Handling trolley and handling system comprising the same

Abstract

The present application provides a transport vehicle for making the inter-floor movement of a load smooth and a transport system including the transport vehicle. The transport system includes a rail device and a transport vehicle moving on the rail device, the rail device including a first rail having a first inclination angle, a second rail having a second inclination angle greater than the first inclination angle, a first connecting rail connecting the first rail and the second rail, and a rack rail provided along the first connecting rail and the second rail, and the transport vehicle including a frame, traveling wheels connected to the frame and moving along the first rail, the first connecting rail, and the second rail, and a pinion gear connected to the frame and moving along the rack rail.

Description

TECHNICAL FIELD

[0001] The present application relates to a transfer cart and a transfer system including the same. BACKGROUND

[0002] In a semiconductor factory, a transfer object (for example, a FOUP (Front Opening Universal Pod), a FOSB (Front Opening Shipping Box)) is moved by an automatic transfer system. The automatic transfer system includes, for example, an OHT (overhead hoist transport), an OHS (overhead shuttle), and the like.

[0003] On the other hand, in order to move the transfer object between floors, a tower lifter is used. However, it is necessary to move the transfer object from the transfer cart such as the OHT to the tower lifter, and much waiting time and the like is consumed until the transfer object is placed on the tower lifter. Therefore, many transfer objects are gathered in the tower lifter area. SUMMARY

[0004] PROBLEMS TO BE SOLVED BY THE INVENTION

[0005] The present application relates to a transfer cart and a transfer system including the same.

[0006] Another problem to be solved by the present application is to provide a transfer cart used in the transfer system.

[0007] The problems of the present application are not limited to the above-mentioned problems, and other problems not mentioned will be apparent to those skilled in the art from the following description.

[0008] TECHNICAL SOLUTION FOR SOLVING THE PROBLEMS

[0009] According to one aspect of the transfer system of the present application for solving the above-mentioned problems, there is provided a transfer system including: a rail device; and a transfer cart moving on the rail device, the rail device including: a first rail having a first inclination angle; a second rail having a second inclination angle larger than the first inclination angle; a first connection rail connecting the first rail and the second rail; and a rack rail provided along the first connection rail and the second rail, the transfer cart including: a frame; a traveling wheel connected to the frame and moving along the first rail, the first connection rail, and the second rail; and a pinion gear connected to the frame and moving along the rack rail.

[0010] According to another aspect of the conveying system of the present application for solving the above-mentioned problem, there are provided: a rail device including a first rail extending horizontally, a first connecting rail connected to the first rail and having an increased inclination angle, a second rail connected to the first connecting rail and extending vertically, a second connecting rail connected to the second rail and having a decreased inclination angle, and a third rail connected to the second connecting rail and extending horizontally; and a conveying trolley moving along the side surface of the first rail, the side surface of the first connecting rail, the side surface of the second rail, the side surface of the second connecting rail, and the side surface of the third rail, the rail device further including a rack rail provided in the first connecting rail, the second rail, and the second connecting rail, but not provided in the first rail and the third rail, the conveying trolley including traveling wheels and pinions, the traveling wheels being used when the conveying trolley moves in the first rail, the traveling wheels and the pinions being used when the conveying trolley climbs in the first connecting rail, the second rail, and the second connecting rail, and the traveling wheels being used when the conveying trolley moves in the third rail.

[0011] According to one aspect of the conveying trolley of the present application for solving the above-mentioned another problem, there are provided: a frame including an outer side surface, an inner side surface, an upper surface, and a lower surface; a transfer unit provided in the outer side surface of the frame and supporting a conveyed object; a cross roller bearing connected to the transfer unit to maintain the transfer unit horizontally; a pickup unit provided in the inner side surface of the frame and supplied with power from a rail device; a first sub-frame protruding toward the rail device on the upper surface of the frame; a first guide roller provided in the bottom surface of the first sub-frame; a second sub-frame protruding toward the rail device on the lower surface of the frame; a second guide roller provided in the upper surface of the second sub-frame; and traveling wheels and pinions provided in the second sub-frame.

[0012] Specific matters of other embodiments are included in the following detailed description and drawings. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 is a conceptual diagram for explaining a conveying system to which one embodiment of the present application relates.

[0014] Figure 2 is a cross-sectional view taken along A-A of Figure 1

[0015] Figure 3 is a cross-sectional view taken along B-B of Figure 1

[0016] Figure 4 ​​is a view for explaining Figure 3 the relationship between the rack and the pinion.

[0017] Figure 5 is a view for explaining Figure 1 the first rail, the second rail, and the first connecting rail.

[0018] Figure 6 is a conceptual view for explaining a conveyance system to which another embodiment of the present application relates.

