TW201833018A - Article transport vehicle capable of using a simple structure to prevent an article from falling when the article on the transported target is transported in a suspended state - Google Patents
Article transport vehicle capable of using a simple structure to prevent an article from falling when the article on the transported target is transported in a suspended state Download PDFInfo
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- TW201833018A TW201833018A TW107101823A TW107101823A TW201833018A TW 201833018 A TW201833018 A TW 201833018A TW 107101823 A TW107101823 A TW 107101823A TW 107101823 A TW107101823 A TW 107101823A TW 201833018 A TW201833018 A TW 201833018A
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/67733—Overhead conveying
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- 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
- B65G35/06—Mechanical conveyors not otherwise provided for comprising a load-carrier moving along a path, e.g. a closed path, and adapted to be engaged by any one of a series of traction elements spaced along the path
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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
- H01L21/67712—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 the substrate being handled substantially vertically
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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
- H01L21/67715—Changing the direction of the conveying path
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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
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- 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)
- Load-Engaging Elements For Cranes (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
Abstract
Description
發明領域 本發明是有關於一種將搬送對象之物品懸吊支撐於收容空間內來搬送該物品的物品搬送車。FIELD OF THE INVENTION The present invention relates to an article transport vehicle that suspends and supports an article to be transported in an accommodation space to transport the article.
發明背景 日本特開第2003-165687號公報中已揭示了一種用以將搬送對象之物品懸吊支撐於收容空間內來搬送該物品的物品搬送車之一例的天花板搬送車(1)。再者，背景技術中括弧內所示之符號為參照文獻之符號。天花板搬送車(1)是藉由物品支撐裝置(3)將物品(4)支撐搬送。具有用以把持物品(4)之夾台機構(10)的物品支撐裝置(3)是被殼體(13)包圍。殼體(13)在下表面和朝向天花板搬送車(1)之行走方向的左右其中一側的側面上具有開口。被殼體(13)包圍的內部空間成為搬送對象之物品(4)的收容空間(參照文獻之圖1、圖3等)。BACKGROUND OF THE INVENTION Japanese Unexamined Patent Publication No. 2003-165687 discloses a ceiling transport vehicle (1), which is an example of an article transport vehicle that suspends and supports an article to be transported in a storage space to transport the article. In addition, the symbols shown in parentheses in the background art are symbols of reference documents. The ceiling transport vehicle (1) supports and transports an article (4) by an article support device (3). An article support device (3) having a clamping mechanism (10) for holding an article (4) is surrounded by a casing (13). The casing (13) has openings on the lower surface and on the left and right side surfaces facing the traveling direction of the ceiling transport vehicle (1). The internal space surrounded by the casing (13) becomes a storage space for articles (4) to be transported (refer to Figs. 1, 3, etc. of the reference).
物品支撐裝置(3)具備有用以防止收納於收容空間內之物品(4)於搬送途中落下的移動體(18)。移動體(18)是透過連結機構(殼體側之支點軸(30L，30R)、移動體側之支點軸(18c、18c)、連結兩支點軸之臂(37L，37R))而連結在殼體(13)上。將物品(4)收納於收容空間、或從收容空間移出的時候，使臂(37L，37R)後退而使移動體(18)後退至殼體(13)之側。將物品(4)收納於收容空間並搬送的時候，使臂(37L，37R)突出而使移動體(18)突出於物品(4)之側(參照文獻之圖5)。The article support device (3) includes a moving body (18) for preventing the articles (4) stored in the storage space from falling down during transportation. The moving body (18) is connected to the casing through a connecting mechanism (a fulcrum shaft (30L, 30R) on the housing side, a fulcrum shaft (18c, 18c) on the moving body side, and an arm (37L, 37R) connecting the two fulcrum shafts)). Body (13). When the article (4) is stored in the storage space or removed from the storage space, the arms (37L, 37R) are retracted and the mobile body (18) is retracted to the side of the casing (13). When the article (4) is stored in the storage space and transported, the arms (37L, 37R) are protruded and the mobile body (18) protrudes from the side of the article (4) (refer to FIG. 5 of the reference).
物品(4)即將從收容空間落下時，移動體(18)會支撐物品(4)以防止落下。在此移動體(18)是透過臂(37L，37R)而在所謂的懸臂狀態下被支撐在殼體(13)上。因此，在移動體(18)已支撐物品(4)的情形下，設置於殼體(13)之側的支點軸(18c、18c)等連結機構會被施加較大載重。為了對應該載重，將連結機構構成為堅固的話成本會上升。又，重量也會增加，且搬送天花板搬送車(1)時的能量也會增加。因此，希望能夠以更簡單的構造來提升耐載重性。When the article (4) is about to fall from the storage space, the moving body (18) supports the article (4) to prevent it from falling. Here, the moving body (18) is supported by the casing (13) in a so-called cantilever state through the arms (37L, 37R). Therefore, when the moving body (18) has supported the article (4), a large load is applied to the connection mechanism such as a fulcrum shaft (18c, 18c) provided on the side of the casing (13). In order to cope with the load, if the connection mechanism is made strong, the cost increases. In addition, the weight is increased, and the energy when the ceiling transport vehicle (1) is transported is increased. Therefore, it is desired to improve the load resistance with a simpler structure.
發明概要 有鑒於上述背景，希望有一種技術，其在將搬送對象之物品懸吊支撐來搬送時，與懸臂構造相比耐載重性較高，並以簡單的構成來防止物品落下。SUMMARY OF THE INVENTION In view of the above background, there is a demand for a technology that, when an article to be transported is suspended and supported, is transported with a load resistance higher than that of a cantilever structure, and the article is prevented from falling down with a simple structure.
有鑒於上述內容，將搬送對象之物品懸吊支撐於收容空間內來搬送該物品的物品搬送車具備：搬送車本體；及落下防止體，用以防止前述物品從前述收容空間落下，以該物品搬送車行走的方向作為前後方向，並以在水平面上與前述前後方向正交的方向作為寬度方向，前述搬送車本體在相對於前述收容空間之前述前後方向的兩側、或在相對於前述收容空間之前述寬度方向的兩側，具有在上下方向延伸的第1本體框架及第2本體框架，前述第1本體框架及前述第2本體框架是配置在從水平方向觀看與前述收容空間重複的位置，前述落下防止體具有：第1支撐部，可旋轉地支撐在前述第1本體框架上；第2支撐部，可旋轉地支撐在前述第2本體框架上；及支撐體，連結前述第1支撐部和前述第2支撐部，並且能藉由前述第1支撐部及前述第2支撐部的旋轉，而在從前述上下方向觀看與前述收容空間重複並且位於前述收容空間的下方的第1狀態、和從前述上下方向觀看位於不與前述收容空間重複之場所的第2狀態之間進行樣態變更。In view of the foregoing, an article transport vehicle that suspends and supports an article to be transported in an accommodation space to transport the article includes: a transport vehicle body; and a fall prevention body for preventing the aforementioned article from falling from the aforementioned accommodation space to the article. The moving direction of the transport vehicle is the front-back direction, and the direction orthogonal to the front-back direction on the horizontal plane is the width direction. The main body of the transport vehicle is on both sides of the front-rear direction with respect to the storage space, or with respect to the storage. Both sides of the space in the width direction have a first body frame and a second body frame extending in the up-and-down direction, and the first body frame and the second body frame are arranged at positions overlapping the storage space when viewed from a horizontal direction. The drop prevention body includes a first support portion rotatably supported on the first body frame, a second support portion rotatably supported on the second body frame, and a support body connected to the first support. And the second support portion, and can be rotated from the first support portion and the second support portion by rotating the first support portion and the second support portion. Repeated viewing direction and the housing space is located below the first state of the housing space, and between the second state from the vertical direction of the viewer is not located in the aforementioned housing space duplication places like state is changed.
