Transport Vehicle

CROSS-REFERENCE TO RELATED APPLICATION

This application claims priority to Japanese Patent Application No. 2023-063296 filed Apr. 10, 2023, the disclosure of which is hereby incorporated by reference in its entirety.

BACKGROUND OF THE INVENTION
Field of the Invention

The present invention relates to a transport vehicle that travels along a travel path to transport an article.

Description of Related Art

An example of such a transport vehicle is described in Japanese Unexamined Patent Application Publication No. 2022-177495 (Patent Literature 1). Reference signs in parentheses used below in describing the background are the reference signs in Patent Literature 1.

A transport vehicle (1) described in Patent Literature 1 includes a holding unit (7) that holds a flange (201) on a front opening unified pod, or FOUP (200), and a lifting drive unit (6) that winds and unwinds multiple belts (B) connected to the holding unit (7) to lift and lower the holding unit (7). The transport vehicle (1) also includes a pair of grippers (12). The pair of grippers (12) are opened or closed in the horizontal direction by a drive inside the holding unit (7) to hold the flange (201) on the FOUP (200). The transport vehicle (1) with the above structure can transfer the FOUP (200) to and from a load port (300) located below the travel path.

In the structure described in Patent Literature 1, the pair of grippers (12) for holding the FOUP (200) protrude downward from a base (11) of the holding unit (7). The structure tends to be larger in the vertical direction. Additionally, as shown in FIG. 2 in Patent Literature 1, belt fasteners for fastening the belts (B) to the holding unit (7) protrude upward from a housing (13) of the holding unit (7). Thus, when the holding unit (7) is at its highest position nearest the lifting drive unit (6), a space at least having the size of the belt fastener is left between the holding unit (7) and the lifting drive unit (6) in the vertical direction. The structure described in Patent Literature 1 thus tends to be larger in the vertical direction.

SUMMARY OF THE INVENTION

In response to the above, transport vehicles downsized in the vertical direction are awaited.

A technique responding to the above issue provides the structure described below.

A transport vehicle for traveling along a travel path to transport an article includes a holder that holds a handle on the article, and a lifter that lifts and lowers the holder. The lifter includes an elongated member suspending the holder and a lifting drive that winds and unwinds the elongated member to lift and lower the holder. The holder includes a support being a plate suspended parallel to a horizontal plane by the elongated member, at least one first holder member and at least one second holder member supported by the support and movable toward and away from each other, and a holder drive that drives the at least one first holder member and the at least one second holder member. The at least one first holder member and the at least one second holder member are located below the support. The holder drive is located in a space in a vertical direction below the support. The space includes the at least one first holder member and the at least one second holder member. The transport vehicle includes an elongated member fastener on the support. The elongated member fastener fastens the elongated member to the support. The elongated member fastener protrudes downward from the support.

In this structure, the first holder member and the second holder member are located below the support, and the holder drive is located in the space in the vertical direction including the first holder member and the second holder member. This allows the components of the holder to be efficiently located together below the support, allowing the entire holder to be easily downsized in the vertical direction. Additionally, the elongated member fastener for fastening the elongated member and the support together protrudes downward from the support. This allows fewer components to be located above the support, allowing the holder located inside the compartment to be nearer the lifting drive in the vertical direction. The entire transport vehicle can thus also be downsized in the vertical direction.

Further features and advantageous effects of the technique according to the present disclosure will be apparent from exemplary and nonlimiting embodiments described below with reference to the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The terms Fig., Figs., Figure, and Figures are used interchangeably in the specification to refer to the corresponding figures in the drawings

FIG. 1 is a plan view of a transport facility.

FIG. 2 is a diagram describing a transfer operation.

FIG. 3 is a diagram describing a holding operation.

FIG. 4 is a diagram of a holder and a lifting drive being nearest each other.

FIG. 5 is a diagram showing the center of gravity of a figure having belt fasteners as its vertices as viewed in the vertical direction.

FIG. 6 is a diagram of a belt, showing its fastening structure.

FIG. 7 is a bottom view of the holder.

FIG. 8 is a diagram of the holder, showing its wiring structure.

DESCRIPTION OF THE INVENTION

A transport vehicle travels along a travel path to transport an article. A transport vehicle according to one or more embodiments will now be described. The transport vehicle is used in a transport facility in one or more embodiments.

