Driving vehicle system

Abstract

[Subject] Provide a traveling vehicle system capable of suppressing vibration transmitted to a traveling vehicle. [Solution] The traveling vehicle system may include a track and a traveling vehicle. The track may include a plurality of first tracks, a plurality of second tracks, and a partial track provided at a portion where a first and a second extension line intersect. The traveling vehicle may include a traveling portion that travels on the upper side of the track, a main body portion located below the track, and a connecting portion that connects the traveling portion to the main body portion. A gap may be formed between the first track and the partial track and between the second track and the partial track for the connecting portion to pass through when the traveling vehicle travels. The traveling portion may include four wheels that travel on the track, and a direction conversion mechanism that switches the traveling direction of the traveling vehicle between a first direction and a second direction by rotating the wheels around four rotation axes that are orthogonal to the axles of the four wheels. When viewed from above, any side of the quadrilateral formed with the four rotation axes as vertices may not be parallel to the first track and the second track.

Description

Technical Field

[0001] The present invention relates to a traveling vehicle system. Background Art

[0002] A vehicle system having a grid-shaped track and a vehicle traveling on the track is known (see, for example, Patent Document 1). In the vehicle system described in Patent Document 1, the vehicle has a traveling portion traveling on the upper side of the track, a main body located below the track, and a connecting portion connecting the traveling portion and the main body. In addition, the track has a plurality of first tracks arranged along a first direction, a plurality of second tracks arranged along a second direction orthogonal to the first direction, and a partial track arranged at a portion where an extension line of the first track intersects an extension line of the second track. A gap is formed between the first track and the partial track and between the second track and the partial track for the connecting portion to pass through when the vehicle travels. The traveling portion can switch the traveling direction of the vehicle between the first direction and the second direction by rotating the four wheels traveling on the track around the rotation axis in the up-down direction, respectively.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: International Publication No. WO2017 / 150005 Summary of the invention

[0006] In the traveling vehicle system described in Patent Document 1, in the traveling part, since the left and right wheels in the traveling direction are not offset in the traveling direction, when the traveling part passes through the gap, the left and right wheels pass through the gap at the same time. When the wheels pass through the gap, vibrations are transmitted to the traveling vehicle at the same time on the left and right sides, and the vibrations transmitted to the traveling vehicle become larger.

[0007] An object of the present invention is to provide a traveling vehicle system capable of suppressing vibration transmitted to the traveling vehicle.

[0008] In an embodiment of the present invention, a vehicle system is provided. The vehicle system includes a track and a vehicle that travels on the track, wherein the track includes a plurality of first tracks arranged along a first direction, a plurality of second tracks arranged along a second direction orthogonal to the first direction, and a partial track arranged at a portion where an extension line of the first track and an extension line of the second track intersect, the vehicle includes a travel portion that travels on the upper side of the track, a main body portion located below the track, and a connecting portion that connects the travel portion and the main body portion, a gap is formed between the first track and the partial track and between the second track and the partial track for the connecting portion to pass through when the vehicle travels, the travel portion includes four wheels that travel on the track, and a direction switching mechanism that switches the travel direction of the vehicle between the first direction and the second direction by rotating the wheels around four rotation axes orthogonal to the respective axles of the four wheels, and when viewed from above, none of the sides of a quadrilateral formed with the four rotation axes as vertices is parallel to the first track and the second track.

[0009] Effects of the Invention

[0010] According to the above-mentioned vehicle system, the left and right wheels in the traveling direction are in a state of being staggered in the traveling direction. Therefore, no matter which track of the first track and the second track the vehicle is traveling on, the timing of the left and right wheels entering the gap is different. In addition, the time required for the left and right wheels to pass through the gap sometimes overlaps partially, and sometimes completely staggers. As a result, since the vibration and noise generated when the wheels pass through the gap can be prevented from being generated simultaneously by the left and right wheels, the increase of vibration transmitted to the vehicle can be suppressed to achieve smooth driving, and the increase of noise transmitted to the surrounding can be suppressed.

[0011] The quadrilateral may be a rhombus when viewed from above. According to this structure, since the parts such as the wheels constituting the traveling portion are highly symmetrical, the manufacturing is easy and the weight balance of the traveling vehicle can be ensured.