依據該構成，落下防止體是藉由第1本體框架和第2本體框架而以兩端固定的構造來支撐，所以與懸臂構造相比耐載重性較高。其結果為，能夠將落下防止體及落下防止體的安裝部的構造予以精簡化，重量也能夠變輕。又，落下防止體是藉由第1支撐部及第2支撐部的旋轉而容易地在第1狀態和第2狀態之間進行樣態變化，所以不會造成物品出入收容空間時的妨礙，並且能夠在搬送中適當地抑制物品落下。像這樣依據本構成將搬送對象之物品懸吊支撐來搬送時，與懸臂構造相比耐載重性較高，並能以簡單的構成來防止物品落下。According to this configuration, since the fall prevention body is supported by a structure in which both ends are fixed by the first body frame and the second body frame, the load resistance is higher than that of the cantilever structure. As a result, the structure of the fall prevention body and the attachment portion of the fall prevention body can be simplified, and the weight can be reduced. In addition, the fall prevention body is easily changed in shape between the first state and the second state by the rotation of the first support portion and the second support portion, so that it does not cause obstacles when the article enters and leaves the storage space, and It is possible to appropriately suppress the dropping of articles during transportation. When the article to be transported is suspended and supported according to this configuration, the load resistance is higher than that of the cantilever structure, and the article can be prevented from falling down with a simple structure.
物品搬送車之進一步的特徵及優點，透過以下之參照圖式來說明的實施形態之記載將變得明確。Further features and advantages of the article transport vehicle will become clear from the description of the embodiments described below with reference to the drawings.
用以實施發明之形態 以下，根據圖式來說明物品搬送車之實施形態。圖1是顯示物品搬送車1搬送物品90之物品搬送設備100的平面圖，圖2是從側方向觀看物品搬送車1的側面圖，圖3是顯示從沿著行走方向(前後方向FR)之前方F朝向後方R觀看物品搬送車1之正視圖。以下的說明中，是將在水平面上與前後方向FR正交的方向稱為寬度方向W(參照圖3等)來說明。再者，前後方向FR及寬度方向W皆為沿著水平面的方向，並且皆為正交於上下方向V的水平方向H。Embodiments for Carrying Out the Invention Embodiments of the article transport vehicle will be described below with reference to the drawings. FIG. 1 is a plan view of an article transporting device 100 showing an article transporting vehicle 1 to transport an article 90. FIG. 2 is a side view of the article transporting vehicle 1 viewed from a side direction. FIG. F is toward the rear R and is a front view of the article transport vehicle 1. In the following description, a direction orthogonal to the front-rear direction FR on a horizontal plane is referred to as a width direction W (see FIG. 3 and the like). Moreover, the front-rear direction FR and the width direction W are both directions along the horizontal plane, and they are both horizontal directions H orthogonal to the vertical direction V.
物品搬送車1是在沿著行走路徑101設置的行走軌道102上行走。如圖3所示，本實施形態中，是在水平面上平行配置2條行走軌道102而構成一對行走軌道。一對行走軌道是透過在寬度方向W之截面上形成為倒U字狀的支撐構件143而在寬度方向W上以一定間隔相互平行地配置(參照圖3等)。行走軌道102各自是藉由懸吊構件144而被懸吊支撐在天花板上。物品搬送車1是藉由被懸吊支撐在沿著行走軌道102行走之行走體9的搬送車本體10，而將搬送對象之物品90懸吊支撐來搬送該物品90。在本實施形態中，物品搬送車1是將收容半導體基板之FOUP(前開式晶圓傳送盒，Front Opening Unified Pod)作為物品90來搬送。The article transport vehicle 1 travels on a travel track 102 provided along a travel path 101. As shown in FIG. 3, in the present embodiment, two running rails 102 are arranged in parallel on a horizontal plane to constitute a pair of running rails. The pair of running rails are arranged parallel to each other at a certain interval in the width direction W through the support member 143 formed in an inverted U shape in a cross section in the width direction W (see FIG. 3 and the like). Each of the running rails 102 is suspended and supported on a ceiling by a suspension member 144. The article transport vehicle 1 is a transport vehicle main body 10 suspended and supported on a traveling body 9 traveling along a traveling rail 102, and the article 90 to be transported is suspended and supported to transport the article 90. In the present embodiment, the article transport vehicle 1 transports a FOUP (Front Opening Unified Pod) that houses a semiconductor substrate as the article 90.
如圖1所示，行走路徑101具備有：1個環狀的主路徑104、複數個環狀的副路徑105、及連接主路徑104與副路徑105的連接路徑106。副路徑105是比主路徑104更小的環狀，且是經過複數個物品處理部ME的路徑。物品搬送車1在主路徑104及複數個副路徑105中，均是朝相同的環繞方向(在圖1中是如箭頭所示地朝順時針方向)行走。行走路徑101具有設定成直線狀的直線部分及設定成曲線狀的曲線部分。在連接路徑106中，有從主路徑104向副路徑105分歧的分歧用之連接路徑106、以及從副路徑105向主路徑104合流的合流用之連接路徑106。As shown in FIG. 1, the walking path 101 includes a ring-shaped main path 104, a plurality of ring-shaped sub-paths 105, and a connection path 106 connecting the main path 104 and the sub-path 105. The sub path 105 is a loop smaller than the main path 104 and is a path that passes through the plurality of article processing units ME. The article transport vehicle 1 travels in the same orbiting direction (in the clockwise direction as shown by an arrow in FIG. 1) in the main path 104 and the plurality of sub paths 105. The travel path 101 includes a straight portion set in a straight line and a curved portion set in a curved shape. The connection path 106 includes a connection path 106 for branching from the main path 104 to the sub path 105, and a connection path 106 for confluence that merges from the sub path 105 to the main path 104.
如圖2及圖3所示，物品搬送車1具備有行走體9、和被懸吊支撐在行走體9的搬送車本體10。車輪15是藉由行走用馬達(TRV-MOTOR：參照圖6)M1而驅動。又，行走體9具備有比車輪15之下端更往下方突出之狀態的連結體17，並且具備有繞著沿上下方向V之軸心(繞著上下軸心)而自由旋轉的左右一對引導輪16。連結體17是在行走體9和搬送車本體10能夠繞著沿上下方向V之縱軸心相對旋轉的狀態下連結兩者。引導輪16是以抵接於行走軌道102各自相對面的內側的方式設置於行走體9。由於行走體9和搬送車本體10相對旋轉，所以物品搬送車1是藉由引導輪16接觸於走行軌道102並被引導，而一邊維持沿著行走路徑101的樣態一邊行走。As shown in FIGS. 2 and 3, the article transport vehicle 1 includes a traveling body 9 and a transport vehicle body 10 suspended and supported by the traveling body 9. The wheels 15 are driven by a traveling motor (TRV-MOTOR: see FIG. 6) M1. Further, the traveling body 9 is provided with a coupling body 17 in a state protruding further downward than the lower end of the wheel 15, and is provided with a pair of left and right guides that can freely rotate around an axis in the vertical direction V (about the axis of the upper and lower axes). Round 16. The connecting body 17 is connected in a state where the traveling body 9 and the transport vehicle body 10 can be relatively rotated around a longitudinal axis center in the up-down direction V. The guide wheels 16 are provided on the traveling body 9 so as to be in contact with the inner sides of the opposing surfaces of the traveling rail 102. Since the traveling body 9 and the transporting vehicle body 10 relatively rotate, the article transporting vehicle 1 is guided by the guide wheels 16 while being in contact with the traveling rail 102, and is guided while maintaining the state along the traveling path 101.