As shown in FIGS. 1 and 2, a transport facility 100 includes a predefined travel path R, one or more transport vehicles V that each travel on the travel path R to transport an article 8, and multiple transfer areas 9 defined along the travel path R.

The travel path R is spaced upward from the floor surface. In the present embodiment, the travel path R includes a travel rail Ra installed near the ceiling. The transport vehicle V is installed on the ceiling to travel along the travel rail Ra. The transfer areas 9 are located below the travel path R. The transport vehicle V lifts and lowers the article 8 and transfers the article 8 to and from the transfer areas 9.

In the present embodiment, the transport facility 100 includes multiple transport vehicles V. Each of the multiple transport vehicles V performs, in response to a transport command provided from a host controller (not shown) that centrally manages the facility, a task corresponding to the transport command. For example, the transport command includes information about a transfer source and a transfer destination of an article 8. A transport vehicle V receives such a transport command and transports an article 8 from its transfer source to its transfer destination. The transfer source and the transfer destination include the transfer areas 9.

The transport facility 100 handles various articles 8. In the present embodiment, the transport facility 100 is used in a semiconductor fabrication plant. The articles 8 are thus, for example, substrate containers (front opening unified pods, or FOUPs) containing substrates (e.g., wafers and panels) or reticle containers (reticle pods) containing reticles. In this case, the transport vehicles V transport, between processes, the articles 8 such as substrate containers or reticle containers along the travel path R.

In the present embodiment, each transfer area 9 includes a processing device 90 that processes an article 8 and a mount 91 adjacent to the processing device 90. Processing an article 8 herein refers to processing objects (substrates or reticles) contained in the article 8 as a container. Each transport vehicle V receives an article 8 that has been processed by the processing device 90 from the mount 91 or delivers an article 8 that has yet to be processed by the processing device 90 to the mount 91. The processing device 90 perform various processes such as thin film formation, photolithography, and etching.

As shown in FIG. 2, each transport vehicle V includes a traveler 1 that travels on the travel rail Ra and a compartment S that contains an article 8. The transport vehicle V also includes a holder 2 that holds handles 81 on the article 8 and a lifter 3 that lifts and lowers the holder 2.

In the present embodiment, the traveler 1 includes multiple travel wheels 1a that roll on the travel rail Ra and a travel wheel drive 1m that drives at least one or more of the travel wheels 1a. The travel wheel drive 1m is, for example, an electric motor.

In the present embodiment, the compartment S is hung from the traveler 1 below the travel rail Ra. The compartment S can contain an article 8 held by the holder 2. For the transport vehicle V to transport the article 8 along the travel path R, the article 8 is accommodated in the compartment S. For the article 8 to be contained in the compartment S, the holder 2 holding the article 8 is lifted by the lifter 3 to its highest position.

In the present embodiment, the lifter 3 includes a lift belt 3a (an example of an elongated member) that suspends the holder 2 and a lifting drive 3m that winds and unwinds the lift belt 3a to lift and lower the holder 2. In the present embodiment, the lifter 3 includes four lift belts 3a. FIG. 2 shows two of the four lift belts 3a. Although not shown in detail, the lifting drive 3m includes a rotator around which the lift belts 3a are wound and a drive source that rotates the rotator. The rotator rotates in the forward direction or in the reverse direction to wind or unwind the lift belts 3a. This causes the holder 2 connected to the lift belts 3a to be lifted or lowered. The lifting drive 3m is covered with a case.

The holder 2 holds the handles 81 on the article 8. The holder 2 includes a first holder member 21 and a second holder member 22. The first holder member 21 and the second holder member 22 hold the handles 81 on the article 8.

In the present embodiment, as shown in FIG. 3, the article 8 includes a body 80 and the handles 81. The body 80 is a box for containing objects. The handles 81 are held by the holder 2 in the transport vehicle V.

In the present embodiment, a pair of handles 81 protrude upward from the upper surface of the body 80. The pair of handles 81 each include multiple poles 81a extending from the upper surface of the body 80 and a plate 81b connecting the upper ends of the multiple poles 81a. The multiple poles 81a included in each handle 81 are arranged in the direction into the page of FIG. 3.

