品搬送車2具有移載機構3，該移載機構3是在該物品搬送車2與搬送對象場所6之間進行物品W的移載。移載機構3是在收容部22a與相對於該收容部22a而位於外側的複數個搬送對象場所6的一個之間使物品W移動，來進行該搬送對象場所6與物品搬送車2之間的物品W之移載。又，物品搬送車2具有姿勢變更機構4，該姿勢變更機構4會變更搬送中的物品W之姿勢。The article transfer vehicle 2 includes a transfer mechanism 3 for transferring the article W between the article transfer vehicle 2 and the transfer target place 6. The transfer mechanism 3 moves the article W between the accommodating portion 22a and one of the plurality of transfer target places 6 located outside the accommodating portion 22a to carry out the transfer between the transfer target place 6 and the article transfer vehicle 2. The transfer of item W. The article transport vehicle 2 includes a posture changing mechanism 4 that changes the posture of the article W being transported.

如圖3所示，移載機構3具備有把持物品W的把持部3Ga、使把持部3Ga沿著鉛直方向Z升降的升降機構3H、及沿著橫向方向Y使把持部3Ga橫向移動的橫向移動機構3S，其中該橫向方向Y是交叉於沿著搬送路徑Rt的搬送方向X並且為沿著水平方向的方向。在本實施形態中，作為使把持部3Ga橫向移動的橫向移動機構3S，是以使把持部3Ga滑動的滑動機構3S來例示說明。在此，在本說明書中，所謂的沿著某個特定的方向，是指下述之概念：除了完全平行於該特定的方向之情況外，也包含了在設置或組裝等的製造上的誤差之範圍內相對於該特定的方向稍微傾斜的狀態。更具體而言，也包含相對於該特定的方向以±15°以下的範圍傾斜之狀態。滑動機構3S可以使把持部3Ga沿著橫向方向Y滑動。在本實施形態中，是藉由把持機構3G、升降機構3H及滑動機構3S，在物品搬送車2與收授部6b之間移載物品W。再者，物品W的移載是指在物品搬送車2與收授部6b之間使物品移動之情形。也就是說，將收容在收容部22a的狀態之物品W載置到收授部6b為止的過程、或者將載置在收授部6b的狀態之物品W收容到收容部22a為止的過程，即是物品W的移載。又，物品W的搬送是指使物品W從複數個收授部6b當中成為搬送起點的收授部6b，移動到成為搬送目的地的其他收授部6b。也就是說，物品W的搬送也包含物品W的移載之概念。又，搬送路徑Rt是在移動路徑R中的從成為搬送起點的搬送對象場所6到成為搬送目的地的其他搬送對象場所6之路徑。也就是說，在移動路徑R之中，因應於搬送起點與搬送目的地而每次設定搬送路徑Rt。As shown in FIG. 3, the transfer mechanism 3 includes a holding portion 3Ga that holds the article W, a lifting mechanism 3H that raises and lowers the holding portion 3Ga in the vertical direction Z, and a lateral movement that moves the holding portion 3Ga in the lateral direction Y. Mechanism 3S in which the lateral direction Y is a direction crossing the conveying direction X along the conveying path Rt and is a direction along the horizontal direction. In the present embodiment, as the lateral movement mechanism 3S that laterally moves the gripping portion 3Ga, a slide mechanism 3S that slides the gripping portion 3Ga is exemplified. Here, in the present specification, the term “along a certain direction” refers to the following concept: In addition to the case where it is completely parallel to the specific direction, it also includes manufacturing errors such as installation and assembly. Within a certain range with respect to the specific direction. More specifically, it includes a state in which it is inclined in a range of ± 15 ° or less with respect to the specific direction. The slide mechanism 3S can slide the grip portion 3Ga in the lateral direction Y. In the present embodiment, the article W is transferred between the article transport vehicle 2 and the receiving unit 6b by the holding mechanism 3G, the lifting mechanism 3H, and the sliding mechanism 3S. The transfer of the article W refers to a case where the article is moved between the article transport vehicle 2 and the receiving unit 6b. That is, the process of placing the article W stored in the receiving section 22a to the receiving section 6b, or the process of storing the article W stored in the receiving section 6b into the receiving section 22a, that is, It is transfer of article W. In addition, the conveyance of the article W means that the article W is moved from the receiving unit 6b of the plurality of receiving units 6b to the starting point of the transfer to another receiving unit 6b that is the destination of the transfer. That is, the conveyance of the article W includes the concept of the transfer of the article W. The transport path Rt is a path in the movement path R from the transport target site 6 that becomes the transport start point to the other transport target site 6 that is the transport destination. That is, among the moving paths R, the conveying path Rt is set every time according to the conveying start point and the conveying destination.

如圖2所示，作為物品W的移載，將載置在收授部6b的狀態之物品W收容至收容部22a的情況下，是在藉由把持機構3G把持有物品W的狀態下，藉由升降機構3H使物品W上升，並藉由滑動機構3S使物品W滑動至收容部22a。作為物品W的移載，而將已收容在收容部22a的狀態之物品W載置至收授部6b的情況下，是進行與上述相反的步驟。再者，在以下，在鉛直方向Z當中，是將上側設為鉛直方向上側Z1，且將下側設為鉛直方向下側Z2來說明。又，在橫向方向Y當中，是將使物品W從收容部22a往收容部22a的外側突出之側(圖2及圖3中的左側)設為橫向方向第一側Y1，且將使物品W從收容部22a的外側退回至收容部22a之側設為橫向方向第二側Y2來說明。在以下，將收容在收容部22a的狀態之物品W的位置稱為退回位置P1，且將突出至橫向方向第一側Y1的極限下之物品W的位置稱為突出位置P2。再者，在本實施形態中，橫向方向Y是正交於搬送路徑Rt的方向。As shown in FIG. 2, as the transfer of the article W, when the article W placed in the receiving section 6 b is accommodated in the receiving section 22 a, the article W is held by the holding mechanism 3G. The article W is raised by the lifting mechanism 3H, and the article W is slid to the storage portion 22a by the sliding mechanism 3S. When the article W is placed in the receiving unit 6b as the transfer of the article W, the procedure opposite to the above is performed. In the following description, among the vertical directions Z, the upper side is referred to as the vertical direction upper side Z1, and the lower side is referred to as the vertical direction lower side Z2. In the lateral direction Y, the side (the left side in FIGS. 2 and 3) where the article W protrudes from the containing portion 22 a to the outside of the containing portion 22 a is set to the first side Y1 in the lateral direction, and the article W The side retracted from the outside of the containing portion 22a to the containing portion 22a will be described as the second side Y2 in the lateral direction. Hereinafter, the position of the article W stored in the storage portion 22a is referred to as a retracted position P1, and the position of the article W protruding to the limit of the first side Y1 in the lateral direction is referred to as a protruding position P2. In the present embodiment, the lateral direction Y is a direction orthogonal to the transport path Rt.

如圖3所示，物品搬送車2具有行走部21。行走部21是被馬達等驅動設備驅動而沿著移動路徑R行走。在本實施形態中，行走部21是行走在軌道98上。如圖3所示，在本實施形態中，行走部21具有：行走輪21a，由行走用馬達21M所驅動而繞著水平軸旋轉，並且沿著搬送方向X在軌道98的上表面滾動；及引導輪21b，抵接於軌道98的鉛直面且繞著鉛直軸旋轉，並且沿著軌道98引導行走部21。又，行走部21具備有檢測物品搬送車2的行走速度之速度檢測感測器Se1(參照圖5)。在本實施形態中，速度檢測感測器Se1是以可根據預定時間內之行走輪21a的旋轉數及與軌道98的相對速度等來檢測物品搬送車2的速度之方式所構成。As shown in FIG. 3, the article transport vehicle 2 includes a traveling unit 21. The traveling unit 21 is driven by a driving device such as a motor to travel along the moving path R. In the present embodiment, the walking portion 21 runs on the rail 98. As shown in FIG. 3, in the present embodiment, the traveling unit 21 includes a traveling wheel 21a, which is driven by a traveling motor 21M to rotate about a horizontal axis, and rolls on the upper surface of the rail 98 along the transport direction X; and The guide wheel 21 b abuts on a vertical surface of the rail 98 and rotates about a vertical axis, and guides the traveling portion 21 along the rail 98. The walking unit 21 is provided with a speed detection sensor Se1 (see FIG. 5) that detects the walking speed of the article transport vehicle 2. In this embodiment, the speed detection sensor Se1 is configured to detect the speed of the article transport vehicle 2 based on the number of rotations of the traveling wheels 21a and the relative speed with respect to the rail 98 within a predetermined time.

物品搬送車2具有本體部22。本體部22是連結於行走部21，且藉由行走部21的行走而與該行走部21一體地在移動路徑R上移動。在本實施形態中，本體部22是透過由構成軌道98的一對長條構件所形成的間隙，而被行走部21懸吊支撐。在本實施形態中，本體部22具有收容物品W的收容部22a、以及覆蓋該收容部22a的罩蓋部22b。收容部22a是配置在罩蓋部22b的內側。在本實施形態中，罩蓋部22b是形成為橫向方向Y的兩側及下方為開放的形狀。更具體而言，罩蓋部22b從橫向方向Y來看是形成為有角的倒U字形。因此，收容部22a是在橫向方向Y的兩側及下方與收容部22a的外側相連通。藉此，可以藉由以滑動機構3S使收容在收容部22a的狀態之物品W在橫向方向Y上滑動，而使該物品W位於收容部22a的外側。The article transport vehicle 2 includes a main body portion 22. The main body portion 22 is connected to the walking portion 21 and moves on the moving path R integrally with the walking portion 21 by the walking of the walking portion 21. In this embodiment, the body portion 22 is suspended and supported by the walking portion 21 through a gap formed by a pair of elongated members constituting the rail 98. In this embodiment, the main body portion 22 includes a storage portion 22a that stores the article W, and a cover portion 22b that covers the storage portion 22a. The accommodating portion 22a is disposed inside the cover portion 22b. In the present embodiment, the cover portion 22b is formed in a shape in which both sides and the lower side of the lateral direction Y are open. More specifically, the cover portion 22 b is formed into an angled inverted U shape when viewed in the lateral direction Y. Therefore, the storage portion 22a communicates with the outside of the storage portion 22a on both sides and below the lateral direction Y. Thereby, the article W stored in the storage portion 22a can be slid in the lateral direction Y by the slide mechanism 3S, so that the article W is positioned outside the storage portion 22a.

滑動機構3S是沿著橫向方向Y伸縮自如。例如，滑動機構3S是構成為在收縮狀態下可將整體收容到罩蓋部22b的內側，並在伸出狀態下使一部分突出至罩蓋部22b的外側。在本實施形態中，滑動機構3S是設置在收容部22a。又，在本實施形態中，滑動機構3S具有藉由滑動用馬達3SM驅動或從動的一對滑動用皮帶輪3Sc、捲繞在一對滑動用皮帶輪3Sc的每一個上之滑動用皮帶3Sb、連結於滑動用皮帶3Sb而在橫向方向Y上滑動自如的滑動部3Sa。並且，滑動部3Sa可以藉由朝橫向方向第一側Y1滑動而移動到收容部22a的外側，且可以藉由朝橫向方向第二側Y2滑動而移動到收容部22a。又，滑動機構3S具備有檢測滑動部3Sa的滑動量之滑動量檢測感測器Se2(也參照圖5)。在本實施形態中，滑動量檢測感測器Se2是以可根據滑動部3Sa的滑動時的滑動用皮帶輪3Sc的旋轉數等來檢測滑動部3Sa的滑動量之方式所構成。The sliding mechanism 3S is freely expandable and contractible in the lateral direction Y. For example, the slide mechanism 3S is configured to be able to accommodate the entire inside of the cover portion 22b in the contracted state, and to partially protrude to the outside of the cover portion 22b in the extended state. In this embodiment, the slide mechanism 3S is provided in the accommodation portion 22a. In this embodiment, the sliding mechanism 3S includes a pair of sliding pulleys 3Sc driven or driven by a sliding motor 3SM, a sliding belt 3Sb wound around each of the pair of sliding pulleys 3Sc, and a connection. A sliding portion 3Sa that slides freely on the sliding belt 3Sb in the lateral direction Y. In addition, the sliding portion 3Sa can be moved to the outside of the accommodation portion 22a by sliding toward the first side Y1 in the lateral direction, and can be moved to the accommodation portion 22a by sliding toward the second side Y2 in the lateral direction. Further, the sliding mechanism 3S is provided with a sliding amount detection sensor Se2 (see also FIG. 5) that detects the sliding amount of the sliding portion 3Sa. In the present embodiment, the slip amount detection sensor Se2 is configured to detect the slip amount of the sliding portion 3Sa based on the number of rotations of the sliding pulley 3Sc during the sliding of the sliding portion 3Sa and the like.

姿勢變更機構4是變更搬送中的物品W之姿勢。例如，姿勢變更機構4是使物品W繞著特定的軸旋繞，藉此變更該物品W的姿勢。更具體而言，姿勢變更機構4是使物品W繞著鉛直軸旋繞，藉此變更該物品W的姿勢。在本實施形態中，姿勢變更機構4是與滑動機構3S的滑動部3Sa相連結。因此，姿勢變更機構4是與滑動機構3S的滑動部3Sa一體地沿著橫向方向Y移動。在本實施形態中，姿勢變更機構4具備有以繞著沿鉛直方向Z的旋繞軸4b的方式來使把持部3Ga旋繞的旋繞部4a。在此，在旋繞部4a的內部中，旋繞軸4b的上部是與旋繞用馬達4M相連結。並且，藉由旋繞用馬達4M來驅動旋繞軸4b。又，姿勢變更機構4具備有檢測把持部3Ga的旋繞量之旋繞量檢測感測器Se5(也參照圖5)。在本實施形態中，旋繞量檢測感測器Se5是以可根據旋繞軸4b的旋轉角度及旋繞軸4b旋轉的時間等來檢測把持部3Ga的旋繞量之方式所構成。The posture changing mechanism 4 changes the posture of the article W during transportation. For example, the posture changing mechanism 4 changes the posture of the article W by rotating the article W around a specific axis. More specifically, the posture changing mechanism 4 changes the posture of the article W by rotating the article W around a vertical axis. In the present embodiment, the posture changing mechanism 4 is connected to the sliding portion 3Sa of the sliding mechanism 3S. Therefore, the posture changing mechanism 4 moves in the lateral direction Y integrally with the sliding portion 3Sa of the sliding mechanism 3S. In this embodiment, the posture changing mechanism 4 is provided with the winding part 4a which turns the holding part 3Ga around the winding axis 4b in the vertical direction Z. Here, in the inside of the winding part 4a, the upper part of the winding shaft 4b is connected with the winding motor 4M. The winding shaft 4b is driven by the winding motor 4M. Further, the posture changing mechanism 4 is provided with a winding amount detection sensor Se5 (see also FIG. 5) that detects the winding amount of the grip portion 3Ga. In this embodiment, the winding amount detection sensor Se5 is configured to detect the winding amount of the holding portion 3Ga based on the rotation angle of the winding axis 4b, the rotation time of the winding axis 4b, and the like.