本實施形態的物品搬送車1，是在收容空間S的正下方及斜下方之移載對象處和收容空間S之間進行物品90的交接。圖4是顯示在收容空間S與其正下方的移載場所之間移載物品90的例子之圖，圖5是顯示在收容空間S與其斜下方的移載場所之間移載物品90的例子之圖。又，圖6的方塊圖是顯示物品搬送設備100及物品搬送車1之系統構成。如圖4所示，在收容空間S與其正下方的移載場所之間移載物品90時，物品支撐體13藉由把持用致動器(GRP-ACT)A3來把持物品90，並且藉由驅動升降用馬達(VM-MOTOR)M3之驅動而沿著上下方向V升降，藉此使物品90移動。如圖5所示，在收容空間S與其斜下方的移載場所之間移載物品90時，進一步藉由滑動馬達(SLD-MOTOR)M2的驅動，使物品支撐體13沿著寬度方向W往側方向移動至從上下方向V觀看不與行走體9重複之位置，並且在移動後之地點使物品支撐體13沿著上下方向V升降，藉此使物品90移動。The article transport vehicle 1 according to the present embodiment transfers articles 90 between the object to be transferred directly below and diagonally below the storage space S and the storage space S. FIG. 4 is a view showing an example of transferring an item 90 between the storage space S and a transfer place directly below it, and FIG. 5 is a view showing an example of transferring an item 90 between the storage space S and a transfer place directly below it. Illustration. 6 is a block diagram showing a system configuration of the article transport facility 100 and the article transport vehicle 1. As shown in FIG. 4, when the article 90 is transferred between the storage space S and the transfer place directly below it, the article support 13 holds the article 90 by a gripping actuator (GRP-ACT) A3, and The article 90 is moved by driving the lifting motor (VM-MOTOR) M3 to move up and down in the vertical direction V. As shown in FIG. 5, when the article 90 is transferred between the storage space S and the transfer place diagonally below, the article support 13 is further driven in the width direction W by the drive of the sliding motor (SLD-MOTOR) M2. The side direction is moved to a position that does not overlap with the walking body 9 when viewed from the up and down direction V, and the article support 13 is moved up and down in the up and down direction V at the moved position, thereby moving the article 90.
物品搬送車1具備有以微電腦(mircocomputer)等構成為核心的搬送車控制單元(VHL-CTRL)51，且該搬送車控制單元51是物品搬送作動的核心。物品搬送車1透過通訊單元(COM-UNIT)52與作為物品搬送設備100之核心的系統控制器(system controller)亦即搬送管理裝置(GND-CTRL)H1進行無線(wireless)通訊，並且藉由以來自搬送管理裝置H1的搬送指令為基準的搬送車控制單元51之自主控制而作動(物品搬送作動)，以保持物品90並搬送。搬送車控制單元51是用以驅動並控制行走用馬達M1、滑動馬達M2、升降用馬達M3、和把持用致動器A3。The article transport vehicle 1 includes a transport vehicle control unit (VHL-CTRL) 51 having a configuration such as a microcomputer as a core, and the transport vehicle control unit 51 is the core of the article transport operation. The article transporting vehicle 1 communicates wirelessly through a communication unit (COM-UNIT) 52 with a system controller (GND-CTRL) H1, which is the core of the article transporting device 100. The conveyance vehicle control unit 51 based on the conveyance instruction from the conveyance management device H1 is controlled by the autonomous control (article conveyance operation) to hold and convey the article 90. The transport vehicle control unit 51 is used to drive and control a traveling motor M1, a sliding motor M2, a lifting motor M3, and a gripping actuator A3.
如圖2所示，搬送車本體10具備有本體部，該本體部在物品支撐體13將物品90懸吊支撐於收容空間S內的狀態下，從前後方向FR觀看與物品支撐體13及物品90為重複，並且具有第1本體框架11及第2本體框架12。如圖2所示，第1本體框架11及第2本體框架12是相對於收容空間S而於前後方向FR之兩側形成為朝上下方向V延伸。再者，第1本體框架11及第2本體框架12也可以是相對於收容空間S而於寬度方向W之兩側形成為朝上下方向V延伸。不論為何者，第1本體框架11及第2本體框架12皆是配置在從水平方向H觀看與收容空間S重複的位置。As shown in FIG. 2, the transport vehicle main body 10 includes a main body portion which is viewed from the front-rear direction FR with the article support body 13 and the article in a state where the article support body 13 suspends and supports the article 90 in the storage space S. Numeral 90 is a repeat, and includes a first body frame 11 and a second body frame 12. As shown in FIG. 2, the first body frame 11 and the second body frame 12 are formed on both sides of the storage space S in the front-rear direction FR so as to extend in the vertical direction V. The first body frame 11 and the second body frame 12 may be formed to extend in the up-down direction V on both sides in the width direction W with respect to the storage space S. In any case, the first body frame 11 and the second body frame 12 are arranged at positions overlapping the storage space S when viewed from the horizontal direction H.
如上述，物品搬送車1是將物品90懸吊支撐而搬送。又，行走路徑101不僅只有直線部分，還存在曲線部分，也存在接續路徑106。因此，因振動等導致物品90落下的可能性並非為零。當物品90像收容半導體基板的FOUP一樣是容納收容物品的容器時，有可能因物品90(容器)落下而導致收容物品也受到衝擊，造成破損。因此，物品搬送車1具備有用以防止物品90從收容空間S落下的落下防止體3。As described above, the article transport vehicle 1 carries and suspends and transports the article 90. In addition, the walking path 101 includes not only a straight portion but also a curved portion, and there is also a connection path 106. Therefore, the possibility that the article 90 may fall due to vibration or the like is not zero. When the article 90 is a container for accommodating the article like the FOUP for accommodating a semiconductor substrate, the article 90 (container) may be dropped and the article may be impacted and damaged. Therefore, the article transport vehicle 1 includes a fall prevention body 3 for preventing the articles 90 from falling out of the storage space S.
落下防止體3能夠在後述之第1狀態和第2狀態之間變化樣態。圖2例示的是第1狀態的落下防止體3。如圖2所示，落下防止體3具有可旋轉地支撐在第1本體框架11的第1支撐部31、可旋轉地支撐在第2本體框架12的第2支撐部32、及連結第1支撐部31和第2支撐部32的支撐體33。特別是，支撐體33能夠藉由第1支撐部31及第2支撐部32的旋轉，而在從上下方向V觀看與收容空間S重複並且位於收容空間S之下方的第1狀態(圖2及圖3中以實線所示的狀態)、和位於從上下方向V觀看不與收容空間S重複的場所的第2狀態(圖2及圖3中以虛線所示的狀態)之間變更樣態。The fall prevention body 3 can change its appearance between a first state and a second state described later. FIG. 2 illustrates the fall prevention body 3 in the first state. As shown in FIG. 2, the fall prevention body 3 includes a first support portion 31 rotatably supported by the first body frame 11, a second support portion 32 rotatably supported by the second body frame 12, and a first support connected thereto. The support body 33 of the part 31 and the 2nd support part 32. In particular, the support body 33 can be rotated in the first support portion 31 and the second support portion 32 to be in a first state (see FIGS. 2 and 2) that overlaps the storage space S and is located below the storage space S when viewed from the vertical direction V. The state shown by the solid line in FIG. 3) and the second state (the state shown by the dotted line in FIG. 2 and FIG. 3) located in a place that does not overlap the accommodation space S when viewed from the up and down direction V. .