The plate 81b is elongated in the direction in which the multiple poles 81a are arranged (in the direction into the page of FIG. 3). The plate 81b has a flat upper surface. The plate 81b has a recess 81c recessed downward on its upper surface.

The holder 2 includes a support 20 being a plate suspended parallel to the horizontal plane by the lift belts 3a, the first holder member 21 and the second holder member 22 supported by the support 20 and movable toward and away from each other, and a holder drive 6 that drives the first holder member 21 and the second holder member 22. In the present embodiment, the holder 2 includes a case C covering a space below the support 20. The case C is attached to the support 20 and covers at least the holder drive 6. In the present embodiment, the case C also covers parts of the first holder member 21 and the second holder member 22.

In the present embodiment, the first holder member 21 and the second holder member 22 move in the horizontal direction. In other words, the first holder member 21 and the second holder member 22 move toward and away from each other in the horizontal direction.

In the present embodiment, the first holder member 21 and the second holder member 22 move away from each other between the pair of handles 81, which are holding targets, to hold the pair of handles 81 at positions inward from the handles 81 in the horizontal direction. The first holder member 21 and the second holder member 22 move toward each other to release the pair of handles 81.

In the present embodiment, the support 20 includes article detectors 5 that detect the article 8 as a holding target for the holder 2. In response to the article detectors 5 detecting the article 8, the holder 2 determines the position of the article 8 and performs a holding operation on the article 8.

In the present embodiment, the article detectors 5 include a first detector 51 and a second detector 52. The first detector 51 detects one of the pair of handles 81 on the article 8. The second detector 52 detects the other of the pair of handles 81 on the article 8. The first detector 51 and the second detector 52 have different structures for detecting the article 8.

The first detector 51 comes in contact with a handle 81 on the article 8 to detect the position of the article 8. In the present embodiment, the first detector 51 includes a contact member 51a and a first sensor 510.

The contact member 51a extends in the vertical direction through a hole h1 in the support 20 and moves in the vertical direction relative to the support 20. When the holder 2 is lowered toward the article 8 in a transfer area 9, the contact member 51a comes in contact with the handle 81 on the article 8 from above. The contact member 51a has its lower end that fits into the recess 81c on the handle 81. When the handle 81 pushes the lower end of the contact member 51a upward, the entire contact member 51a moves upward relative to the support 20.

The first detector 51 is located on the upper surface of the support 20. The first detector 51 detects the contact member 51a moving upward relative to the support 20. The first detector 51 at least detects the contact member 51a coming in contact with the handle 81. The first detector 51 also detects the vertical relative positions of the holder 2 and the handle 81 based on the amount of upward movement of the contact member 51a relative to the support 20. In the present embodiment, the first detector 51 includes a light emitter and a light receiver and, based on whether the optical axis is blocked by the contact member 51a, detects the amounts of movement of the contact member 51a relative to the handle 81 and relative to the support 20.

The second detector 52 detects a handle 81 on the article 8 in a contactless manner to detect the position of the article 8. In the present embodiment, the second detector 52 includes a support member 52a and a second sensor 520 supported by the support member 52a.

The support member 52a is located on the upper surface of the support 20. The support member 52a supports the second sensor 520 above the support 20. In the example in the figure, the support member 52a is an L-shaped bracket.

The second sensor 520 is located above the support 20. As described above, the second sensor 520 is supported by the support member 52a. The second sensor 520 detects the vertical relative distance between the holder 2 and the handle 81 in a contactless manner. In the present embodiment, the second sensor 520 is an optical range sensor and emits light downward. Light emitted from the second sensor 520 travels through a hole h2 in the support 20 and reaches the handle 81. This allows the second sensor 520 to detect the vertical relative distance between the holder 2 and the handle 81.

When lowering toward the article 8 in the transfer area 9, the holder 2 determines its relative position to the article 8 based on the detection results obtained by the two detectors having different detection structures, or in other words, the contact first detector 51 and the contactless second detector 52. The holder 2 can thus accurately identify its relative position to the article 8. Upon lowering to a position at which the pair of handles 81 on the article 8 are holdable, the holder 2 moves the first holder member 21 and the second holder member 22 to hold the pair of handles 81.

The arrangement of the components included in the transport vehicle V will now be described.