[0012] Alternatively, the four wheels may be arranged at positions where the lengths to their respective corresponding rotation axes are equal. Alternatively, the wheel corresponding to the rotation axis corresponding to the vertex of the acute angle of the rhombus may be arranged on the inner side of the traveling vehicle compared to the rotation axis when viewed from above. Alternatively, the wheel corresponding to the rotation axis corresponding to the vertex of the obtuse angle of the rhombus may be arranged on the outer side of the traveling vehicle compared to the rotation axis when viewed from above. According to this structure, regardless of whether the traveling vehicle is traveling in the first direction or the second direction, the front and rear wheels in the traveling direction are roughly aligned in a straight line, thereby reducing the area passed by the traveling wheels on the track. In addition, according to this structure, the wear of the four wheels when rotating around the rotation axis can be evened out.

[0013] Alternatively, two wheels corresponding to two rotation axes located at the vertices of a first diagonal angle of the rhombus may be spaced apart from their respective corresponding rotation axes by a first distance. Alternatively, two wheels corresponding to two rotation axes located at the vertices of a second diagonal angle of the rhombus different from the first diagonal angle may be spaced apart from their respective corresponding rotation axes by a second distance different from the first distance. Alternatively, the front and rear wheels in the driving direction may be arranged roughly in a straight line. According to this structure, regardless of whether the driving vehicle is traveling in the first direction or the second direction, the front and rear wheels in the driving direction are roughly aligned in a straight line, thereby reducing the area that the driving wheels pass through on the track.

[0014] Alternatively, the track is formed into a grid shape by the first track and the second track. Alternatively, the main body is arranged to be contained in one grid of the grid-shaped track when viewed from above. According to this structure, when a plurality of vehicles are traveling on the grid-shaped track, even if the vehicles are located in adjacent grids, interference between the vehicles can be prevented. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 An example of the traveling vehicle system according to the first embodiment is shown.

[0016] Figure 2 An example of the traveling vehicle system according to the first embodiment is shown.

[0017] Figure 3 An example of a cross section obtained by cutting the traveling vehicle with a plane perpendicular to the traveling direction is shown.

[0018] Figure 4 An example of an operation of a traveling vehicle changing its traveling direction from a first direction to a second direction is shown.

[0019] Figure 5 An example of an operation of a traveling vehicle changing its traveling direction from a first direction to a second direction is shown.

[0020] Figure 6 An example of an operation of a traveling vehicle changing its traveling direction from a first direction to a second direction is shown.

[0021] Figure 7 An example of an operation of a traveling vehicle changing its traveling direction from a first direction to a second direction is shown.

[0022] Figure 8 Shows another example of the upper unit.

[0023] Fig. 9 An example is shown in which two traveling vehicles are adjacent to each other in the traveling vehicle system.

[0024] Fig.10 An example of a traveling vehicle in the traveling vehicle system according to the second embodiment is schematically shown.

[0025] Fig.11 An example of an operation of a traveling vehicle changing its traveling direction from a first direction to a second direction is shown.

[0026] Fig.12 An example of an operation of a traveling vehicle changing its traveling direction from a first direction to a second direction is shown.

[0027] Fig.13 An example of a traveling vehicle in the traveling vehicle system according to the third embodiment is schematically shown.

[0028] Fig.14 An example of an operation of a traveling vehicle changing its traveling direction from a first direction to a second direction is shown.

[0029] Fig.15 An example of an operation of a traveling vehicle changing its traveling direction from a first direction to a second direction is shown. DETAILED DESCRIPTION

[0030] Hereinafter, the present invention will be described through the embodiments of the present invention, but the following embodiments do not limit the scheme of the claims. In addition, in the accompanying drawings, in order to illustrate the embodiments, a part is sometimes recorded in an enlarged or emphasized manner, etc., and the scale is appropriately changed to express, and the size and shape are different from the actual product. In the following figures, the XYZ orthogonal coordinate system is sometimes used to illustrate the directions in the figure. In the XYZ coordinate system, the plane parallel to the horizontal plane is referred to as the XY plane. In this embodiment, the X direction is referred to as the first direction D1, and the Y direction is referred to as the second direction D2. In addition, the up and down directions perpendicular to the XY plane are recorded as the Z direction. The X direction, the Y direction, and the Z direction are respectively described with the direction indicated by the arrow in the figure as the + direction and the direction opposite to the direction indicated by the arrow as the - direction.

