Wheel changing device

Abstract

A wheel replacing device is provided. In a state where a first support rail (10) is in a first lowered position and a second support rail (20) is in a second reference position, a first wheel departure state is achieved. In a state where the first support rail (10) is in a first reference position and the second support rail (20) is in a second lowered position, a second wheel departure state is achieved. A control section causes a wheel mounting / demounting robot (5) to perform mounting / demounting of a first traveling wheel (81) in the first wheel departure state, and causes the wheel mounting / demounting robot (5) to perform mounting / demounting of a second traveling wheel (82) in the second wheel departure state.

Description

TECHNICAL FIELD

[0001] The present application relates to a wheel replacing device which performs replacement of first and second traveling wheels in a vehicle provided with a vehicle body, the first traveling wheel, the second traveling wheel, and a guide wheel, the first traveling wheel rolling on an upper surface of one of a pair of traveling rails disposed apart in a width direction, the second traveling wheel rolling on an upper surface of the other of the pair of traveling rails, and the guide wheel rolling on a side surface of a guide rail disposed at a position different from the pair of traveling rails in a vertical direction. BACKGROUND

[0002] For example, Japanese Patent No. 6337528 (Patent Document 1) discloses a ceiling traveling vehicle which travels in a ceiling space of a clean room or the like. In the following description of the background art, reference numerals in brackets are those of Patent Document 1.

[0003] The ceiling traveling vehicle (2) disclosed in Patent Document 1 is provided with traveling wheels (12, 20) which roll on a rail (4) and guide wheels (22, 24) which contact the rail (4) from the side when the ceiling traveling vehicle (2) travels in a branching and merging section of a traveling path. The guide wheels (22, 24) are used when the traveling direction of the ceiling traveling vehicle is changed.

[0004] The technology disclosed in Patent Document 1 is for detecting aging of the traveling wheels, but no particular mention is made of replacement of the traveling wheels which have aged. In the technical field of vehicles provided with traveling wheels which roll on a rail, like the ceiling carrier disclosed in Patent Document 1, replacement of the traveling wheels is often performed manually. However, in the case where the number of vehicles is large, the effort for the replacement work of the traveling wheels becomes excessive. SUMMARY

[0005] The present application is made in view of the above-described actual situation, and aims to achieve a technology capable of automatically performing replacement of traveling wheels in a vehicle provided with traveling wheels which roll on each of a pair of traveling rails and guide wheels which roll on a side surface of a guide rail.

[0006] The technology for solving the above-described problem is as follows.

[0007] A wheel replacing device that performs replacement of first and second traveling wheels of a vehicle having a vehicle body, the first traveling wheel rolling on an upper surface of one of a pair of traveling tracks arranged apart in a width direction, the second traveling wheel rolling on an upper surface of the other of the pair of traveling tracks, and a guide wheel rolling on a side surface of a guide track arranged at a position different from the pair of traveling tracks in a vertical direction, the wheel replacing device including first and second support tracks arranged apart from each other in the width direction, a third support track arranged at a position different from the first and second support tracks in the vertical direction, a first lifting mechanism that lifts the first support track to a first reference position and a first lowered position lower than the first reference position, a second lifting mechanism that lifts the second support track to a second reference position and a second lowered position lower than the second reference position, a wheel mounting and demounting robot that mounts and demounts the first and second traveling wheels with respect to the vehicle body, and a control section that controls the first and second lifting mechanisms and the wheel mounting and demounting robot, sets an imaginary line extending in an extending direction of the first and second support tracks at a middle of the first and second support tracks in the width direction as a reference axis, sets a direction in which the vehicle rotates around the reference axis as a swinging direction, sets a side on which the vehicle swings when the first traveling wheel is lowered with respect to the second traveling wheel as a swinging direction first side, sets a side on which the vehicle swings when the second traveling wheel is lowered with respect to the first traveling wheel as a swinging direction second side, and in a state where the first support track is at the first reference position and the second support track is at the second reference position, becomes a two-wheel placement state in which the first traveling wheel is placed on the first support track and the second traveling wheel is placed on the second support track, in a state where the first support track is at the first lowered position and the second support track is at the second reference position, becomes a first wheel separation state in which the first traveling wheel is separated from the first support track and the second traveling wheel is placed on the second support track, and the guide wheel is separated from a side surface of the third support track facing the swinging direction second side, and in a state where the first support track is at the first reference position and the second support track is at the second lowered position, becomes a second wheel separation state in which the second traveling wheel is separated from the second support track and the first traveling wheel is placed on the first support track.The control section causes the wheel handling robot to handle the first traveling wheel in the first wheel handling state and to handle the second traveling wheel in the second wheel handling state.

[0008] According to the present structure, the first support rail is configured to allow the first traveling wheel to roll, the second support rail is configured to allow the second traveling wheel to roll, and the third support rail is configured to allow the third traveling wheel to roll. Therefore, the vehicle can be positioned at the work site of the wheel handling robot by traveling along the first support rail, the second support rail, and the third support rail. Further, in the first wheel handling state, the weight of the vehicle can be supported by the second traveling wheel and the guide wheel, and the first traveling wheel can be caused to be separated from the first support rail, so the replacement of the first traveling wheel can be easily performed by the wheel handling robot while the vehicle is stably supported. Similarly, in the second wheel handling state, the replacement of the second traveling wheel can be easily performed by the wheel handling robot. Therefore, according to the present structure, the replacement of the traveling wheels in the vehicle provided with the traveling wheels that roll on each of the pair of traveling rails and the guide wheel that rolls on the side surface of the guide rail can be automatically performed. Further, as described above, in the present structure, the guide wheel is used to support the vehicle, and thus, when the wheels are replaced, one of the first traveling wheel and the second traveling wheel that are the objects of replacement can be caused to float. In this way, according to the present structure, even when the wheels are replaced, the weight of the vehicle can be supported by the pair of traveling wheels and the guide wheel as in the normal use state. Therefore, for example, the portion such as the bottom surface of the vehicle that is not supported by the weight of the vehicle in the normal use state is supported to lift the vehicle, so the portion does not need to be reinforced, and the simplification and weight reduction of the vehicle body can be easily achieved.

[0009] Further technical features and advantages of the present application will become more apparent from the following description of exemplary and non-limiting embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF DRAWINGS

[0010] Figure 1 is a view showing a case where the vehicle carries the article.

[0011] Figure 2 is a plan view showing a case where the vehicle travels in the diverging and converging section.

[0012] Figure 3 is a traveling direction view showing a case where the vehicle travels in the diverging and converging section.

[0013] Figure 4 is a view showing a case where the vehicle is directed toward the maintenance device via the elevator.

[0014] Figure 5 is a plan view of the maintenance device.

[0015] Figure 6 is a sectional view of the rail support portion, as viewed in the extending direction.

[0016] Figure 7 is a plan view of the rail support portion.

[0017] Figure 8 is a view showing a two-wheel placing state of the vehicle.

[0018] Figure 9 is a view showing a first traveling wheel departure state of the vehicle.

[0019] Figure 10 is a view showing a second traveling wheel departure state of the vehicle.

[0020] Figure 11 is a view showing the holding arm.

[0021] Figure 12 is a view showing a case where the holding arm holds the wheel.

[0022] Figure 13 is a view showing a case where the holding arm holds the pad.

[0023] Figure 14 is a view showing the fastening linking robot.

[0024] Figure 15 is a view showing the fixing portion of the traveling wheel.

[0025] Figure 16 is a control block diagram.

[0026] Figure 17 is a flowchart showing a processing flow in the maintenance device.

[0027] Figure 18 is a flowchart showing a procedure of the processing of the wheel replacement.

[0028] Figure 19 is a flowchart showing a processing procedure of the replacement of the first traveling wheel.

[0029] Figure 20 is a schematic view showing a part of the procedure of the replacement of the first traveling wheel.

[0030] Figure 21 is a schematic view showing a part of the procedure of the replacement of the first traveling wheel.

[0031] Figure 22 is a schematic view showing a part of the process of replacement of the 1st traveling wheel.

[0032] Figure 23 is a schematic view showing a part of the process of replacement of the 1st traveling wheel.

[0033] Figure 24 is a schematic view showing a part of the process of replacement of the 1st traveling wheel.

[0034] Figure 25 is a flowchart showing the process of adjustment of the wheel position.

[0035] Figure 26 is a flowchart showing the process of adjustment of the position of the 1st traveling wheel.

[0036] Figure 27 is a flowchart showing the process of determination of the number of pads / thickness of pads.

[0037] Figure 28 is a flowchart showing the process of adjustment of the wheel position.

[0038] Figure 29 is a schematic view showing a part of the process of adjustment of the position of the 1st traveling wheel.

[0039] Figure 30 is a schematic view showing a part of the process of adjustment of the position of the 1st traveling wheel.

[0040] Figure 31 is a schematic view showing a part of the process of adjustment of the position of the 1st traveling wheel.

[0041] Figure 32 is a schematic view showing a part of the process of adjustment of the position of the 1st traveling wheel.

[0042] Figure 33 is a schematic view showing a part of the process of adjustment of the position of the 1st traveling wheel. DETAILED DESCRIPTION

[0043] Hereinafter, a case where the maintenance device as the wheel replacement device and the wheel position adjustment device is applied to an article transport apparatus provided with a vehicle for transporting articles will be described.

[0044] As Figure 1As shown, vehicle 8 is configured as a transport vehicle for transporting items G. The transport equipment F has multiple transport locations 98 that serve as the destination or source of items G. Vehicle 8 transports items G using these transport locations 98 as the destination or source. Here, an example is given where the transport equipment F is installed in a semiconductor manufacturing plant. In this case, vehicle 8 transports front-opening unified pods (FOBs) used to hold semiconductor substrates as items G. For example, the transport location 98 includes a loading stage 98a for placing items G and a processing unit 98b disposed adjacent to the loading stage 98a. The processing unit 98b removes the semiconductor substrate from the item G (front-opening unified pod) placed on the loading stage 98a and performs various processing on the semiconductor substrate.

[0045] Vehicle 8 includes a receiving section 85 for accommodating an item G and a transfer section 86 for transferring the item G between the receiving section 85 and a loading platform 98a (transfer object location 98). The transfer section 86 is configured to hold the item G. In this example, the transfer section 86 is configured to raise and lower the item G. With the receiving section 85 above the loading platform 98a, the transfer section 86 transfers the item G by raising and lowering it between the receiving section 85 and the loading platform 98a.

[0046] like Figure 2 As shown, the travel path 99 of vehicle 8 is composed of a pair of travel tracks 96 arranged separately in the width direction Y. The travel path 99 has bifurcation sections where the path branches off and merging sections where the path merges (hereinafter referred to as bifurcation / merging sections BS). A guide track 95 is provided in this bifurcation / merging section BS, which is positioned in a different vertical direction from the pair of travel tracks 96 (see also...). Figure 3 Furthermore, in the bifurcation / merging section BS, one of the pair of travel tracks 96 is missing. In this example, a pair of travel tracks 96 and a guide track 95 are located near the roof of the equipment. The vehicle 8 is configured as a so-called roof transport vehicle that travels near the roof of the equipment to transport items G. Additionally, Figure 2 When the track 96 shown in the figure is a bifurcation section, vehicle 8 travels from the bottom to the top in the figure; when it is a merging section, vehicle travels from the top to the bottom in the figure.

[0047] like Figure 2 and Figure 3As shown, the vehicle 8 is provided with a vehicle body 80, a first traveling wheel 81 that rolls on the upper surface 96F of one side of the pair of traveling rails 96, a second traveling wheel 82 that rolls on the upper surface 96F of the other side of the pair of traveling rails 96, and a guide wheel 83 that rolls on the side surface 95F of the guide rail 95. The first traveling wheel 81 and the second traveling wheel 82 are each configured to rotate around an axis that extends in the width direction Y. The guide wheel 83 is configured to rotate around an axis that extends in the vertical direction. In addition, the vehicle 8 is provided with a switching mechanism 84 that switches the position of the guide wheel 83 in the width direction Y. The guide wheel 83 is configured to selectively abut against the side surface 95F of the guide rail 95 that faces the first side Y1 in the width direction and the side surface 95F that faces the second side Y2 in the width direction by switching the position in the width direction Y by the switching mechanism 84. Note that the "width direction Y" is the direction in which the pair of traveling rails 96 are arranged, and can vary depending on the configuration of the traveling path 99. In addition, the "first side Y1 in the width direction" means one side in the width direction Y, and the "second side Y2 in the width direction" means the other side in the width direction Y.

[0048] In the present embodiment, the first traveling wheel 81 includes a plurality of wheels that are arranged apart in the extension direction X of the pair of traveling rails 96 at the same position in the width direction Y. In addition, the second traveling wheel 82 includes a plurality of wheels that are arranged apart in the extension direction X at the same position in the width direction Y. In other words, the first traveling wheel 81 including a plurality of wheels is provided on the first side Y1 in the width direction with respect to the vehicle body 80, and the second traveling wheel 82 including a plurality of wheels is provided on the second side Y2 in the width direction with respect to the vehicle body 80. In the present embodiment, the guide wheel 83 also includes a plurality of wheels that are arranged in the extension direction X at the same position in the width direction Y.