[0019] Figures 7 to 9 is a view for explaining a conveyance cart used in several embodiments of the present application.

[0020] Figure 10 and Figure 11 is a perspective view for explaining a conveyance system to which still another embodiment of the present application relates. DETAILED DESCRIPTION

[0021] Hereinafter, preferred embodiments of the present application will be described in detail with reference to the accompanying drawings. The advantages, features and methods for achieving them of the present application can be apparent from the following embodiments described in detail with reference to the accompanying drawings. However, the present application is not limited to the embodiments described below, and can be implemented in various different ways, and the embodiments are provided only to make the disclosure complete and to help those skilled in the art to fully understand the scope of the present application, and the present application is defined only by the claims. Throughout the specification, the same reference numerals refer to the same constituent elements.

[0022] In order to facilitate the description of the relative relationship between one element or constituent element and another element or constituent element as shown in the drawings, spatially relative terms such as "below", "beneath", "lower", "above", "upper" and the like can be used. The spatially relative terms are to be understood in terms of the orientation of the elements in the drawings, and include terms that indicate different orientations of the elements in use or action. For example, in the case of turning the elements shown in the drawings upside down, the element described as "below" or "beneath" another element can be placed "above" the other element. Thus, the illustrative term "below" can include both directions, down and up. The orientation of the elements can also be directed to other directions, and thus the spatially relative terms can be interpreted according to the orientation.

[0023] Although "1st", "2nd", and the like are used to describe a variety of elements, constituent elements, and / or portions, it is self-evident that these elements, constituent elements, and / or portions are not limited by these terms. These terms are used only to distinguish one element, constituent element, or portion from another element, constituent element, or portion. Therefore, it is self-evident that, with respect to the 1st element, 1st constituent element, or 1st portion mentioned below, a 2nd element, 2nd constituent element, or 2nd portion is also possible within the technical idea of the present application.

[0024] Hereinafter, an embodiment of the present application will be described in detail with reference to the drawings. In describing the drawings, the same or corresponding constituent elements are denoted by the same reference numerals, and the description thereof will be omitted.

[0025] Figure 1 is a conceptual diagram for explaining a carrying system to which one embodiment of the present application relates. Figure 2 is a sectional view taken along Figure 1 A-A. Figure 3 is a sectional view taken along Figure 1 B-B. Figure 4 is a diagram for explaining the relationship between the rack and the pinion shown in Figure 3 Figure 5 is a diagram for explaining the 1st rail, the 2nd rail, and the 1st connecting rail of Figure 1

[0026] First, with reference to Figure 1 , one embodiment of the present application relates to a carrying system including a rail device 100 and a carrying trolley 200.

[0027] The rail device 100 includes a 1st rail 110, a 1st connecting rail 115, a 2nd rail 120, a rack 115a, 120a.

[0028] The 1st rail 110, the 1st connecting rail 115, and the 2nd rail 120 can be physically connected.

[0029] As shown in Figure 1 and Figure 5 , the 1st rail 110 extends in a 1st direction DR1 (for example, an x direction). The 1st rail 110 has a 1st inclination angle Θ1. In Figure 5 , a case where the 1st inclination angle Θ1 is 0° (that is, a horizontal case) is illustrated, and therefore Θ1 is not illustrated.

[0030] The 2nd rail 120 extends in a 2nd direction DR2 (for example, a y direction). The 2nd rail 120 has a 2nd inclination angle Θ2 that is larger than the 1st inclination angle Θ1. In Figure 5 ​​FIG. 2 illustrates a case where the second inclination angle θ2 is 90° (i.e., a case of being perpendicular), but is not limited thereto.

[0031] In order to connect the first rail 110 and the second rail 120 having mutually different inclination angles, the inclination angles θ31, θ32 of the first connecting rail 115 can gradually increase from the first inclination angle θ1 to the second inclination angle θ2.

[0032] In other words, the first connecting rail 115 is a curved rail that is curved toward the second rail 120, and can be, for example, a form of being curved along an imaginary circular arc having an inner diameter R. As illustrated, the inclination angle of the first position of the first connecting rail 115 can be θ31, and the inclination angle of the second position can be θ32 that is greater than θ31.

[0033] Alternatively, the first connecting rail 115 can also be a form of connecting a plurality of shorter straight rails. The plurality of shorter straight rails each have mutually different inclination angles. For example, the first connecting rail 115 can also be a form of connecting a plurality of shorter straight rails in which the inclination angle is increased by 5° each time. That is, the first connecting rail 115 can also be a form of sequentially connecting a shorter straight rail having an inclination angle of 5°, a shorter straight rail having an inclination angle of 10°, a shorter straight rail having an inclination angle of 15°,..., and a shorter straight rail having an inclination angle of 85°.