[0031] Figure 1 and Figure 2 An example of the traveling vehicle system SYS according to the first embodiment is shown. Figure 3 An example of a cross section obtained by cutting the vehicle V with a plane orthogonal to the driving direction T is shown. The vehicle system SYS is a system provided in a semiconductor device manufacturing plant, etc., and transports items such as a reticle box containing a reticle, etc., and a FOUP containing semiconductor wafers for manufacturing semiconductor devices. The vehicle system SYS can be applied to equipment other than the semiconductor manufacturing field. The items can also be other items that can be kept by the vehicle system SYS.

[0032] The vehicle system SYS includes a track R and a vehicle V. The track R is a grid-shaped track including a first track R1, a second track R2, and a partial track R3. The first track R1 extends along a first direction D1. The second track R2 extends along a second direction D2. In the present embodiment, the first direction D1 is orthogonal to the second direction D2, and a plurality of first tracks R1 and a plurality of second tracks R2 are arranged along mutually orthogonal directions, but are not directly intersecting each other. The partial track R3 is arranged at a portion where an extension line of the first track R1 and an extension line of the second track R2 intersect. The partial track R3 is adjacent to the first track R1 in the first direction D1, and adjacent to the second track R2 in the second direction D2. The partial track R3 connects the first track R1 and the second track R2. The track R is arranged in a state where a plurality of grid cells C are adjacent in a plan view by arranging the first track R1 and the second track R2 in a direction orthogonal to each other. One grid cell C is a portion surrounded by two first tracks R1 adjacent to each other in the second direction D2 and two second tracks R2 adjacent to each other in the first direction D1 in a plan view. In addition, the track R is continuously formed in the first direction D1 and the second direction D2 with the same structure.

[0033] The first rail R1, the second rail R2, and the partial rail R3 are suspended from the ceiling by a suspension member H. The suspension member H includes a first portion H1 for suspending the first rail R1, a second portion H2 for suspending the second rail R2, and a third portion H3 for suspending the partial rail R3. The first portion H1 and the second portion H2 are respectively provided at two locations across the third portion H3.

[0034] The first rail R1 has a running surface R1a for the traveling vehicle V to run on. The second rail R2 has a running surface R2a for the traveling vehicle V to run on. The partial rail R3 has a running surface R3a for the traveling vehicle V to run on. A gap D is formed between the first rail R1 and the partial rail R3 and between the second rail R2 and the partial rail R3, respectively. The gap D is a portion through which the connecting portion 30, which is a part of the traveling vehicle V, passes when the traveling vehicle V runs on the first rail R1 and crosses the second rail R2, or when the traveling vehicle V runs on the second rail R2 and crosses the first rail R1. Therefore, the gap D is set to a width that the connecting portion 30 can pass through. The first rail R1, the second rail R2, and the partial rail R3 are arranged along the same or substantially the same horizontal plane. In the present embodiment, in the first rail R1, the second rail R2, and the partial rail R3, the running surfaces R1a, R2a, and R3a are arranged on the same or substantially the same horizontal plane.

[0035] The traveling vehicle V has a main body 10, a traveling portion 20, and a connecting portion 30. The main body 10 is arranged below the track R. The main body 10 is formed in a rectangular shape, for example, when viewed from above. The main body 10 is formed to a size that is contained within a grid unit C in the track R when viewed from above. Therefore, it is possible to ensure a space for interleaving with other traveling vehicles V traveling on the adjacent first track R1 or second track R2. The main body 10 has an upper unit 17 and a transfer device 18. The upper unit 17 is suspended from the traveling portion 20 by means of the connecting portion 30. The upper unit 17 is a frame-shaped unit having four corners and a hollowed-out central portion. The transfer device 18 is provided below the upper unit 17. The transfer device 18 can rotate around the Z direction.