[0049] The article transport apparatus F is provided with a power supply portion 7 that supplies electric power to a traveling drive portion M8 (a motor in the illustrated example) that is a drive power source of the first traveling wheel 81 and the second traveling wheel 82. In the present embodiment, the power supply portion 7 is a power feeding wire 70 that non-contactly supplies electric power to the vehicle 8, and is arranged along the pair of traveling rails 96. Thus, the vehicle 8 can receive the supply of electric power while traveling along the traveling path 99 (traveling rails 96).

[0050] When vehicle 8 is traveling in the bifurcation / merging section BS of the travel path 99, the guide wheel 83 abuts against the side 95F of the guide rail 95 from the width direction Y, and one of the first traveling wheel 81 and the second traveling wheel 82 contacts the upper surface 96F of the travel rail 96. The other of the first traveling wheel 81 and the second traveling wheel 82 becomes buoyant. That is, when vehicle 8 is traveling in the bifurcation / merging section BS of the travel path 99, vehicle 8 is supported by one of the pair of travel rails 96 and the guide rail 95. When vehicle 8 is traveling in a section other than the bifurcation / merging section BS (normal section NS) of the travel path 99, the first traveling wheel 81 and the second traveling wheel 82 respectively contact the corresponding travel rail 96 of the pair of travel rails 96. That is, in this case, vehicle 8 is supported by the pair of travel rails 96. Furthermore, in this example, vehicle 8 is equipped with auxiliary wheels 87 that rotate about an axis in the vertical direction and abut against the inside of each of a pair of travel tracks 96 in the width direction Y. This allows vehicle 8 to travel appropriately along the travel path 99.

[0051] Here, as Figure 3 As shown, when vehicle 8 is traveling in the bifurcation / merging section BS of the travel path 99, i.e., when one of the first traveling wheels 81 and the second traveling wheel 82 is floating, the rotational torque of the floating traveling wheel (called the floating wheel) in the direction it wants to descend is supported by the guide wheel 83. The posture of vehicle 8 at this time is determined by the positional relationship between the traveling wheel (called the contact wheel) of the first traveling wheel 81 and the second traveling wheel 82 that is in contact with the travel track 96 and the guide wheel 83. Specifically, the posture of vehicle 8 is determined based on the position of the guide wheel 83 in the width direction Y. If the distance between the guide wheel 83 and the contact wheel in the width direction Y is too close, vehicle 8 will tilt towards the side where the floating wheel is lower. Therefore, the position of the guide wheel 83 in the width direction Y is preferably set such that the distance between the guide wheel 83 and the contact wheel in the width direction Y is appropriate.

[0052] The adjustment of the position of the guide wheel 83 in the width direction Y is performed using the gasket 9. In detail, the vehicle body 80 is provided with a first gasket insertion portion 91 for inserting the gasket 9 to adjust the positional relationship of the first traveling wheel 81 and the guide wheel 83, and a second gasket insertion portion 92 for inserting the gasket 9 to adjust the positional relationship of the second traveling wheel 82 and the guide wheel 83. The first gasket insertion portion 91 is disposed on the side opposite to the first traveling wheel 81 in the width direction Y with the guide wheel 83 interposed therebetween. By inserting the gasket 9 of an appropriate number and thickness into the first gasket insertion portion 91, it is possible to adjust the position of the guide wheel 83 in the width direction Y, the position of the first traveling wheel 81 in the vertical direction in the state where the vehicle 8 is supported by the guide wheel 83, and further, the inclination of the vehicle 8 in this state. The second gasket insertion portion 92 is disposed on the side opposite to the second traveling wheel 82 in the width direction Y with the guide wheel 83 interposed therebetween. By inserting the gasket 9 of an appropriate number and thickness into the second gasket insertion portion 92, it is possible to adjust the position of the second traveling wheel 82 in the width direction Y, the position in the vertical direction in the state where the vehicle 8 is supported by the guide wheel 83, and further, the inclination of the vehicle 8 in this state. Note that the "inclination of the vehicle 8" in the present embodiment means the inclination of the vehicle 8 with respect to an imaginary plane including the upper surfaces 96F of the pair of traveling rails 96.

[0053] As described above, the vehicle 8 is provided with the switching mechanism 84 that switches the position of the guide wheel 83 in the width direction Y. In the present embodiment, the switching mechanism 84 is provided with a moving support body 84a that moves in the width direction Y and supports the guide wheel 83, a drive portion 84m (see FIG. 6) that drives the moving support body 84a, and a pair of restriction bodies 84b that restrict the movement of the moving support body 84a with respect to the moving support body 84a disposed on both sides in the width direction Y. Figure 2 For example, in the state where the guide wheel 83 is in contact with the side surface 95F of the guide rail 95 toward the first side Y1 in the width direction, the moving support body 84a is moved in the width direction Y to the side opposite to the first side Y1 in the width direction, and the guide wheel 83 is moved to the side opposite to the first side Y1 in the width direction. Figure 3In the state indicated in the diagram, the limiting body 84b disposed on the first side Y1 in the width direction of the pair of limiting bodies 84b abuts against the movable support body 84a supporting the guide wheel 83 from the first side Y1 in the width direction (outer side in the width direction Y). In this embodiment, the position of the limiting body 84b in the width direction Y can be adjusted, and the aforementioned pad insertion portion (first pad insertion portion 91 or second pad insertion portion 92) is provided on the outer side of the limiting body 84b in the width direction Y. In this example, the second pad insertion portion 92 is disposed adjacent to the outer side of the limiting body 84b in the width direction Y (first side Y1 in the width direction), and the aforementioned limiting body 84b is disposed on the first side Y1 in the width direction relative to the movable support body 84a (guide wheel 83). By inserting a suitable number and thickness of pads 9 into the second pad insertion portion 92, the position of the limiting body 84b in the width direction Y can be finely adjusted, thereby adjusting the position of the guide wheel 83 in the width direction Y and the position of the second traveling wheel 82 in the vertical direction, which is in the state of the first side Y1 in the width direction. Furthermore, the first pad insertion portion 91 is disposed adjacent to the outer side of the limiting body 84b in the width direction Y (the second side Y2 in the width direction), and the aforementioned limiting body 84b is disposed relative to the guide wheel 83 on the second side Y2 in the width direction. By inserting a suitable number and thickness of pads 9 into the first pad insertion portion 91, the position of the limiting body 84b in the width direction Y can be finely adjusted, thereby adjusting the position of the guide wheel 83 in the width direction Y and the position of the first traveling wheel 81 in the vertical direction, which is in the state of the second side Y2 in the width direction.

[0054] In this embodiment, the vehicle 8 is provided with a first fastening connection 910 for fastening a gasket 9 inserted into the first gasket insertion part 91 to the vehicle body 80, and a second fastening connection 920 for fastening a gasket 9 inserted into the second gasket insertion part 92 to the vehicle body 80. The first fastening connection 910 includes a plurality of bolt holes (not shown) and a plurality of bolts 91B inserted therein. Similarly, the second fastening connection 920 includes a plurality of bolt holes (not shown) and a plurality of bolts 92B inserted therein.

[0055] like Figure 4 As shown, the goods handling equipment F includes a maintenance device 100 for maintaining vehicle 8. In the illustrated example, the maintenance device 100 is installed on the floor of the equipment. In this example, the goods handling equipment F includes a lift 97 for raising and lowering vehicle 8. Vehicle 8 descends from near the ceiling to near the floor using the lift 97, thereby reaching the maintenance device 100 installed on the floor. Furthermore, after maintenance is completed, vehicle 8 rises from near the floor to near the ceiling using the lift 97, thereby reaching the travel path 99 for moving goods G from the maintenance device 100.

[0056] In this embodiment, the maintenance device 100 is configured as a wheel changing device for replacing the first traveling wheel 81 and the second traveling wheel 82 of the vehicle 8, and as a wheel position adjusting device for adjusting the positional relationship between the first traveling wheel 81, the second traveling wheel 82, and the guide wheel 83 of the vehicle 8. That is, in this embodiment, the maintenance device 100 is equivalent to both a "wheel changing device" and a "wheel position adjusting device".

[0057] like Figures 5-7 As shown, the maintenance device 100 includes a first support rail 10 and a second support rail 20 disposed apart from each other in the width direction Y, and a third support rail 30 disposed at a position different from the first support rail 10 and the second support rail 20 in the vertical direction. In this embodiment, the first support rail 10 is disposed relative to the second support rail 20 on a first side Y1 in the width direction. The second support rail 20 is disposed relative to the first support rail 10 on a second side Y2 in the width direction. The third support rail 30 is disposed between the first support rail 10 and the second support rail 20 in the width direction Y. The upper surface 10F of the first support rail 10 is configured such that the first traveling wheel 81 can contact it from above. The upper surface 20F of the second support rail 20 is configured such that the second traveling wheel 82 can contact it from above. The third support rail 30 has a side surface 31F facing the first side Y1 in the width direction and a side surface 32F facing the second side Y2 in the width direction. The side 31F of the third support rail 30 facing the first side Y1 in the width direction is configured such that the guide wheel 83 can contact the first side Y1 in the width direction. The side 32F of the third support rail 30 facing the second side Y2 in the width direction is configured such that the guide wheel 83 can contact the second side Y2 in the width direction.

[0058] The maintenance device 100 includes a first lifting mechanism L1 that raises and lowers the first support rail 10 to a first reference position Pu1 and a first lowering position Pd1 below the first reference position Pu1 (see reference). Figure 16 ), and the second lifting mechanism L2 that raises and lowers the second support rail 20 to the second reference position Pu2 and the second descending position Pd2 below the second reference position Pu2 (refer to Figure 16 The track support portion 1 integrally supports the first support rail 10, the second support rail 20, and the third support rail 30. The first support rail 10, the second support rail 20, and the third support rail 30 supported on the track support portion 1 extend in the same direction. More specifically, the first support rail 10, the second support rail 20, and the third support rail 30 are arranged parallel to each other.

[0059] The rail support portion 1 is configured to support the first support rail 10, the second support rail 20, and the third support rail 30 such that the positional relationship of the first support rail 10 in the first reference position Pu1, the second support rail 20 in the second reference position Pu2, and the third support rail 30 is the same as the positional relationship of the pair of travel rails 96 and the guide rail 95 (see Figure 3 ). The first support rail 10 is disposed at a position corresponding to one of the pair of travel rails 96 in a state in which the first support rail 10 is in the first reference position Pu1. The second support rail 20 is disposed at a position corresponding to the other of the pair of travel rails 96 in a state in which the second support rail 20 is in the second reference position Pu2. The third support rail 30 is disposed at a position corresponding to the guide rail 95. In the present embodiment, the first support rail 10 is disposed on an extension line of one of the pair of travel rails 96, and the second support rail 20 is disposed on an extension line of the other of the pair of travel rails 96 (see Figure 5 ). The directions in which the first support rail 10 and the second support rail 20 extend are the same as the extension direction X of the pair of travel rails 96. That is, the "extension direction X" in the present specification means the directions in which the first support rail 10 and the second support rail 20 extend, and means the direction in which the pair of travel rails 96 extends. In addition, in the present embodiment, the first support rail 10 and the second support rail 20 are disposed on extension lines of the pair of travel rails 96 in the travel path 99 connecting the elevator 97 and the maintenance device 100.

[0060] The maintenance device 100 is provided with a power supply portion 7 that supplies electric power to a travel drive portion M8 that is a drive power source of the first travel wheel 81 and the second travel wheel 82. The power supply portion 7 is a power feeding line 70 that non-contactly supplies electric power to the vehicle 8. This power feeding line 70 is the same as the above-described member that is disposed along the pair of travel rails 96 disposed outside the maintenance device 100. That is, in the present example, the power feeding line 70 is disposed along the pair of travel rails 96, and is also disposed in the first support rail 10 and the second support rail 20. However, the power feeding line 70 can not be disposed in both the first support rail 10 and the second support rail 20, and can be disposed in only one of the first support rail 10 and the second support rail 20.

[0061] In the present embodiment, the maintenance device 100 is provided with a holding arm 5 that attaches and detaches the first travel wheel 81 and the second travel wheel 82 with respect to the vehicle body 80, and performs insertion of the pad 9 into the first pad insertion portion 91 and insertion of the pad 9 into the second pad insertion portion 92. In the present embodiment, the holding arm 5 corresponds to a "wheel attaching and detaching robot" and a "pad insertion robot". That is, in the present embodiment, the wheel attaching and detaching robot doubles as the pad insertion robot, and the pad insertion robot doubles as the wheel attaching and detaching robot.