第1支撐部31及第2支撐部32如圖2及圖6所示，是藉由搬送車控制單元51所控制的落下防止用致動器(PRV-ATC)A5而被旋轉驅動並旋轉。本實施形態中例示了以下形態：在第1本體框架11的內部，馬達等的落下防止用致動器A5連結於第1支撐部31，並且透過支撐體33而使被驅動連結在第1支撐部31的第2支撐部32從動旋轉。然而，並不會限制第1支撐部31及第2支撐部32兩者各自與落下防止用致動器A5連結。As shown in FIGS. 2 and 6, the first support portion 31 and the second support portion 32 are driven and rotated by a fall prevention actuator (PRV-ATC) A5 controlled by the transport vehicle control unit 51. The present embodiment exemplifies a mode in which a fall prevention actuator A5 such as a motor is connected to the first support portion 31 inside the first body frame 11, and is driven to be connected to the first support through the support body 33. The second support portion 32 of the portion 31 is driven to rotate. However, it is not restricted that both the first support portion 31 and the second support portion 32 are connected to the fall prevention actuator A5.
如圖2所示，本實施形態中，第1支撐部31和支撐體33和第2支撐部32是一體地形成，藉以構成落下防止體3。支撐體33具備有連結於第1支撐部31的第1直徑方向延伸部35、連結於第2支撐部32的第2直徑方向延伸部36、和連結第1直徑方向延伸部35及第2直徑方向延伸部36的連結部34。第1直徑方向延伸部35是從第1支撐部31，朝以該第1支撐部31的旋轉軸心X1(X)為基準的直徑方向之外側延伸而形成。第2直徑方向延伸部36是從第2支撐部32，朝以該第2支撐部32的旋轉軸心X2(X)為基準的直徑方向之外側延伸而形成。連結部34是在比第1支撐部31還要靠近直徑方向外側、以及比第2支撐部32還要靠近直徑方向外側的地方，連結第1直徑方向延伸部35和第2直徑方向延伸部36。換言之，連結部34是連結第1直徑方向延伸部35中比第1支撐部31還要靠近直徑方向外側的部分、和第2直徑方向延伸部36中比第2支撐部32還要靠近直徑方向外側的部分。As shown in FIG. 2, in this embodiment, the first support portion 31, the support body 33, and the second support portion 32 are integrally formed to constitute the fall prevention body 3. The support body 33 includes a first diameter-direction extending portion 35 connected to the first support portion 31, a second diameter-direction extending portion 36 connected to the second support portion 32, and a first diameter-direction extending portion 35 and a second diameter. The connecting portion 34 of the direction extending portion 36. The first diametrically extending portion 35 is formed from the first support portion 31 and extends outward in the radial direction based on the rotation axis X1 (X) of the first support portion 31. The second diametrically extending portion 36 is formed from the second support portion 32 to extend outward in the diametric direction based on the rotation axis X2 (X) of the second support portion 32. The connecting portion 34 connects the first diametrically extending portion 35 and the second diametrically extending portion 36 at a position closer to the outer side in the radial direction than the first support portion 31 and to an outer side in the diametrical direction than the second support portion 32. . In other words, the connecting portion 34 connects the portion of the first diametrically extending portion 35 that is closer to the outside in the diametric direction than the first support portion 31 and the second diametrically extending portion 36 is closer to the diametric direction than the second support portion 32. The outer part.
像這樣，落下防止體3是藉由第1本體框架11和第2本體框架12而支撐，所以與懸臂構造相比耐載重性較高。其結果為，能夠精簡化落下防止體3及落下防止體3的安裝部(支撐部(31、32)和本體框架(11、12)的安裝部)的構造。又，理所當然地，安裝部的重量也能夠變輕。又，落下防止體3是藉由第1支撐部31及第2支撐部32的旋轉而容易地在第1狀態和第2狀態之間進行樣態變化。因此，不會造成物品出入收容空間S時的妨礙，並且能夠在搬送中適當地抑制物品落下。In this way, since the fall prevention body 3 is supported by the first body frame 11 and the second body frame 12, the load resistance is higher than that of the cantilever structure. As a result, the structure of the fall prevention body 3 and the attachment part (the support part (31, 32) and the attachment part of the main body frame (11, 12)) of the fall prevention body 3 can be simplified. Moreover, as a matter of course, the weight of the mounting portion can be reduced. The fall prevention body 3 is easily changed in shape between the first state and the second state by the rotation of the first support portion 31 and the second support portion 32. Therefore, it is possible to appropriately prevent the articles from falling down during transportation without causing obstacles when the articles enter and leave the storage space S.
特別是，第1支撐部31和連結部34之間、第2支撐部32和連結部34之間，各自形成曲柄(crank)的形狀。因此，如圖2所示，第1支撐部31及第2支撐部32與連結部34，是對應於第1直徑方向延伸部35及第2直徑方向延伸部36之長度而在直徑方向上分離。如圖3所示，第1支撐部31及第2支撐部32的旋轉軸心X從水平方向H(寬度方向W)觀看，與被收納於收容空間S的物品90重複。也就是，第1支撐部31及第2支撐部32是設置在第1狀態下從水平方向H觀看與被收容於收容空間S的物品90重複的位置。然而，支撐體33從水平方向H觀看不與物品90重複，並且能夠位於物品90的下方。In particular, a crank shape is formed between the first support portion 31 and the connection portion 34 and between the second support portion 32 and the connection portion 34. Therefore, as shown in FIG. 2, the first support portion 31 and the second support portion 32 and the connection portion 34 are separated in the diameter direction according to the lengths of the first diametrically extending portion 35 and the second diametrically extending portion 36. . As shown in FIG. 3, the rotation axis X of the first support portion 31 and the second support portion 32 is viewed from the horizontal direction H (width direction W), and overlaps with the article 90 stored in the storage space S. That is, the first support portion 31 and the second support portion 32 are provided at positions overlapping with the article 90 stored in the storage space S when viewed from the horizontal direction H in the first state. However, the support body 33 does not overlap with the article 90 when viewed from the horizontal direction H, and can be positioned below the article 90.
又，在第2狀態下，連結部34相對於第1支撐部31及第2支撐部32，也是對應於第1直徑方向延伸部35及第2直徑方向延伸部36之長度而在直徑方向上分離。因此，如圖3所示，能夠使支撐體33適當地往物品90或收容空間S之側方向(寬度方向W之外側)退避。因此，例如圖4所示，在物品90往收容空間S的正下方移動時，或物品90從收容空間S的正下方往收容空間S移動時，能夠使支撐體33適當地退避，而使支撐體33不妨礙移動時的動線。In the second state, the connecting portion 34 is also diametrically aligned with the lengths of the first diametrically extending portion 35 and the second diametrically extending portion 36 with respect to the first support portion 31 and the second support portion 32. Separation. Therefore, as shown in FIG. 3, the support body 33 can be appropriately retracted toward the side of the article 90 or the storage space S (outside of the width direction W). Therefore, for example, as shown in FIG. 4, when the article 90 moves directly below the storage space S, or when the article 90 moves from directly below the storage space S to the storage space S, the support body 33 can be properly retracted to support The body 33 does not interfere with the movement line during the movement.