As shown in FIG. 3, the first holder member 21 and the second holder member 22 are located below the support 20. In the present embodiment, the first holder member 21 includes a pair of first holder members 21, and the second holder member 22 includes a pair of second holder members 22 (refer to FIGS. 7 and 8). The pair of first holder members 21 and the pair of second holder members 22 are located below the support 20.

The holder drive 6 is located in a space A1 in the vertical direction below the support 20. The space A1 includes the first holder members 21 and the second holder members 22. In other words, the holder drive 6 is located in the space A1 between the support 20 and the lower ends of the first holder members 21 and the second holder members 22 in the vertical direction. This structure allows the components included in the holder 2 to be efficiently located together below the support 20. The entire holder 2 can thus be easily downsized in the vertical direction.

The support 20 includes belt fasteners 4 (examples of an elongated member fastener) for fastening the lift belts 3a to the support 20. Each belt fastener 4 protrudes downward from the support 20. This structure can reduce the number of components located above the support 20. This allows, as shown in FIG. 4, the holder 2 and the lifting drive 3m to be near each other in vertical direction when the holder 2 is inside the compartment S. The entire transport vehicle V can thus be easily downsized in the vertical direction.

In the present embodiment, each belt fastener 4 includes a fixed wall 40 protruding downward from the support 20 and a rotator 41 rotatable relative to the fixed wall 40 at a predetermined angle. The lift belt 3a is fastened to the rotator 41 with bolts B (also refer to FIG. 6). For example, the rotator 41 is rotatable at a predetermined angle of 30 degrees forward or backward from its reference phase. This allows the lift belt 3a to be tightened or loosened to adjust the levelness of the support 20 suspended by the multiple (four in this example) lift belts 3a. As described above, the lifter 3 in the present embodiment includes four lift belts 3a. The support 20 thus includes four belt fasteners 4 corresponding to the four lift belts 3a (also refer to FIG. 5). In the present embodiment, the article detectors 5 protrude upward from the support 20.

As described above, the article detectors 5 in the present embodiment include the first detector 51 and the second detector 52. The first detector 51 and the second detector 52 each include a portion above the support 20. More specifically, the first sensor 510 in the first detector 51 protrudes upward from the support 20. The support member 52a in the second detector 52 also protrudes upward from the support 20. The second sensor 520 in the second detector 52 is supported by the support member 52a and thus located above the support 20.

In the present embodiment, as shown in FIG. 4, when the support 20 is nearest the lifting drive 3m in the vertical direction, the article detectors 5 are located at positions overlapping a space A2 in the vertical direction including the lifting drive 3m without overlapping the lifting drive 3m as viewed in the vertical direction. In other words, with the holder 2 lifted by the lifter 3 at its highest position, the article detectors 5 are at positions overlapping the space A2 in the vertical direction including the lifting drive 3m but not overlapping the lifting drive 3m as viewed in the vertical direction. This structure can avoid interference between the lifting drive 3m and the article detectors 5 and allows the support 20 to be near the lifting drive 3m in the vertical direction.

In the present embodiment, when the support 20 is nearest the lifting drive 3m in the vertical direction, the lifting drive 3m is between the first sensor 510 in the first detector 51 and the second sensor 520 in the second detector 52 in the horizontal direction.

In the present embodiment, as shown in FIG. 5, the support 20 includes four belt fasteners 4. The lift belts 3a are connected to the respective belt fasteners 4. The four belt fasteners 4 are arranged based on the center of gravity of the article 8. More specifically, the four belt fasteners 4 are located at positions determined to reduce the amount of vertical misalignment between the center of gravity 4x (centroid) of a figure having the four belt fasteners 4 as its vertices as viewed in the vertical direction and the center of gravity (center of mass) of the article 8 held by the holder 2. This allows the holder 2 holding the article 8 to easily maintain a horizontal orientation.

As shown in FIG. 6, one or more of the lift belts 3a include feed lines 97 for supplying power to the holder 2. The feed line 97 supplies the holder 2 with, for example, power provided from another feed line located along the travel rail Ra (refer to FIG. 2) in a contactless manner. In the present embodiment, one of the four lift belts 3a includes the feed line 97.