升降機構3H是使物品W升降。在本實施形態中，升降機構3H是使物品W從配置有罩蓋部22b的高度到至少配置有收授部6b的高度之間進行升降。在本實施形態中，升降機構3H具有：由升降用馬達3HM驅動的升降用皮帶輪3Hc；升降用鼓輪3Hd；捲繞於升降用皮帶輪3Hc及升降用鼓輪3Hd的升降用皮帶3Hb；及保持升降用馬達3HM、升降用皮帶輪3Hc、升降用鼓輪3Hd及升降用皮帶3Hb的升降部3Ha。並且，升降機構3H是藉由以升降用馬達3HM驅動升降用皮帶輪3Hc，以將升降用皮帶3Hb捲取或送出，而使把持部3Ga升降。又，在本實施形態中，升降部3Ha是與姿勢變更機構4所具有的旋繞軸4b相連結。因此，升降機構3H是藉由旋繞軸4b的旋轉而繞著鉛直軸旋繞。由於升降機構3H是透過姿勢變更機構4與滑動機構3S連結，因此會與滑動機構3S一體地沿著橫向方向Y移動。又，升降機構3H具備有檢測把持部3Ga的升降量之升降量檢測感測器Se3(也參照圖5)。在本實施形態中，升降量檢測感測器Se3是以可根據把持部3Ga的升降時之升降用皮帶輪3Hc的旋轉數及升降用皮帶輪3Hc旋轉的時間等來檢測把持部3Ga的升降量之方式所構成。The lifting mechanism 3H lifts and lowers the article W. In the present embodiment, the lifting mechanism 3H lifts and lowers the article W from the height at which the cover portion 22b is disposed to at least the height at which the receiving portion 6b is disposed. In this embodiment, the lifting mechanism 3H includes a lifting pulley 3Hc driven by a lifting motor 3HM, a lifting drum 3Hd, a lifting belt 3Hb wound around the lifting pulley 3Hc and the lifting drum 3Hd, and holding The lifting portion 3Ha of the lifting motor 3HM, the lifting pulley 3Hc, the lifting drum 3Hd, and the lifting belt 3Hb. In addition, the lifting mechanism 3H drives the lifting pulley 3Hc by the lifting motor 3HM to take up or send out the lifting belt 3Hb, thereby lifting the holding portion 3Ga. Moreover, in this embodiment, the raising-lowering part 3Ha is connected with the winding shaft 4b which the attitude | position change mechanism 4 has. Therefore, the lifting mechanism 3H is rotated around the vertical axis by the rotation of the rotation axis 4b. Since the elevating mechanism 3H is connected to the sliding mechanism 3S via the posture changing mechanism 4, it moves in the lateral direction Y integrally with the sliding mechanism 3S. In addition, the lifting mechanism 3H is provided with a lifting amount detection sensor Se3 (see also FIG. 5) that detects the lifting amount of the holding portion 3Ga. In this embodiment, the lifting amount detection sensor Se3 is a method that can detect the lifting amount of the holding portion 3Ga based on the number of rotations of the lifting pulley 3Hc during the lifting of the holding portion 3Ga and the rotation time of the lifting pulley 3Hc. Made up.

把持機構3G可把持物品W。例如，把持機構3G是從上方把持物品W。更具體而言，把持機構3G是以在平面視角下與物品W完全重疊的狀態從上方把持該物品W。在本實施形態中，把持機構3G具有連結於升降用皮帶3Hb的把持部3Ga、保持在把持部3Ga的內部之把持用馬達3GM(參照圖5)、及可藉由把持用馬達3GM而被驅動並在把持姿勢與解除姿勢之間切換自如的一對把持爪3Gb。並且，一對把持爪3Gb是藉由朝彼此相接近的方向移動而成為把持姿勢，且藉由朝彼此相遠離的方向移動而成為解除姿勢。在本實施形態中，一對把持爪3Gb是以把持姿勢來把持物品W的凸緣部Wa。並且，一對把持爪3Gb是藉由從把持有凸緣部Wa的狀態成為解除姿勢，以解除凸緣部Wa的把持。又，把持機構3G具備有檢測一對把持爪3Gb的把持姿勢與解除姿勢之把持檢測感測器Se4(參照圖5)。在本實施形態中，把持檢測感測器Se4是以可根據由一對把持爪3Gb進行之光軸的遮斷的有無等來檢測一對把持爪3Gb為把持姿勢或解除姿勢之方式所構成。由於把持部3Ga是透過升降用皮帶3Hb與升降機構3H相連結，因此把持機構3G會與藉由旋繞軸4b的旋轉而旋繞的升降機構3H一體地旋繞。又，由於把持機構3G是透過升降機構3H及姿勢變更機構4與滑動機構3S相連結，因此會與升降機構3H、姿勢變更機構4及滑動機構3S一體地沿著橫向方向Y移動。因此，被把持機構3G把持的狀態之物品W的升降、旋繞及滑動之各動作，可藉由升降機構3H、姿勢變更機構4及滑動機構3S來進行。The holding mechanism 3G can hold the article W. For example, the holding mechanism 3G holds the article W from above. More specifically, the gripping mechanism 3G grips the article W from above in a state where it fully overlaps with the article W in a plan view. In this embodiment, the holding mechanism 3G includes a holding portion 3Ga connected to the lifting belt 3Hb, a holding motor 3GM (see FIG. 5) held inside the holding portion 3Ga, and can be driven by the holding motor 3GM. A pair of gripping claws 3Gb that can be easily switched between the gripping position and the releasing position. In addition, the pair of gripping claws 3Gb are moved to a direction close to each other to become a holding posture, and are moved to a direction away from each other to become a releasing posture. In this embodiment, the pair of gripping claws 3Gb grip the flange portion Wa of the article W in a gripping posture. In addition, the pair of grasping claws 3Gb release the grasping of the flange portion Wa from the state in which the flange portion Wa is grasped to the release posture. Further, the gripping mechanism 3G is provided with a gripping detection sensor Se4 (see FIG. 5) that detects a gripping posture and a releasing posture of a pair of gripping claws 3Gb. In the present embodiment, the grip detection sensor Se4 is configured to detect whether the pair of grip claws 3Gb are in a gripping or releasing posture based on the presence or absence of blocking of the optical axis by the pair of gripping claws 3Gb. Since the holding portion 3Ga is connected to the lifting mechanism 3H through the lifting belt 3Hb, the holding mechanism 3G is integrally wound with the lifting mechanism 3H that is wound by the rotation of the winding shaft 4b. In addition, since the gripping mechanism 3G is connected to the sliding mechanism 3S via the lifting mechanism 3H and the posture changing mechanism 4, it moves in the lateral direction Y integrally with the lifting mechanism 3H, the posture changing mechanism 4, and the sliding mechanism 3S. Therefore, the lifting, winding, and sliding operations of the article W in the state held by the holding mechanism 3G can be performed by the lifting mechanism 3H, the posture changing mechanism 4, and the sliding mechanism 3S.

姿勢變更機構4可將物品W的姿勢變更為在搬送起點之搬送對象場所6上的移載用之姿勢的第一姿勢A1、以及在搬送目的地之搬送對象場所6上的移載用之姿勢的第二姿勢A2。如前述，在物品搬送設備1中，是藉由配置在各自不同的場所的複數個處理裝置6a，來處理收納在物品W中的半導體基板。因此，當將物品W搬送到處理裝置6a的收授部6b時，必須使物品W的開口部Wb成為相向於處理裝置6a的狀態，以使處理裝置6a從物品W中取出半導體基板。也就是說，第二姿勢A2是指物品W的開口部Wb相對於成為搬送目的地之搬送對象場所6的處理裝置6a為相向之狀態的姿勢。因此，第二姿勢A2會藉由對應於搬送目的地之處理裝置6a的方向而變化。又，第一姿勢A1是指搬送起點中的物品W之姿勢。例如，成為搬送對象的物品W，為已藉由複數個處理裝置6a當中的一個處理裝置6a完成了某個處理步驟的物品W之情況下，第一姿勢A1是成為開口部Wb相對於已進行該物品W的處理步驟之處理裝置6a相向之狀態的姿勢。但是，並不限於像這樣的情況，例如，第一姿勢A1也可以是已將物品W搬入至物品搬送設備1的時間點下之姿勢。無論如何，是使開始物品W的搬送之時間點下的物品W之姿勢成為第一姿勢A1。The posture changing mechanism 4 can change the posture of the article W to the first posture A1 of the posture for transfer at the transfer target place 6 at the transfer origin, and the posture for transfer at the transfer target place 6 at the transfer destination. Second pose A2. As described above, in the article transfer facility 1, the semiconductor substrates stored in the article W are processed by a plurality of processing devices 6 a arranged at different locations. Therefore, when the article W is transferred to the receiving unit 6b of the processing apparatus 6a, the opening Wb of the article W must be in a state facing the processing apparatus 6a so that the processing apparatus 6a takes out the semiconductor substrate from the article W. In other words, the second posture A2 refers to a posture in which the opening Wb of the article W faces the processing device 6a of the transfer target place 6 that is the transfer destination. Therefore, the second posture A2 is changed by the direction of the processing device 6a corresponding to the transport destination. The first posture A1 refers to the posture of the article W at the starting point of transportation. For example, in the case where the article W to be transferred is an article W that has completed a certain processing step by one of the plurality of processing devices 6a, the first posture A1 is the opening portion Wb relative to the processed portion Wb. The posture of the processing device 6a facing the processing step of the article W. However, the present invention is not limited to such a case. For example, the first posture A1 may be a posture at a time point when the article W has been carried into the article transporting apparatus 1. In any case, the posture of the article W at the time point when the transfer of the article W is started is the first posture A1.

在本實施形態中，在第一姿勢A1與第二姿勢A2之間的物品W之姿勢變更，是藉由繞著旋繞軸4b的物品W之旋繞來進行。也就是說，如圖4所示，沿著旋繞軸4b的延伸方向(在本例為鉛直方向Z)來看物品W時，是使物品W旋繞成使物品W的角Wc描繪出以旋繞軸4b為中心的圓弧，藉此使物品W進行姿勢變更。在本實施形態中，是藉由姿勢變更機構4使第一姿勢A1的狀態之物品W繞著旋繞軸4b旋繞，以成為開口部Wb相對於對應於搬送目的地之處理裝置6a為相向之狀態。藉此，可將物品W從第一姿勢A1進行姿勢變更成第二姿勢A2。In this embodiment, the posture change of the article W between the first posture A1 and the second posture A2 is performed by winding the article W around the winding axis 4b. That is, as shown in FIG. 4, when the article W is viewed along the extension direction of the winding axis 4 b (the vertical direction Z in this example), the article W is wound so that the angle Wc of the article W is drawn as the winding axis. 4b is an arc at the center, whereby the posture of the article W is changed. In this embodiment, the article W in the first posture A1 is wound around the winding axis 4b by the posture changing mechanism 4 so that the opening Wb faces the processing device 6a corresponding to the transport destination. . Thereby, the article W can be changed from the first posture A1 to the second posture A2.

如圖4所示，罩蓋部22b是設置在下述的位置上：在收容於收容部22a的狀態之物品W為第一姿勢A1時或第二姿勢A2時不會與物品W相干涉，當物品W的姿勢為在第一姿勢A1與第二姿勢A2之間進行變更的過程之姿勢的中間姿勢Am時會與物品W相干涉。在本實施形態中，罩蓋部22b具有在搬送方向X上彼此相向的一對內側面22f。又，收容部22a的搬送方向X上之區域是藉由一對內側面22f而被區劃。在本實施形態中，是在收容於收容部22a的狀態之物品W的姿勢為中間姿勢Am時，會使物品W干涉到一對內側面22f當中的至少一個內側面22f的位置上設置有罩蓋部22b。更具體而言，如圖4所示，是將罩蓋部22b的大小設定成：使離物品W的旋繞時之物品W的旋轉中心(在本例中為旋繞軸4b)最遠的部分(在本例中為物品W的角Wc)所描繪的旋繞軌跡TR變得比收容部22a更大。如上所述，由於物品W在平面視角下為四角形狀，因此旋繞軌跡TR的直徑是由在平面視角下連結物品W的對角之對角線來決定。更具體而言，是將一對內側面22f的搬送方向X上之間隔設定成變得比平面視角下的物品W之對角線的長度更短。As shown in FIG. 4, the cover portion 22 b is provided at a position where the article W in the state of being accommodated in the accommodation portion 22 a does not interfere with the article W when the article W is in the first posture A1 or the second posture A2. When the posture of the article W is the intermediate posture Am of the posture in the process of changing between the first posture A1 and the second posture A2, it interferes with the article W. In this embodiment, the cover portion 22b has a pair of inner side surfaces 22f facing each other in the conveying direction X. The area in the transport direction X of the storage portion 22a is defined by a pair of inner side surfaces 22f. In the present embodiment, when the posture of the article W stored in the storage portion 22a is the intermediate posture Am, the cover is provided at a position where the article W interferes with at least one of the inside surfaces 22f of the pair of inside surfaces 22f.盖 部 22b. More specifically, as shown in FIG. 4, the size of the cover portion 22 b is set to a portion that is furthest from the center of rotation (in this example, the winding axis 4 b) of the article W when the article W is wound. In this example, the winding trajectory TR drawn for the angle Wc) of the article W becomes larger than the receiving portion 22a. As described above, since the article W has a quadrangular shape in a planar view, the diameter of the winding track TR is determined by a diagonal line connecting the diagonals of the article W in a planar view. More specifically, the interval in the transport direction X of the pair of inner side surfaces 22f is set to be shorter than the length of the diagonal line of the article W in a planar viewing angle.