再者，如圖5所示，在物品90往收容空間S的斜下方移動時，或物品90從收容空間S的斜下方往收容空間S移動時，把持著物品90的物品支撐體13會暫時往收容空間S的側方向(寬度方向W的外側)移動。此時，若落下防止體3的樣態在第2狀態，支撐體33會妨礙往側方向的動線。因此，在這種情形下，令落下防止體3的樣態為第1狀態較為合適。若落下防止體3的樣態為第1樣態，支撐體33不會妨礙物品90從收容空間S往側方向移動時的動線。In addition, as shown in FIG. 5, when the article 90 moves diagonally below the storage space S, or when the article 90 moves diagonally from the storage space S to the storage space S, the article support 13 holding the article 90 temporarily temporarily It moves to the side direction (outside of the width direction W) of the accommodation space S. At this time, if the state of the fall prevention body 3 is in the second state, the support body 33 will obstruct the moving line in the lateral direction. Therefore, in this case, it is appropriate to set the aspect of the fall prevention body 3 to the first state. If the aspect of the fall prevention body 3 is the first aspect, the support body 33 does not hinder the movement of the article 90 when it moves from the storage space S to the side direction.
然而，如圖2及圖3所示，支撐體33從沿著水平面並且與第1支撐部31及第2支撐部32的旋轉軸心X(X1，X2)正交的方向(水平方向H)觀看時，在第1狀態下不會與收容空間S內的物品90重複，在第2狀態下會與收容空間S內的物品90重複。如圖2及圖3中以實線所示，第1狀態下，支撐體33是從上下方向V觀看與收容空間S重複，並且位於收容空間S的下方。因此，從水平方向H觀看，在第1狀態下，支撐體33若位於不與收容空間S內的物品90重複的位置，則支撐體33能夠適當地抑制物品從收容空間S落下。However, as shown in FIG. 2 and FIG. 3, the support body 33 extends from the direction (horizontal direction H) along the horizontal plane and orthogonal to the rotation axis X (X1, X2) of the first support portion 31 and the second support portion 32. When viewed, it will not overlap with the article 90 in the storage space S in the first state, and will overlap with the article 90 in the storage space S in the second state. As shown by solid lines in FIGS. 2 and 3, in the first state, the support body 33 overlaps the storage space S when viewed from the vertical direction V, and is located below the storage space S. Therefore, when viewed from the horizontal direction H, in the first state, if the support body 33 is located at a position that does not overlap with the article 90 in the storage space S, the support body 33 can appropriately suppress the article from falling from the storage space S.
另一方面，第2狀態下，支撐體33是位於從上下方向V觀看不與收容空間S重複的場所。此時，支撐體33若位於從水平方向H觀看與收容空間S內的物品90重複的場所，則支撐體33會形成為從收容空間S內的物品90的下方充分地離開。因此，例如使物品90從收容空間S往下方移動時，能夠以支撐體33不妨礙其動線之方式，而使支撐體33適當地退避。On the other hand, in the second state, the support body 33 is located in a place that does not overlap the storage space S when viewed from the vertical direction V. At this time, if the support body 33 is located in a place overlapping with the article 90 in the storage space S when viewed from the horizontal direction H, the support body 33 is formed to be sufficiently separated from below the article 90 in the storage space S. Therefore, for example, when the article 90 is moved downward from the storage space S, the support body 33 can be appropriately retracted so that the support body 33 does not hinder its movement.
又，如圖3所示，落下防止體3是在沿著水平面並且與第1支撐部31及第2支撐部32的旋轉軸心X正交之方向上(水平方向H)隔著間隔而設置成一對。像這樣，藉由將落下防止體3設置於複數處，在物品90從收容空間S落下時，能夠更適當地藉由支撐體33接住物品90。再者，理所當然地，落下防止體3並不會被限制成設置於一處的形態。例如，當物品支撐體13對物品90的把持力降低，物品90快要落下時，藉由落下防止體3接住物品90的載重之一部分，也有可能能夠防止物品90落下。又，在能夠將支撐體33的寬度充分地變粗等情形下，就能夠在水平方向H上之物品90的中央部分良好地接住物品90。As shown in FIG. 3, the fall prevention body 3 is provided at intervals along the horizontal plane (horizontal direction H) in a direction (horizontal direction H) orthogonal to the rotation axis X of the first support portion 31 and the second support portion 32. In pairs. In this manner, by providing the fall prevention bodies 3 at a plurality of places, the articles 90 can be more appropriately received by the support body 33 when the articles 90 fall from the storage space S. In addition, it is a matter of course that the fall prevention body 3 is not limited to a form in which it is provided in one place. For example, when the gripping force of the article support 13 on the article 90 is reduced and the article 90 is about to fall, it is possible to prevent the article 90 from falling by catching a part of the load of the article 90 by the fall prevention body 3. Moreover, when the width of the support body 33 can be made sufficiently thick, the article 90 can be well received in the center portion of the article 90 in the horizontal direction H.
在上述內容中，例示並說明了具有第1直徑方向延伸部35及第2直徑方向延伸部36，並且從側面看為曲柄形狀的落下防止體3。然而，落下防止體3的形狀並非限定為像這樣的形態。關於其他形態的落下防止體3，在圖7~圖9例示之。圖7~圖8皆是與圖2以同樣的側面視角來顯示落下防止體3。圖7是表示第1狀態的落下防止體3，而圖8及圖9是表示第2狀態的落下防止體3。圖8是顯示第1其他形態的落下防止體3A，而圖9是顯示第2其他形態的落下防止體3B。圖7是共通地顯示第1其他形態的落下防止體3A及第2其他形態的落下防止體3B的第1狀態。In the above, the fall prevention body 3 which has the 1st diameter direction extension part 35 and the 2nd diameter direction extension part, and has a crank shape seen from the side was illustrated and demonstrated. However, the shape of the fall prevention body 3 is not limited to such a shape. The fall prevention body 3 of another aspect is illustrated in FIG. 7-9. 7 to 8 show the fall prevention body 3 from the same side viewing angle as that of FIG. 2. FIG. 7 shows the fall prevention body 3 in the first state, and FIGS. 8 and 9 show the fall prevention body 3 in the second state. FIG. 8 shows a fall prevention body 3A in a first other form, and FIG. 9 shows a fall prevention body 3B in a second other form. FIG. 7 shows the first state of the fall prevention body 3A of the first other form and the fall prevention body 3B of the second other form in common.
如圖7及圖8所示，第1其他形態的落下防止體3A並不具備第1直徑方向延伸部35及第2直徑方向延伸部36，而是支撐部33直接連結在第1支撐部31及第2支撐部32之形態。參照圖2及圖3而例示的落下防止體3藉由第1支撐部31及第2支撐部32大約90度旋轉，就能在第1狀態和第2狀態之間切換。就第1其他形態的落下防止體3A的情形而言，藉由將第1支撐部31及第2支撐部32旋轉至少90度、較理想為270度，就能在第1狀態和第2狀態之間切換。As shown in FIGS. 7 and 8, the fall preventing body 3A of the first other form does not include the first diametrically extending portion 35 and the second diametrically extending portion 36, but the supporting portion 33 is directly connected to the first supporting portion 31 And the form of the second support portion 32. The fall prevention body 3 exemplified with reference to FIGS. 2 and 3 can be switched between the first state and the second state by rotating the first support portion 31 and the second support portion 32 by approximately 90 degrees. In the case of the fall preventing body 3A of the first other form, by rotating the first support portion 31 and the second support portion 32 at least 90 degrees, and preferably 270 degrees, the first and second states can be achieved. Switch between.