[0062] In the present embodiment, the holding arm 5 is provided with a first side unit 51 disposed on the outer side (width direction first side Y1) of the first support rail 10 in the width direction Y, and a second side unit 52 disposed on the outer side (width direction second side Y2) of the second support rail 20 in the width direction Y. In the present example, the first side unit 51 is configured to attach and detach the first traveling wheel 81 with respect to the vehicle body 80, and to insert the cushion 9 into the second cushion insertion portion 92. Further, the second side unit 52 is configured to attach and detach the second traveling wheel 82 with respect to the vehicle body 80, and to insert the cushion 9 into the first cushion insertion portion 91. In the illustrated example, the first side unit 51 and the second side unit 52 are also disposed at different positions in the extension direction X. In the present example, the first side unit 51 and the second side unit 52 are disposed in a diagonal positional relationship when viewed from above. However, the configuration of the first side unit 51 and the second side unit 52 can be appropriately set.

[0063] In the present embodiment, the first side unit 51 corresponds to the "first attachment and detachment unit" and the "second cushion insertion unit". Further, the second side unit 52 corresponds to the "second attachment and detachment unit" and the "first cushion insertion unit". That is, the holding arm 5 as the wheel attachment and detachment robot is provided with the first attachment and detachment unit (first side unit 51) disposed on the outer side (width direction first side Y1) of the first support rail 10 in the width direction Y and performing attachment and detachment of the first traveling wheel 81, and the second attachment and detachment unit (second side unit 52) disposed on the outer side (width direction second side Y2) of the second support rail 20 in the width direction Y and performing attachment and detachment of the second traveling wheel 82. Further, the holding arm 5 as the cushion insertion robot is provided with the second insertion unit (first side unit 51) disposed on the outer side (width direction first side Y1) of the first support rail 10 in the width direction Y and inserting the cushion 9 into the second cushion insertion portion 92, and the first insertion unit (second side unit 52) disposed on the outer side (width direction second side Y2) of the second support rail 20 in the width direction Y and inserting the cushion 9 into the first cushion insertion portion 91.

[0064] The maintenance device 100 is provided with the fastening and joining robot 6 that performs fastening and joining and fastening and joining release of each of the first fastening and joining portion 910 and the second fastening and joining portion 920. In the present embodiment, the fastening and joining robot 6 is configured of an arm. Further, the fastening and joining robot 6 is provided with the second fastening and joining unit 62 that is disposed on the outer side (width direction first side Y1) of the first support rail 10 in the width direction Y and performs fastening and joining and fastening and joining release of the second fastening and joining portion 920, and the first fastening and joining unit 61 that is disposed on the outer side (width direction second side Y2) of the second support rail 20 in the width direction Y and performs fastening and joining and fastening and joining release of the first fastening and joining portion 910. In the illustrated example, the first fastening and joining unit 61 and the second fastening and joining unit 62 are also disposed at different positions in the extension direction X. In the present example, the first fastening and joining unit 61 and the second fastening and joining unit 62 are disposed in a position relationship that becomes diagonal when viewed from above. However, the disposition of the first fastening and joining unit 61 and the second fastening and joining unit 62 can be appropriately set.

[0065] In the present embodiment, the maintenance device 100 is provided with the surrounding wall W that surrounds the first support rail 10, the second support rail 20, the third support rail 30, the first lifting mechanism L1, the second lifting mechanism L2, the holding arm 5, and the fastening and joining robot 6. That is, the surrounding wall W is configured to surround the rail support portion 1, the first lifting mechanism L1, the second lifting mechanism L2, the wheel mounting and demounting robot, the pad insertion robot, and the fastening and joining robot 6. Figure 5 In the present embodiment, the inside of the surrounding wall W is indicated from above, but the surrounding wall W also surrounds the above-described various devices, various mechanisms, and the like from above. The work for the wheel replacement and the position adjustment of the wheels of the vehicle 8 is performed inside the surrounding wall W.

[0066] Further, in the present embodiment, the maintenance device 100 is provided with the opening portion Wh that communicates the inside and the outside of the surrounding wall W, and the automatic door Wd that automatically opens and closes the opening portion Wh. Further, the travel path 99 of the vehicle 8 that is configured of the pair of travel rails 96, the first support rail 10, and the second support rail 20 is provided so as to pass through the opening portion Wh. The automatic door Wd is configured so that the opening portion Wh is automatically opened when the vehicle 8 passes through the opening portion Wh, and the opening portion Wh is automatically closed after the vehicle 8 passes through the opening portion Wh. With such a configuration, when the vehicle 8 passes through the opening portion Wh, the opening portion Wh can be opened, and the vehicle 8 can be guided from the outside to the inside of the surrounding wall W or from the inside to the outside. Further, in other cases, the opening portion Wh can be in a state of being closed, so the inside of the surrounding wall W can be sealed, and the coming and going of dust and the like between the inside and the outside of the surrounding wall W can be suppressed.

[0067] As Figure 5As shown, in the present embodiment, the maintenance device 100 is provided with a wheel placement Sw and a pad placement Ss. A plurality of wheels used at the time of wheel replacement are arranged in the wheel placement Sw. The holding arm 5, after removing the first traveling wheel 81 or the second traveling wheel 82 from the vehicle 8, takes out a new wheel from the wheel placement Sw and mounts it to the vehicle 8. A plurality of pads 9 for insertion into the first pad insertion portion 91 and the second pad insertion portion 92 are arranged in the pad placement Ss. In the present example, a reference pad 9S, which is formed to a reference thickness set in advance, is also arranged in the pad placement Ss, as described later. The holding arm 5, after extracting the pad 9 from the first pad insertion portion 91 or the second pad insertion portion 92 in the vehicle 8, takes out a new pad 9 from the pad placement Ss and inserts it into the first pad insertion portion 91 or the second pad insertion portion 92. The wheel placement Sw and the pad placement Ss are provided inside the surrounding wall W.

[0068] As described above, the first support rail 10, the second support rail 20, and the third support rail 30 are integrally supported by the rail support portion 1. As shown in FIG. 1, the rail support portion 1 is provided with a first support base 11 and a second support base 12 arranged to be separated from each other in the width direction Y. Figure 6 and Figure 7 As shown, in the present embodiment, the rail support portion 1 is provided with a first support base 11 and a second support base 12 arranged to be separated from each other in the width direction Y.

[0069] The first support base 11 is arranged on the first side Y1 in the width direction with respect to the second support base 12. Further, the first support base 11 supports the first support rail 10 so as to be freely raised and lowered on the inner side (second side Y2 in the width direction) in the width direction Y. As described above, the first support rail 10 is configured to be raised and lowered by means of a first lifting mechanism L1. The first lifting mechanism L1 can be configured, for example, by means of an air pressure cylinder that operates by means of air pressure, or by means of a ball screw mechanism, a cam mechanism, or the like that converts the rotation of a motor into linear motion.

[0070] The second support base 12 is arranged on the second side Y2 in the width direction with respect to the first support base 11. Further, the second support base 12 supports the second support rail 20 so as to be freely raised and lowered on the inner side (first side Y1 in the width direction) in the width direction Y. As described above, the second support rail 20 is configured to be raised and lowered by means of a second lifting mechanism L2. The second lifting mechanism L2 can be configured, for example, by means of an air pressure cylinder that operates by means of air pressure, or by means of a ball screw mechanism, a cam mechanism, or the like that converts the rotation of a motor into linear motion.

[0071] The first support rail 10 and the second support rail 20 are configured to be independently raised and lowered. The first support rail 10 in the first reference position Pu1 and the second support rail 20 in the second reference position Pu2 are disposed at the same height. However, the first support rail 10 in the first lowered position Pd1 and the second support rail 20 in the second lowered position Pd2 can be disposed at the same height or at different heights. That is, the amount of raising and lowering of the first support rail 10 can be the same as or different from the amount of raising and lowering of the second support rail 20.

[0072] The rail support portion 1 includes a frame 13 that links the first support platform 11 and the second support platform 12. The frame 13 supports the third support rail 30 at a position that is between the first support rail 10 and the second support rail 20 in the width direction Y, more specifically, at a position on the width direction Y that is intermediate and at a position that is different from the first support rail 10 and the second support rail 20 in the vertical direction. In the present embodiment, the frame 13 supports the third support rail 30 at a position that is intermediate on the width direction Y and at a position that is higher than the first support rail 10 and the second support rail 20. That is, in the present example, the third support rail 30 is disposed above the first support rail 10 and the second support rail 20.

[0073] The maintenance device 100 includes a moving mechanism M that relatively moves the rail support portion 1 with respect to the holding arm 5 in the extension direction X. The moving mechanism M moves the first support rail 10, the second support rail 20, and the third support rail 30 in the extension direction X by moving the rail support portion 1 in the extension direction X. Thus, the moving mechanism M can move the vehicle 8 that is supported by at least two of the first support rail 10, the second support rail 20, and the third support rail 30 in the extension direction X independently of the rolling of the first traveling wheel 81 and the second traveling wheel 82.

[0074] In the present embodiment, the moving mechanism M includes linear motion rails MR that guide the first support platform 11 and the second support platform 12 in the extension direction X, respectively, and a linear motion drive portion MM that integrally moves the first support platform 11 and the second support platform 12 along the linear motion rails MR. The linear motion drive portion MM is configured, for example, with a ball screw mechanism that converts the rotation of a motor into linear motion, a linear guide, or the like.

[0075] In the present embodiment, the maintenance device 100 includes a restriction portion 4 that restricts the rolling of the first traveling wheel 81 on the first support rail 10 and the rolling of the second traveling wheel 82 on the second support rail 20. The restriction portion 4 is posture-changeable to a restriction posture Ar that restricts the rolling of the first traveling wheel 81 and the second traveling wheel 82 and an allowance posture Aa that allows the rolling of the first traveling wheel 81 and the second traveling wheel 82.

[0076] For example Figure 15 indicates a state in which the restriction portion 4 becomes a restriction attitude Ar that restricts the rolling of the first traveling wheel 81. Although detailed illustrations are omitted, the restriction portion 4 is arranged adjacent to the first traveling wheel 81 and the second traveling wheel 82 in the extension direction X in the restriction attitude Ar, and restricts the rolling of the first traveling wheel 81 and the second traveling wheel 82. Figure 15 indicates the same example as that described in the first embodiment, the rolling of the second traveling wheel 82 is restricted by becoming the restriction attitude Ar. In the present embodiment, the restriction portion 4 is arranged at a position where the first traveling wheel 81 and the second traveling wheel 82 do not overlap when viewed in the extension direction X in the restriction attitude Ar, and restricts the rolling of the first traveling wheel 81 and the second traveling wheel 82. Further, as shown in Figure 6 , the restriction portion 4 is arranged at a position where the first traveling wheel 81 and the second traveling wheel 82 do not overlap when viewed in the extension direction X in the permission attitude Aa, and permits the rolling of the first traveling wheel 81 and the second traveling wheel 82. In the present example, the restriction portion 4 is arranged at both the first support platform 11 and the second support platform 12, and is configured to be retracted in the width direction Y by the restriction drive portion M4 (also refer to Figure 16 ). Thus, the restriction portion 4 can change attitude to the restriction attitude Ar that restricts the rolling of both the first traveling wheel 81 and the second traveling wheel 82, and the permission attitude Aa that permits the rolling of both the first traveling wheel 81 and the second traveling wheel 82.

[0077] As described above, the vehicle 8 is provided with the switching mechanism 84 that switches the position of the guide wheel 83 in the width direction Y. As shown in Figure 6 , the switching mechanism 84 is configured to be able to switch the position of the guide wheel 83 in the width direction Y to the first guide position Pg1 in which the guide wheel 83 abuts against the side surface 32F of the third support rail 30 toward the second side Y2 in the width direction, and the second guide position Pg2 in which the guide wheel 83 abuts against the side surface 31F of the third support rail 30 toward the first side Y1 in the width direction.

[0078] As shown in Figure 7 , in the present embodiment, a cutout portion 33 through which the guide wheel 83 can pass in the width direction Y is formed in a region of a portion in the extension direction X in the third support rail 30. Thus, by the cutout portion 33, the guide wheel 83 can be moved with respect to the third support rail 30 between the first side Y1 in the width direction and the second side Y2 in the width direction, and the switching of the position of the guide wheel 83 with respect to the third support rail 30 in the width direction Y can be appropriately performed.

[0079] Here, as shown in Figure 8As shown, an imaginary line extending along the extension direction X of the first support rail 10 and the second support rail 20 in the width direction Y is designated as the reference axis Ax, and the direction in which the vehicle 8 rotates about the reference axis Ax is designated as the swing direction R. Furthermore, the side of the vehicle 8 that swings when the first traveling wheel 81 descends relative to the second traveling wheel 82 is designated as the first swing direction side R1, and the side of the vehicle 8 that swings when the second traveling wheel 82 descends relative to the first traveling wheel 81 is designated as the second swing direction side R2. As described above, in this embodiment, the third support rail 30 is positioned above the first support rail 10 and the second support rail 20. Therefore, in this embodiment, relative to the third support rail 30, the first width direction side Y1 corresponds to the first swing direction side R1, and the second width direction side Y2 corresponds to the second swing direction side R2. That is, the third support rail 30 has a side 32F facing the second side R2 (second side Y2 in the width direction) and a side 31F facing the first side R1 (first side Y1 in the width direction) in the swing direction. The aforementioned guide wheel 83, in the state of the first guide position Pg1, abuts against the side 32F of the third support rail 30 facing the second side R2 in the swing direction (see reference). Figure 9 and Figure 10 In the state of being in the second guide position Pg2, it abuts against the side 31F of the third support rail 30 facing the first side R1 in the swing direction (see reference). Figure 8 ).