The feed line 97 extends in a direction in which the lift belt 3a extends. In the present embodiment, the lift belt 3a including the feed line 97 is fastened to the belt fastener 4 with multiple bolts B arranged in the direction in which the lift belt 3a extends. This allows the bolts B to easily fasten the lift belt 3a at a position not interfering with the feed line 97 extending in the direction in which the lift belt 3a extends. In the example in the figure, two bolts B arranged in the direction in which the lift belt 3a extends fasten the lift belt 3a to the belt fastener 4. The other lift belts 3a including no feed line 97 may each include multiple bolts B arranged in a width direction of the lift belt 3a and be fastened to the corresponding belt fastener 4 with the bolts B. This allows the lift belts 3a to be fastened stably.

The structure of the holder drive 6 will now be described in detail. FIG. 7 is a bottom view of the holder 2, showing its main components. For ease of clarifying the structure of the holder drive 6, wiring W and bridges 7 (described later) are not shown in FIG. 7.

As shown in FIG. 7, the holder drive 6 includes rails 6r extending in a direction in which the first holder members 21 and the second holder members 22 move and a drive 60 that moves the first holder members 21 and the second holder members 22 along the rails 6r.

In the present embodiment, as described above, the first holder members 21 and the second holder members 22 move in the horizontal direction. The rails 6r thus extend in the horizontal direction. In the present embodiment, the holder drive 6 includes a first rail 61r and a second rail 62r extending in the direction (hereafter, a holder member moving direction X) in which the pair of first holder members 21 and the pair of second holder members 22 move. In other words, the rails 6r include the first rail 61r and the second rail 62r. The first rail 61r and the second rail 62r extend in the horizontal direction and are parallel to each other. The first rail 61r and the second rail 62r are spaced from each other in a direction (hereafter, an orthogonal direction Y) orthogonal to the holder member moving direction X as viewed in the vertical direction. The orthogonal direction Y includes a first orthogonal direction Y1 and a second orthogonal direction Y2 opposite to the first orthogonal direction Y1. The first rail 61r is located in the first orthogonal direction Y1 from the second rail 62r. The second rail 62r is located in the second orthogonal direction Y2 from the first rail 61r.

In the present embodiment, the holder drive 6 includes a motor 60m and a transmission 60t that transmits a driving force from the motor 60m to the pair of first holder members 21 and the pair of second holder members 22. The drive 60 includes the motor 60m and the transmission 60t.

In the present embodiment, the motor 60m and the transmission 60t are located between the first rail 61r and the second rail 62r. In other words, the drive 60 is located between the first rail 61r and the second rail 62r in the orthogonal direction Y.

In the present embodiment, the holder drive 6 includes a first guide 61g and a second guide 62g movable along the first rail 61r and a third guide 63g and a fourth guide 64g movable along the second rail 62r.

In the present embodiment, the first guide 61g and the third guide 63g are connected to each other with a first connector 61c and move integrally. The first connector 61c receives a driving force from the motor 60m and moves in the holder member moving direction X. This causes the first guide 61g and the third guide 63g to move together in the holder member moving direction X. In the present embodiment, the transmission 60t includes a ball screw assembly. The first connector 61c is movably supported by a screw in the ball screw assembly.

One of the pair of first holder members 21 is supported by the first guide 61g. The other of the pair of first holder members 21 is supported by the third guide 63g. Thus, when the transmission 60t transmits a driving force from the motor 60m to the first connector 61c, the first guide 61g and the third guide 63g move integrally in the same direction, causing the pair of first holder members 21 to move.

In the present embodiment, the second guide 62g and the fourth guide 64g are connected to each other with a second connector 62c and move integrally. The second connector 62c receives a driving force from the motor 60m and moves in the holder member moving direction X. This causes the second guide 62g and the fourth guide 64g to move together in the holder member moving direction X. In the present embodiment, as described above, the transmission 60t includes the ball screw assembly. The second connector 62c is movably supported by a screw in the ball screw assembly.

One of the pair of second holder members 22 is supported by the second guide 62g. The other of the pair of second holder members 22 is supported by the fourth guide 64g. Thus, when the transmission 60t transmits a driving force from the motor 60m to the second connector 62c, the second guide 62g and the fourth guide 64g move integrally in the same direction, causing the pair of second holder members 22 to move.