[0034] On the other hand, in Figure 1 In FIG. 2, a case where the first inclination angle θ1 of the first rail 110 is 0° and the second inclination angle θ2 of the second rail 120 is 90° is illustratively described, but is not limited thereto. For example, the first inclination angle θ1 of the first rail 110 can be 0° or more and 10° or less, and the second inclination angle θ2 of the second rail 120 can be 45° or more and 90° or less. For example, it can be that the first inclination angle θ1 of the first rail 110 is 8°, and the second inclination angle θ2 of the second rail 120 is 90°.

[0035] The first connecting rail 115 serves to connect the first rail 110 and the second rail 120 by a shorter interval, and the length of the first connecting rail 115 can be shorter than the length of the first rail 110.

[0036] Referring again to Figure 1 Racks 115a, 120a can be provided along the first connecting rail 115 and the second rail 120. The racks 115a, 120a are not provided to the first rail 110.

[0037] The first inclination angle θ1 of the first rail 110 is relatively small (e.g., 0° or more and 10° or less), and thus the transfer carriage 200 can move on the first rail 110 without any difficulty. The running wheels (see FIG. 1) of the transfer carriage 200 can be provided to the first rail 110.Figure 2 The 220) rotates on the 1st rail 110, so that the carrying trolley 200 can move along the 1st rail 110.

[0038] However, the 2nd inclination angle Θ2 of the 2nd rail 120 is relatively large (for example, 45° or more and 90° or less), so the carrying trolley 200 cannot directly climb the 2nd rail 120. Therefore, a rack 115a, 120a is provided on the 1st connecting rail 115 and the 2nd rail 120, and a pinion (refer to Figure 3 230) is provided on the carrying trolley 200. As the pinion 230 rotates and engages on the rack 115a, 120a, the carrying trolley 200 can climb the 2nd rail 120 having a high inclination angle.

[0039] On the other hand, the carrying trolley 200 moves along the side surface of the 1st rail 110, the side surface of the 1st connecting rail 115, and the side surface of the 2nd rail 120.

[0040] A transfer unit 210 that supports a carrying object is provided on the frame of the carrying trolley 200. As Figure 1 indicated, during movement of the carrying trolley 200 along the 1st rail 110, the 1st connecting rail 115, and the 2nd rail 120, the transfer unit 210 maintains the horizontal by adjusting the relative position with the frame. That is, the transfer unit 210 is directed downward along the direction of gravity regardless of the position of the carrying trolley 200. In this way, by adjusting the transfer unit 210, even if the carrying trolley 200 moves along the 1st connecting rail 115 and the 2nd rail 120, it is possible to prevent the carrying object from falling off the transfer unit 210.

[0041] Here, with reference to Figure 2 , the case where the carrying trolley 200 moves along the 1st rail 110 will be described.

[0042] The carrying trolley 200 is located on the side surface (for example, the z direction) of the 1st rail 110.

[0043] The carrying trolley 200 includes a frame 290, a transfer unit 210, a cross roller bearing 215, a plurality of guide rollers 271, 272, 273, a traveling wheel 220, and a pinion 230.

[0044] The frame 290 includes an outer side surface, an inner side surface, an upper surface, and a lower surface. When the traveling direction of the carrying trolley 200 is set as the x direction, the outer side surface and the inner side surface of the frame 290 can be arranged in the z direction, and the upper surface and the lower surface of the frame 290 can be arranged in the y direction.

[0045] The inner side surface of the frame 290 faces the side surface (or the main surface) of the 1st rail 110.

[0046] A transfer unit 210 is provided on the outer side surface of the frame 290. The transfer unit 210 has a function of picking up and supporting a load, which can be, for example, a container (e.g., a FOUP (Front Opening Universal Pod), a FOSB (Front Opening Shipping Box)) on which a plurality of substrates are placed, but is not limited thereto.

[0047] A cross roller bearing 215 is arranged between the outer side surface of the frame 290 and the transfer unit 210. The cross roller bearing 215 is a compact bearing in which a plurality of rollers are arranged between an inner ring and an outer ring. In the cross roller bearing 215, the roller surfaces are in line contact, so that elastic deformation caused by bearing load is very small, and a complex load such as a radial load, an axial load, a moment, etc. can be simultaneously received. As described above, the transfer unit 210 is maintained horizontal by the action of the cross roller bearing 215 during movement of the transfer carriage 200. That is, the transfer unit 210 is directed downward along the direction of gravity regardless of the position of the transfer carriage 200.