[0080] like Figure 8 As shown, when the first support rail 10 is at the first reference position Pu1 and the second support rail 20 is at the second reference position Pu2, the vehicle 8 is in a two-wheel mounting state, with the first traveling wheel 81 mounted on the first support rail 10 and the second traveling wheel 82 mounted on the second support rail 20. In this two-wheel mounting state, the vehicle 8 is supported by the first support rail 10 and the second support rail 20.

[0081] like Figure 9 As shown, when the first support rail 10 is in the first lowering position Pd1 and the second support rail 20 is in the second reference position Pu2, the vehicle 8 is in a first wheel departure state, where the first traveling wheel 81 leaves the first support rail 10 and the second traveling wheel 82 is placed on the second support rail 20, and the guide wheel 83 abuts against the side 32F of the third support rail 30 facing the second side R2 in the swing direction. In the first wheel departure state, the vehicle 8 is supported by the second support rail 20 and the third support rail 30.

[0082] In this embodiment, the maintenance device 100 includes a first detection unit Se1 for detecting the position of the first traveling wheel 81. For example... Figure 9As shown, the first detection section Se1 is configured to be able to perform a first detection operation of detecting the position of the first traveling wheel 81 of the vehicle 8 in the first wheel departure state. The first detection section Se1 is configured to detect the distance of the first traveling wheel 81 of the vehicle 8 from the first support rail 10 in the first wheel departure state. Thus, the first detection section Se1 detects the inclination of the vehicle 8 with respect to an imaginary plane including the upper surface 10F of the first support rail 10 in the state of the first reference position Pu1 and the upper surface 20F of the second support rail 20 in the state of the second reference position Pu2. In the present embodiment, the first detection section Se1 is configured by a contact type sensor that protrudes upward from the first support rail 10 to contact the first traveling wheel 81. The first detection section Se1 detects the distance of the first traveling wheel 81 from the first support rail 10 based on the amount of protrusion when contacting the first traveling wheel 81. A hole portion or a notch portion through which the first detection section Se1 can pass in the up-down direction can be formed in the first support rail 10. In addition, the first detection section Se1 can be configured to detect the amount of change of the portion of the vehicle 8 that changes in correspondence with the distance, instead of detecting the distance of the first traveling wheel 81 of the vehicle 8 from the first support rail 10 in the first wheel departure state, without being limited to the structure described above.

[0083] As shown, the vehicle 8 in the state where the first support rail 10 is in the first reference position Pu1 and the second support rail 20 is in the second lowered position Pd2 becomes the second wheel departure state in which the first traveling wheel 81 is placed on the first support rail 10 and the second traveling wheel 82 is departed from the second support rail 20, and the guide wheel 83 abuts against the side surface 31F of the third support rail 30 toward the first side R1 of the swinging direction. Figure 10

[0084] In the present embodiment, the maintenance device 100 is provided with a second detection section Se2 that detects the position of the second traveling wheel 82. As shown, the second detection section Se2 is configured to be able to perform a second detection operation of detecting the position of the second traveling wheel 82 of the vehicle 8 in the second wheel departure state. The second detection section Se2 is configured to detect the distance of the second traveling wheel 82 of the vehicle 8 from the second support rail 20 in the second wheel departure state. Thus, the second detection section Se2 detects the inclination of the vehicle 8 with respect to an imaginary plane including the upper surface 20F of the second support rail 20 in the state of the second reference position Pu2. In the present embodiment, the second detection section Se2 is configured by a contact type sensor that protrudes upward from the second support rail 20 to contact the second traveling wheel 82. The second detection section Se2 detects the distance of the second traveling wheel 82 from the second support rail 20 based on the amount of protrusion when contacting the second traveling wheel 82. A hole portion or a notch portion through which the second detection section Se2 can pass in the up-down direction can be formed in the second support rail 20. In addition, the second detection section Se2 can be configured to detect the amount of change of the portion of the vehicle 8 that changes in correspondence with the distance, instead of detecting the distance of the second traveling wheel 82 of the vehicle 8 from the second support rail 20 in the second wheel departure state, without being limited to the structure described above. Figure 10 ​As shown, the second detection unit Se2 is configured to perform a second detection operation to detect the position of the second traveling wheel 82 of the vehicle 8 when the second wheel is off. The second detection unit Se2 is configured to detect the distance between the second traveling wheel 82 of the vehicle 8 and the second support rail 20 when the second wheel is off. Thus, the second detection unit Se2 detects the tilt of the vehicle 8 relative to an imaginary surface including the upper surface 10F of the first support rail 10 in the state of the first reference position Pu1 and the upper surface 20F of the second support rail 20 in the state of the second reference position Pu2. In this embodiment, the second detection unit Se2 is configured as a contact sensor that protrudes upward from the second support rail 20 and contacts the second traveling wheel 82. The second detection unit Se2 detects the distance between the second traveling wheel 82 and the second support rail 20 based on the amount of protrusion when in contact with the second traveling wheel 82. A hole or cutout can be formed in the second support rail 20 through which the second detection unit Se2 can pass in the vertical direction. In addition, not limited to the structure described above, the second detection unit Se2 may also be configured to detect the amount of change in a portion of the vehicle 8 that changes in relation to the distance between the second traveling wheel 82 of the vehicle 8 in the state where the second wheel is off.

[0085] like Figure 11 As shown, in this embodiment, the retaining arm 5 is configured to allow for the replacement of multiple hands. The retaining arm 5 performs functions corresponding to different uses by allowing for the replacement of multiple hands. The maintenance device 100 includes a hand rest Sh (also see...) where multiple hands are mounted on the retaining arm 5. Figure 5 ).

[0086] In this embodiment, the retaining arm 5 is configured to automatically switch between different types of hands when retaining the wheel and when retaining the pad 9. In this example, the retaining arm 5 is configured to allow the hand to be replaced with a wheel hand Hw for retaining the wheel and a pad hand Hs for retaining the pad 9 (and the reference pad 9S). Furthermore, the wheel hand Hw and the pad hand Hs are positioned at the hand rest Sh.

[0087] like Figure 12 As shown, when the holding arm 5 holds the first traveling wheel 81, the second traveling wheel 82, or a wheel positioned at the wheel placement location Sw, the wheel hand Hw is automatically installed to hold these wheels. Thus, the wheel hand Hw is used by the holding arm 5 to hold the first traveling wheel 81, the second traveling wheel 82, or a wheel positioned at the wheel placement location Sw. Furthermore, Figure 12 The example shown is that the retaining arm 5 holds the first traveling wheel 81 or the second traveling wheel 82.

[0088] like Figure 13As shown, the retaining arm 5, while retaining the pad 9 or reference pad 9S inserted into the first pad insertion part 91, the pad 9 or reference pad 9S inserted into the second pad insertion part 92, and the pad 9 or reference pad 9S positioned at the pad placement part Ss, autonomously installs the pad handle Hs to hold them. Thus, the pad handle Hs is used by the retaining arm 5 to hold the pad 9 or reference pad 9S. Furthermore, Figure 13 The example shown is where arm 5 holds the pad 9.

[0089] like Figure 14 As shown, in this embodiment, the fastening robot 6 is configured to be able to replace various fastening handles Hc. The fastening robot 6 is configured to be able to fasten and unfasten fastening parts of different shapes and sizes by replacing various fastening handles Hc. The maintenance device 100 includes a fastening handle placement area Sc (also refer to) where various fastening handles Hc installed on the fastening robot 6 are disposed. Figure 5 ).

[0090] In this embodiment, the device is configured to automatically replace different types of fastening handles Hc when fastening and de-fastening the gasket 9 to the first fastening connection portion 910 or the second fastening connection portion 920 for fastening and fixing the gasket 9 to the vehicle body 80, and when fastening and de-fastening the fixing portion 810 for fixing the first travel wheel 81 relative to the vehicle body 80 and the fixing portion 820 for fixing the second travel wheel 82 relative to the vehicle 80. In this example, the fastening handles Hc include at least two types of tightening machines, such as those corresponding to the shape of the bolts 91B of the first fastening connection portion 910 and the bolts 92B of the second fastening connection portion 920, and those corresponding to the shape of the bolts 81B and 82B of the fixing portions 810 and 820. Furthermore, multiple types of fastening handles Hc and at least two types of tightening machines in this example are disposed at the fastening handle placement area Sc.

[0091] Figure 15 The fixing portions 810 and 820 represent the first traveling wheel 81 and the second traveling wheel 82. In this embodiment, the fixing portions 810 and 820 include a plurality of bolt holes (not shown) arranged circumferentially with respect to the rotation axis of each of the first traveling wheel 81 and the second traveling wheel 82, and bolts 81B and 82B inserted therein. When the fastening and unfastening of the fixing portions 810 and 820 are performed, the fastening and unfastening robot 6 autonomously installs the fastening and unfastening hand Hc corresponding to the fixing portions 810 and 820, and performs fastening or unfastening of the plurality of bolts 81B and 82B respectively.

[0092] Furthermore, while detailed illustrations are omitted, the fastening robot 6, when fastening and de-fastening the first fastening connection 910, autonomously installs the fastening hand Hc corresponding to the bolts 91B of the first fastening connection 910, and performs individual fastening or de-fastening of the multiple bolts 91B disposed on the vehicle body 80. The same applies to fastening and de-fastening the second fastening connection 920.

[0093] Here, as Figure 5 As shown, in this embodiment, the maintenance device 100 includes a fixing part 810, 820 for photographing the first traveling wheel 81 and the second traveling wheel 82 fixed to the vehicle body 80 at different positions relative to the holding arm 5 in the extending direction X. In this example, the photographing part C includes a first camera C1 positioned on the outer side (first side Y1 in the width direction) of the first support rail 10 to photograph the fixing part 810 of the first traveling wheel 81, and a second camera C2 positioned on the outer side (second side Y2 in the width direction) of the second support rail 20 to photograph the fixing part 820 of the second traveling wheel 82. In the illustrated example, the first camera C1 is positioned on the outer side of the first support rail 10 in the width direction Y between the first side unit 51 and the second fastening connection unit 62 in the extending direction X. The second camera C2 is positioned outside the second support rail 20 in the width direction Y, between the second side unit 52 and the first fastening connection unit 61 in the extension direction X.

[0094] In this embodiment, the state of the fixing portions 810 and 820 of the first traveling wheel 81 and the second traveling wheel 82 changes due to the rolling of their respective wheels. Specifically, as described above, in this example, the fixing portions 810 and 820 include a plurality of bolt holes (not shown) arranged circumferentially and bolts 81B and 82B inserted into them. Therefore, as the first traveling wheel 81 and the second traveling wheel 82 roll, the circumferential positions of the bolt holes and bolts 81B and 82B change.

[0095] In this embodiment, while the rolling of the first traveling wheel 81 is restricted by the limiting part 4, the fixing part 810 of the first traveling wheel 81 is photographed by the imaging part C. Then, the track support part 1 is moved along the extending direction X, thereby moving the fixing part 810 of the first traveling wheel 81 to the working position of the fastening and connecting robot 6. During the movement of the track support part 1, the first traveling wheel 81 does not roll, so the circumferential position of the fixing part 810 of the first traveling wheel 81, i.e., the plurality of bolt holes and bolts 81B, remains in the state when photographed by the imaging part C. The fastening and connecting robot 6 can grasp the circumferential position of the plurality of bolt holes and bolts 81B based on the image captured by the imaging part C. Therefore, fastening and unfastening based on the fixing part 810 of the fastening and connecting robot 6 can be performed appropriately. The fastening and unfastening of the fixing part 820 of the second traveling wheel 82 are also performed in the same way as described above, by restricting the rolling of the second traveling wheel 82 based on the limiting part 4, taking pictures based on the fixing part 820 of the shooting part C, and moving the second traveling wheel 82 based on the track support part 1.

[0096] Next, the control structure of the material handling equipment F and the maintenance device 100 will be explained.

[0097] like Figure 16 As shown, vehicle 8 includes a vehicle control device 8C that controls various parts of vehicle 8. In this embodiment, vehicle control device 8C controls the driving unit M8, the switching mechanism 84, and the transfer unit 86. Maintenance device 100 includes a maintenance control device 100C that controls various parts of maintenance device 100. Maintenance control device 100C controls the first lifting mechanism L1, the second lifting mechanism L2, the holding arm 5, and the fastening connection robot. In this embodiment, in addition to the above-mentioned components, maintenance control device 100C also controls the limiting drive unit M4, the moving mechanism M, the automatic door Wd, the first detection unit Se1, and the second detection unit Se2. In this embodiment, maintenance control device 100C is equivalent to a "control unit".