1-2.控制裝置的構成 接著，參照圖5來說明物品搬送設備1的控制構成。 控制裝置H是包含進行物品搬送設備1整體的控制之上位控制裝置Hu、以及進行物品搬送車2的控制之下位控制裝置Hd而構成。上位控制裝置Hu是以固定在物品搬送設備1的任意的區域之狀態而配置。下位控制裝置Hd是配置在物品搬送車2上且和該物品搬送車2一起在移動路徑R上移動。在本實施形態中，是將下位控制裝置Hd配置在複數個物品搬送車2的每一個上，且和各個物品搬送車2一起在移動路徑R上移動。控制裝置H具備有微電腦等之處理器、記憶體等的周邊電路等。並且，可藉由可在這些硬體、與電腦等的處理器上執行的程式之協同合作，來實現控制裝置H的各個功能。1-2. Configuration of Control Device Next, a control configuration of the article transport facility 1 will be described with reference to FIG. 5. The control device H includes a higher-level control device Hu that performs overall control of the article transport facility 1 and a lower-level control device Hd that performs control of the article transport vehicle 2. The higher-level control device Hu is arranged in a state of being fixed to an arbitrary area of the article transport facility 1. The lower control device Hd is disposed on the article transport vehicle 2 and moves along the movement path R together with the article transport vehicle 2. In this embodiment, the lower control device Hd is arranged on each of the plurality of article transport vehicles 2 and moves along the movement path R together with the respective article transport vehicles 2. The control device H includes a processor such as a microcomputer, a peripheral circuit such as a memory, and the like. In addition, each function of the control device H can be realized by cooperation of programs that can be executed on the hardware and a processor such as a computer.

控制裝置H是將針對複數個搬送對象場所6的每一個之物品W的適當姿勢，儲存作為適當姿勢資訊Ja。適當姿勢資訊Ja可以儲存在上位控制裝置Hu中，也可以各別地藉由複數個下位控制裝置Hd的每一個來儲存。在本實施形態中，上位控制裝置Hu具備有儲存部，且將針對複數個搬送對象場所6的每一個之物品W的適當姿勢，作為適當姿勢資訊Ja而儲存在該儲存部中。也就是說，上位控制裝置Hu會將對應於複數個搬送對象場所6的每一個之物品W的第二姿勢A2儲存在儲存部中。上位控制裝置Hu會對下位控制裝置Hd下達單純搬送指令或特定搬送指令，該單純搬送指令是在不伴隨著姿勢變更的情形下，使物品W從成為搬送起點之搬送對象場所6搬送到成為搬送目的地之其他的搬送對象場所6之指令，該特定搬送指令是伴隨姿勢變更，使物品W從成為搬送起點之搬送對象場所6搬送到成為搬送目的地之其他的搬送對象場所6之指令。The control device H stores, as the appropriate posture information Ja, an appropriate posture for the article W in each of the plurality of transfer target places 6. The proper posture information Ja may be stored in the higher-level control device Hu, or may be separately stored by each of the plurality of lower-level control devices Hd. In the present embodiment, the higher-level control device Hu includes a storage unit, and stores an appropriate posture for the article W in each of the plurality of transfer target places 6 as the appropriate posture information Ja in the storage unit. In other words, the higher-level control device Hu stores the second posture A2 corresponding to the article W in each of the plurality of transfer target places 6 in the storage unit. The higher-level control device Hu issues a simple transfer instruction or a specific transfer instruction to the lower-level control device Hd. The simple transfer instruction transfers the article W from the transfer target place 6 which becomes the transfer starting point to the transfer without accompanying posture change. The specific transfer instruction is an instruction for the other destination 6 of the destination, and the specific transfer instruction is an instruction to move the article W from the destination 6 that is the origin of the transfer to the other destination 6 that is the destination of the transfer.

下位控制裝置Hd是藉由接收單純搬送指令來執行單純搬送處理，並藉由接收特定搬送指令來執行特定搬送處理。下位控制裝置Hd會為了執行這些的各個處理，而控制各種馬達的作動。在本實施形態中，下位控制裝置Hd會取得藉由速度檢測感測器Se1檢測的物品搬送車2之行走速度的資訊、藉由滑動量檢測感測器Se2檢測的滑動部3Sa之滑動量的資訊、藉由升降量檢測感測器Se3檢測的把持部3Ga之升降量的資訊、藉由把持檢測感測器Se4檢測的一對把持爪3Gb之姿勢的資訊、藉由旋繞量檢測感測器Se5檢測的把持部3Ga之旋繞量的資訊、及藉由位置檢測感測器Se6檢測的物品搬送車2之現在位置的資訊。並且，下位控制裝置Hd是根據藉由各感測器而檢測出的資訊，來控制行走用馬達21M、滑動用馬達3SM、升降用馬達3HM、把持用馬達3GM及旋繞用馬達4M的作動。The lower control device Hd executes a simple transfer process by receiving a simple transfer instruction, and executes a specific transfer process by receiving a specific transfer instruction. The lower control device Hd controls the operation of various motors in order to execute each of these processes. In this embodiment, the lower control device Hd obtains information on the walking speed of the article transport vehicle 2 detected by the speed detection sensor Se1, and the slip amount of the sliding portion 3Sa detected by the slip amount detection sensor Se2. Information, information on the amount of lifting of the holding portion 3Ga detected by the lifting amount detection sensor Se3, information on the posture of a pair of holding claws 3Gb detected by the holding detection sensor Se4, and detection by the winding amount sensor Information on the amount of winding of the holding portion 3Ga detected by Se5, and information on the current position of the article transport vehicle 2 detected by the position detection sensor Se6. In addition, the lower control device Hd controls the operations of the walking motor 21M, the sliding motor 3SM, the lifting motor 3HM, the gripping motor 3GM, and the winding motor 4M based on information detected by each sensor.

控制裝置H會執行姿勢變更控制，該姿勢變更控制是在從搬送起點到搬送目的地的路徑之搬送路徑Rt的途中，已藉由移載機構3使物品W相對於收容部22a移動到外側的狀態下，藉由姿勢變更機構4將物品W從第一姿勢A1變更成第二姿勢A2後，藉由移載機構3將物品W收容到收容部22a之控制。在本實施形態中，從上位控制裝置Hu接收到特定搬送指令的下位控制裝置Hd，是在將物品W從成為搬送起點之搬送對象場所6搬送到成為搬送目的地之其他的搬送對象場所6的過程中，執行姿勢變更控制。在本例中，姿勢變更控制是在藉由滑動機構3S使把持部3Ga滑動成使物品W相對於收容部22a位於外側之狀態下，使物品W繞著旋繞軸4b旋繞來進行。具體而言，是藉由滑動機構3S使滑動部3Sa突出至橫向方向第一側Y1，藉此使配置在收容部22a之受到姿勢變更機構4、升降機構3H、把持機構3G及把持部3Ga所把持的物品W配置到突出位置P2。並且，藉由姿勢變更機構4使已配置到突出位置P2的物品W連同把持機構3G及升降機構3H一起旋繞，藉此將物品W的姿勢從第一姿勢A1變更成第二姿勢A2。之後，藉由滑動機構3S使滑動部3Sa退回至橫向方向第二側Y2，藉此使已成為第二姿勢A2的物品W連同把持機構3G、升降機構3H及姿勢變更機構4一起配置至退回位置P1(收容部22a)。如此進行，即可執行姿勢變更控制。再者，在本實施形態中，在物品W相對於收容部22a位於外側的狀態中，除了物品W相對於收容部22a完全位於外側的狀態以外，也包含物品W的一部分相對於收容部22a位於外側的狀態。更進一步來說，除了在平面視角下物品W不重疊於收容部22a的狀態以外，也包含在平面視角下僅物品W的一部分為與收容部22a不重疊的狀態。The control device H executes a posture change control in which the article W has been moved to the outside with respect to the storage portion 22a by the transfer mechanism 3 on the transfer path Rt of the route from the transfer start point to the transfer destination. In the state, after the article W is changed from the first posture A1 to the second posture A2 by the posture changing mechanism 4, the transfer of the article W to the storage portion 22 a is controlled by the transfer mechanism 3. In the present embodiment, the lower control device Hd that has received the specific transfer instruction from the higher control device Hu transfers the article W from the transfer destination 6 that is the transfer start point to the other transfer destination 6 that is the transfer destination. During the process, posture change control is performed. In this example, the posture change control is performed while the gripping portion 3Ga is slid by the slide mechanism 3S so that the article W is positioned outside with respect to the accommodating portion 22a, and the article W is wound around the winding axis 4b. Specifically, the sliding portion 3Sa is protruded to the first side Y1 in the lateral direction by the sliding mechanism 3S, so that the receiving posture changing mechanism 4, the lifting mechanism 3H, the holding mechanism 3G, and the holding portion 3Ga are disposed in the receiving portion 22a. The grasped article W is arranged at the protruding position P2. In addition, the posture of the article W is changed from the first posture A1 to the second posture A2 by rotating the article W disposed in the protruding position P2 together with the gripping mechanism 3G and the lifting mechanism 3H by the posture changing mechanism 4. After that, the sliding portion 3Sa is retracted to the second side Y2 in the lateral direction by the sliding mechanism 3S, thereby disposing the article W that has become the second posture A2 to the retracted position together with the gripping mechanism 3G, the lifting mechanism 3H, and the posture changing mechanism 4. P1 (container 22a). In this way, posture change control can be performed. In addition, in the present embodiment, in a state where the article W is located outside with respect to the storage section 22a, in addition to a state where the article W is completely outside with respect to the storage section 22a, a part of the article W is also located with respect to the storage section 22a. Outside state. Furthermore, in addition to a state in which the article W does not overlap the storage portion 22a in a planar view, it also includes a state in which only a part of the article W does not overlap with the storage portion 22a in a plan view.

在本實施形態中，下位控制裝置Hd是在搬送路徑Rt的途中之物品搬送車2的停止中執行姿勢變更控制。於搬送路徑Rt內為存在有複數個物品搬送車2的狀態，為了使其於處理裝置6a進行半導體基板的處理，是使各個物品搬送車2朝向搬送對象場所6的收授部6b來搬送物品W。因此，若物品搬送車2為了往收授部6b的物品W之移載而在搬送路徑Rt內停止，會成為後續的其他物品搬送車2也停止之情形。也就是說，物品搬送車2會有在搬送路徑Rt內行走中，因塞車而停止之情形。於是，例如下位控制裝置Hd會在搬送路徑Rt的途中之物品搬送車2的塞車停止中執行姿勢變更控制。藉此，可以利用物品搬送車2非所欲地停止之時間，來執行姿勢變更控制。也就是說，由於並不需要為了執行姿勢變更控制而使物品搬送車2停止，因此相較於在每次執行姿勢變更控制時使物品搬送車2停止的情況，可以縮短搬送時間。In the present embodiment, the lower control device Hd executes the posture change control while the article transport vehicle 2 is stopped in the middle of the transport path Rt. In the transport path Rt, a plurality of article transport vehicles 2 are present. In order to process the semiconductor substrate in the processing device 6a, each article transport vehicle 2 is directed toward the receiving section 6b of the transport target site 6 to transport the articles. W. Therefore, if the article transport vehicle 2 stops in the transport path Rt for the purpose of transferring the article W to the receiving unit 6b, the other article transport vehicles 2 may also stop. That is, the article transport vehicle 2 may stop due to a traffic jam while traveling in the transport path Rt. Then, for example, the lower control device Hd executes the posture change control during the stoppage of the article transport vehicle 2 in the middle of the transport path Rt. This makes it possible to perform posture change control using the time when the article transport vehicle 2 is stopped unexpectedly. That is, since the article transport vehicle 2 does not need to be stopped in order to execute the posture change control, the transport time can be shortened as compared with the case where the article transport vehicle 2 is stopped each time the posture change control is executed.

在本實施形態中，是在藉由移載機構3使物品W相對於收容部22a滑動到外側的狀態下，將移載機構3及物品W不會與存在於搬送路徑Rt的周圍之其他構件相干涉的搬送路徑Rt之區域，設定作為姿勢變更許可區域Tp(參照圖1)。更具體而言，是將於藉由滑動機構3S使物品W滑動到突出位置P2時具有充分的空間之搬送路徑Rt中的區域，設定作為姿勢變更許可區域Tp。並且，下位控制裝置Hd是在物品搬送車2位於姿勢變更許可區域Tp內的情況下，執行姿勢變更控制。在本實施形態中，由於姿勢變更許可區域Tp於使物品W滑動到突出位置P2時具有充分的空間，因此藉由在姿勢變更許可區域Tp中執行姿勢變更控制，可以抑制在姿勢變更控制的執行中移載機構3及物品W會與存在於搬送路徑Rt的其他構件相干涉之情形。再者，存在於搬送路徑Rt的周圍之其他構件，為例如用於暫時保管處理裝置6a及物品W的收納架及保管庫等(圖示省略)。In the present embodiment, in a state where the article W is slid to the outside with respect to the accommodating portion 22a by the transfer mechanism 3, the transfer mechanism 3 and the article W are not separated from other members existing around the transport path Rt The area of the interfering transport path Rt is set as the posture change permission area Tp (see FIG. 1). More specifically, an area in the conveyance path Rt having a sufficient space when the article W is slid to the protruding position P2 by the slide mechanism 3S is set as the posture change permission area Tp. The lower control device Hd executes the posture change control when the article transport vehicle 2 is located in the posture change permission area Tp. In this embodiment, since the posture change permission area Tp has sufficient space when sliding the article W to the protruding position P2, execution of the posture change control in the posture change permission area Tp can suppress execution of the posture change control. The intermediate transfer mechanism 3 and the article W may interfere with other members existing in the transport path Rt. In addition, other members existing around the conveyance path Rt are, for example, storage racks and storages for temporarily storing the processing device 6a and the article W (not shown).