[0048] On the other hand, the first sub-frame 291 is formed to protrude toward the rail device 110 on the upper surface of the frame 290. A first guide wheel 271 is provided on the bottom surface of the first sub-frame 291.

[0049] The second sub-frame 292 is formed to protrude toward the rail device 110 on the lower surface of the frame 290. Optionally, a second guide wheel 272 is provided on the upper surface of the second sub-frame 292.

[0050] Further, optionally, a third guide wheel 273 can be provided on the inner side surface of the frame 290.

[0051] The first guide wheel 271, the second guide wheel 272, and the third guide wheel 273 adjust the position / interval between the transfer carriage 200 and the first rail 110, so that the transfer carriage 200 can move along the first rail 110 at a correct position.

[0052] Further, the travel wheel 220 and the pinion gear 230 can be provided on the second sub-frame 292. As shown, the travel wheel 220 and the pinion gear 230 are coupled to each other, and the travel wheel 220 and the pinion gear 230 are driven by one motor. Therefore, the number of rotations of the travel wheel 220 and the number of rotations of the pinion gear 230 can be the same. That is, during one rotation of the pinion gear 230, the travel wheel 220 also rotates one revolution.

[0053] On the other hand, the first rail 190 includes a rail body 190 that extends long in the travel direction (i.e., the x direction) of the transfer carriage 200.

[0054] The rail body 190 includes a main surface, a back surface, an upper surface, and a lower surface. When the traveling direction of the transport vehicle 200 is set as the x direction, the main surface and the back surface of the rail body 190 can be disposed in the z direction, and the upper surface and the lower surface of the rail body 190 can be disposed in the y direction.

[0055] Here, the width W of the rail body 190 is smaller than the height H of the rail body 190. The width W of the rail body 190 means the distance between the main surface opposite to the frame 290 and the back surface on the opposite side of the main surface. The height H of the rail body 190 means the distance between the upper surface and the lower surface. As illustrated, the height H of the rail body 190 can be 2 times or more as large as the width W. The cross section of the rail body 190 (i.e., the cross section cut by the yz plane) is in a shape that is narrow in the main surface-back surface direction (z direction) and long in the upper surface-lower surface direction (y direction). The transfer unit 210 of the transport vehicle 200 is located on the main surface (i.e., the side surface) side of the rail body 190.

[0056] The main surface of the rail body 190 opposes the inner side surface of the frame 290.

[0057] The first groove 191 is formed on the upper surface (e.g., one side surface in the y direction) of the rail body 190, and the second groove 192 is formed on the lower surface (e.g., the other side surface in the y direction). Further, the first running surface 199 is provided on the lower surface.

[0058] The first groove 191 of the rail body 190 supports and guides the first idler wheel 271 of the transport vehicle 200. The second groove 192 of the rail body 190 supports and guides the second idler wheel 272 of the transport vehicle 200.

[0059] The first running surface 199 can be at least one of the side walls that define the second groove 192. In Figure 2 In the illustrated example, the first running surface 199 is formed on the right side of the side walls that define the second groove 192. In other words, the second groove 192 can include a groove that is recessed toward the rail body 190 from the first running surface 199. The first running surface 199 directly contacts the running wheel 220 of the transport vehicle 200. The running wheel 220 rotates along the first running surface 199 while moving the transport vehicle 200 in the running direction (i.e., the x direction).

[0060] In addition, a third groove 193 and a fourth groove 194 can be provided on the main surface of the rail body 190. The third groove 193 and the fourth groove 194 are used to support and guide the third guide wheel 273 of the transfer cart 200. For example, on the bottom floor (e.g., the first floor), the third guide wheel 273 moves along the third groove 193 located below the main surface, but after the transfer cart 200 moves along the second rail 120 to the upper floor (e.g., the third floor), the third guide wheel 273 will move along the fourth groove 194 located above the main surface (see Figure 6 ).

[0061] Furthermore, between the third groove 193 and the fourth groove 194 on the main surface of the rail body 190, there is a space 195. The power supply cable 160 that supplies power from the external power supply 300 is located in this space 195. A pickup unit 260 is provided on the inner side surface of the frame 290, and the pickup unit 260 receives power from the power supply cable 160 in a wireless manner. With the power thus received, a motor (not shown) drives the traveling wheel 220 and the pinion gear 230.

[0062] Here, with reference to Figure 3 , the case where the transfer cart 200 moves along the first connecting rail 115 will be described.

[0063] The transfer cart 200 is continuously moved from the first rail 110 to the first connecting rail 115, so the cross section of the first rail 110 described in Figure 2 and the cross section of the first connecting rail 115 described in Figure 3 are substantially the same.