如圖7及圖9所示，第2其他形態的落下防止體3B也不具備第1直徑方向延伸部35及第2直徑方向延伸部36，而是支撐部33直接連結在第1支撐部31及第2支撐部32之形態。在第1其他形態的落下防止體3A中，支撐體33為平板狀，而在第2其他形態的落下防止體3B中，支撐體33為梳齒形狀，這點兩者不同。與第1其他形態的落下防止體3A同樣，就第2其他形態的落下防止體3B的情形而言，藉由將第1支撐部31及第2支撐部32旋轉至少90度、較理想為270度，也能在第1狀態和第2狀態之間切換。As shown in FIG. 7 and FIG. 9, the second type of fall prevention body 3B does not include the first diameter-direction extending portion 35 and the second diameter-direction extending portion 36, but the support portion 33 is directly connected to the first support portion 31. And the form of the second support portion 32. The support body 33 has a flat plate shape in the fall prevention body 3A of the first other form, and the support body 33 has a comb-tooth shape in the fall prevention body 3B of the second other form. Similar to the fall prevention body 3A in the first other form, in the case of the fall prevention body 3B in the second other form, the first support portion 31 and the second support portion 32 are rotated at least 90 degrees, and preferably 270. It is also possible to switch between the first state and the second state.
如上述，當搬送對象之物品90如同FOUP是用以容納半導體等收容物品的容器時，有時會在容器上設有蓋子91。搬送物品90時，即使物品90本身未落下，仍會有蓋子91脫落落下的可能性。因此，較理想的是，將落下防止體3設置成不只能夠抑制物品90落下，還能夠抑制蓋子91落下。例如，如圖3所示，落下防止體3是以支撐體33位於蓋子91的正下方的方式配置。藉由像這樣配置落下防止體3，即使在蓋子91脫落的情形下，仍然能夠適當地以支撐體33接住蓋子91。As described above, when the object 90 to be transported is a container for accommodating articles such as semiconductors, a lid 91 may be provided on the container. When the article 90 is transported, the cover 91 may fall off and fall even if the article 90 itself is not dropped. Therefore, it is desirable to provide the fall prevention body 3 so that not only the fall of the article 90 but also the fall of the cover 91 can be suppressed. For example, as shown in FIG. 3, the fall prevention body 3 is arrange | positioned so that the support body 33 may be located just below the cover 91. As shown in FIG. By arranging the fall prevention body 3 in this manner, even when the cover 91 is detached, the cover 91 can be appropriately received by the support body 33.
進一步，例如，如圖10所示，第1直徑方向延伸部35及第2直徑方向延伸部36中至少一者，於第1狀態，也可以設置有接觸體39，該接觸體39是接觸於懸吊支撐在收容空間S內的物品90，特別是蓋子91。藉由接觸體39接觸於蓋子91，還能抑制蓋子91本身脫落。再者，圖10是為了表示接觸體39從正面接觸蓋子91的形態，而以與圖2~圖5、圖7~圖9等相異的方向來例示懸吊物品90的形態。理所當然地，也可以是如下形態：以與圖2~圖5、圖7~圖9等相同的方向來懸吊支撐物品90，且接觸體39接觸於蓋子91的側面。Further, for example, as shown in FIG. 10, in the first state, at least one of the first diameter-direction extending portion 35 and the second diameter-direction extending portion 36 may be provided with a contact body 39 which is in contact with the contact body 39. An article 90, particularly a cover 91, supported in the storage space S is suspended. When the contact body 39 comes into contact with the cover 91, the cover 91 itself can be prevented from falling off. In addition, FIG. 10 illustrates a form in which the contact body 39 contacts the cover 91 from the front, and exemplifies a form of the hanging article 90 in a direction different from that in FIGS. 2 to 5, 7 to 9, and the like. As a matter of course, the support article 90 may be suspended in the same direction as in FIGS. 2 to 5, 7 to 9, and the like, and the contact body 39 contacts the side surface of the cover 91.
以下，簡單地說明在上述所說明之物品搬送車的概要。The following briefly describes the outline of the article transport vehicle described above.
作為1個態樣，將搬送對象之物品懸吊支撐於收容空間內來搬送該物品之物品搬送車具備：搬送車本體；及落下防止體，用以防止前述物品從前述收容空間落下，以該物品搬送車行走的方向作為前後方向，並以在水平面上與前述前後方向正交的方向作為寬度方向，前述搬送車本體在相對於前述收容空間之前述前後方向的兩側、或在相對於前述收容空間之前述寬度方向的兩側，具有在上下方向延伸的第1本體框架及第2本體框架，前述第1本體框架及前述第2本體框架是配置在從水平方向觀看與前述收容空間重複的位置，前述落下防止體具有：第1支撐部，可旋轉地支撐在前述第1本體框架上；第2支撐部，可旋轉地支撐在前述第2本體框架上；及支撐體，連結前述第1支撐部和前述第2支撐部，並且能藉由前述第1支撐部及前述第2支撐部的旋轉，而在從前述上下方向觀看與前述收容空間重複並且位於前述收容空間的下方的第1狀態、和從前述上下方向觀看位於不與前述收容空間重複之場所的第2狀態之間進行樣態變更。As one aspect, an article transport vehicle that suspends and supports an object to be transported in an accommodation space and transports the object includes: a transport vehicle body; and a fall prevention body for preventing the article from falling out of the accommodation space. The direction in which the article transport vehicle travels is the front-back direction, and the direction orthogonal to the front-back direction on the horizontal plane is the width direction. Both sides of the storage space in the width direction have a first body frame and a second body frame extending in the up-and-down direction. The first body frame and the second body frame are arranged to overlap the storage space when viewed from a horizontal direction. Position, the fall prevention body includes: a first support portion rotatably supported on the first body frame; a second support portion rotatably supported on the second body frame; and a support body connected to the first The support portion and the second support portion can rotate from the first support portion and the second support portion to move the support portion from above to below. The appearance change is performed between the first state in which the storage space overlaps with the storage space and the second state in which the storage space does not overlap with the storage space when viewed from the up-down direction.
依據該構成，落下防止體是藉由第1本體框架和第2本體框架而支撐，所以與懸臂構造相比耐載重性較高。其結果為，能夠將落下防止體及落下防止體的安裝部的構造予以精簡化，重量也能夠變輕。又，落下防止體是藉由第1支撐部及第2支撐部的旋轉而容易地在第1狀態和第2狀態之間進行樣態變化，所以不會造成物品出入收容空間時的妨礙，並且能夠在搬送中適當地抑制物品落下。像這樣依據本構成將搬送對象之物品懸吊支撐來搬送時，與懸臂構造相比耐載重性較高，並能以簡單的構成來防止物品落下。According to this configuration, since the fall prevention body is supported by the first body frame and the second body frame, the load resistance is higher than that of the cantilever structure. As a result, the structure of the fall prevention body and the attachment portion of the fall prevention body can be simplified, and the weight can be reduced. In addition, the fall prevention body is easily changed in shape between the first state and the second state by the rotation of the first support portion and the second support portion, so that it does not cause obstacles when the article enters and leaves the storage space, and It is possible to appropriately suppress the dropping of articles during transportation. When the article to be transported is suspended and supported according to this configuration, the load resistance is higher than that of the cantilever structure, and the article can be prevented from falling down with a simple structure.