在本實施形態中，是將姿勢變更許可區域Tp設定在移動路徑R中的步驟內路徑Ri與步驟間路徑Rc的連接區域Tc。在本實施形態中，連接區域Tc是在連接步驟內路徑Ri與步驟間路徑Rc的區域附近，相當於用於讓物品搬送車2在步驟內路徑Ri循環的循環路徑之區域(參照圖1)。在物品搬送設備1中，為了在步驟內路徑Ri與步驟間路徑Rc的每一個上，搬送以各處理裝置6a進行處理的半導體基板，會有比較多的物品搬送車2在行走。相對於此，行走在步驟內路徑Ri與步驟間路徑Rc的連接區域Tc之物品搬送車2的數量是比較少的。因此，將連接區域Tc設為姿勢變更許可區域Tp，而在物品搬送車2存在於該連接區域Tc時執行姿勢變更控制，藉此即可以抑制為了姿勢變更控制之物品搬送車2的停止影響到其他物品搬送車2的行走之情形。也就是說，可以抑制搬送路徑Rt中的塞車發生，且可以抑制物品搬送設備1的整體之搬送效率的降低。In this embodiment, the posture change permission region Tp is set in the connection region Tc of the intra-step path Ri and the inter-step path Rc in the movement path R. In the present embodiment, the connection area Tc is near the area connecting the in-step route Ri and the inter-step route Rc, and corresponds to the area of the circulation route for the article transport vehicle 2 to cycle through the in-step route Ri (see FIG. 1). . In the article transfer facility 1, in order to transfer the semiconductor substrate processed by each processing device 6a on each of the intra-step route Ri and the inter-step route Rc, a relatively large number of article transfer vehicles 2 are walking. In contrast, the number of the article transport vehicles 2 walking in the connection region Tc of the in-step route Ri and the inter-step route Rc is relatively small. Therefore, by setting the connection area Tc as the posture change permission area Tp, and performing the posture change control when the article transport vehicle 2 is present in the connection area Tc, the influence of stopping the article transport vehicle 2 for the posture change control can be suppressed. When the other article transport vehicle 2 is walking. That is, it is possible to suppress the occurrence of a traffic jam in the transport path Rt, and it is possible to suppress a decrease in the transport efficiency of the entire article transport facility 1.

如圖2所示，在本實施形態中，移載機構3更具備有支撐構件5，該支撐構件5是被軌道98或天花板99支撐並且配置在鄰接於移動路徑R的位置。在圖式的例子中，支撐構件5是被軌道98及天花板99雙方所支撐著。又，支撐構件5是設置成在使把持部3Ga滑動以使物品W相對於收容部22a位於外側的狀態下，在鉛直方向Z上支撐滑動機構3S。支撐構件5具有在比軌道98更靠向橫向方向第一側Y1上連結於天花板的天花板連結部5a、連結於天花板連結部5a的下端部並且從橫向方向第一側Y1連結到軌道98的軌道連結部5b、從鉛直方向下側Z2支撐滑動機構3S的支撐部5d、及連接軌道連結部5b與支撐部5d的框架部5c。在使把持部3Ga滑動到突出位置P2以使物品W相對於收容部22a位於外側的狀態下，支撐部5d是從鉛直方向下側Z2支撐連結於滑動機構3S的姿勢變更機構4。也就是說，支撐部5d透過姿勢變更機構4間接地支撐滑動機構3S。藉此，支撐部5d可以支撐把持部3Ga及其把持的物品W。其結果是，可以藉由以滑動機構3S中的支撐了物品W等的部分為施力點之將物品搬送車2設為中心的力矩，而將施加在物品搬送車2及軌道98等的負擔減輕。又，由於支撐構件5是被軌道98及天花板99雙方所支撐，因此可以將支撐構件5受到的物品W等之荷重，分散到軌道98及天花板99雙方，並也可以減輕施加在支撐構件5本身的負擔。As shown in FIG. 2, in the present embodiment, the transfer mechanism 3 further includes a support member 5 that is supported by the rail 98 or the ceiling 99 and is disposed adjacent to the movement path R. In the illustrated example, the support member 5 is supported by both the rail 98 and the ceiling 99. The support member 5 is provided to support the slide mechanism 3S in the vertical direction Z in a state where the grip portion 3Ga is slid so that the article W is positioned outside with respect to the storage portion 22a. The supporting member 5 has a ceiling connection portion 5a connected to the ceiling on the first side Y1 in the lateral direction than the rail 98, and a track connected to the lower end portion of the ceiling connection 5a and connected to the rail 98 from the first side Y1 in the lateral direction. The connection portion 5b, a support portion 5d that supports the sliding mechanism 3S from the lower side Z2 in the vertical direction, and a frame portion 5c that connects the rail connection portion 5b and the support portion 5d. In a state where the grip portion 3Ga is slid to the protruding position P2 so that the article W is positioned outside with respect to the storage portion 22a, the support portion 5d is a posture changing mechanism 4 supporting and connecting to the slide mechanism 3S from the lower side Z2 in the vertical direction. That is, the support portion 5d indirectly supports the slide mechanism 3S through the posture changing mechanism 4. Thereby, the support part 5d can support the holding part 3Ga and the article W held by it. As a result, the load on the article transport vehicle 2 and the rail 98 can be imposed by the moment that the article transport vehicle 2 is centered with the portion supporting the article W and the like in the sliding mechanism 3S as the urging point. Lighten. In addition, since the support member 5 is supported by both the rail 98 and the ceiling 99, the load of the articles W and the like received by the support member 5 can be distributed to both the rail 98 and the ceiling 99, and the load applied to the support member 5 itself can also be reduced. Burden.

在本實施形態中，支撐部5d是以沿著橫向方向Y延伸的板狀構件在搬送方向X上間隔開而配置一對的狀態來構成。並且，支撐部5d是藉由一對板狀構件從下方支撐姿勢變更機構4。更具體而言，姿勢變更機構4的旋繞部4a上設置有可被支撐部5d所引導的滑動用引導輪4c，且支撐部5d是從鉛直方向下側Z2支撐此滑動用引導輪4c。又，滑動部3Sa朝向支撐構件5滑動至橫向方向第一側Y1時，為了使該滑動部3Sa容易地被支撐構件5引導，於支撐部5d的橫向方向第二側Y2之端部上，形成有朝向橫向方向第二側Y2且朝鉛直方向下側Z2傾斜的傾斜部5e。在滑動部3Sa滑動至橫向方向第一側Y1且滑動用引導輪4c被支撐部5d支撐的過程中，該滑動用引導輪4c會在傾斜部5e滾動。在本實施形態中，這樣的支撐構件5是設置在姿勢變更許可區域Tp中。也就是說，在本實施形態中，在執行姿勢變更控制的過程中，是使支撐構件5支撐滑動機構3S。藉此，可以在姿勢變更控制的執行中，減輕因力矩而施加在物品搬送車2及軌道98等的負擔。In the present embodiment, the support portions 5d are configured in a state where a pair of plate-like members extending in the lateral direction Y are spaced apart in the conveying direction X. The support portion 5d supports the posture changing mechanism 4 from below by a pair of plate-like members. More specifically, the winding portion 4a of the posture changing mechanism 4 is provided with a sliding guide wheel 4c that can be guided by the supporting portion 5d, and the supporting portion 5d supports the sliding guide wheel 4c from the lower side Z2 in the vertical direction. When the sliding portion 3Sa slides toward the supporting member 5 to the first lateral side Y1 in the lateral direction, the sliding portion 3Sa is formed on the end of the second lateral side Y2 in the lateral direction of the supporting portion 5d so as to be easily guided by the supporting member 5. There is an inclined portion 5 e that is inclined toward the second side Y2 in the lateral direction and is inclined toward the lower side Z2 in the vertical direction. While the sliding portion 3Sa slides to the first side Y1 in the lateral direction and the sliding guide wheel 4c is supported by the support portion 5d, the sliding guide wheel 4c rolls on the inclined portion 5e. In this embodiment, such a support member 5 is provided in the posture change permission area Tp. That is, in the present embodiment, the support member 5 supports the slide mechanism 3S during the posture change control. Thereby, it is possible to reduce the load imposed on the article transport vehicle 2 and the track 98 and the like due to the moment during the execution of the attitude change control.

接著，參照圖6來說明執行姿勢變更控制的順序。 下位控制裝置Hd是藉由以下的順序來執行姿勢變更控制。也就是說，控制滑動用馬達3SM，使往橫向方向第一側Y1的物品W之滑動開始(步驟#10)。之後，根據由滑動量檢測感測器Se2所檢測出的資訊，來判斷物品W是否已到達突出位置P2(步驟#11)。經判斷為物品W並未在規定時間內到達突出位置P2的情況下(步驟#11：否，步驟#19：是)，即中止各種馬達的控制(步驟#20)，並進行錯誤通知(步驟#21)，而結束姿勢變更控制。經判斷為物品W已到達突出位置P2的情況下(步驟#11：是)，控制滑動用馬達3SM以使物品W的滑動停止(步驟#12)。之後，控制旋繞用馬達4M來開始進行物品W的旋繞(步驟#13)。之後，根據由旋繞量檢測感測器Se5所檢測出的資訊，判斷物品W是否成為第二姿勢A2(步驟#14)。經判斷為物品W並未在規定時間內成為第二姿勢A2的情況下(步驟#14：否，步驟#22：是)，即中止各種馬達的控制(步驟#20)，並進行錯誤通知(步驟#21)，而結束姿勢變更控制。經判斷為物品W已成為第二姿勢A2的情況下(步驟#14：是)，控制旋繞用馬達4M以停止物品W的旋繞(步驟#15)。之後，控制滑動用馬達3SM，開始進行往橫向方向第二側Y2的物品W之滑動(步驟#16)。之後，根據由滑動量檢測感測器Se2所檢測出的資訊，來判斷物品W是否已到達退回位置P1(步驟#17)。經判斷為物品W並未在規定時間內到達退回位置P1的情況下(步驟#17：否，步驟#23：是)，即中止各種馬達的控制(步驟#20)，並進行錯誤通知(步驟#21)，而結束姿勢變更控制。經判斷為物品W已到達退回位置P1的情況下(步驟#17：是)，控制滑動用馬達3SM以使物品W的滑動停止(步驟#18)。下位控制裝置Hd是藉由進行以上的順序執行姿勢變更控制。Next, a procedure for performing the posture change control will be described with reference to FIG. 6. The lower control device Hd performs posture change control in the following procedure. That is, the sliding motor 3SM is controlled to start the sliding of the article W toward the first side Y1 in the lateral direction (step # 10). After that, it is determined whether or not the article W has reached the protruding position P2 based on the information detected by the slip amount detection sensor Se2 (step # 11). When it is determined that the article W has not reached the protruding position P2 within a predetermined time (step # 11: No, step # 19: Yes), the control of various motors is suspended (step # 20), and an error notification is performed (step # 21) and end the posture change control. When it is determined that the article W has reached the protruding position P2 (step # 11: Yes), the sliding motor 3SM is controlled to stop the sliding of the article W (step # 12). After that, the winding motor 4M is controlled to start the winding of the article W (step # 13). Thereafter, based on the information detected by the winding amount detection sensor Se5, it is determined whether or not the article W is in the second posture A2 (step # 14). When it is determined that the article W does not become the second posture A2 within a predetermined time (step # 14: No, step # 22: Yes), the control of various motors is suspended (step # 20), and an error notification is performed ( Step # 21), and the posture change control is ended. When it is determined that the article W has reached the second posture A2 (step # 14: Yes), the winding motor 4M is controlled to stop the winding of the article W (step # 15). After that, the sliding motor 3SM is controlled to start sliding the article W toward the second side Y2 in the lateral direction (step # 16). Thereafter, it is determined whether or not the article W has reached the retracted position P1 based on the information detected by the slip amount detection sensor Se2 (step # 17). When it is determined that the article W has not reached the return position P1 within a predetermined time (step # 17: No, step # 23: Yes), the control of various motors is suspended (step # 20), and an error notification is performed (step # 21) and end the posture change control. When it is determined that the article W has reached the retracted position P1 (step # 17: Yes), the sliding motor 3SM is controlled to stop the sliding of the article W (step # 18). The lower control device Hd performs the posture change control by performing the above sequence.

下位控制裝置Hd從上位控制裝置Hu接收到特定搬送指令的情況下(參照圖5)，即執行作為伴隨姿勢變更控制的物品W之搬送處理的特定搬送處理。姿勢變更控制是在搬送物品W的過程中執行。以下，參照圖7來說明特定搬送處理執行的順序。When the lower control device Hd receives a specific transport instruction from the higher control device Hu (refer to FIG. 5), the lower control device Hd executes a specific transport process as a transport process of the article W accompanying the posture change control. The attitude change control is executed during the conveyance of the article W. Hereinafter, the procedure of execution of the specific transfer process will be described with reference to FIG. 7.

下位控制裝置Hd是藉由以下的順序來執行特定搬送處理。也就是說，接收到特定搬送指令後，控制行走用馬達21M來使物品搬送車2往成為搬送起點的搬送對象場所6行走(步驟#30)。之後，控制滑動用馬達3SM、升降用馬達3HM及把持用馬達3GM，來移載已載置於搬送對象場所6的收授部6b的物品W。也就是說，將該被載置的物品W收容至收容部22a(步驟#31)。之後，控制行走用馬達21M來使物品搬送車2朝向成為搬送目的地的搬送對象場所6行走(步驟#32)。之後，根據由速度檢測感測器Se1所檢測出的資訊，來判斷物品搬送車2是否因塞車等原因而停止(步驟#33)。判斷物品搬送車2已停止的情況下(步驟#33：是)，根據由位置檢測感測器Se6所檢測出的資訊，來判斷物品搬送車2的現在位置是否為姿勢變更許可區域Tp(步驟#34)。經判斷為物品搬送車2的現在位置不是姿勢變更許可區域Tp的情況下(步驟#34：否)，針對塞車解除而再次開始行走的物品搬送車2進行步驟#33的處理。經判斷為物品搬送車2的現在位置是姿勢變更許可區域Tp的情況下(步驟#34：是)，執行姿勢變更控制(步驟#35)。執行姿勢變更控制後，控制行走用馬達21M來使物品搬送車2再次朝向成為搬送目的地的搬送對象場所6行走(步驟#36)。The lower control device Hd executes the specific conveyance processing in the following procedure. That is, after receiving the specific transfer instruction, the traveling motor 21M is controlled to move the article transfer vehicle 2 to the transfer destination 6 that is the transfer start point (step # 30). After that, the sliding motor 3SM, the lifting motor 3HM, and the gripping motor 3GM are controlled to transfer the article W that has been placed in the receiving section 6b of the transfer target site 6. That is, the placed article W is stored in the storage unit 22a (step # 31). After that, the traveling motor 21M is controlled to cause the article transport vehicle 2 to walk toward the transport destination 6 that is the transport destination (step # 32). Then, based on the information detected by the speed detection sensor Se1, it is determined whether the article transport vehicle 2 has stopped due to a traffic jam or the like (step # 33). When it is determined that the article transport vehicle 2 has stopped (step # 33: Yes), based on the information detected by the position detection sensor Se6, it is determined whether the current position of the article transport vehicle 2 is the posture change permission area Tp (step # 34). When it is determined that the current position of the article transport vehicle 2 is not the posture change permission area Tp (step # 34: No), the process of step # 33 is performed for the article transport vehicle 2 that has restarted running after the traffic jam is released. When it is determined that the current position of the article transport vehicle 2 is the posture change permission area Tp (step # 34: Yes), the posture change control is performed (step # 35). After the posture change control is executed, the traveling motor 21M is controlled to cause the article transport vehicle 2 to walk toward the transport destination 6 as the transport destination again (step # 36).