[0098] The vehicle control unit 8C and the maintenance control unit 100C are configured to communicate with each other. Both the vehicle control unit 8C and the maintenance control unit 100C include, for example, a processor such as a microcomputer, peripheral circuits such as memory, etc. Furthermore, each function is achieved through the coordinated operation of this hardware and the program executed on the processor such as the computer.

[0099] Maintenance control device 100C is in the state where the first wheel of vehicle 8 is off (refer to...) Figure 9 Under the condition that the retaining arm 5 is used to load and unload the first traveling wheel 81, and the second wheel of the vehicle 8 is in the state of being disengaged (refer to...). Figure 10The retaining arm 5 is used to load and unload the second traveling wheel 82. As a result, the maintenance device 100, which is a wheel changing device, automatically performs wheel changing of the first traveling wheel 81 and the second traveling wheel 82.

[0100] Furthermore, the maintenance control device 100C causes the first detection unit Se1 to perform a first detection action to detect the position of the first traveling wheel 81 of the vehicle 8 when the first wheel is off, and causes the second detection unit Se2 to perform a second detection action to detect the position of the second traveling wheel 82 of the vehicle 8 when the second wheel is off. Additionally, the maintenance control device 100C causes the holding arm 5 to perform a first pad insertion action when the first fastening connection 910 is released by the fastening connection robot 6, inserting pads 9 of the number and thickness corresponding to the detection result of the first detection action into the first pad insertion part 91; and to perform a second pad insertion action when the second fastening connection 920 is released by the fastening connection robot 6, inserting pads 9 of the number and thickness corresponding to the detection result of the second detection action into the second pad insertion part 92. Thus, the maintenance device 100, which is a wheel position adjustment device, automatically adjusts the positional relationship between the guide wheel 83 and the first traveling wheel 81 and the second traveling wheel 82 by adjusting the position of the guide wheel 83 based on the liner 9 in the width direction Y, adjusting the position of the first traveling wheel 81 in the vertical direction and the position of the second traveling wheel 82 in the vertical direction.

[0101] Next, the various procedures performed by the maintenance device 100 will be explained.

[0102] like Figure 17 As shown, when the vehicle 8, which is to be maintained, moves to the maintenance device 100, the automatic door Wd opens (#1). The vehicle 8 enters the interior of the enclosure wall W through the opening Wh (#2) and stops on the first support rail 10 and the second support rail 20. After the vehicle 8 enters, the automatic door Wd closes (#3). The limiting part 4 is in a limiting position Ar, limiting the rolling of the first traveling wheel 81 on the first support rail 10 and the rolling of the second traveling wheel 82 on the second support rail 20 (#4). Afterwards, the maintenance device 100 performs wheel replacement (#5) and wheel position adjustment (#6) for the vehicle 8.

[0103] Figure 18 express Figure 17The wheel replacement process in step #5 is shown in the diagram. In this embodiment, the maintenance device 100 replaces all the first traveling wheels 81 (#51) that are to be replaced, and then replaces all the second traveling wheels 82 (#52) that are to be replaced. Thus, when replacing all the first traveling wheels 81 and second traveling wheels 82 provided on the vehicle body 80, the number of times the position of the guide wheel 83 is switched can be reduced by means of the switching mechanism 84.

[0104] The following is mainly based on Figure 19 The procedures for replacing the first traveling wheel 81 in step #51 will be explained. The procedures for replacing the second traveling wheel 82 are the same as or correspond to those for replacing the first traveling wheel 81, so detailed explanations are omitted.

[0105] When replacing the first traveling wheel 81, firstly, the guide wheel 83 is positioned in the first guide position Pg1 (#51-1) using the switching mechanism 84. This positions the guide wheel 83 relative to the third support rail 30 on the second side Y2 in the width direction. Figure 20 As shown, the guide wheel 83 of the first guide position Pg1 is positioned on the opposite side of the first traveling wheel 81 in the width direction Y, separated by the third support rail 30.

[0106] Then, with the rolling of the first traveling wheel 81 restricted by the limiting part 4, the track support part 1 is moved (#51-2) in the extending direction X by means of the moving mechanism M. Specifically, as... Figure 21 As shown, the track support 1 is moved along the extending direction X to a position where the first traveling wheel 81 faces the first camera C1. Then, the first camera C1 captures an image of the fixing part 810 (#51-3) of the first traveling wheel 81. Afterwards, with the rolling of the first traveling wheel 81 restricted by the limiting part 4, the track support 1 is moved along the extending direction X (#51-4) by the moving mechanism M. In detail, as... Figure 22 As shown, the track support 1 is moved along the extending direction X to a position where the first traveling wheel 81 faces the first side unit 51. The first traveling wheel 81 is held in place by the first side unit 51, and the second traveling wheel 82 (#51-5) positioned opposite the first traveling wheel 81 in the width direction Y is held in place by the second side unit 52. Here, in this example, the first traveling wheel 81 and the second traveling wheel 82, arranged along the width direction Y, are configured to rotate as a single unit. As described above, by holding the second traveling wheel 82, positioned opposite the first traveling wheel 81 in the width direction Y, which is the object of the work, rotation of the first traveling wheel 81 can be suppressed during work, making the work easier.

[0107] Next, in a state where the first traveling wheel 81 and the second traveling wheel 82 are held, the fastening and coupling of the fixing portion 810 of the first traveling wheel 81 is released by the second fastening and coupling unit 62 (#51-6). As shown in Figure 22 the first traveling wheel 81 is held by the first side unit 51 and the second traveling wheel 82 is held by the second side unit 52, the fastening and coupling of the fixing portion 810 of the first traveling wheel 81 is released by the second fastening and coupling unit 62.

[0108] Next, the first support rail 10 is lowered by the first lifting mechanism LI (#51-7). In detail, as shown in Figure 23 the first support rail 10 is lowered to be disposed at the first lowered position Pdl. Thus, the vehicle 8 becomes the first wheel departure state.

[0109] Next, the first traveling wheel 81 is detached from the vehicle body 80 (#51-8), and then a new first traveling wheel 81 is attached to the vehicle body 80 (#51-9). That is, the replacement of the first traveling wheel 81 is performed in the first wheel departure state of the vehicle 8. In detail, as shown in Figure 24 the first traveling wheel 81 is detached from the vehicle body 80 by the first side unit 51, and then the new first traveling wheel 81 at the wheel placement place Sw is attached to the vehicle body 80 by the first side unit 51. In the present example, the replacement of the first traveling wheel 81 is performed in a state where the second traveling wheel 82 disposed on the opposite side in the width direction Y with respect to the first traveling wheel 81 as a replacement target is held by the second side unit 52.

[0110] After the new first traveling wheel 81 is attached to the vehicle body 80, the rail support portion 1 is moved in the extension direction X by the moving mechanism M (#51-10). In detail, as shown in Figure 21 the rail support portion 1 is moved in the extension direction X to a position where the first traveling wheel 81 faces the first camera CI. Also, the fixing portion 810 of the new first traveling wheel 81 attached through step #51-9 is imaged by the first camera CI (#51-11). Then, in a state where the rolling of the first traveling wheel 81 is restricted by the restriction portion 4, the rail support portion 1 is moved in the extension direction X by the moving mechanism M (#51-12). In detail, as shown in Figure 22 the rail support portion 1 is moved in the extension direction X to a position where the first traveling wheel 81 faces the first side unit 51. Also, the new first traveling wheel 81 is held by the first side unit 51, and the second traveling wheel 82 disposed on the opposite side in the width direction Y with respect to the first traveling wheel 81 is held by the second side unit 52 (#51-13).

[0111] After the new first traveling wheel 81 and the second traveling wheel 82 are held, the fastening and coupling of the fixing portion 810 of the first traveling wheel 81 is performed by the second fastening and coupling unit 62 (#51-14). As shown in the figure, in this example, in a state where the new first traveling wheel 81 is held by the first side unit 51 and the second traveling wheel 82 is held by the second side unit 52, the fastening and coupling of the fixing portion 810 of the first traveling wheel 81 is performed by the second fastening and coupling unit 62. Figure 22

[0112] After the fastening and coupling of the fixing portion 810 of the first traveling wheel 81 is performed, the first supporting rail 10 is raised by the first lifting mechanism L1 (#51-15). In detail, as shown in the figure, the first supporting rail 10 is arranged at the first reference position Pu1 by being raised. Thus, the vehicle 8 is brought to the two-wheel standing state. Figure 20

[0113] As described above, the maintenance device 100 performs the replacement of the first traveling wheel 81. In the case where the maintenance device 100 performs the replacement of the second traveling wheel 82, the procedure of bringing the vehicle 8 to the second-wheel departure state is performed, the second traveling wheel 82 is detached from the vehicle body 80 by the second side unit 52, and the new second traveling wheel 82 is installed to the vehicle body 80. In the case where the replacement of the second traveling wheel 82 is performed, the guide wheel 83 is moved from the first guide position Pg1 to the second guide position Pg2 by the switching mechanism 84. In this embodiment, the vehicle 8 is moved in the extension direction X in such a manner that the guide wheel 83 is arranged at a position corresponding to the cutout portion 33 of the third supporting rail 30, and the guide wheel 83 is moved with respect to the third supporting rail 30 from the width direction second side Y2 to the width direction first side Y1 at the position. After that, the vehicle 8 is moved again in the extension direction X so that the guide wheel 83 is arranged at a position where the cutout portion 33 of the third supporting rail 30 does not exist. Thus, the vehicle 8 can be brought to the second-wheel departure state.

[0114] Figure 25 The procedure of the wheel position adjustment in Step #6 shown in Figure 17 In this embodiment, the maintenance device 100 performs the position adjustment of the first traveling wheel 81 (#61), and then performs the position adjustment of the second traveling wheel 82 (#62).

[0115] ​​When adjusting the position of the first traveling wheel 81, the maintenance control device 100C causes the second side unit 52 (pad insertion robot) to perform the following actions: first pad removal (removing the pad 9 from the first pad insertion part 91), first pad insertion (inserting the pad 9 into the first pad insertion part 91), first reference pad insertion (inserting a reference pad 9S formed with a preset reference thickness into the first pad insertion part 91), and first reference pad removal (removing the reference pad 9S from the first pad insertion part 91). Furthermore, when adjusting the position of the first traveling wheel 81, the maintenance control device 100C causes the first detection unit Se1 to perform a first detection action to detect the position of the first traveling wheel 81 when the vehicle 8 is in a state where the first wheel is off.

[0116] Furthermore, when adjusting the position of the second traveling wheel 82, the maintenance control device 100C causes the first side unit 51 (pad insertion robot) to perform a second pad removal operation (removing the pad 9 from the second pad insertion part 92), a second pad insertion operation (inserting the pad 9 into the second pad insertion part 92), a second reference pad insertion operation (inserting the reference pad 9S into the second pad insertion part 92), and a second reference pad removal operation (removing the reference pad 9S from the second pad insertion part 92). Additionally, when adjusting the position of the second traveling wheel 82, the maintenance control device 100C causes the second detection unit Se2 to perform a second detection operation (detecting the position of the second traveling wheel 82 when the vehicle 8 is in a state where the second wheel is off).

[0117] Figure 26 express Figure 25 The step #61 shown in the diagram represents the process of adjusting the position of the first traveling wheel 81. In this embodiment, the maintenance device 100 performs a process (#611) to determine the number and thickness of the pads 9 inserted into the first pad insertion part 91, and then performs a wheel position adjustment process (#612) to adjust the position of the first traveling wheel 81. Similarly, although not shown in the diagram, the maintenance device 100 performs the same process for adjusting the position of the second traveling wheel 82: determining the number and thickness of the pads 9 inserted into the second pad insertion part 92, and then performing a wheel position adjustment process to adjust the position of the second traveling wheel 82.

[0118] The following is mainly based on Figure 27 , for execution Figure 26The processes of the case of the cushion number / cushion thickness determination process in Step #611 indicated by the arrow will be described. The cushion number / cushion thickness determination process described below is a process for the case of performing the position adjustment of the first traveling wheel 81. The cushion number / cushion thickness determination process for the case of performing the position adjustment of the second traveling wheel 82 is common or corresponds to the process for the case of performing the position adjustment of the first traveling wheel 81, so detailed description will be omitted and only the gist will be appropriately described in the description for the first traveling wheel 81.

[0119] In addition, as described above, in order to adjust the positional relationship of the first traveling wheel 81 and the guide wheel 83, the first cushion insertion portion 91 into which the cushion 9 is inserted, the first fastening link portion 910 that fastens and links the cushion 9 to be inserted into the first cushion insertion portion 91 to the vehicle body 80, and the first fastening link unit 61 that performs the fastening link / release of the first fastening link portion 910 are disposed on the opposite side to the first traveling wheel 81 in the width direction Y with the third support rail 30 interposed therebetween (see FIG. 6). Figure 29 、 Figure 31 In other words, the first traveling wheel 81 is disposed on the first side Y1 in the width direction with respect to the third support rail 30, and the first cushion insertion portion 91, the first fastening link portion 910, and the first fastening link unit 61 are disposed on the second side Y2 in the width direction with respect to the third support rail 30.