在此，較理想的是，前述落下防止體是前述第1支撐部和前述支撐體和前述第2支撐部為一體地形成，前述支撐體具備有：第1直徑方向延伸部，從前述第1支撐部朝以該第1支撐部的旋轉軸心為基準的直徑方向之外側延伸；第2直徑方向延伸部，從前述第2支撐部朝以該第2支撐部的旋轉軸心為基準的直徑方向之外側延伸；及連結部，連結前述第1直徑方向延伸部中比前述第1支撐部還要靠近直徑方向外側的部分、和前述第2直徑方向延伸部中比前述第2支撐部還要靠近直徑方向外側的部分。Here, it is preferable that the fall prevention body is formed integrally with the first support portion, the support body, and the second support portion, and the support body includes a first diametrically extending portion from the first The support portion extends outward in the diameter direction based on the rotation axis of the first support portion; and the second diameter direction extension portion extends from the second support portion to a diameter based on the rotation axis of the second support portion. Extending in the outer direction; and a connecting portion that connects a portion of the first diametrically extending portion that is closer to the outer side than the first supporting portion in the diametrical direction and the second diametrically extending portion that is larger than the second supporting portion The part near the outer diameter.
依據該構成，第1支撐部和連結部之間、第2支撐部和連結部之間，各自形成曲柄的形狀。因此，相對於第1支撐部及第2支撐部，支撐體之連結部是沿著直徑方向而分離。因此，即使例如在第1狀態中，第1支撐部及第2支撐部是設置於從水平方向觀看與被收容在收容空間之物品重複的位置，仍能夠使支撐體從水平方向觀看不與物品重複，且位於物品的下方。又，第2狀態中也是，因為相對於第1支撐部及第2支撐部的支撐體之連結部是沿著直徑方向而分離，所以能夠使支撐體適當地往物品或收容空間之側方向退避。因此，例如能夠以支撐體不妨礙物品從收容空間往下方移動時的動線之方式，而使支撐體適當地退避。According to this configuration, a crank shape is formed between the first support portion and the connection portion, and between the second support portion and the connection portion. Therefore, the connection portion of the support body is separated from the first support portion and the second support portion along the diameter direction. Therefore, even if, for example, in the first state, the first support portion and the second support portion are provided at positions overlapping the items viewed in the horizontal direction and the items contained in the storage space, the support body can still be viewed from the horizontal direction without the items. Repeat and be below the item. Also, in the second state, since the connecting portion of the support body with respect to the first support portion and the second support portion is separated in the diametric direction, the support body can be appropriately retracted toward the side of the article or the storage space. . Therefore, for example, the support body can be appropriately retracted so that the support body does not hinder the moving line when the article moves downward from the storage space.
又，較理想的是，前述第1直徑方向延伸部及前述第2直徑方向延伸部中至少一者設置有接觸體，該接觸體在前述第1狀態下，接觸於懸吊支撐在前述收容空間內的前述物品。Further, it is preferable that a contact body is provided in at least one of the first diametrically extending portion and the second diametrically extending portion, and the contacting body is in contact with the suspension and supported in the receiving space in the first state. Inside the aforementioned items.
藉由接觸體之接觸，能抑制搬送中的物品之振動。又，當搬送對象之物品為容器等，且容器的內部容納著收容物品時，有時會在該容器上設置蓋子。藉由接觸體接觸於蓋子，還能抑制搬送途中蓋子脫落的情形。By the contact of the contact body, it is possible to suppress the vibration of the articles being transported. In addition, when the object to be transported is a container or the like, and a container is contained in the container, a lid may be provided on the container. By contacting the contact body with the lid, it is also possible to prevent the lid from falling off during transportation.
又，較理想的是，前述支撐體是從沿著前述水平面並且與前述第1支撐部及前述第2支撐部的旋轉軸心正交的方向(水平方向)觀看，在前述第1狀態下不會與前述收容空間內的前述物品重複，而在前述第2狀態下會與前述收容空間內的前述物品重複。Further, it is preferable that the support is viewed from a direction (horizontal direction) along the horizontal plane and orthogonal to the rotation axes of the first support portion and the second support portion, and is not in the first state. It will overlap with the said article in the said storage space, and in the said 2nd state, it will overlap with the said thing in the said storage space.
第1狀態下，支撐體是從上下方向觀看與收容空間重複並且位於收容空間的下方。因此，從水平方向觀看，第1狀態下，支撐體若位於不與收容空間內的物品重複的位置，則支撐體能夠適當地抑制物品從收容空間落下。另一方面，第2狀態下，支撐體是位於從上下方向觀看不與收容空間重複的場所。此時，支撐體若位於從水平方向觀看與收容空間內的物品重複的場所，則支撐體會形成為從收容空間內的物品下方充分地離開。因此，例如使物品從收容空間往下方移動時，能夠以支撐體不妨礙其動線之方式，而使支撐體適當地退避。In the first state, the support body overlaps the storage space when viewed from above and below, and is located below the storage space. Therefore, when viewed from the horizontal direction, in the first state, if the support body is located at a position that does not overlap with the articles in the storage space, the support body can appropriately suppress the articles from falling from the storage space. On the other hand, in the second state, the support is located in a place that does not overlap with the storage space when viewed from above and below. At this time, if the support body is located in a place overlapping with the articles in the storage space when viewed from the horizontal direction, the support body is formed to be sufficiently separated from below the articles in the storage space. Therefore, for example, when an article is moved downward from the storage space, the support can be appropriately retracted so that the support does not hinder its movement.
又，較理想的是，前述落下防止體是在沿著前述水平面並且與前述第1支撐部及前述第2支撐部的旋轉軸正交的方向上隔著間隔而設置成一對。In addition, it is preferable that the drop preventing bodies are provided as a pair at intervals in a direction along the horizontal plane and orthogonal to the rotation axes of the first support portion and the second support portion.
藉由將落下防止體設置於複數處，在物品從收容空間落下時，能夠更適當地藉由支撐體接住物品。By providing the fall prevention bodies at a plurality of positions, the articles can be more appropriately caught by the support when the articles fall from the storage space.