在步驟#33的處理中，經判斷為物品搬送車2未停止的情況下(步驟#33：否)，在物品搬送車2的行走中，判斷位置檢測感測器Se6是否讀取到物品搬送車2的現在位置為姿勢變更許可區域Tp的意旨之位置資訊(步驟#37)。如前述，搬送路徑Rt是由複數個位置資訊儲存部區劃為複數個區域。在複數個位置資訊儲存部當中，配置在姿勢變更許可區域Tp的位置資訊儲存部，會儲存有該位置資訊儲存部的配置位置為姿勢變更許可區域Tp之意旨的位置資訊。因此，當物品搬送車2位於姿勢變更許可區域Tp時，是藉由位置檢測感測器Se6讀取配置在姿勢變更許可區域Tp的位置資訊儲存部之位置資訊，藉此下位控制裝置Hd可以判斷物品搬送車2的現在位置位於姿勢變更許可區域Tp。下位控制裝置Hd在經判斷為於物品搬送車2的行走中，位置檢測感測器Se6未讀取到物品搬送車2的現在位置為姿勢變更許可區域Tp之意旨的位置資訊之情況下(步驟#37：否)，進行步驟#33的處理。經判斷為位置檢測感測器Se6已讀取到物品搬送車2的現在位置為姿勢變更許可區域Tp之意旨的資訊之情況下(步驟#37：是)，會判斷物品搬送車2的現在位置之姿勢變更許可區域Tp，是否為存在於成為搬送目的地的搬送對象場所6之前的複數個姿勢變更許可區域Tp當中之最後的姿勢變更許可區域Tp(步驟#38)。經判斷為物品搬送車2的現在位置之姿勢變更許可區域Tp不是最後的姿勢變更許可區域Tp之情況下(步驟#38：否)，進行步驟#33的處理。經判斷為物品搬送車2的現在位置之姿勢變更許可區域Tp是最後的姿勢變更許可區域Tp之情況下(步驟#38：是)，會控制行走用馬達21M來使物品搬送車2停止(步驟#39)。之後，執行姿勢變更控制(步驟#35)。執行姿勢變更控制後，控制行走用馬達21M來使物品搬送車2再次朝向成為搬送目的地的搬送對象場所6行走(步驟#36)。In the process of step # 33, when it is determined that the article transport vehicle 2 is not stopped (step # 33: No), it is determined whether the position detection sensor Se6 reads the article transport while the article transport vehicle 2 is walking. The current position of the vehicle 2 is the intended position information of the posture change permission area Tp (step # 37). As described above, the transport path Rt is divided into a plurality of areas by a plurality of position information storage units. Among the plurality of position information storage sections, the position information storage section arranged in the posture change permission area Tp stores position information in which the position of the position information storage section is intended to be the posture change permission area Tp. Therefore, when the article transport vehicle 2 is located in the posture change permission area Tp, the position detection sensor Se6 reads the position information of the position information storage unit arranged in the posture change permission area Tp, and the lower control device Hd can determine The current position of the article transport vehicle 2 is located in the posture change permission area Tp. When it is judged that the lower control device Hd is walking on the article transport vehicle 2, the position detection sensor Se6 has not read the position information of the current position of the article transport vehicle 2 as the intended position change permission area Tp (step # 37: No), proceed to step # 33. When it is determined that the position detection sensor Se6 has read the information that the current position of the article transport vehicle 2 is the intention of the posture change permission area Tp (step # 37: Yes), the current position of the article transport vehicle 2 is determined Whether the posture change permission area Tp is the last posture change permission area Tp among the plurality of posture change permission areas Tp before the transfer target place 6 that is the transfer destination (step # 38). When it is determined that the posture change permission area Tp at the current position of the article transport vehicle 2 is not the last posture change permission area Tp (step # 38: No), the process of step # 33 is performed. When it is determined that the posture change permission area Tp of the current position of the article transport vehicle 2 is the last posture change permission region Tp (step # 38: Yes), the traveling motor 21M is controlled to stop the article transport vehicle 2 (step # 39). After that, the posture change control is executed (step # 35). After the posture change control is executed, the traveling motor 21M is controlled to cause the article transport vehicle 2 to walk toward the transport destination 6 as the transport destination again (step # 36).

使物品搬送車2再次行走後，根據由位置檢測感測器Se6所檢測出的資訊，判斷物品搬送車2是否到達成為搬送目的地之搬送對象場所6(步驟#40)。經判斷為物品搬送車2未到達成為搬送目的地之搬送對象場所6的情況下(步驟#40：否)，重複步驟#40的處理。經判斷為物品搬送車2已到達成為搬送目的地之搬送對象場所6的情況下(步驟#40：是)，控制行走用馬達21M來使物品搬送車2的行走停止(步驟#41)。之後，控制滑動用馬達3SM、升降用馬達3HM及把持用馬達3GM，來移載被收容部22a所收容的物品W。也就是說，將該收容的物品W載置至搬送對象場所6的收授部6b(步驟#42)。下位控制裝置Hd是藉由進行以上的順序，而執行特定搬送處理。After the article transport vehicle 2 is driven again, based on the information detected by the position detection sensor Se6, it is determined whether or not the article transport vehicle 2 has reached the transport destination 6 as the transport destination (step # 40). When it is determined that the article transfer vehicle 2 has not arrived at the transfer target place 6 that is the transfer destination (step # 40: No), the process of step # 40 is repeated. When it is determined that the article transport vehicle 2 has arrived at the transport destination 6 as the transport destination (step # 40: YES), the traveling motor 21M is controlled to stop the article transport vehicle 2 from traveling (step # 41). Thereafter, the sliding motor 3SM, the lifting motor 3HM, and the gripping motor 3GM are controlled to transfer the article W stored in the storage portion 22a. That is, the accommodated article W is placed on the receiving and receiving unit 6b of the transfer target place 6 (step # 42). The lower-level control device Hd executes the above-mentioned procedure to execute a specific conveyance process.

以上，說明了下位控制裝置Hd從上位控制裝置Hu接收特定搬送指令，並執行特定搬送處理的情況。但是，下位控制裝置Hd從上位控制裝置Hu接收到單純搬送指令的情況下(參照圖5)，是執行作為不伴隨姿勢變更控制的搬送處理之單純搬送處理。下位控制裝置Hd執行單純搬送處理時，在執行從圖7的流程圖之步驟#30到步驟#32的處理後，是執行步驟#40到步驟#42的處理。下位控制裝置Hd是藉此執行單純搬送處理。In the above, the case where the lower-level control device Hd receives a specific transfer instruction from the higher-level control device Hu and executes a specific transfer process has been described. However, when the lower-level control device Hd receives a simple-transport instruction from the higher-level control device Hu (refer to FIG. 5), the lower-level control device Hd executes a simple-transport process as a transport process without accompanying attitude change control. When the lower control device Hd executes the simple transfer process, the processes from step # 30 to step # 32 in the flowchart of FIG. 7 are executed, and then the processes from step # 40 to step # 42 are executed. The lower control device Hd thereby performs a simple transfer process.

2.第二實施形態 接著，說明第二實施形態之物品搬送設備1。在第二實施形態中，僅有姿勢變更控制的順序與第一實施形態不同。以下，是以和第一實施形態不同之點為中心來說明。關於未特別說明的點，與第一實施形態是同樣的。2. Second Embodiment Next, an article transfer device 1 according to a second embodiment will be described. In the second embodiment, only the order of the posture change control is different from that in the first embodiment. The following description will focus on the differences from the first embodiment. Points that are not specifically described are the same as those of the first embodiment.

如圖8所示，下位控制裝置Hd是在物品W位於收容部22a的外側中的不與罩蓋部22b相干涉的範圍內，且藉移載機構3進行之物品W的移動中，執行姿勢變更控制。在第二實施形態中，下位控制裝置Hd是在物品W在收容部22a的外側中的不與罩蓋部22b的內側面22f相干涉的範圍內，且藉滑動機構3S進行之物品W的沿著橫向方向Y的移動中，執行姿勢變更控制。更具體而言，如圖8所示，從物品W被收容於收容部22a的狀態，藉由滑動機構3S使物品W往橫向方向第一側Y1滑動，在將物品W配置到突出位置P2之前，在物品W的角Wc與內側面22f不相干涉的範圍內藉由姿勢變更機構4來開始物品W的旋繞。並且，使藉由姿勢變更機構4進行之物品W的旋繞持續進行的狀態下原樣藉由滑動機構3S使已配置到突出位置P2的物品W往橫向方向第二側Y2滑動，以使物品W配置到退回位置P1(收容部22a)。至少在藉由滑動機構3S使物品W往橫向方向第二側Y2滑動的途中，使物品W往第二姿勢A2的姿勢變更完成。藉此，可以縮短姿勢變更控制所需要的時間。在此，姿勢變更控制的時間越短越好。在第二實施形態中，下位控制裝置Hd是將姿勢變更機構4(旋繞用馬達4M)及滑動機構3S(滑動用馬達3SM)控制成為了使藉由姿勢變更機構4將物品W從第一姿勢A1變更成第二姿勢A2而使該物品W旋繞的時間、及藉由滑動機構3S使物品W從收容部22a突出並再次收容至收容部22a的時間之差變短。詳細而言，在使物品W朝橫向方向第一側Y1滑動的過程中，不能在物品W位於與罩蓋部22b不相干涉的非干涉位置以前，開始物品W的旋繞。因此，下位控制裝置Hd是將姿勢變更機構4(旋繞用馬達4M)及滑動機構3S(滑動用馬達3SM)控制成於使物品W從收容部22a突出並再次收容至收容部22a的過程中的物品W位於與罩蓋部22b不相干涉的範圍內之時間，變得與使物品W旋繞的時間大約相同。藉此，可以更加縮短姿勢變更控制所需要的時間。As shown in FIG. 8, the lower control device Hd performs a posture while the article W is located within the range of the outer side of the accommodation portion 22 a and does not interfere with the cover portion 22 b and the article W is moved by the transfer mechanism 3. Change control. In the second embodiment, the lower control device Hd is along the edge of the article W within the range where the article W does not interfere with the inner side surface 22f of the cover portion 22b in the outer side of the accommodation portion 22a, and is performed by the slide mechanism 3S. While moving in the lateral direction Y, posture change control is performed. More specifically, as shown in FIG. 8, from the state where the article W is contained in the accommodating portion 22 a, the article W is slid to the first side Y1 in the lateral direction by the sliding mechanism 3S, and before the article W is arranged to the protruding position P2 When the angle Wc of the article W does not interfere with the inner surface 22f, the rotation of the article W is started by the posture changing mechanism 4. Then, while the winding of the article W by the posture changing mechanism 4 is continuously performed, the article W that has been arranged at the protruding position P2 is slid to the second side Y2 in the lateral direction by the sliding mechanism 3S, so that the article W is arranged. Go to the retracted position P1 (container 22a). At least while the article W is slid to the second side Y2 in the lateral direction by the sliding mechanism 3S, the posture change of the article W to the second posture A2 is completed. This can shorten the time required for the posture change control. Here, the shorter the time for the posture change control, the better. In the second embodiment, the lower control device Hd controls the posture changing mechanism 4 (the winding motor 4M) and the sliding mechanism 3S (the sliding motor 3SM) so that the article W is moved from the first posture by the posture changing mechanism 4 The difference between the time when A1 is changed to the second posture A2 and the article W is wound, and the time when the article W protrudes from the storage portion 22a by the slide mechanism 3S and is again stored in the storage portion 22a is shortened. In detail, while the article W is being slid toward the first side Y1 in the lateral direction, the winding of the article W cannot be started before the article W is located at a non-interfering position that does not interfere with the cover portion 22b. Therefore, the lower control device Hd is in the process of controlling the posture changing mechanism 4 (the winding motor 4M) and the sliding mechanism 3S (the sliding motor 3SM) so that the article W protrudes from the storage portion 22a and is stored again in the storage portion 22a. The time during which the article W is located within the range that does not interfere with the cover portion 22b becomes approximately the same as the time during which the article W is wound. This can further shorten the time required for the posture change control.

接著，參照圖9來說明第二實施形態之姿勢變更控制的順序。再者，在以下的說明中，是將下列動作稱為來回滑動：使物品W從收容在收容部22a的狀態往橫向方向第一側Y1滑動後，使該物品W往橫向方向第二側Y2滑動，並使該物品W收容至收容部22a為止之一連串的的動作。在第二實施形態之姿勢變更控制中，在來回滑動的開始到結束為止之期間，是在物品W位於與罩蓋部22b不相干涉的範圍內之期間內，將該物品W的姿勢從第一姿勢A1變更為第二姿勢A2。Next, the procedure of the posture change control according to the second embodiment will be described with reference to FIG. 9. In the following description, the following operation is referred to as sliding back and forth: after the article W is slid from the state accommodated in the storage portion 22a to the first side Y1 in the lateral direction, the article W is moved to the second side Y2 in the lateral direction. A series of operations of sliding the article W into the storage section 22a. In the posture change control of the second embodiment, during the period from the beginning to the end of the back-and-forth slide, the posture of the article W is changed from the first to the period when the article W is within a range that does not interfere with the cover portion 22b. The first posture A1 is changed to the second posture A2.