[0120] In the cushion number / cushion thickness determination process, first, the guide wheel 83 is disposed at the second guide position Pg2 by the switching mechanism 84 (#611-1). Thereby, the guide wheel 83 is disposed on the first side Y1 in the width direction with respect to the third support rail 30. That is, as shown in FIG. 6B, the guide wheel 83 is disposed on the opposite side to the first cushion insertion portion 91 in the width direction Y with the third support rail 30 interposed therebetween. Figure 29 In the state where the guide wheel 83 is disposed on the opposite side to the first cushion insertion portion 91 in the width direction Y with the third support rail 30 interposed therebetween, the cushion 9 or the reference cushion 9S is not pressed inside the first cushion insertion portion 91, so the extraction / insertion of the cushion 9 and the reference cushion 9S with respect to the first cushion insertion portion 91 can be smoothly performed.

[0121] Next, the fastening link release of the first fastening link portion 910 is performed by the first fastening link unit 61 (#611-2). Also, the existing cushion 9 is extracted from the first cushion insertion portion 91 by the second side unit 52 (#611-3: first cushion extraction operation). Thereafter, as shown in FIG. 6C, the first cushion insertion portion 91 is disposed on the first side Y1 in the width direction with respect to the third support rail 30. Figure 29(b) shown, the reference pad 9S formed to a reference thickness set in advance is inserted into the first pad insertion portion 91 by the second side unit 52 (#611-4: first reference pad insertion operation). Thus, the maintenance control device 100C causes the second side unit 52 (pad insertion robot) to perform the first reference pad insertion operation in a state where the first fastening link portion 910 is fastened and linked released by the first fastening link unit 61 (fastening link robot 6). As to the case where the position adjustment of the second traveling wheel 82 is performed, likewise, the maintenance control device 100C causes the first side unit 51 (pad insertion robot) to perform the second reference pad insertion operation in a state where the second fastening link portion 920 is fastened and linked released by the second fastening link unit 62 (fastening link robot 6). Further, in the present embodiment, as described above, the maintenance control device 100C causes the second side unit 52 (pad insertion robot) to perform the extraction / insertion of the pad 9 and the reference pad 9S with respect to the first pad insertion portion 91 in a state where the guide wheel 83 is disposed on the opposite side to the first pad insertion portion 91 across the third support rail 30 in the width direction Y. As to the case where the position adjustment of the second traveling wheel 82 is performed, likewise, the maintenance control device 100C causes the first side unit 51 (pad insertion robot) to perform the extraction / insertion of the pad 9 and the reference pad 9S with respect to the second pad insertion portion 92 in a state where the guide wheel 83 is disposed on the opposite side to the second pad insertion portion 92 across the third support rail 30 in the width direction Y.

[0122] After the execution of the first reference pad insertion operation (#611-4), the guide wheel 83 is disposed at the first guide position Pg1 by the switching mechanism 84 (#611-5). Thereby, the guide wheel 83 is disposed on the width direction second side Y2 with respect to the third support rail 30. That is, the guide wheel 83 is disposed on the same side to the first pad insertion portion 91 and on the opposite side to the first traveling wheel 81 with respect to the third support rail 30 in the width direction Y across the third support rail 30. In the present embodiment, the vehicle 8 is moved in the extension direction X in a manner that the guide wheel 83 is disposed at a position corresponding to the cutout portion 33 of the third support rail 30, and the guide wheel 83 is moved from the second guide position Pg2 on the width direction first side Y1 to the first guide position Pg1 on the width direction second side Y2 with respect to the third support rail 30. Thereafter, the vehicle 8 is moved again in the extension direction X in a manner that the guide wheel 83 is disposed at a position where the cutout portion 33 of the third support rail 30 is not present. Hereinafter, the movement of the guide wheel 83 by the switching mechanism 84 is performed likewise.

[0123] Next, the vehicle 8 is caused to travel on the track support portion 1 by the travel drive portion M8 (#611-6). Thus, the deflection and the gap of the reference pad 9S inserted into the first pad insertion portion 91 are reduced by the vibration and the load generated by the travel of the vehicle 8. Further, before the vehicle 8 is caused to travel, the restriction portion 4 is caused to be in the allowed posture Aa to be in a state in which the rolling of the first travel wheel 81 and the second travel wheel 82 is allowed. After the vehicle 8 is caused to travel, the restriction portion 4 is caused to be in the restricted posture Ar to be in a state in which the rolling of the first travel wheel 81 and the second travel wheel 82 is restricted.

[0124] Next, the first support track 10 is lowered by the first lifting mechanism L1 (#611-7). Specifically, the first support track 10 is disposed at the first lowered position Pd1 by being lowered. Thus, the vehicle 8 is caused to be in the first wheel departure state. Also, as shown in Figure 30 After the vehicle 8 is caused to be in the first wheel departure state, the first detection portion Se1 is caused to perform the first detection operation (#611-8). Thus, the distance between the first travel wheel 81 and the first support track 10 is detected. That is, in the present embodiment, the maintenance control device 100C causes the first detection portion Se1 to perform the detection of the position of the first travel wheel 81 in the first wheel departure state of the vehicle 8 in the state in which the reference pad 9S is inserted into the first pad insertion portion 91, as the first detection operation. Further, in the case in which the position adjustment of the second travel wheel 82 is performed, the maintenance control device 100C causes the second detection portion Se2 to perform the detection of the position of the second travel wheel 82 in the second wheel departure state of the vehicle 8 in the state in which the reference pad 9S is inserted into the second pad insertion portion 92, as the second detection operation.

[0125] Then, after the first detection operation is performed (#611-8), the number and the thickness of the pads 9 that make the vehicle 8 in the first wheel departure state become an appropriate posture when the pads 9 are inserted into the first pad insertion portion 91 are calculated based on the detection result of the first detection portion Se1 (#611-9). In the present example, the number and the thickness of the pads 9 that make the first travel wheel 81 in the first wheel departure state of the vehicle 8 be slightly above the second travel wheel 82 supported by the second support track 20 are calculated. Thus, in the case in which the vehicle 8 in which the position adjustment of the wheels is completed actually travels on the travel path 99 to transition from the branching and merging section BS to the normal section NS, that is, in the case in which the first travel wheel 81 transitions from the state in which the first travel wheel 81 is not supported by the travel track 96 to the state in which the first travel wheel 81 is supported, the first travel wheel 81 can be appropriately supported by the travel track 96 and the vibration of the vehicle 8 at the time of the transition can be suppressed to be small.

[0126] After the number and thickness of the pads 9 to be inserted into the first pad insertion portion 91 are calculated (#611-9), the first support rail 10 is raised by the first lifting mechanism LI (#611-10). Specifically, the first support rail 10 is disposed at the first reference position Pu1 by being raised, and the vehicle 8 is brought to the two-wheel standing state.

[0127] Next, the steps of the wheel position adjustment process in Step #612 will be described with reference to Figure 28 to the execution of Figure 26 The wheel position adjustment process will be described below. The wheel position adjustment process described below is a process in the case where the position adjustment of the first traveling wheel 81 is performed. The wheel position adjustment process in the case where the position adjustment of the second traveling wheel 82 is performed is common or corresponds to the process in the case where the position adjustment of the first traveling wheel 81 is performed, and thus detailed description will be omitted, and only the main points will be appropriately described in the description of the first traveling wheel 81.

[0128] In the wheel position adjustment process, first, the guide wheel 83 is disposed at the second guide position Pg2 by the switching mechanism 84 (#612-1). Thereby, as shown in Figure 29 (b), the guide wheel 83 is disposed on the opposite side from the first pad insertion portion 91 in the width direction Y with the third support rail 30 interposed therebetween. Also, as shown in Figure 31 (a) and (b), the existing pad 9 is extracted from the first pad insertion portion 91 by the second side unit 52 (#612-2: existing pad extraction operation). In the present embodiment, as described above, the reference pad 9S is inserted into the first pad insertion portion 91 in advance, and thus the present operation is a first reference pad extraction operation of extracting the reference pad 9S. Thereafter, the pad 9 of the number and thickness calculated by the pad number / pad thickness determination process is inserted into the first pad insertion portion 91 by the second side unit 52 (#612-3: first pad insertion operation).

[0129] Next, the guide wheel 83 is disposed at the first guide position Pg1 by the switching mechanism 84 (#612-4). Thereby, the guide wheel 83 is disposed on the opposite side from the first traveling wheel 81 in the width direction Y with the third support rail 30 interposed therebetween. Thereafter, the first support rail 10 is lowered by the first lifting mechanism LI (#612-5), and the vehicle 8 is brought to the first wheel departure state. Then, as shown in Figure 32As shown, after the vehicle 8 is in the state where the first wheel is off, the first detection unit Se1 performs the first detection action (#612-6). This detects the distance between the first traveling wheel 81 and the first support rail 10 with the number and thickness of the pads 9 (calculated through the pad number / pad thickness determination process) inserted into the first pad insertion part 91 (here, the presence or absence of error). After the first detection action is performed, the first support rail 10 is raised (#612-7) by means of the first lifting mechanism L1, bringing the vehicle 8 to a two-wheel-mounted state.

[0130] Then, as Figure 33 As shown, the first fastening connection 910 is fastened using the first fastening connection unit 61 (#612-8). This fastens the gasket 9, which is inserted into the first gasket insertion part 91, relative to the vehicle body 80. Thus, in this embodiment, after the first gasket insertion operation performed by the second side unit 52 (gasket insertion robot), the maintenance control device 100C causes the first fastening connection unit 61 (fastening connection robot) to perform the fastening connection of the first fastening connection part 910. Furthermore, when adjusting the position of the second traveling wheel 82, after the second gasket insertion operation performed by the first side unit 51 (gasket insertion robot), the maintenance control device 100C causes the second fastening connection unit 62 (fastening connection robot) to perform the fastening connection of the second fastening connection part 920.

[0131] After the first fastening connection 910 is fastened (#612-8), the vehicle 8 is moved on the track support 1 by means of the travel drive unit M8 (#612-9). Thus, the vibration and load generated by the movement of the vehicle 8 can cause the pad 9 inserted into the first pad insertion part 91 to deflect and reduce the gap. That is, after the first pad insertion operation is performed, the maintenance control device 100C performs a first travel control to move the vehicle 8 relative to the track support 1 in the extending direction X. Similarly, regarding the adjustment of the position of the second travel wheel 82, after the second pad insertion operation is performed, the maintenance control device 100C performs a second travel control to move the vehicle 8 relative to the track support 1 in the extending direction X. Furthermore, before the vehicle 8 moves, the limiting part 4 is set to the allowable position Aa, allowing the first travel wheel 81 and the second travel wheel 82 to roll. After the vehicle 8 moves, the limiting part 4 is put into a limiting posture Ar, which restricts the rolling of the first traveling wheel 81 and the second traveling wheel 82.

[0132] Next, the first support rail 10 is lowered (#612-10) using the first lifting mechanism L1, so that the vehicle 8 is in the state where the first wheel is off. Furthermore, after the vehicle 8 is in the state where the first wheel is off, it is also as follows... Figure 32The first detection section Se1 is caused to perform the first detection operation (YES in #612-11: first confirmation detection operation). That is, the maintenance control device 100C causes the first detection section Se1 to perform the first confirmation detection operation of detecting the position of the first traveling wheel 81 after the execution of the first pad insertion operation and after the fastening and coupling of the first fastening and coupling section 910. Also, in the case of performing the position adjustment of the second traveling wheel 82 as well, the maintenance control device 100C causes the second detection section Se2 to perform the second confirmation detection operation of detecting the position of the second traveling wheel 82 after the execution of the second pad insertion operation and after the fastening and coupling of the second fastening and coupling section 920. Thereby, after the wheel position adjustment, it is possible to confirm whether the position of the first traveling wheel 81 or the second traveling wheel 82 is appropriate. In addition, as described above, the first traveling control of causing the vehicle 8 to travel on the rail support section 1 is performed before the execution of the first confirmation detection operation. That is, in the present embodiment, the maintenance control device 100C performs the first traveling control after the execution of the first pad insertion operation and before the execution of the first confirmation detection operation. Also, in the case of performing the position adjustment of the second traveling wheel 82 as well, the maintenance control device 100C performs the second traveling control after the execution of the second pad insertion operation and before the execution of the second confirmation detection operation.

[0133] After the execution of the first confirmation detection operation (#612-11), it is determined whether the position of the first traveling wheel 81 is within the prescribed range (#612-12). Here, it is determined whether the position of the first traveling wheel 81 in the up-and-down direction is within the prescribed range, and in the case where it is within the prescribed range, it is determined that the inclination of the vehicle 8 in the first wheel departure state is within the permissible range, and in the case where it is outside the prescribed range, it is determined that the inclination of the vehicle 8 in the first wheel departure state is outside the permissible range.