[0064] The rail body 1905 of the first connecting rail 115 is connected to the rail body 190 of the first rail 110. The plurality of grooves 1915, 1925, 1935, 1945, 1955 of the first connecting rail 115 are connected to the plurality of grooves 191, 192, 193, 194, 195 of the first rail 110. The power supply cable 1605 of the first connecting rail 115 is also connected to the power supply cable 160 of the first rail 110.

[0065] However, the rack rail 115a is provided along the first connecting rail 115, although it is not provided on the first rail 110. Because the traveling wheel 220 and the pinion gear 230 of the transfer cart 200 are coupled to each other, the rack rail 115a is provided in parallel with the traveling surface 1995. The pinion gear 230 rotates on the rack rail 115a, and the traveling wheel 220 rotates on the traveling surface 1995.

[0066] By the engagement of the pinion gear 230 and the rack rail 115a, the transfer cart 200 can stably climb along the first connecting rail 115.

[0067] As described above, the traveling wheels 220 and the pinion gears 230 can be driven by one motor (not shown). Such a motor can be a brake motor. The brake motor is provided with a brake inside, so that even if the power supply is interrupted in the middle of the hoisting trolley 200 climbing along the first connecting rail 115 or the second rail 120, the hoisting trolley 200 does not fall from the first connecting rail 115 or the second rail 120. That is, a safety accident can be prevented.

[0068] Although not shown in cross section, the cross section of the first connecting rail 115 and the cross section of the second rail 120 are the same as each other.

[0069] Referring again to Figure 1 It is explained that the hoisting trolley 200 can move to the upper layer along the first connecting rail 115 and the second rail 120 which are continuous to the first rail 110 without using the tower lift. This is because the hoisting trolley 200 contains not only the traveling wheels 220 but also the pinion gears 230, and the pinion gears 230 engage with the toothed rails 115a, 120a provided along the first connecting rail 115 and the second rail 120. Therefore, unlike the tower lift, it is not necessary to spend the transfer time of the hoisted object, the waiting time, and the like, so that the interlayer movement of the hoisted object becomes fast and smooth.

[0070] Figure 6 is a conceptual view for explaining a hoisting system to which another embodiment of the present application relates. For the convenience of explanation, the explanation is mainly made in the different points from the explanation made using Figures 1 to 5

[0071] Referring to Figure 6 , the rail device 100 contains the first rail 110, the first connecting rail 115, the second rail 120, the second connecting rail 125, the third rail 130, the toothed rails 115a, 120a, 125a.

[0072] The interlayer wall 991 is provided between the bottom layer (e.g., the first layer) and the middle layer (e.g., the second layer), and the interlayer wall 992 is provided between the middle layer and the upper layer (e.g., the third layer).

[0073] ​The first rail 110 is provided on the lower floor, and the third rail 130 is provided on the upper floor. The first rail 110 and the third rail 130 are connected by the first connecting rail 115, the second rail 120, and the second connecting rail 125. The first rail 110 has a first inclination angle (e.g., 0°), and the second rail 120 has a second inclination angle (e.g., 90°) that is greater than the first inclination angle. The first connecting rail 115 connects the first rail 110 and the second rail 120, and the inclination angle of the first connecting rail 115 gradually increases from the first inclination angle to the second inclination angle. The third rail 130 has a third inclination angle (e.g., 0°) that is less than the second inclination angle, and the inclination angle of the second connecting rail 125 gradually decreases from the second inclination angle to the third inclination angle.

[0074] For example, the first inclination angle of the first rail 110 can be 0° or more and 10° or less, the second inclination angle θ2 of the second rail 120 can be 45° or more and 90° or less, and the third inclination angle of the third rail 130 can be 0° or more and 10° or less.

[0075] The second connecting rail 125 can be curved in the shape of an imaginary circular arc having an inner diameter R, like the first connecting rail 115. Alternatively, the second connecting rail 125 can be a shape in which a plurality of shorter straight rails are connected, and the plurality of shorter straight rails can each have an inclination angle that is different from one another.

[0076] The first connecting rail 115 is used to connect the first rail 110 and the second rail 120 by a shorter section, and the length of the first connecting rail 115 can be shorter than the length of the first rail 110. Similarly, the second connecting rail 125 is used to connect the second rail 120 and the third rail 130 by a shorter section, and the length of the second connecting rail 125 can be shorter than the length of the third rail 130.

[0077] The transport trolley 200 moves along the side surface of the first rail 110, the side surface of the first connecting rail 115, the side surface of the second rail 120, the side surface of the second connecting rail 125, and the side surface of the third rail 130.