下位控制裝置Hd是藉由以下的順序來執行第二實施形態的姿勢變更控制。 也就是說，是藉由一邊根據滑動量檢測感測器Se2的資訊來掌握物品W的橫向方向Y上的位置，一邊控制滑動用馬達3SM，來開始進行物品W的來回滑動(步驟#50)。之後，根據由滑動量檢測感測器Se2檢測的資訊，來判斷中間姿勢Am的物品W是否位於非干涉位置(步驟#51)。在此，非干涉位置會因物品W的大小及形狀、物品W的旋繞量及物品W的滑動量之組合，而有各種位置。在第二實施形態中，下位控制裝置Hd是事先儲存有各種模式(pattern)中的複數個非干涉位置的資訊。在第二實施形態中，下位控制裝置Hd是根據此事先儲存的資訊，來判斷物品W是否位於非干涉位置。經判斷為物品W並未在規定時間內到非干涉位置的情況下，也就是說，經判斷為中間姿勢Am的物品W是在與罩蓋部22b相干涉的位置之情況下(步驟#51：否，步驟#56：是)，即中止各種馬達的控制(步驟#57)，並進行錯誤通知(步驟#58)，而結束姿勢變更控制。經判斷為物品W位於非干涉位置的情況下(步驟#51：是)，控制旋繞用馬達4M來開始進行物品W的旋繞(步驟#52)。之後，根據由旋繞量檢測感測器Se5檢測的資訊，來判斷物品W是否成為第二姿勢A2(步驟#53)。經判斷為物品W並未在規定時間內成為第二姿勢A2的情況下(步驟#53：否，步驟#59：是)，即中止各種馬達的控制(步驟#57)，並進行錯誤通知(步驟#58)，而結束姿勢變更控制。經判斷為物品W已成為第二姿勢A2的情況下(步驟#53：是)，控制旋繞用馬達4M以停止物品W的旋繞(步驟#54)。之後，使物品W的來回滑動結束(步驟#55)。位控制裝置Hd是藉由以上的順序，下執行第二實施形態的姿勢變更控制。The lower control device Hd executes the posture change control of the second embodiment in the following procedure. That is, the position of the article W in the lateral direction Y is grasped based on the information of the slip amount detection sensor Se2, and the slide motor 3SM is controlled to start the back and forth movement of the article W (step # 50). . Then, based on the information detected by the slip amount detection sensor Se2, it is determined whether the article W in the intermediate posture Am is located at the non-interference position (step # 51). Here, the non-interfering position may have various positions depending on the combination of the size and shape of the article W, the winding amount of the article W, and the sliding amount of the article W. In the second embodiment, the lower-level control device Hd stores information on a plurality of non-interfering positions in various patterns in advance. In the second embodiment, the lower control device Hd determines whether or not the article W is located at the non-interfering position based on the information stored in advance. When it is determined that the article W has not reached the non-interfering position within a predetermined time, that is, when the article W that is determined as the intermediate posture Am is in a position that interferes with the cover portion 22b (step # 51) : No, step # 56: Yes), that is, control of various motors is suspended (step # 57), error notification is performed (step # 58), and posture change control is ended. When it is determined that the article W is located at the non-interfering position (step # 51: Yes), the winding motor 4M is controlled to start the winding of the article W (step # 52). Then, based on the information detected by the winding amount detection sensor Se5, it is determined whether or not the article W is in the second posture A2 (step # 53). When it is determined that the article W has not become the second posture A2 within a predetermined time (step # 53: No, step # 59: Yes), the control of various motors is suspended (step # 57), and an error notification is performed ( Step # 58), and the posture change control is ended. When it is determined that the article W has reached the second posture A2 (step # 53: Yes), the winding motor 4M is controlled to stop the winding of the article W (step # 54). After that, the back-and-forth slide of the article W is finished (step # 55). The position control device Hd executes the posture change control according to the second embodiment in the above procedure.

3.其他的實施形態 接著，針對物品搬送設備的其他實施形態進行說明。3. Other Embodiments Next, other embodiments of the article transfer facility will be described.

(1)在上述之實施形態中，是針對以下的例子進行了說明：姿勢變更許可區域Tp是設定在移動路徑R中的步驟內路徑Ri與步驟間路徑Rc的連接區域Tc。但是，物品搬送設備1並不限定於這樣的構成。也就是說，如圖1所示，亦可在移動路徑R內，另外設置物品搬送車2退避的退避路徑Re，且將姿勢變更許可區域Tp設定在退避路徑Re。藉此，可以在物品搬送車2執行姿勢變更控制時，大幅地抑制對行走在移動路徑R內的退避路徑Re以外的路徑之其他物品搬送車2的行走所造成的影響。(1) In the embodiment described above, an example was described in which the posture change permission region Tp is a connection region Tc of the intra-step path Ri and the inter-step path Rc set in the movement path R. However, the article transfer facility 1 is not limited to such a configuration. That is, as shown in FIG. 1, a retreat path Re in which the article transport vehicle 2 retreats may be separately provided in the movement path R, and the posture change permission region Tp may be set in the retreat path Re. Thereby, when the article transport vehicle 2 performs the attitude change control, it is possible to significantly suppress the influence caused by the walking of the article transport vehicle 2 traveling on a path other than the retreat path Re within the movement path R.

(2)在上述之實施形態中，是針對以下的例子進行了說明：將支撐構件5設置在姿勢變更許可區域Tp，且在下位控制裝置Hd執行姿勢變更控制的過程中，使支撐構件5支撐滑動機構3S。但是，物品搬送設備1並不限定於這樣的構成。也就是說，亦可不在姿勢變更許可區域Tp設置支撐構件5，且下位控制裝置Hd亦可在沒有支撐構件5的區域中執行姿勢變更控制。(2) In the embodiment described above, the following example was explained: the support member 5 is set in the posture change permission area Tp, and the support member 5 is supported during the posture change control performed by the lower control device Hd. Slide mechanism 3S. However, the article transfer facility 1 is not limited to such a configuration. That is, the support member 5 may not be provided in the posture change permission area Tp, and the lower control device Hd may perform the posture change control in the area without the support member 5.

(3)在上述之實施形態中，是針對以下的例子進行了說明：下位控制裝置Hd是在搬送路徑Rt的途中之物品搬送車2的塞車停止中執行姿勢變更控制。但是，物品搬送設備1並不限定於這樣的構成。也就是說，將上位控制裝置Hu或下位控制裝置Hd構成為可辨識搬送路徑Rt的塞車，並在經判斷為搬送路徑Rt為塞車中的情況下，於使物品搬送車2移動到最近的姿勢變更許可區域Tp之後執行姿勢變更控制亦可。(3) In the embodiment described above, an example has been described in which the lower control device Hd executes the posture change control during the stoppage of the article transport vehicle 2 in the middle of the transport path Rt. However, the article transfer facility 1 is not limited to such a configuration. In other words, the higher-level control device Hu or the lower-level control device Hd is configured to recognize a traffic jam on the transport path Rt, and when it is determined that the transport path Rt is in a traffic jam, the article transport vehicle 2 is moved to the closest posture It is also possible to perform posture change control after changing the permission area Tp.

(4)在上述之實施形態中，是針對以下的例子進行了說明：下位控制裝置Hd是在搬送路徑Rt的途中之物品搬送車2的停止中執行姿勢變更控制。但是，物品搬送設備1並不限定於這樣的構成。也就是說，下位控制裝置Hd也可以是在物品搬送車2於姿勢變更許可區域Tp內行走的過程中執行姿勢變更控制。在此情況下，為了安全地執行姿勢變更控制，宜設成使物品搬送車2以低速行走。(4) In the embodiment described above, an example has been described in which the lower control device Hd performs posture change control while the article transport vehicle 2 is stopped in the middle of the transport path Rt. However, the article transfer facility 1 is not limited to such a configuration. That is, the lower control device Hd may perform the posture change control while the article transport vehicle 2 is walking in the posture change permission area Tp. In this case, in order to perform the posture change control safely, it is preferable to set the article transport vehicle 2 to travel at a low speed.

(5)在上述之實施形態中，是針對以下的例子進行了說明：藉由沿著鉛直方向Z的旋繞軸4b之旋轉，將物品W的姿勢從第一姿勢A1變更為第二姿勢A2。也就是說，在上述之實施形態中，是在水平面內以2維的形式使物品W的姿勢變更。但是，物品搬送設備1並不限定於這樣的構成。也就是說，依據搬送目的地的態樣，以3維的形式來使物品W的姿勢變更亦可。例如，相對於在搬送起點上物品W的開口部Wb為朝向水平方向的狀態，必須在搬送目的地上將物品W的開口部Wb設為朝向鉛直方向Z、或鉛直斜方向的狀態之情況下，也可以使物品W繞著鉛直軸及水平軸旋繞，藉此來使物品W的姿勢變更。(5) In the embodiment described above, the following example has been described: the posture of the article W is changed from the first posture A1 to the second posture A2 by rotation of the winding axis 4b in the vertical direction Z. That is, in the embodiment described above, the posture of the article W is changed in a two-dimensional manner in the horizontal plane. However, the article transfer facility 1 is not limited to such a configuration. That is, the posture of the article W may be changed in a three-dimensional manner depending on the aspect of the transport destination. For example, when the opening Wb of the article W is oriented in the horizontal direction at the starting point of the transfer, when the opening Wb of the article W is required to be oriented in the vertical direction Z or the vertical oblique direction at the transfer destination, The posture of the article W may be changed by rotating the article W around the vertical axis and the horizontal axis.

(6)在上述之實施形態中，作為使把持部3Ga橫向移動的橫向移動機構，是以使把持部3Ga滑動的滑動機構3S來例示說明。但是，物品搬送設備1並不限定於這樣的構成。也就是說，作為橫向移動機構3S，也可以是具有支臂的連桿機構等，且也可以藉由該支臂來使把持部3Ga橫向移動。(6) In the embodiment described above, as the lateral movement mechanism for laterally moving the gripping portion 3Ga, the slide mechanism 3S that slides the gripping portion 3Ga is exemplified. However, the article transfer facility 1 is not limited to such a configuration. That is, the lateral movement mechanism 3S may be a link mechanism or the like having a support arm, and the holding part 3Ga may be moved laterally by the support arm.

(7)在上述之實施形態中，是針對以下的例子進行了說明：將把持物品W的凸緣部Wa之把持機構3G作為移載機構3的一部分來構成。但是，物品搬送設備1並不限定於這樣的構成。也就是說，亦可將從下方支撐物品W的叉機構作為移載機構的一部分來構成。在此情況下，較佳是在叉機構從下方支撐物品W的狀態下，藉由姿勢變更機構來使該叉機構旋繞。(7) In the embodiment described above, an example was described in which the gripping mechanism 3G of the flange portion Wa that grips the article W is configured as a part of the transfer mechanism 3. However, the article transfer facility 1 is not limited to such a configuration. That is, the fork mechanism which supports the article W from below may be comprised as a part of transfer mechanism. In this case, it is preferable that the fork mechanism is wound by the posture changing mechanism while the fork mechanism supports the article W from below.

(8)在上述之實施形態中，是針對以下的例子進行了說明：為了將物品W的姿勢從第一姿勢A1變更到第二姿勢A2而執行姿勢變更控制的過程中，是藉由滑動機構3S來使物品W移動到收容部22a的外側。但是，物品搬送設備1並不限定於像這樣的構成。也就是說，也可以藉由升降機構3H使物品W下降，藉此使該物品W移動到收容部22a的外側。在此狀態下藉由姿勢變更機構4使物品W旋繞，藉此進行該物品W的姿勢變更。在此情況下，也可以不設置滑動機構3S，且也可以不設置支撐滑動機構3S的支撐構件5。也就是說，較理想的是，移載機構3具備把持物品W的把持部3Ga、以及使把持部3Ga沿著鉛直方向Z升降的升降機構3H，而姿勢變更機構4具備繞著沿著鉛直方向Z的旋繞軸使把持部3Ga旋繞的旋繞部4a，在第一姿勢A1與第二姿勢A2之間的姿勢變更是藉由繞著旋繞軸的物品W之旋繞來進行，姿勢變更控制是在藉由升降機構3H使把持部3Ga下降成使物品W相對於收容部22a位於外側的狀態下，使物品W繞著旋繞軸旋繞來進行。(8) In the embodiment described above, the following example has been described: In the process of performing posture change control to change the posture of the article W from the first posture A1 to the second posture A2, a sliding mechanism is used. 3S to move the article W to the outside of the storage portion 22a. However, the article transfer facility 1 is not limited to such a configuration. That is, the article W may be lowered by the elevating mechanism 3H to move the article W to the outside of the storage portion 22a. In this state, the posture of the article W is changed by winding the article W by the posture changing mechanism 4. In this case, the slide mechanism 3S may not be provided, and the support member 5 supporting the slide mechanism 3S may not be provided. That is, it is preferable that the transfer mechanism 3 includes a holding portion 3Ga that holds the article W and a lifting mechanism 3H that raises and lowers the holding portion 3Ga in the vertical direction Z, and the posture changing mechanism 4 includes a vertical direction The winding axis 4 of Z turns the gripping part 4a of the gripping part 3Ga. The posture change between the first posture A1 and the second posture A2 is performed by winding the article W around the winding axis. The posture change control is performed by The holding portion 3Ga is lowered by the elevating mechanism 3H so that the article W is positioned outside the housing portion 22a, and the article W is wound around a winding axis.

(9)再者，在前述之各實施形態所揭示的構成，只要沒有發生矛盾，也可與其他的實施形態所揭示的構成組合而應用。關於其他的構成，在本說明書中所揭示的實施形態在全部之點上均只不過是例示。因此，在不脫離本發明的主旨之範圍內，可進行適當的、各種的改變。(9) Furthermore, the structures disclosed in each of the foregoing embodiments may be applied in combination with the structures disclosed in other embodiments as long as no contradiction occurs. Regarding other structures, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various changes can be appropriately made without departing from the spirit of the present invention.

4.上述實施形態之概要 以下，針對在上述所說明之物品搬送設備的概要進行說明。4. Outline of the above embodiment The outline of the article transfer facility described above will be described below.