[0134] In the case where it is determined that the position of the first traveling wheel 81 is within the prescribed range (#612-12: YES), the wheel position adjustment processing is ended. On the other hand, in the case where it is determined that the position of the first traveling wheel 81 is outside the prescribed range (#612-12: NO), based on the detection result of the first confirmation detection operation, the number of pads 9 and the thickness of the pads 9 in which the position of the first traveling wheel 81 is within the prescribed range are calculated again (#612-13). Thereafter, the first support rail 10 is raised by the first lifting mechanism LI (#612-14), and the vehicle 8 is brought to the two-wheel standing state. Also, the guide wheel 83 is disposed at the second guide position Pg2 by the switching mechanism 84 (#612-15). Thereafter, the process of step #612-3 is returned to. In addition, in the case where the number of pads 9 inserted into the first pad insertion section 91 is more than the appropriate number, or the thickness of the pads 9 is thicker than the appropriate thickness, or the like, in step #612-3 after the number of pads 9 and the thickness of the pads 9 are calculated again, the operation of removing the inappropriate pads 9 as described above is also performed.

[0135] (Other Embodiments)

[0136] Next, other embodiments of the wheel replacement device will be described.

[0137] (1) In the above-described embodiments, an example in which the maintenance device 100 replaces all of the second traveling wheels 82 as replacement targets after replacing all of the first traveling wheels 81 as replacement targets was described. However, the order of replacement is not limited to this example, and the order of replacement can be reversed from the above-described order. That is, the maintenance device 100 can replace all of the first traveling wheels 81 as replacement targets after replacing all of the second traveling wheels 82 as replacement targets. Furthermore, in a case where there are a plurality of first traveling wheels 81 and a plurality of second traveling wheels 82, the first traveling wheels 81 and the second traveling wheels 82 can be alternately replaced.

[0138] (2) In the above-described embodiments, an example in which the maintenance device 100 performs position adjustment of the second traveling wheels 82 after performing position adjustment of the first traveling wheels 81 was described. However, the order of position adjustment is not limited to this example, and the order of position adjustment can be reversed from the above-described order. That is, the maintenance device 100 can perform position adjustment of the first traveling wheels 81 after performing position adjustment of the second traveling wheels 82. Furthermore, in a case where there are a plurality of first traveling wheels 81 and a plurality of second traveling wheels 82, the first traveling wheels 81 and the second traveling wheels 82 can be alternately position-adjusted.

[0139] (3) In the above-described embodiments, an example in which the first traveling wheels 81 and the second traveling wheels 82 each include a plurality of wheels was described. However, the vehicle 8 can have a structure in which there is one first traveling wheel 81 and one second traveling wheel 82, not limited to this example.

[0140] (4) In the above-described embodiments, an example in which the power supply 7 is the power supply line 70 that non-contactly supplies electric power to the vehicle 8 was described. However, the power supply 7 can be, for example, a battery or the like mounted on the vehicle 8, not limited to this example.

[0141] (5) In the above-described embodiments, an example in which the maintenance device 100 has the surrounding wall W that surrounds the first support rail 10, the second support rail 20, the third support rail 30, the first lifting mechanism L1, the second lifting mechanism L2, the holding arm 5, and the fastening and joining robot 6 was described. However, the maintenance device 100 can not have such a surrounding wall W.

[0142] (6) In the above-described embodiment, the example in which the third support rail 30 is arranged above the first support rail 10 and the second support rail 20 has been described. However, the example is not limited to this, and the third support rail 30 may, for example, be arranged below the first support rail 10 and the second support rail 20. In this case, with respect to the third support rail 30, the swing direction first side Rl corresponds to the width direction second side Y2, and the swing direction second side R2 corresponds to the width direction first side Yl.

[0143] (7) In the above-described embodiment, the example in which both the first detection section Se1 and the second detection section Se2 are constituted by contact-type sensors has been described. However, the example is not limited to this, and the first detection section Se1 and the second detection section Se2 may, for example, be constituted by sensors of a configuration different from that of the contact-type sensors, such as optical sensors.

[0144] (8) In the above-described embodiment, the example in which the maintenance device 100 is provided with the restriction section 4 that restricts the rolling of the first traveling wheel 81 and the rolling of the second traveling wheel 82 has been described. However, the example is not limited to this, and the maintenance device 100 can not be provided with the restriction section 4 as described above. In this case, for example, the maintenance device 100 can be configured to restrict the rolling of the first traveling wheel 81 and the rolling of the second traveling wheel 82 by means of a brake mechanism or the like provided in the vehicle 8.

[0145] (9) In the above-described embodiment, the example in which the cutout section 33 through which the guide wheel 83 can pass in the width direction Y is formed in a region of a portion in the extension direction X in the third support rail 30 has been described. However, the cutout section 33 as described above can not be formed in the third support rail 30, and the third support rail 30 can be continuously formed in the extension direction X. In the case where the third support rail 30 is thus configured, in the case where the position of the guide wheel 83 in the width direction Y is switched by means of the switching mechanism 84, the vehicle 8 can be moved in the extension direction X in such a manner that the guide wheel 83 is arranged on the outer side in the extension direction X than the end portion of the third support rail 30, and the control to move the guide wheel 83 in the width direction Y with respect to the third support rail 30 can be performed at this position.

[0146] (10) In the above-described embodiment, an example in which the maintenance device 100 is provided with the photographing section C that photographs the fixed sections 810, 820 of the first traveling wheel 81 and the second traveling wheel 82 fixed to the vehicle body 80, at different positions in the extension direction X with respect to the holding arm 5 and the fastening and linking robot 6, was described. However, the example is not limited to this, and the photographing section C can be configured to not photograph the fixed sections 810, 820, but to photograph the first traveling wheel 81 and the second traveling wheel 82. In this case, for example, the photographing section C can be configured to photograph a mark composed of a symbol, a figure, a character, a color, or a combination thereof, provided at a position corresponding to the fixed section 810 of the first traveling wheel 81. Thus, the position of the fixed section 810 can be grasped via the mark. The fixed section 820 of the second traveling wheel 82 can also be configured in the same manner. Furthermore, the arrangement position of the photographing section C is not limited to the above-described example, but can be appropriately set. For example, the photographing section C can be arranged at the same position in the extension direction X with respect to the holding arm 5. Alternatively, the photographing section C can be mounted to the fastening and linking robot 6. If so arranged, the fastening and linking and the fastening and linking release based on the fastening and linking robot 6 can be performed while referring to the image photographed by the photographing section C. In addition, the maintenance device 100 can not be provided with the photographing section C itself.

[0147] (11) In the above-described embodiment, an example in which the number and the thickness of the pads 9 in which the vehicle 8 becomes in an appropriate posture in the first wheel departure state or the second wheel departure state are calculated using the reference pad 9S was described. However, the reference pad 9S can not be used. In this case, each action of the reference pad 9S described in the above description can be omitted.

[0148] (12) In the above-described embodiment, an example in which the first traveling control, the second traveling control, the first confirmation detection action, and the second confirmation detection action are performed was described, but these actions are not necessary actions. Thus, a part or all of these actions can not be performed.

[0149] (13) In the above-described embodiment, an example in which the maintenance device 100 is configured as a wheel replacement device that performs replacement of the first traveling wheel 81 and the second traveling wheel 82 of the vehicle 8, and as a wheel position adjustment device that performs adjustment of the positional relationship of the first traveling wheel 81, the second traveling wheel 82, and the guide wheel 83 of the vehicle 8 was described. However, the maintenance device 100 can be configured as only the wheel replacement device, and can not be configured as the wheel position adjustment device. In this case, the maintenance device 100 can not be provided with various devices and various functions for performing adjustment of the positional relationship of the first traveling wheel 81, the second traveling wheel 82, and the guide wheel 83 of the vehicle 8.

[0150] (14) In addition, the structures disclosed in the above-described embodiments can be applied in combination with the structures disclosed in other embodiments, as long as there is no contradiction. The embodiments disclosed in this specification are merely illustrative in all respects. Therefore, various changes can be appropriately made within the scope of the gist of the present application.

[0151] 〔Summary of the above-described embodiments〕

[0152] Hereinafter, the wheel replacing device explained in the above will be described.

[0153] A wheel replacing device that performs replacement of first and second traveling wheels of a vehicle having a vehicle body, the first traveling wheel rolling on an upper surface of one of a pair of traveling tracks arranged apart in a width direction, the second traveling wheel rolling on an upper surface of the other of the pair of traveling tracks, and a guide wheel rolling on a side surface of a guide track arranged at a position different from the pair of traveling tracks in a vertical direction, the wheel replacing device including first and second support tracks arranged apart from each other in the width direction, a third support track arranged at a position different from the first and second support tracks in the vertical direction, a first lifting mechanism that lifts the first support track to a first reference position and a first lowered position lower than the first reference position, a second lifting mechanism that lifts the second support track to a second reference position and a second lowered position lower than the second reference position, a wheel mounting and demounting robot that mounts and demounts the first and second traveling wheels with respect to the vehicle body, and a control section that controls the first and second lifting mechanisms and the wheel mounting and demounting robot, sets an imaginary line extending in an extending direction of the first and second support tracks at a middle of the first and second support tracks in the width direction as a reference axis, sets a direction in which the vehicle rotates around the reference axis as a swinging direction, sets a side on which the vehicle swings when the first traveling wheel is lowered with respect to the second traveling wheel as a swinging direction first side, sets a side on which the vehicle swings when the second traveling wheel is lowered with respect to the first traveling wheel as a swinging direction second side, and in a state where the first support track is at the first reference position and the second support track is at the second reference position, becomes a two-wheel placement state in which the first traveling wheel is placed on the first support track and the second traveling wheel is placed on the second support track, in a state where the first support track is at the first lowered position and the second support track is at the second reference position, becomes a first wheel separation state in which the first traveling wheel is separated from the first support track and the second traveling wheel is placed on the second support track, and the guide wheel is separated from a side surface of the third support track facing the swinging direction second side, and in a state where the first support track is at the first reference position and the second support track is at the second lowered position, becomes a second wheel separation state in which the second traveling wheel is separated from the second support track and the first traveling wheel is placed on the first support track.The control section causes the wheel mounting / demounting robot to perform mounting / demounting of the first traveling wheel in the first wheel demounted state, and to perform mounting / demounting of the second traveling wheel in the second wheel demounted state.

[0154] According to the present structure, the first support rail is configured to allow the first traveling wheel to roll, the second support rail is configured to allow the second traveling wheel to roll, and the third support rail is configured to allow the third traveling wheel to roll. Therefore, the vehicle can be positioned at the work position of the wheel mounting / demounting robot by traveling along the first support rail, the second support rail, and the third support rail. Further, in the first wheel demounted state, the weight of the vehicle can be supported by the second traveling wheel and the guide wheel, and the first traveling wheel can be demounted from the first support rail, so that the replacement of the first traveling wheel can be easily performed by the wheel mounting / demounting robot in a state where the vehicle is stably supported. Similarly, in the second wheel demounted state, the replacement of the second traveling wheel can be easily performed by the wheel mounting / demounting robot. Therefore, according to the present structure, the replacement of the traveling wheels in the vehicle provided with the traveling wheels that roll on each of the pair of traveling rails and the guide wheel that rolls on the side surface of the guide rail can be automatically performed. Further, as described above, in the present structure, the guide wheel is used to support the vehicle, so that, at the time of wheel replacement, one of the first traveling wheel and the second traveling wheel that is the object of replacement can be floated. Thus, according to the present structure, at the time of wheel replacement, the weight of the vehicle can be supported by the pair of traveling wheels and the guide wheel, as in the normal use state. Therefore, for example, the portion of the vehicle, such as the bottom surface, that is not supported by the weight of the vehicle in the normal use state, is supported to lift the vehicle, so that the portion does not need to be reinforced, and the simplification and weight reduction of the vehicle body can be easily achieved.

[0155] Here, preferably, a photographing unit, a rail support unit, and a moving mechanism are provided, the photographing unit is disposed at different positions in the extension direction with respect to the wheel mounting / demounting robot, and photographs the first traveling wheel and the second traveling wheel, the rail support unit integrally supports the first support rail, the second support rail, and the third support rail, and the moving mechanism relatively moves the rail support unit in the extension direction with respect to the wheel mounting / demounting robot.

[0156] According to the present configuration, the imaging unit can be disposed without overlapping the configuration space of the wheel mounting / demounting robot. Furthermore, based on the images of the first traveling wheels and the second traveling wheels imaged by the imaging unit, the fixed state of the first traveling wheels and the second traveling wheels to the vehicle body can be grasped. Thus, the wheel mounting / demounting robot can easily perform the mounting / demounting of the first traveling wheels and the second traveling wheels. Here, for example, there is a case where the orientation of the fixing portion of the traveling wheel changes in the rotation direction due to the rolling of the traveling wheel, but according to the present configuration, after the imaging of the fixing portion of the imaging unit, the vehicle can be relatively moved in the extension direction with respect to the wheel mounting / demounting robot by the movement of the rail support portion without rolling the traveling wheel. Thus, in this case, the orientation of the fixing portion of the traveling wheel can be maintained in the state immediately after the imaging, and the vehicle can be moved to a position where the mounting / demounting of the traveling wheels by the wheel mounting / demounting robot is easily performed in this state.