[0078] In addition, tooth rails 115a, 120a, and 125a can be provided along the first connecting rail 115, the second rail 120, and the second connecting rail 125. The tooth rails 115a and 120a are not provided on the first rail 110 and the third rail 130. Thus, when the transport trolley 200 moves from the lower floor to the upper floor, the pinion of the transport trolley 200 engages with the tooth rails 115a, 120a, and 125a.

[0079] On the other hand, when the transfer cart 200 moves along the first rail 110, the upper surface U faces the inter-floor wall 991. When the transfer cart 200 moves along the first connecting rail 115, the upper surface U starts to tilt to the side. When the transfer cart 200 moves along the second rail 120, the upper surface U is completely tilted to face the right side. When the transfer cart 200 moves along the third rail 130, the upper surface U faces the inter-floor wall 992. That is, the direction of the frame 290 of the transfer cart 200 of the lower floor (e.g., the first floor) and the direction of the frame 290 of the transfer cart 200 of the upper floor (e.g., the third floor) become opposite to each other (i.e., upside down). Even if the direction of the frame 290 is changed like this, the transfer unit 210 maintains horizontal. That is, the transfer unit 210 faces downward along the direction of gravity.

[0080] Figures 7 to 9 is a view for explaining a transfer cart used in several embodiments of the present application. is a view of a specific example of a transfer cart using the Figure 2 illustrated transfer cart. Figure 7 is a perspective view illustrated in a direction in which the inner side surface of the frame of the transfer cart is visible, Figure 8 is a perspective view illustrated in a direction in which the outer side surface of the frame of the transfer cart is visible, Figure 9 is a view for explaining the operation of the transfer unit of the transfer cart.

[0081] First, referring to Figure 7 , the inner side surface of the frame 290 faces the side surface (or the main surface) of the first rail 110.

[0082] The first sub-frame 291 is formed to protrude toward the rail device on the upper surface of the frame 290. The first guide roller 271 is provided on the bottom surface of the first sub-frame 291. As for the first guide roller 271, two are illustrated as being provided along the traveling direction of the transfer cart 200, but it is not limited thereto.

[0083] The second sub-frame 292 is formed to protrude toward the rail device on the lower surface of the frame 290. Optionally, the second guide roller 272 is provided on the upper surface of the second sub-frame 292. As for the second guide roller 272, two are illustrated as being provided along the traveling direction of the transfer cart 200, but it is not limited thereto.

[0084] On the inner side surface of the frame 290, the third guide roller 273 can be provided. As for the third guide roller 273, two are illustrated as being provided along the traveling direction of the transfer cart 200, but it is not limited thereto.

[0085] The travel wheel 220 and the pinion gear 230 are provided in the second sub-frame 292. The travel wheel 220 and the pinion gear 230 are driven by one motor 298. The motor 298 transmits the driving force to the travel wheel 220 and the pinion gear 230 through a speed reducer 299.

[0086] Further, a pickup unit 260 is provided on the inner side of the frame 290, and the pickup unit 260 receives power wirelessly from a power supply cable provided on the track.

[0087] Referring to Figure 8 , a delivery unit 210 is provided on the outer side of the frame 290. The delivery unit 210 has a function of picking up and supporting the load F. A cross roller bearing 215 is disposed between the outer side of the frame 290 and the delivery unit 210.

[0088] Referring to Figure 9 , the delivery unit 210 includes a plurality of plates 219, drive belts 211, 212, and guides 213, 214.

[0089] The plurality of plates 219 are configured in multiple layers and are capable of picking up and supporting the load F. If a front cover 210a of the delivery unit 210 is opened, the plurality of plates 219 are capable of moving up and down or advancing / retracting by the drive belts 211, 212 and the guides 213, 214. If the plates 219 advance and pick up the load F and then retract to return to the original position, the front cover 210a is closed again.

[0090] Figure 10 and Figure 11 is a perspective view for explaining a load handling system to which a further embodiment of the present application relates. Figure 10 is an example of a load handling system that is specifically implemented using Figure 6 described above. Figure 11 is a view that shows the load handling system provided in the upper floor in Figure 10 in an enlarged manner.

[0091] Referring to Figure 10 and Figure 11 , an inter-floor wall 991 is provided between the lower floor (e.g., the first floor) and the middle floor (e.g., the second floor), and an inter-floor wall 992 is provided between the middle floor and the upper floor (e.g., the third floor).

[0092] In Figure 10 and Figure 11 , a circulating track device for allowing the load carriage 200 to travel back and forth between the lower floor and the upper floor is disclosed. Such a track device includes a first track 110, a first connecting track 115, a second track 120, a second connecting track 125, a third track 130, a third connecting track 1131, a fourth track 1130, a fourth connecting track 1125, a fifth track 1120, a fifth connecting track 1115, a sixth track 1110, a sixth connecting track 1111, and a rack track. The rack track is provided in the first connecting track 115, the second track 120, the second connecting track 125, the fourth connecting track 1125, the fifth track 1120, and the fifth connecting track 1115.