一種物品搬送設備，具備有在複數個搬送對象場所之間沿著移動路徑移動來搬送物品的物品搬送車、及控制該物品搬送車的控制裝置；前述物品搬送車具有收容前述物品的收容部、覆蓋該收容部的罩蓋部、在前述收容部與相對於該收容部而位於外側之前述複數個搬送對象場所的一個之間，使前述物品移動而進行該搬送對象場所與前述物品搬送車之間的前述物品之移載的移載機構、及變更搬送中的前述物品之姿勢的姿勢變更機構， 前述姿勢變更機構可以將前述物品的姿勢變更為第一姿勢及第二姿勢，該第一姿勢是在成為搬送起點之前述搬送對象場所的移載用之姿勢，該第二姿勢是在成為搬送目的地之前述搬送對象場所的移載用之姿勢， 前述罩蓋部是設置在下述位置：當收容在前述收容部的狀態之前述物品為前述第一姿勢的情況及為前述第二姿勢的情況下，與前述物品不相干涉，當前述物品的姿勢為在前述第一姿勢與前述第二姿勢之間進行變更的過程之姿勢的中間姿勢的情況下，會與前述物品相干涉， 前述控制裝置會執行姿勢變更控制，該姿勢變更控制是下述之控制：在從前述搬送起點到前述搬送目的地之路徑的搬送路徑之途中，藉由前述移載機構使前述物品相對於前述收容部移動到外側的狀態下，藉由前述姿勢變更機構將前述物品從前述第一姿勢變更到前述第二姿勢之後，藉由前述移載機構將前述物品收容到前述收容部。An article transporting device includes an article transporting vehicle that moves an article along a moving path between a plurality of objects to be transported, and a control device that controls the article transporting vehicle; the article transporting vehicle includes a storage unit for storing the article, A cover portion covering the storage portion, and moving the article between the storage portion and one of the plurality of transportation target locations located outside the storage portion to carry out the transportation between the transportation target location and the transportation vehicle; A transfer mechanism for transferring the articles in between, and a posture changing mechanism for changing the posture of the articles during transportation, the posture changing mechanism may change the posture of the articles to a first posture and a second posture, the first posture The second posture is the posture for transferring in the aforementioned transfer target place which is the starting point of the transfer. The second posture is the posture for transferring in the aforementioned transfer target place which is the transfer destination. The cover part is provided at the following position: In a case where the article stored in the containing section is in the first posture and in a case where the article is in the second posture In this case, there is no interference with the article, and when the posture of the article is an intermediate posture in the process of changing between the first posture and the second posture, it interferes with the article, and the control The device executes posture change control, which is a control that moves the article relative to the storage unit by the transfer mechanism during the transportation path from the transportation starting point to the transportation destination. After the article is moved to the outside, the article is changed from the first posture to the second posture by the posture changing mechanism, and then the article is stored in the storage portion by the transfer mechanism.

在本構成中，覆蓋收容部的罩蓋部是設置在下述位置：在收容部中收容有第一姿勢或第二姿勢的物品的狀態下，與該物品不相干涉的位置。另一方面，此罩蓋部所設置的位置，在已被收容部收容的狀態之物品成為中間姿勢的情況下，是成為與該物品相干涉的位置。也就是說，覆蓋收容部的罩蓋部與物品之間隙是設定得比較小。因此，根據本構成之物品搬送設備，可以抑制物品搬送車的大型化。又，在本構成中，物品搬送車在從搬送起點到搬送目的地的路徑之搬送路徑的途中，是在藉由移載機構使物品相對於收容部移動到外側的狀態下，藉由姿勢變更機構來將物品的姿勢從第一姿勢變更到第二姿勢。從而，根據本構成，可以有效地利用用於物品搬送的時間及空間來進行物品的姿勢變更。因此，相較於與物品搬送車分開另行設置姿勢變更機構的情況，會變得較容易謀求設備的小型化及低成本化。In this configuration, the cover portion that covers the storage portion is provided at a position that does not interfere with the article in a state where the article in the first posture or the second posture is stored in the storage portion. On the other hand, the position where the cover portion is provided is a position that interferes with the article when the article in the state of being accommodated by the housing portion assumes an intermediate posture. That is, the gap between the cover portion covering the storage portion and the article is set to be relatively small. Therefore, according to the article transport facility of this configuration, it is possible to suppress an increase in the size of the article transport vehicle. Furthermore, in this configuration, the article transport vehicle changes the posture during the transport path of the route from the starting point to the transport destination while the article is moved to the outside with respect to the storage portion by the transfer mechanism. A mechanism to change the posture of the article from a first posture to a second posture. Therefore, according to this configuration, it is possible to effectively change the posture of an article by using the time and space for article transportation. Therefore, compared with a case where a posture changing mechanism is provided separately from the article transport vehicle, it becomes easier to reduce the size and cost of the equipment.

又，較理想的是，前述移載機構具備把持前述物品的把持部、使前述把持部沿著鉛直方向升降的升降機構、及沿著交叉於前述搬送路徑並且為沿著水平方向之方向的橫向方向使前述把持部橫向移動的橫向移動機構，前述姿勢變更機構具備使前述把持部繞著沿前述鉛直方向的旋繞軸而旋繞的旋繞部，且在前述第一姿勢與第二姿勢之間的姿勢變更是藉由繞著前述旋繞軸之前述物品的旋繞來進行，前述姿勢變更控制是藉由下述方式來進行：在藉由前述橫向移動機構使前述把持部橫向移動成使前述物品相對於前述收容部位於外側的狀態下，使前述物品繞著前述旋繞軸旋繞。Further, it is preferable that the transfer mechanism includes a grip portion that grips the article, a lifting mechanism that raises and lowers the grip portion in a vertical direction, and a horizontal direction that intersects the conveyance path and extends in a horizontal direction. A lateral movement mechanism that moves the gripping portion in a direction, and the posture changing mechanism includes a winding portion that rotates the gripping portion around a winding axis in the vertical direction, and a posture between the first posture and the second posture. The change is performed by the winding of the article around the winding axis, and the posture change control is performed by moving the holding portion laterally by the lateral movement mechanism so that the article is moved relative to the article. In a state where the accommodating portion is located outside, the article is wound around the winding axis.

根據本構成，可以調整物品的鉛直方向及橫向方向的位置與繞著旋繞軸的角度來朝搬送目的地進行移載。又，利用該種調整用的機構，可以在搬送路徑的途中，於相對於收容部使物品移動到外側，以和罩蓋部不相干涉的狀態下，將物品的姿勢從第一姿勢變更成第二姿勢。With this configuration, it is possible to adjust the position in the vertical direction and the lateral direction of the article and the angle around the winding axis to transfer the article toward the transport destination. Furthermore, with this kind of adjustment mechanism, it is possible to change the posture of the article from the first posture to the position of the storage section without moving the article in the middle of the conveyance path, without interfering with the cover section. Second pose.

又，較理想的是，除了上述的構成以外，前述移動路徑是由天花板懸吊支撐的軌道所決定，且前述移載機構更具備被前述軌道或前述天花板支撐並且配置在鄰接於前述移動路徑的位置之支撐構件，前述支撐構件是設置成在使前述把持部橫向移動成使前述物品相對於前述收容部位於外側的狀態下，在前述鉛直方向上支撐前述橫向移動機構。In addition, it is preferable that, in addition to the above-mentioned configuration, the moving path is determined by a track supported by a ceiling suspension, and the transfer mechanism is further provided with being supported by the track or the ceiling and disposed adjacent to the moving path The support member at the position is provided to support the lateral movement mechanism in the vertical direction in a state where the grip portion is laterally moved so that the article is positioned outside with respect to the storage portion.

若藉由移載機構使把持部橫向移動成使把持有物品的狀態之該把持部相對於收容部位於外側時，會有以物品搬送車為中心的力矩與把持部所橫向移動的距離成比例變大，而對物品搬送車及軌道等造成負擔的情況。在本構成中，在使把持部橫向移動成使物品相對於收容部位於外側的狀態下，是使支撐構件在鉛直方向上支撐橫向移動機構。也就是說，支撐構件可以透過橫向移動機構間接地支撐把持部及其所把持的物品，其結果，可以減輕施加在物品搬送車及軌道等的負擔。If the gripping portion is moved laterally by the transfer mechanism so that the gripping portion is located outside of the storage portion, a moment centered on the article transport vehicle and a distance moved laterally by the gripping portion are formed. When the ratio becomes large, it may cause a burden on an article transport vehicle and a track. In this configuration, in a state where the grip portion is moved laterally so that the article is positioned outside with respect to the storage portion, the support member supports the lateral movement mechanism in the vertical direction. In other words, the support member can indirectly support the gripping portion and the articles held by the lateral movement mechanism, and as a result, the load imposed on the article transport vehicle, the rail, and the like can be reduced.

又，較理想的是，前述控制裝置是在前述搬送路徑的途中之前述物品搬送車的停止中，執行前述姿勢變更控制。It is also preferable that the control device executes the posture change control while the article transport vehicle is stopped in the middle of the transport path.

根據本構成，可以在物品搬送車停止中的已安定之狀態下，執行姿勢變更控制。 又，由於在物品搬送車的移動中不會有使物品相對於收容部移動到外側之情形，因此可以抑制相對於收容部位於外側之該物品與存在於移動路徑的周圍之其他構件相干涉的情況。According to this configuration, the posture change control can be performed in a stable state while the article transport vehicle is stopped. In addition, since the article is not moved to the outside with respect to the accommodation portion during the movement of the article transport vehicle, it is possible to suppress interference between the article located outside with respect to the accommodation portion and other members existing around the movement path. Happening.

又，較理想的是，前述控制裝置是在前述物品位於前述收容部的外側中的與前述罩蓋部不相干涉的範圍內、且藉由前述移載機構進行之前述物品的移動中，執行前述姿勢變更控制。Further, it is preferable that the control device executes the movement of the article by the transfer mechanism within a range where the article is located outside of the housing portion and does not interfere with the cover portion. The aforementioned posture change control.

根據本構成，由於是在藉由移載機構進行之在收容部的內側與外側之間的物品的移動中，執行姿勢變更控制，因此相較於將由移載機構進行之物品的移動與姿勢變更各別進行的情況，可以縮短姿勢變更控制所需要的時間。此外，由於像這樣的姿勢變更控制，是在物品位於收容部的外側中的與罩蓋部不相干涉的範圍內進行，因此也可以抑制物品與罩蓋部相干涉的情形。According to this configuration, since the posture change control is performed during the movement of the article between the inside and the outside of the storage portion by the transfer mechanism, the movement and posture change of the article by the transfer mechanism In each case, the time required for posture change control can be shortened. In addition, since the posture change control is performed in a range where the article is located outside the storage portion and does not interfere with the cover portion, it is also possible to suppress the situation where the article interferes with the cover portion.

又，較理想的是，將藉由前述移載機構使前述物品相對於前述收容部橫向移動到外側的狀態下，前述移載機構及前述物品不會與存在於前述搬送路徑的周圍之其他構件相干涉的前述搬送路徑的區域，設定為姿勢變更許可區域，前述控制裝置是在前述物品搬送車位於前述姿勢變更許可區域內的情況下，執行前述姿勢變更控制。In addition, it is preferable that, in a state where the article is moved laterally with respect to the storage portion by the transfer mechanism, the transfer mechanism and the article do not interact with other members existing around the transport path. An area of the transport path that interferes is set as a posture change permission area, and the control device executes the posture change control when the article transport vehicle is located within the posture change permission area.

根據本構成，由於是在移載機構及物品不會與存在於搬送路徑的周圍之其他構件相干涉的區域之姿勢變更許可區域中有物品搬送車時執行姿勢變更控制，因此可以抑制在姿勢變更控制的執行中移載機構及物品會與存在於搬送路徑的周圍之其他構件相干涉的情形。According to this configuration, since the posture change control is performed when there is an article transport vehicle in the posture change permission area of the area where the transfer mechanism and the article do not interfere with other members existing around the conveyance path, the posture change can be suppressed In the execution of the control, the transfer mechanism and articles may interfere with other members existing around the conveying path.

又，較理想的是，前述物品是用來收納半導體基板的容器，且在前述搬送對象場所中包含收授部，該收授部是用於在處理裝置與前述物品搬送車之間的前述物品之接收授與，前述處理裝置是用來進行對前述半導體基板的處理，複數個前述收授部是以步驟內路徑來連結，並且複數個步驟內路徑是以步驟間路徑來連結，前述姿勢變更許可區域是設定在前述移動路徑中的前述步驟內路徑與前述步驟間路徑之間的連接區域。Preferably, the article is a container for storing a semiconductor substrate, and a receiving unit is included in the transfer target place, and the receiving unit is the article between the processing device and the article transport vehicle. In the receiving and granting, the processing device is used to process the semiconductor substrate, and the plurality of receiving units are connected by steps within the steps, and the plurality of steps are connected by steps between the steps. The posture is changed. The permitted area is a connection area set between the path within the step and the path between steps set in the moving path.

在具備這樣的步驟內路徑及步驟間路徑的設備中，為了在步驟內路徑與步驟間路徑的每一個上，搬送以各處理裝置進行的處理的半導體基板，會有比較多的物品搬送車在行走。相對於此，在步驟內路徑與步驟間路徑之間的連接區域中，物品搬送車的數量會比較少。在本構成中，由於是將此連接區域設定為姿勢變更許可區域，因此可以抑制特定的物品搬送車之姿勢變更控制對其他的物品搬送車的行走造成影響之情形。從而，可以抑制物品搬送設備之整體的搬送效率的降低。 産業上之可利用性In a device having such an intra-step route and an inter-step route, in order to transfer the semiconductor substrate processed by each processing device on each of the intra-step route and the inter-step route, there are relatively many article transport vehicles. walk. In contrast, the number of article transport vehicles in the connection area between the in-step route and the inter-step route is relatively small. In this configuration, since this connection area is set as the posture change permission area, it is possible to suppress a situation where the posture change control of a specific article transport vehicle affects the walking of other article transport vehicles. Accordingly, it is possible to suppress a decrease in the overall transfer efficiency of the article transfer facility. Industrial availability

本揭示的技術可以利用在具備有在複數個搬送對象場所之間沿著移動路徑移動來搬送物品之物品搬送車的物品搬送設備上。The technology of the present disclosure can be used in an article transfer facility provided with an article transfer vehicle that moves along a moving path between a plurality of transfer target places to transfer an article.