[0157] Furthermore, preferably, a power supply portion that supplies electric power to a drive power source of the first traveling wheels and the second traveling wheels is provided, and the vehicle is provided with a switching mechanism that switches the position of the guide wheel in the width direction to a first guide position at which the guide wheel abuts against the side surface of the third support rail on the second side in the swinging direction and a second guide position at which the guide wheel abuts against the side surface of the third support rail on the first side in the swinging direction, and a cutout portion through which the guide wheel can pass in the width direction is formed in a region of the third support rail in a part in the extension direction.

[0158] According to the present configuration, by switching the position of the guide wheel in the width direction by means of the switching mechanism, the posture of the guide wheel can be easily switched to a posture suitable for the first wheel departure state and a posture suitable for the second wheel departure state. Furthermore, the switching of the position of the guide wheel in the width direction can be performed by moving the guide wheel in such a manner that the cutout portion is passed in the width direction in a state where the vehicle is disposed in such a manner that the guide wheel is disposed in the region of the third support rail in the extension direction in which the cutout portion is formed. Thus, the switching of the position of the guide wheel in the width direction with respect to the third support rail can be appropriately performed.

[0159] Furthermore, in the above configuration, preferably, the first traveling wheels include a plurality of wheels disposed apart in the extension direction at the same position in the width direction, the second traveling wheels include a plurality of wheels disposed apart in the extension direction at the same position in the width direction, all of the first traveling wheels to be replaced are replaced after all of the second traveling wheels to be replaced are replaced, or all of the second traveling wheels to be replaced are replaced after all of the first traveling wheels to be replaced are replaced.

[0160] According to the present structure, in the case where all the first traveling wheels and the second traveling wheels provided to the vehicle body are replaced, the number of times of switching the position of the guide wheels by the switching mechanism can be reduced.

[0161] Further, preferably, a restriction portion is provided, which restricts the rolling of the first traveling wheels on the first support rails and the rolling of the second traveling wheels on the second support rails, and which changes its posture to a restriction posture that restricts the rolling of the first traveling wheels and the second traveling wheels, and to an allowance posture that allows the rolling of the first traveling wheels and the second traveling wheels.

[0162] According to the present structure, by making the restriction portion be in the restriction posture, the positions of the first traveling wheels and the second traveling wheels in the extension direction can be fixed. Therefore, the loading and unloading of the traveling wheels based on the vehicle loading and unloading robot can be easily performed. Further, by making the restriction portion be in the allowance posture, as needed, the vehicle can be made to be in a state where it can move in the extension direction.

[0163] Further, preferably, the first support rails are disposed on the extension line of one of the pair of traveling rails, and the second support rails are disposed on the extension line of the other of the pair of traveling rails.

[0164] According to the present structure, the vehicle can travel along the pair of traveling rails and be guided to the first support rails and the second support rails. Therefore, the vehicle traveling along the pair of traveling rails can be automatically moved to the work site of the wheel loading and unloading robot without depending on a human hand.

[0165] Further, in the above structure, preferably, a power supply portion that supplies electric power to the drive power sources of the first traveling wheels and the second traveling wheels is provided, the power supply portion is a power feeding line that non-contactly supplies electric power to the vehicle, the power feeding line is disposed along the pair of traveling rails, and is also disposed on at least one of the first support rails and the second support rails.

[0166] According to the present structure, electric power can be supplied from the power feeding line in both cases where the vehicle travels along the pair of traveling rails and where the vehicle travels along the first support rails and the second support rails. Therefore, the vehicle that automatically travels in the range of the pair of traveling rails, the first support rails, and the second support rails can be easily realized.

[0167] Further, in the above structure, preferably, a surrounding wall, an opening, and an automatic door are provided, the surrounding wall surrounds the first support rail, the second support rail, the third support rail, the first lifting mechanism, the second lifting mechanism, and the wheel loading / unloading robot, the opening communicates the inside and the outside of the surrounding wall, the automatic door automatically opens and closes the opening, the traveling path of the vehicle formed by the pair of traveling rails, the first support rail, and the second support rail is disposed so as to pass through the opening, and the automatic door automatically opens the opening before the vehicle passes through the opening and automatically closes the opening after the vehicle passes through the opening.

[0168] According to the present structure, the replacement of the traveling wheels can be performed with the aid of the surrounding wall and the automatic door, and dust and the like generated at the time of replacement of the traveling wheels can be suppressed from being discharged to the outside of the surrounding wall. The present structure is particularly suitable, for example, in the case where the vehicle is used in a clean room or the like.

[0169] Further, preferably, the wheel loading / unloading robot includes a first loading / unloading unit and a second loading / unloading unit, the first loading / unloading unit is disposed on the outside in the width direction with respect to the first support rail and performs loading and unloading of the first traveling wheel, and the second loading / unloading unit is disposed on the outside in the width direction with respect to the second support rail and performs loading and unloading of the second traveling wheel.

[0170] According to the present structure, the replacement of the first traveling wheel and the second traveling wheel, which are disposed on opposite sides in the width direction with respect to the vehicle body, can be performed without changing the orientation of the vehicle.

[0171] Industrial applicability

[0172] The technology of the present application can be applied to a wheel replacement device that performs replacement of first and second traveling wheels in a vehicle including a vehicle body, the first traveling wheel, the second traveling wheel, and a guide wheel, the first traveling wheel rolls on an upper surface of one of a pair of traveling rails disposed apart in a width direction, the second traveling wheel rolls on an upper surface of the other of the pair of traveling rails, and the guide wheel rolls on a side surface of a guide rail disposed at a position different from the pair of traveling rails in a vertical direction.

[0173] Explanation of reference numerals

[0174] 100: maintenance device (wheel replacement device)

[0175] 100C: maintenance control device (control unit)

[0176] 1: rail support portion

[0177] 4: restriction portion

[0178] 5: holding arm (wheel mounting / demounting robot)

[0179] 7: power supply portion

[0180] 8: vehicle

[0181] 10: first support rail

[0182] 10F: upper surface of first support rail

[0183] 20: second support rail

[0184] 20F: upper surface of second support rail

[0185] 30: third support rail

[0186] 31F: side surface of third support rail

[0187] 32F: side surface of third support rail

[0188] 33: cutout portion

[0189] 51: first side unit (first mounting / demounting unit)

[0190] 52: second side unit (second mounting / demounting unit)

[0191] 70: power supply line

[0192] 80: vehicle body

[0193] 81: first travel wheel

[0194] 82: second travel wheel

[0195] 83: guide wheel

[0196] 84: switching mechanism

[0197] 95: guide rail

[0198] 95F: side surface of guide rail

[0199] 96: travel rail

[0200] 96F: upper surface of travel rail

[0201] 99: travel path

[0202] 810: fixing portion

[0203] 820: fixing portion

[0204] Aa: allowable posture

[0205] Ar: restricted posture

[0206] Ax: reference axis

[0207] C: imaging section

[0208] L1: first lifting mechanism

[0209] L2: second lifting mechanism

[0210] M: moving mechanism

[0211] Pd1: first lowered position

[0212] Pd2: second lowered position

[0213] Pg1: first guide position

[0214] Pg2: second guide position

[0215] Pu1: first reference position

[0216] Pu2: second reference position

[0217] R: swinging direction

[0218] R1: first side in swinging direction

[0219] R2: second side in swinging direction

[0220] W: surrounding wall

[0221] Wd: automatic door

[0222] Wh: opening

[0223] X: extending direction

[0224] Y: width direction

Claims

1. A wheel replacing device that performs replacement of first and second traveling wheels of a vehicle having a vehicle body, the first traveling wheel rolling on an upper surface of one of a pair of traveling rails arranged apart in a width direction, the second traveling wheel rolling on an upper surface of the other of the pair of traveling rails, and a guide wheel rolling on a side surface of a guide rail arranged at a position different from the pair of traveling rails in a vertical direction, the wheel replacing device characterized by comprising: first and second support rails arranged apart from each other in the width direction; a third support rail arranged at a position different from the first and second support rails in the vertical direction; a first lifting mechanism that lifts the first support rail to a first reference position and a first lowered position lower than the first reference position; a second lifting mechanism that lifts the second support rail to a second reference position and a second lowered position lower than the second reference position; a wheel mounting / demounting robot that mounts and demounts the first and second traveling wheels with respect to the vehicle body; and a control section that controls the first and second lifting mechanisms and the wheel mounting / demounting robot, wherein a virtual line extending along extension directions of the first and second support rails at a middle of the first and second support rails in the width direction is set as a reference axis, a direction in which the vehicle body rotates around the reference axis is set as a swing direction, a side on which the vehicle body swings when the first traveling wheel is lowered with respect to the second traveling wheel is set as a swing direction first side, and a side on which the vehicle body swings when the second traveling wheel is lowered with respect to the first traveling wheel is set as a swing direction second side, wherein in a state in which the first support rail is at the first reference position and the second support rail is at the second reference position, a two-wheel placed state in which the first traveling wheel is placed on the first support rail and the second traveling wheel is placed on the second support rail is achieved, and in a state in which the first support rail is at the first lowered position and the second support rail is at the second reference position, a first wheel separated state in which the first traveling wheel is separated from the first support rail and the second traveling wheel is placed on the second support rail, and the guide wheel abuts against a side surface of the third support rail facing the swing direction second side is achieved. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ In a state where the first support rail is in the first reference position and the second support rail is in the second lowered position, the first traveling wheel is placed on the first support rail and the second traveling wheel is separated from the second support rail, and the guide wheel is in contact with the side surface of the third support rail on the first side in the swinging direction. The control unit causes the wheel mounting / demounting robot to mount / demount the first traveling wheel in the first wheel separation state and the second traveling wheel in the second wheel separation state.

2. The wheel replacing device according to claim 1, wherein a photographing unit, a rail support unit, and a moving mechanism are provided, the photographing unit is disposed at different positions in the extension direction with respect to the wheel mounting / demounting robot and photographs the first traveling wheel and the second traveling wheel, the rail support unit integrally supports the first support rail, the second support rail, and the third support rail, the moving mechanism relatively moves the rail support unit in the extension direction with respect to the wheel mounting / demounting robot.

3. The wheel replacing device according to claim 1, wherein a power supply unit that supplies power to a drive power source of the first traveling wheel and the second traveling wheel is provided, the vehicle is provided with a switching mechanism that switches a position of the guide wheel in the width direction to a first guide position in which the guide wheel is in contact with the side surface of the third support rail on the second side in the swinging direction and a second guide position in which the guide wheel is in contact with the side surface of the third support rail on the first side in the swinging direction, a cutout portion through which the guide wheel can pass in the width direction is formed in a region of a part of the third support rail in the extension direction.

4. The wheel replacing device according to claim 3, wherein the first traveling wheel includes a plurality of wheels disposed at the same position in the width direction and separated in the extension direction, the second traveling wheel includes a plurality of wheels disposed at the same position in the width direction and separated in the extension direction, all of the first traveling wheels to be replaced are replaced after all of the second traveling wheels to be replaced are replaced, or all of the second traveling wheels to be replaced are replaced after all of the first traveling wheels to be replaced are replaced.

5. The wheel replacing device according to any one of claims 1 to 4, wherein a restriction unit that restricts rolling of the first traveling wheel on the first support rail and rolling of the second traveling wheel on the second support rail is provided, the restriction unit changes a posture to a restriction posture in which the rolling of the first traveling wheel and the second traveling wheel is restricted and an allowance posture in which the rolling of the first traveling wheel and the second traveling wheel is allowed.

6. The wheel replacing device according to any one of claims 1 to 4, wherein The first support rail is disposed on an extension line of one side of the pair of travel rails, The second support rail is disposed on an extension line of the other side of the pair of travel rails.

7. The wheel replacing device according to claim 6, wherein a power supply unit that supplies electric power to a drive power source of the first travel wheel and the second travel wheel, The power supply unit is a power feeding line that non-contact supplies electric power to the vehicle, The power feeding line is disposed along the pair of travel rails, and is also disposed on at least one of the first support rail and the second support rail.

8. The wheel replacing device according to claim 6, wherein a surrounding wall, an opening, and an automatic door, The surrounding wall surrounds the first support rail, the second support rail, the third support rail, the first lifting mechanism, the second lifting mechanism, and the wheel mounting / demounting robot, The opening communicates an inside of the surrounding wall with an outside of the surrounding wall, The automatic door automatically opens and closes the opening, A travel path of the vehicle, which is constituted by the pair of travel rails, the first support rail, and the second support rail, is set to pass through the opening, The automatic door automatically opens the opening before the vehicle passes through the opening, and automatically closes the opening after the vehicle passes through the opening.

9. The wheel replacing device according to any one of claims 1 to 4, wherein The wheel mounting / demounting robot includes a first mounting / demounting unit and a second mounting / demounting unit, the first mounting / demounting unit is disposed on an outer side in the width direction than the first support rail, and performs mounting / demounting of the first travel wheel, and the second mounting / demounting unit is disposed on an outer side in the width direction than the second support rail, and performs mounting / demounting of the second travel wheel.

Images