[0093] Specifically, the carrying trolley 200 passes through the middle floor along the 1st rail 110, the 1st connecting rail 115, the 2nd rail 120, the 2nd connecting rail 125, and the 3rd rail 130 to reach the upper floor.

[0094] In the upper floor, the carrying trolley 200 reaches the 4th rail 1130 from the 3rd rail 130 via the 3rd connecting rail 1131. The 3rd connecting rail 1131 is connected with the 3rd rail 130 and is arranged in the same plane as the 3rd rail 130, and is in a U shape. The carrying trolley 200 can turn around via the 3rd connecting rail 1131. The carrying trolley 200 moves along the side surface of the 3rd rail 130, the side surface of the 3rd connecting rail 1131, and the side surface of the 4th rail 1130.

[0095] When the carrying trolley 200 is on the 4th rail 1130, the delivery unit 210 delivers the carrying object to the storage part S1.

[0096] The carrying trolley 200 passes through the middle floor along the 4th connecting rail 1125, the 5th rail 1120, the 5th connecting rail 1115, and the 6th rail 1110 to reach the bottom floor in the upper floor.

[0097] In the bottom floor, when the carrying trolley 200 is on the 6th rail 1110, the delivery unit 210 picks up the carrying object from the storage part S2.

[0098] The carrying trolley 200 reaches the 1st rail 110 from the 6th rail 1110 via the 6th connecting rail 1111. The 6th connecting rail 1111 is connected with the 1st rail 110 and the 6th rail 1110 and is arranged in the same plane as the 1st rail 110 and the 6th rail 1110, and is in a U shape. The carrying trolley 200 can turn around via the 6th connecting rail 1111. The carrying trolley 200 moves along the side surface of the 6th rail 1110, the side surface of the 6th connecting rail 1111, and the side surface of the 1st rail 110.

[0099] On the other hand, in the middle floor, in order to protect the 2nd rail 120 and the 5th rail 1120 which correspond to vertical rails, the 2nd rail 120 and the 5th rail 1120 are surrounded by the protection plate 1122.

[0100] In addition, although the case where the carrying object is picked up from the storage part S2 in the bottom floor and delivered to the storage part S1 in the upper floor is described, it is not limited thereto. That is, the carrying object can also be picked up from the storage part S1 in the upper floor and delivered to the storage part S2 in the bottom floor.

[0101] The embodiments of the present application are described above with reference to the accompanying drawings, but it will be understood by those skilled in the art that the present application can be carried out in other specific ways without changing the technical idea or essential characteristics of the present application. Therefore, it should be understood that the above-described embodiments are illustrative in all aspects and are not restrictive.

Claims

1. A transport system comprising: a rail device; and a transport cart moving along the rail device, the rail device comprising: a first rail having a first inclination angle; a second rail having a second inclination angle greater than the first inclination angle; and a first connecting rail connecting the first rail and the second rail; a rack rail provided along the first connecting rail and the second rail, the transport cart comprising: a frame; a running wheel coupled to the frame and moving along the first rail, the first connecting rail, and the second rail; and a pinion coupled to the frame and moving along the rack rail, the first rail comprising: a first rail body extending long in a running direction; a first groove provided on an upper surface of the first rail body for supporting a first guide wheel of the transport cart; a first running surface provided on a lower surface of the first rail body and directly interfacing with the running wheel; a second groove provided on the lower surface of the first rail body for supporting a second guide wheel of the transport cart; and a third groove provided on a main surface of the first rail body for supporting a third guide wheel of the transport cart.

2. The transport system according to claim 1, wherein the running wheel and the pinion are coupled to each other and driven by one motor.

3. The transport system according to claim 1, wherein the transport cart moves along a side surface of the first rail, a side surface of the first connecting rail, and a side surface of the second rail.

4. The transport system according to claim 1, wherein a width of the first rail body is smaller than a height of the first rail body, the width of the first rail body is a distance between a main surface opposite to the frame and a back surface on an opposite side of the main surface, the height of the first rail body is a distance between the upper surface and the lower surface.

5. The transport system according to claim 1, wherein the second groove comprises a groove recessed from the first running surface toward the first rail body.

6. The transport system according to claim 1, wherein the first connecting rail comprises: a second rail body extending long in the running direction; a fourth groove provided on an upper surface of the second rail body for supporting a first guide wheel of the transport cart; and a second running surface provided on a lower surface of the second rail body and directly interfacing with the running wheel, the rack rail is provided side by side with the second running surface.