1‧‧‧物品搬送設備1‧‧‧ Goods handling equipment

2‧‧‧物品搬送車2‧‧‧ Goods Transfer Vehicle

3‧‧‧移載機構3‧‧‧ transfer agency

3G‧‧‧把持機構3G‧‧‧ Holding organization

3Ga‧‧‧把持部3Ga‧‧‧holding section

3Gb‧‧‧把持爪3Gb‧‧‧Grip

3GM‧‧‧把持用馬達3GM‧‧‧ Holding Motor

3H‧‧‧升降機構3H‧‧‧Lifting mechanism

3Ha‧‧‧升降部3Ha‧‧‧Lifting Department

3Hb‧‧‧升降用皮帶3Hb‧‧‧Lifting belt

3Hc‧‧‧升降用皮帶輪3Hc‧‧‧Lifting pulley

3Hd‧‧‧升降用鼓輪3Hd‧‧‧ Lifting drum

3HM‧‧‧升降用馬達3HM‧‧‧Elevating motor

3S‧‧‧橫向移動機構(滑動機構)3S‧‧‧Horizontal movement mechanism (sliding mechanism)

3Sa‧‧‧滑動部3Sa‧‧‧ sliding part

3Sb‧‧‧滑動用皮帶3Sb‧‧‧Sliding belt

3Sc‧‧‧滑動用皮帶輪3Sc‧‧‧Sliding pulley

3SM‧‧‧滑動用馬達3SM‧‧‧Sliding motor

4‧‧‧姿勢變更機構4‧‧‧ posture change mechanism

4a‧‧‧旋繞部4a‧‧‧Turning section

4b‧‧‧旋繞軸4b‧‧‧ Revolving shaft

4c‧‧‧滑動用引導輪4c‧‧‧Sliding guide wheel

4M‧‧‧旋繞用馬達4M‧‧‧Spinning motor

5‧‧‧支撐構件5‧‧‧ support member

5a‧‧‧天花板連結部5a‧‧‧ ceiling joint

5b‧‧‧軌道連結部5b‧‧‧Track connection section

5c‧‧‧框架部5c‧‧‧Frame Department

5d‧‧‧支撐部5d‧‧‧ support

5e‧‧‧傾斜部5e‧‧‧inclined

6‧‧‧搬送對象場所6‧‧‧ Place of destination

6a‧‧‧處理裝置6a‧‧‧Processing device

6b‧‧‧收授部6b‧‧‧Receiving Department

21‧‧‧行走部21‧‧‧ Walking Department

21a‧‧‧行走輪21a‧‧‧ walking wheel

21b‧‧‧引導輪21b‧‧‧Guide Wheel

21M‧‧‧行走用馬達21M‧‧‧ Traveling Motor

22‧‧‧本體部22‧‧‧Body

22a‧‧‧收容部22a‧‧‧ Containment Department

22b‧‧‧罩蓋部22b‧‧‧ cover

22f‧‧‧內側面22f‧‧‧ inside

98‧‧‧軌道98‧‧‧ track

99‧‧‧天花板99‧‧‧ ceiling

A1‧‧‧第一姿勢A1‧‧‧first pose

A2‧‧‧第二姿勢A2‧‧‧Second Posture

Am‧‧‧中間姿勢Am‧‧‧ intermediate pose

H‧‧‧控制裝置H‧‧‧control device

Hd‧‧‧下位控制裝置Hd‧‧‧ lower control device

Hu‧‧‧上位控制裝置Hu‧‧‧ host control device

Ja‧‧‧適當姿勢資訊Ja‧‧‧ Proper Posture Information

P1‧‧‧退回位置P1‧‧‧Returned position

P2‧‧‧突出位置P2‧‧‧ protruding position

R‧‧‧移動路徑R‧‧‧moving path

Rc‧‧‧步驟間路徑Rc‧‧‧step-to-step path

Re‧‧‧退避路徑Re‧‧‧Retreat Path

Ri‧‧‧步驟內路徑Ri‧‧‧Steps in steps

Rt‧‧‧搬送路徑Rt‧‧‧ transport route

Se1‧‧‧速度檢測感測器Se1‧‧‧speed detection sensor

Se2‧‧‧滑動量檢測感測器Se2‧‧‧Slip sensor

Se3‧‧‧升降量檢測感測器Se3‧‧‧Lift detection sensor

Se4‧‧‧把持檢測感測器Se4‧‧‧handle detection sensor

Se5‧‧‧旋繞量檢測感測器Se5‧‧‧Swirl detection sensor

Se6‧‧‧位置檢測感測器Se6‧‧‧Position detection sensor

Tc‧‧‧連接區域Tc‧‧‧ Connected Area

Tp‧‧‧姿勢變更許可區域Tp‧‧‧posture change permission area

TR‧‧‧旋繞軌跡TR‧‧‧ spiral track

W‧‧‧物品W‧‧‧ Items

Wa‧‧‧凸緣部Wa‧‧‧ flange

Wb‧‧‧開口部Wb‧‧‧ opening

Wc‧‧‧角Wc‧‧‧ Corner

X‧‧‧搬送方向X‧‧‧ transport direction

Y‧‧‧橫向方向Y‧‧‧Horizontal direction

Y1‧‧‧橫向方向第一側Y1‧‧‧Horizontal first side

Y2‧‧‧橫向方向第二側Y2‧‧‧ the second side in the horizontal direction

Z‧‧‧鉛直方向Z‧‧‧ vertical direction

Z1‧‧‧鉛直方向上側Z1‧‧‧Vertical Upside

Z2‧‧‧鉛直方向下側Z2‧‧‧Vertical downside

#10~#23、#30~#42、#50~#59‧‧‧步驟# 10 ~ # 23, # 30 ~ # 42, # 50 ~ # 59‧‧‧steps

圖1是物品搬送設備的整體平面圖。 圖2是顯示物品的移載情形之圖。 圖3是沿著搬送方向來看物品搬送車的圖。 圖4是顯示使物品的姿勢變更之情形的平面示意圖。 圖5是顯示控制構成的方塊圖。 圖6是顯示執行姿勢變更控制之時的順序的流程圖。 圖7是顯示執行特定搬送處理之時的順序的流程圖。 圖8是顯示在第二實施形態中使物品的姿勢變更之情形的平面示意圖。 圖9是顯示在第二實施形態中執行姿勢變更控制之時的順序的流程圖。FIG. 1 is an overall plan view of an article transport facility. FIG. 2 is a diagram showing the transfer of articles. FIG. 3 is a view of the article transport vehicle as viewed in the transport direction. FIG. 4 is a schematic plan view showing a situation where the posture of an article is changed. Fig. 5 is a block diagram showing a control structure. FIG. 6 is a flowchart showing a procedure when performing posture change control. FIG. 7 is a flowchart showing a procedure when a specific transfer process is executed. FIG. 8 is a schematic plan view showing a state where the posture of an article is changed in the second embodiment. FIG. 9 is a flowchart showing a procedure when performing posture change control in the second embodiment.

Claims (7)

一種物品搬送設備，具備以下： 物品搬送車，在複數個搬送對象場所之間沿著移動路徑移動來搬送物品；及 控制裝置，控制該物品搬送車， 該物品搬送設備具有以下的特徵： 前述物品搬送車具有：收容部，收容前述物品；罩蓋部，覆蓋該收容部；移載機構，在前述收容部、與相對於該收容部而位於外側之前述複數個搬送對象場所的一個之間，使前述物品移動而進行該搬送對象場所與前述物品搬送車之間的前述物品之移載；及姿勢變更機構，變更搬送中的前述物品之姿勢， 前述姿勢變更機構可以將前述物品的姿勢變更為第一姿勢及第二姿勢，該第一姿勢是在成為搬送起點之前述搬送對象場所的移載用之姿勢，該第二姿勢是在成為搬送目的地之前述搬送對象場所的移載用之姿勢， 前述罩蓋部是設置在下述位置：當收容在前述收容部的狀態之前述物品為前述第一姿勢的情況及為前述第二姿勢的情況下，與前述物品不相干涉，當前述物品的姿勢為在前述第一姿勢與前述第二姿勢之間進行變更的過程之姿勢的中間姿勢的情況下，會與前述物品相干涉， 前述控制裝置會執行姿勢變更控制，該姿勢變更控制是下述之控制：在從前述搬送起點到前述搬送目的地之路徑的搬送路徑之途中，藉由前述移載機構使前述物品相對於前述收容部移動到外側的狀態下，藉由前述姿勢變更機構將前述物品從前述第一姿勢變更成前述第二姿勢之後，藉由前述移載機構將前述物品收容到前述收容部。An article transporting device includes the following: an article transporting vehicle that moves an article along a movement path between a plurality of transported destinations; and a control device that controls the article transporting vehicle. The article transporting device has the following characteristics: The transport vehicle includes a storage section that stores the aforementioned items, a cover section that covers the storage section, and a transfer mechanism between the storage section and one of the plurality of transportation target places located outside the storage section, Moving the article to transfer the article between the place to be transported and the article transport vehicle; and a posture changing mechanism that changes the posture of the article during transportation, and the posture changing mechanism can change the posture of the article to A first posture and a second posture, wherein the first posture is a posture for transferring at the aforementioned transportation target location which is a starting point of the transportation, and the second posture is a posture for transferring at the aforementioned transportation target location which is a transportation destination The cover part is disposed at the following position: the object in a state of being stored in the storage part In the case of the first posture and the second posture, there is no interference with the article, and when the posture of the article is in the middle of the posture of the process of changing between the first posture and the second posture In the case of posture, it interferes with the article, and the control device executes posture change control. The posture change control is a control in which a borrower is on the way of the transport path from the transport start point to the transport destination. After the article is moved to the outside with respect to the accommodating portion by the transfer mechanism, the article is changed from the first posture to the second posture by the posture changing mechanism, and then the article is moved by the transfer mechanism The articles are contained in the aforementioned containing section. 如請求項1之物品搬送設備，其中， 前述移載機構具備：把持前述物品的把持部、使前述把持部沿著鉛直方向升降的升降機構、及沿著交叉於前述搬送路徑並且為沿著水平方向之方向的橫向方向使前述把持部橫向移動的橫向移動機構， 前述姿勢變更機構具備使前述把持部繞著沿前述鉛直方向的旋繞軸而旋繞的旋繞部，且在前述第一姿勢與第二姿勢之間的姿勢變更是藉由繞著前述旋繞軸之前述物品的旋繞來進行， 前述姿勢變更控制是藉由下述方式來進行：在藉由前述橫向移動機構使前述把持部橫向移動成使前述物品相對於前述收容部位於外側的狀態下，使前述物品繞著前述旋繞軸旋繞。The article transfer device according to claim 1, wherein the transfer mechanism includes a grip portion that grips the article, an elevating mechanism that raises and lowers the grip portion in a vertical direction, and horizontally intersects the transfer path and is horizontal. A lateral movement mechanism that laterally moves the holding portion in a lateral direction of the direction. The posture changing mechanism includes a winding portion that rotates the holding portion around a winding axis in the vertical direction. The posture change between the postures is performed by the winding of the article around the winding axis, and the posture change control is performed by the lateral movement of the holding portion by the lateral movement mechanism. In a state in which the article is positioned outside with respect to the accommodating portion, the article is wound around the winding axis. 如請求項2之物品搬送設備，其中， 前述移動路徑是由天花板懸吊支撐的軌道所決定， 且前述移載機構更具備被前述軌道或前述天花板支撐並且配置在鄰接於前述移動路徑的位置之支撐構件， 前述支撐構件是設置成在使前述把持部橫向移動成使前述物品相對於前述收容部位於外側的狀態下，在前述鉛直方向上支撐前述橫向移動機構。The article transfer device according to claim 2, wherein the moving path is determined by a track supported by a ceiling suspension, and the transfer mechanism is further provided with a position supported by the track or the ceiling and disposed adjacent to the moving path. The support member is configured to support the lateral movement mechanism in the vertical direction in a state where the grip portion is laterally moved so that the article is positioned outside with respect to the storage portion. 如請求項1之物品搬送設備，其中， 前述控制裝置是在前述搬送路徑的途中之前述物品搬送車的停止中，執行前述姿勢變更控制。In the article transfer device according to claim 1, the control device executes the posture change control while the article transfer vehicle is stopped in the middle of the transfer path. 如請求項1至4中任一項之物品搬送設備，其中， 前述控制裝置是在前述物品位於前述收容部的外側中的與前述罩蓋部不相干涉的範圍內、且藉由前述移載機構進行之前述物品的移動中，執行前述姿勢變更控制。The article transfer device according to any one of claims 1 to 4, wherein the control device is within a range where the article is located outside of the storage portion and does not interfere with the cover portion, and is transferred by the transfer During the movement of the article by the mechanism, the posture change control is performed. 如請求項2或3之物品搬送設備，其中， 將藉由前述移載機構使前述物品相對於前述收容部橫向移動到外側的狀態下，前述移載機構及前述物品不會與存在於前述搬送路徑的周圍之其他構件相干涉的前述搬送路徑之區域，設定作為姿勢變更許可區域， 前述控制裝置是在前述物品搬送車位於前述姿勢變更許可區域內的情況下，執行前述姿勢變更控制。If the item transfer device of item 2 or 3 is requested, in a state in which the item is moved laterally with respect to the storage portion by the transfer mechanism, the transfer mechanism and the item will not be present in the transfer. An area of the transport path interfering with other members around the path is set as a posture change permission area, and the control device executes the posture change control when the article transport vehicle is located within the posture change permission area. 如請求項6之物品搬送設備，其中， 前述物品是用來收納半導體基板的容器， 且在前述搬送對象場所中包含有收授部，該收授部是用於在處理裝置及前述物品搬送車之間的前述物品之接收授與，前述處理裝置是用來進行對前述半導體基板的處理， 複數個前述收授部是以步驟內路徑來連結，並且複數個步驟內路徑是以步驟間路徑來連結， 前述姿勢變更許可區域是設定在前述移動路徑中的前述步驟內路徑與前述步驟間路徑之間的連接區域。The article transfer device according to claim 6, wherein the article is a container for storing a semiconductor substrate, and a receiving unit is included in the transfer target place, and the receiving unit is used for the processing device and the article transfer vehicle. The above-mentioned processing device is used for receiving and granting the aforementioned items, and the aforementioned processing device is used to process the aforementioned semiconductor substrate. Connected, the posture change permission area is a connection area between the in-step path and the inter-step path set in the moving path.
TW106123194A 2016-09-21 2017-07-11 Article transport facility TWI717535B (en)

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