1‧‧‧物品搬送車1‧‧‧ Goods Transfer Vehicle
10‧‧‧搬送車本體10‧‧‧ transport vehicle body
100‧‧‧物品搬送設備100‧‧‧ Goods handling equipment
101‧‧‧行走路徑101‧‧‧ walking path
102‧‧‧行走軌道102‧‧‧ walking track
104‧‧‧主路徑104‧‧‧Main path
105‧‧‧副路徑105‧‧‧ secondary path
106‧‧‧連接路徑106‧‧‧Connection path
11‧‧‧第1本體框架11‧‧‧The first ontology frame
12‧‧‧第2本體框架12‧‧‧The second ontology frame
13‧‧‧物品支撐體13‧‧‧ Article support
143‧‧‧支撐構件143‧‧‧ supporting members
144‧‧‧懸吊構件144‧‧‧ Suspension member
15‧‧‧車輪15‧‧‧ Wheel
16‧‧‧引導輪16‧‧‧Guide Wheel
17‧‧‧連結體17‧‧‧ Link
3‧‧‧落下防止體3‧‧‧fall prevention body
3A‧‧‧第1其他形態的落下防止體3A‧‧‧The first form of fall prevention body
3B‧‧‧第2其他形態的落下防止體3B‧‧‧The second form of fall prevention body
31‧‧‧第1支撐部31‧‧‧ the first support
32‧‧‧第2支撐部32‧‧‧ 2nd support
33‧‧‧支撐體33‧‧‧ support
34‧‧‧連結部34‧‧‧Connection Department
35‧‧‧第1直徑方向延伸部35‧‧‧ 1st diameter extension
36‧‧‧第2直徑方向延伸部36‧‧‧ 2nd diameter extension
39‧‧‧接觸體39‧‧‧ contact body
51‧‧‧搬送車控制單元51‧‧‧ transport vehicle control unit
52‧‧‧通訊單元52‧‧‧Communication Unit
9‧‧‧行走體9‧‧‧ walking body
90‧‧‧物品90‧‧‧ items
91‧‧‧蓋子91‧‧‧ Cover
A3‧‧‧把持用致動器A3‧‧‧Grip actuator
A5‧‧‧落下防止用啟動器A5‧‧‧fall starter
F‧‧‧前方F‧‧‧Front
FR‧‧‧前後方向FR‧‧‧Back and forth
M1‧‧‧行走用馬達M1‧‧‧ Traveling Motor
M2‧‧‧滑動馬達M2‧‧‧Sliding motor
M3‧‧‧驅動升降用馬達M3‧‧‧ Motor for driving lift
ME‧‧‧物品處理部ME‧‧‧Item Handling Department
H1‧‧‧搬送管理裝置H1‧‧‧Transportation management device
H‧‧‧水平方向H‧‧‧Horizontal
R‧‧‧後方R‧‧‧ rear
S‧‧‧收容空間S‧‧‧Containment space
V‧‧‧上下方向V‧‧‧ Up and down direction
W‧‧‧寬度方向W‧‧‧Width direction
X‧‧‧旋轉軸心X‧‧‧rotation axis
X1‧‧‧第1支撐部的旋轉軸心X1‧‧‧ Rotation axis of the first support
X2‧‧‧第2支撐部的旋轉軸心X2‧‧‧ Rotation axis of the second support
圖1是物品搬送設備的平面圖。 圖2是物品搬送車的側視圖。 圖3是物品搬送車的正視圖。 圖4是顯示在收容空間與其正下方的移載場所之間移載物品的例子之圖。 圖5是顯示在收容空間與其斜下方的移載場所之間移載物品的例子之圖。 圖6是顯示物品搬送車之系統構成的示意方塊圖。 圖7是顯示其他形態之落下防止體的第1狀態中的一例之圖。 圖8是顯示其他形態之落下防止體的第2狀態中的一例之圖。 圖9是顯示其他形態之落下防止體的第2狀態中的一例之圖。 圖10是顯示具備有接觸體之落下防止體的第1狀態中的一例之圖。FIG. 1 is a plan view of an article transport facility. FIG. 2 is a side view of the article transport vehicle. FIG. 3 is a front view of the article transport vehicle. FIG. 4 is a diagram showing an example of transferring an article between a storage space and a transfer place directly below it. FIG. 5 is a diagram showing an example of transferring an article between a storage space and a transfer place diagonally below it. Fig. 6 is a schematic block diagram showing a system configuration of an article transport vehicle. FIG. 7 is a diagram showing an example of a first state of a fall preventing body in another form. FIG. 8 is a diagram showing an example of the second state of the fall prevention body in another form. FIG. 9 is a diagram showing an example of a second state of a fall prevention body in another form. FIG. 10 is a diagram showing an example of a first state including a fall prevention body including a contact body.
Claims (8)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017032198A JP6769336B2 (en) | 2017-02-23 | 2017-02-23 | Goods carrier |
| JP2017-032198 | 2017-02-23 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| TW201833018A true TW201833018A (en) | 2018-09-16 |
| TWI760422B TWI760422B (en) | 2022-04-11 |
Family
ID=63264025
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW107101823A TWI760422B (en) | 2017-02-23 | 2018-01-18 | Article transport vehicle |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP6769336B2 (en) |
| KR (1) | KR102462886B1 (en) |
| CN (1) | CN108466811B (en) |
| TW (1) | TWI760422B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI808275B (en) * | 2018-10-29 | 2023-07-11 | 日商村田機械股份有限公司 | Elevated pallet trucks and elevated pallet truck systems |
| TWI810407B (en) * | 2018-11-28 | 2023-08-01 | 日商村田機械股份有限公司 | Walking vehicle system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6455622B1 (en) | 2018-07-18 | 2019-01-23 | 株式会社ニコン | accessory |
| KR102480674B1 (en) * | 2018-11-06 | 2022-12-23 | 무라다기카이가부시끼가이샤 | ceiling hanging shelf |
| EP3943414A4 (en) * | 2019-03-22 | 2022-11-16 | Murata Machinery, Ltd. | Transport vehicle system |
| JP7524927B2 (en) | 2022-05-25 | 2024-07-30 | 株式会社ダイフク | Goods transport vehicle |
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| JPS6018580B2 (en) * | 1978-03-08 | 1985-05-11 | 株式会社ダイフク | Hanger conveyed object support arm deflection device in trolley conveyor |
| JP3082496B2 (en) * | 1993-02-03 | 2000-08-28 | 村田機械株式会社 | Overhead traveling car |
| DE9406061U1 (en) * | 1994-04-12 | 1995-08-10 | Mts Modulare Transport Systeme Gmbh, Vomp | Sorting system for sorting individually conveyed objects |
| JP2003165687A (en) | 2001-11-30 | 2003-06-10 | Murata Mach Ltd | Ceiling conveying vehicle |
| JP2004067297A (en) * | 2002-08-05 | 2004-03-04 | Daifuku Co Ltd | Conveyance device |
| JP5169065B2 (en) * | 2007-08-09 | 2013-03-27 | 村田機械株式会社 | Holding mechanism and transport device |
| KR101227918B1 (en) * | 2008-05-22 | 2013-01-30 | 무라다기카이가부시끼가이샤 | Overhead conveying vehicle |
| EP2711980A4 (en) * | 2011-05-17 | 2014-11-26 | Murata Machinery Ltd | Overhead transport carriage |
| JP6136775B2 (en) * | 2013-08-30 | 2017-05-31 | 株式会社ダイフク | Transport device |
| CN203767501U (en) * | 2014-02-28 | 2014-08-13 | 上海茂德企业集团有限公司 | Suspension conveying rail switching system |
| JP6064940B2 (en) * | 2014-04-07 | 2017-01-25 | 株式会社ダイフク | Goods transport vehicle |
| CN104692061B (en) * | 2015-02-13 | 2017-03-15 | 湖北华昌达智能装备股份有限公司 | Transport trolley group, retinue attachment means and aerial frictional conveying system |
| JP6332133B2 (en) * | 2015-05-14 | 2018-05-30 | 株式会社ダイフク | Container transfer equipment |
-
2017
- 2017-02-23 JP JP2017032198A patent/JP6769336B2/en active Active
-
2018
- 2018-01-18 TW TW107101823A patent/TWI760422B/en active
- 2018-02-22 KR KR1020180021083A patent/KR102462886B1/en active IP Right Grant
- 2018-02-23 CN CN201810155165.4A patent/CN108466811B/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI808275B (en) * | 2018-10-29 | 2023-07-11 | 日商村田機械股份有限公司 | Elevated pallet trucks and elevated pallet truck systems |
| TWI810407B (en) * | 2018-11-28 | 2023-08-01 | 日商村田機械股份有限公司 | Walking vehicle system |
| US12103570B2 (en) | 2018-11-28 | 2024-10-01 | Murata Machinery, Ltd. | Traveling vehicle system |
Also Published As
| Publication number | Publication date |
|---|---|
| JP6769336B2 (en) | 2020-10-14 |
| TWI760422B (en) | 2022-04-11 |
| CN108466811A (en) | 2018-08-31 |
| KR102462886B1 (en) | 2022-11-02 |
| KR20180097465A (en) | 2018-08-31 |
| CN108466811B (en) | 2022-04-05 |
| JP2018135199A (en) | 2018-08-30 |
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