7. The transport system according to claim 1, wherein a power cable for supplying a power source is provided on a main surface of the first rail body, a pickup unit for receiving the power source supplied from the power cable in a wireless manner is provided on an inner side surface of the frame.

8. The transport system according to claim 1, wherein the rack rail is not provided on the first rail.

9. The transport system according to claim 1, further comprising: a third rail having a third inclination angle smaller than the second inclination angle; and a second connecting rail connecting the second rail and the third rail, the rack rail is further provided along the second connecting rail but not provided on the third rail. ​ ​ ​ ​ 10. The transport system according to claim 1, wherein the transport vehicle further comprises: a transfer unit provided to the frame and supporting a transported object, the transfer unit maintains a horizontal position by adjusting a relative position with the frame during movement of the transport vehicle along the first rail, the first connecting rail, and the second rail.

11. The transport system according to claim 10, wherein a cross roller bearing is provided between the frame and the transfer unit, and the transfer unit maintains a horizontal position by action of the cross roller bearing.

12. The transport system according to claim 1, wherein the first rail is a rail for moving the transport vehicle in a horizontal direction, the second rail is a rail for moving the transport vehicle in a vertical direction.

13. The transport system according to claim 12, wherein the first connecting rail is curved along an imaginary circular arc.

14. A transport system comprising: A track device includes a first track extending horizontally, a first connecting track connected to the first track and having an increased angle of inclination, a second track connected to the first connecting track and extending vertically, a second connecting track connected to the second track and having a decreased angle of inclination, and a third track connected to the second connecting track and extending horizontally. a rail device including: a first rail provided along a side of a first floor surface, a first connecting rail provided along a side of the first floor surface, a second rail provided along a side of a second floor surface, a second connecting rail provided along a side of the second floor surface, and a third rail provided along a side of a third floor surface, and a transport vehicle moving along a side of the first rail, a side of the first connecting rail, a side of the second rail, a side of the second connecting rail, and a side of the third rail, the rail device further comprises: a rack rail provided to the first connecting rail, the second rail, and the second connecting rail, but not provided to the first rail and the third rail, the transport vehicle comprises: a running wheel, and a pinion, the running wheel is used when the transport vehicle moves in the first rail, the running wheel and the pinion are used when the transport vehicle climbs the first connecting rail, the second rail, and the second connecting rail, the running wheel is used when the transport vehicle moves in the third rail, the first rail comprises: a first rail body extending long in a running direction, a first groove provided to an upper surface of the first rail body for supporting a first guide wheel of the transport vehicle, a first running surface provided to a lower surface of the first rail body and directly contacted with the running wheel, a second groove provided to the lower surface of the first rail body for supporting a second guide wheel of the transport vehicle, and a third groove provided to a main surface of the first rail body for supporting a third guide wheel of the transport vehicle.

15. The transport system according to claim 14, wherein the running wheel and the pinion are coupled to each other and driven by one motor.

16. The transport system according to claim 14, wherein the transport vehicle further comprises: a frame provided with the running wheel and the pinion, and a transfer unit provided to the frame and supporting a transported object, the transfer unit maintains a horizontal position by adjusting a relative position with the frame during movement of the transport vehicle along the first rail, the first connecting rail, the second rail, the second connecting rail, and the third rail.

17. The transport system according to claim 14, wherein the rail device comprises: a third connecting rail in a U shape, connected to the third rail and arranged in the same plane as the third rail; and a fourth rail connected to the third connecting rail and extending horizontally, the transport trolley moves along the side surface of the third rail, the side surface of the third connecting rail, and the side surface of the fourth rail.

18. A transport trolley that moves along a rail device of a transport system, comprising: a frame including an outer side surface, an inner side surface, an upper surface, and a lower surface; a transfer unit provided on the outer side surface of the frame and supporting a transported object; a cross roller bearing connected to the transfer unit to maintain the transfer unit horizontally; a pickup unit provided on the inner side surface of the frame and supplied with power from the rail device; a first sub-frame protruding from the upper surface of the frame toward the rail device; a first guide roller provided on the bottom surface of the first sub-frame; a second sub-frame protruding from the lower surface of the frame toward the rail device; a second guide roller provided on the upper surface of the second sub-frame; a driving wheel and a pinion gear provided on the second sub-frame; and a third guide roller provided on the inner side surface of the frame, when the transport trolley moves along the rail device, the first guide roller is supported by a first groove on the upper surface of a rail body of the rail device, the second guide roller is supported by a second groove on the lower surface of the rail body, the third guide roller is supported by a third groove on the main surface of the rail body. ​

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