The first connector 61c and the second connector 62c receiving a driving force from the motor 60m move toward and away from each other. The pair of first holder members 21 that move integrally with the first connector 61c and the pair of second holder members 22 that move integrally with the second connector 62c move toward and away from each other.

FIG. 8 shows a wiring structure in the holder 2. In FIG. 8, the dot-dash lines represent main portions of the wiring W in the holder 2. The holder 2 may include wiring other than the wiring W shown in the figure. The wiring W includes a power line for supplying power to the components in the holder 2 and a signal line for transmitting and receiving signals.

In the present embodiment, the bridges 7 are located below the support 20. The bridges 7 cross the rails 6r as viewed in the vertical direction. The bridges 7 cross the rails 6r below the rails 6r. The bridges 7 extend in the orthogonal direction Y. In the present embodiment, the bridges 7 cross both the first rail 61r and the second rail 62r as viewed in the vertical direction. The bridges 7 connect an area in the first orthogonal direction Y1 from the first rail 61r and an area in the second orthogonal direction Y2 from the second rail 62r.

In the present embodiment, a pair of bridges 7 are located on the lower surface of the support 20. The pair of bridges 7 are spaced from each other in the holder member moving direction X and are parallel to each other. The pair of bridges 7 are located with the motor 60m in between in the holder member moving direction X. In the present embodiment, the motor 60m as viewed in the vertical direction is between the first rail 61r and the second rail 62r in the orthogonal direction Y and between the pair of bridges 7 in the holder member moving direction X.

In the present embodiment, the wiring W included on the support 20 is supported by the bridges 7. The wiring W is located below the support 20. In the present embodiment, the pair of bridges 7 each support the wiring W. The pair of bridges 7 allow the wiring W to be placed more freely. For example, one of the pair of bridges 7 may support the wiring W including the power line, and the other of the pair of bridges 7 may support the wiring W including the signal line. Each bridge 7 may be used for a different wire in the wiring W in this manner.

The bridges 7 support the wiring W across an area in the first orthogonal direction Y1 from the rails 6r and an area in the second orthogonal direction Y2 from the rails 6r. In the present embodiment, the pair of bridges 7 each support the wiring W across the area in the first orthogonal direction Y1 from the first rail 61r and the area in the second orthogonal direction Y2 from the second rail 62r.

In the present embodiment, the lift belt 3a including the feed line 97 is fastened to the support 20 with the belt fastener 4 (hereafter, a target belt fastener 4) at a position in the first orthogonal direction Y1 from the first rail 61r. In other words, the target belt fastener 4 is located in the area in the first orthogonal direction Y1 from the first rail 61r, and the feed line 97 is fastened to the target belt fastener 4. Power from the feed line 97 is supplied to the components in the holder 2 through the wiring W. In the present embodiment, terminal blocks 99 are located in the area in the first orthogonal direction Y1 from the first rail 61r. The wiring W from the target belt fastener 4 is connected to the terminal blocks 99. The wiring W from the target belt fastener 4 may include the signal line in addition to the power line. The wiring W from the first detector 51 and the wiring W from the second detector 52 are also connected to the terminal blocks 99.

In the present embodiment, a motor driver 98 for controlling the motor 60m is located in the area in the second orthogonal direction Y2 from the second rail 62r. The wiring W from the terminal blocks 99 are connected to the motor 60m and the motor driver 98 with the bridges 7. Although the first rail 61r is located between the terminal blocks 99 and the motor 60m, the bridges 7 allow the wiring W to connect the terminal blocks 99 and the motor 60m. Although the second rail 62r is located between the motor 60m and the motor driver 98, the bridges 7 allow the wiring W to connect the motor 60m and the motor driver 98.

As described above, the bridges 7 can prevent the wiring W located below the support 20 from interfering with the rails 6r or the drive 60.

Hereinafter, the other embodiments are described.

- (1) In the above embodiment, the article detectors 5 that detect the article 8 as the holding target for the holder 2 include the first detector 51 and the second detector 52 having different detection structures. In some embodiments, the article detectors 5 may include the contact first detector 51 alone or the contactless second detector 52 alone.
- (2) In the above embodiment, the rails 6r include the first rail 61r and the second rail 62r. In some embodiments, the rails 6r may be a single rail.
- (3) In the above embodiment, the first connector 61c connects the pair of first holder members 21, and the second connector 62c connects the pair of second holder members 22. In some embodiments, the first connector 61c and the second connector 62c may be eliminated. The pair of first holder members 21 may be integral as a single member, and the pair of second holder members 22 may be integral as a single member.
- (4) In the above embodiment, the bridges 7 cross both the first rail 61r and the second rail 62r. In some embodiments, one bridge 7 may cross the first rail 61r, and another bridge 7 may cross the second rail 62r.
- (5) In the above embodiment, the wiring W includes the signal line for transmitting and receiving signals. In some embodiments, each component may transmit and receive signals wirelessly with, for example, an optical transmitter. In this case, the wiring W including the signal line is partly or fully eliminated.
- (6) In the above embodiment, the lifter 3 includes four lift belts 3a, and the support 20 includes four belt fasteners 4 corresponding to the four lift belts 3a. In some embodiments, the lifter 3 may include, for example, three lift belts 3a. The support 20 may thus include three belt fasteners 4 corresponding to the three lift belts 3a.
- (7) In the above embodiment, the first holder member 21 and the second holder member 22 move away from each other to hold the handles 81 and move toward each other to release the handles 81. In some embodiments, when, for example, the article 8 includes a single handle 81, the first holder member 21 and the second holder member 22 may move toward each other to hold the handle 81 and move away from each other to release the handle 81.
- (8) In the above embodiment, the lift belt 3a is an example of an elongated member, and the belt fastener 4 is an example of an elongated member fastener. In some embodiments, the elongated member may be a wire. In this case, the elongated member fastener is a wire fastener.
- (9) The structure described in each of the above embodiments may be combined with any other structures described in the other embodiments unless any contradiction arises. The embodiments described herein are merely illustrative in all aspects and may be modified variously as appropriate without departing from the spirit and scope of the present disclosure.

Overview of Present Embodiment

Hereinafter, a brief description of the present embodiment above is given.

The transport vehicle may further include an article detector on the support. The article detector may detect the article as a holding target for the holder. The article detector may protrude upward from the support. The article detector may be at a position overlapping a space in the vertical direction including the lifting drive without overlapping the lifting drive as viewed in the vertical direction when the support is nearest the lifting drive in the vertical direction.

This structure can avoid interference between the lifting drive and the article detector and allows the support and the lifting drive to be near each other in the vertical direction. Thus, the structure including the article detector can be downsized in the vertical direction.

The at least one first holder member may include a pair of first holder members, and the at least one second holder member includes a pair of second holder members. The holder drive may include a first rail and a second rail extending in a direction in which the pair of first holder members and the pair of second holder members move, a first guide and a second guide movable along the first rail, a third guide and a fourth guide movable along the second rail, a motor, and a transmission that transmits a driving force from the motor to the pair of first holder members and the pair of second holder members. One of the pair of first holder members may be supported by the first guide, and one of the pair of second holder members may be supported by the second guide. The other of the pair of first holder members may be supported by the third guide, and the other of the pair of second holder members may be supported by the fourth guide. The motor and the transmission may be located between the first rail and the second rail.

This structure allows a linear mover including the rails extending in the direction in which the holder members move to move the pair of first holder members and the pair of second holder members. Thus, when the holder members move in the horizontal direction, for example, the rails also extend in the horizontal direction, allowing the entire holder drive to be easily downsized in the vertical direction. The two rails that can guide the four holder members also allow the holder drive to be easily downsized. Additionally, with the motor and the transmission located between the first rail and the second rail, a driving force from the single motor can drive four holder members in total. The holder members can thus be driven with fewer motors, allowing the holder drive to be easily downsized as well.

The holder drive may include a rail extending in a direction in which the first holder member and the second holder member move and a drive to move the first holder member and the second holder member along the rail. The transport vehicle may include a bridge below the support. The bridge may cross the rail as viewed in the vertical direction. The bridge may support wiring on the support.

In this structure, the bridge allows the wiring to be installed without interfering with the rails.

INDUSTRIAL APPLICABILITY

The technique according to one or more embodiments of the present disclosure is applicable to a transport vehicle that travels along a travel path to transport an article.

Transport Vehicle

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Description

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Priority Claims (1)