[0036] The traveling unit 20 has wheels 21 and auxiliary wheels 22. The wheels 21 are respectively arranged at the four corners of the upper unit 17. The wheels 21 are respectively mounted on axles provided at the connecting portion 30. The axles are provided parallel or substantially parallel along the XY plane. The wheels 21 roll on the running surface R1a of the first track R1, the running surface R2a of the second track R2, and the running surface R3a of the partial track R3 in the track R, so that the traveling vehicle V travels.

[0037] The wheel 21 is configured to be rotatable in the θZ direction with the rotation axis AX as the center. The wheel 21 is rotated in the θZ direction by the direction conversion mechanism 34, and as a result, the traveling direction T of the traveling vehicle V can be changed. The auxiliary wheels 22 are arranged one each in front and behind the traveling direction T of the wheel 21. The auxiliary wheels 22 can rotate around the axle parallel or substantially parallel to the XY plane in the same manner as the wheel 21. The lower end of the auxiliary wheel 22 is set to be higher than the lower end of the wheel 21. Therefore, when the wheel 21 travels on the traveling surface R1a, R2a, R3a, the auxiliary wheel 22 does not contact the traveling surface R1a, R2a, R3a. In addition, when the wheel 21 passes through the gap D, the auxiliary wheel 22 contacts the traveling surface R1a, R2a, R3a to prevent the wheel 21 from falling. It should be noted that it is not limited to setting two auxiliary wheels 22 for one wheel 21. For example, one auxiliary wheel 22 may be set for one wheel 21, or no auxiliary wheel 22 may be set.

[0038] The connecting portion 30 connects the upper unit 17 of the main body 10 to the traveling portion 20. The connecting portion 30 is provided at the four corners of the upper unit 17. The main body 10 is suspended from the traveling portion 20 by the connecting portion 30, and is arranged below the track R. The connecting portion 30 includes a supporting member 31 and a connecting member 32. The supporting member 31 supports the axle of the wheel 21 and the axle of the auxiliary wheel 22 in a rotatable manner. The relative position of the wheel 21 and the auxiliary wheel 22 is maintained by the supporting member 31. The supporting member 31 is formed in a plate shape, for example, and is formed to a thickness that can pass through the gap D.

[0039] The connecting member 32 extends downward from the supporting member 31 and is connected to the upper unit 17 to hold the upper unit 17. The connecting member 32 is configured to be rotatable in the θZ direction around the rotation axis AX. By rotating the connecting member 32 around the rotation axis AX, the wheel 21 can be rotated in the θZ direction around the rotation axis AX via the supporting member 31.

[0040] The connection portion 30 is provided with a direction conversion mechanism 34. The direction conversion mechanism 34 rotates the wheel 21 in the θZ direction around the rotation axis AX by rotating the connection member 32 of the connection portion 30 around the rotation axis AX. By rotating the wheel 21 in the θZ direction, it is possible to switch from a first state in which the travel direction T of the traveling vehicle V is set to the first direction D1 to a second state in which the travel direction T is set to the second direction D2. In addition, by rotating the wheel 21 in the θZ direction, it is possible to switch from the second state in which the travel direction T is set to the second direction D2 to the first state in which the travel direction T is set to the first direction D1.

[0041] By the rotation of the direction conversion mechanism 34, the wheels 21 and the auxiliary wheels 22 arranged at the four corners of the upper unit 17 rotate in the θZ direction and within a range of 90 degrees with the rotation axis AX as the center. The driving of the direction conversion mechanism 34 is controlled by the on-board controller. The on-board controller can instruct the four wheels 21 to rotate at the same time or at different times. By rotating the wheels 21 and the auxiliary wheels 22, the direction of the axle of the wheel 21 is transferred from the state in which the direction is set to one of the first direction D1 and the second direction D2 to the state in which the direction is set to the other. Therefore, it is possible to switch between a first state in which the driving direction T of the traveling vehicle V is set to the first direction D1 and a second state in which the driving direction T is set to the second direction D2.

[0042] Here, consider a quadrilateral QD with four rotation axes AX as vertices P1 to P4 when viewed from above. The quadrilateral QD has four vertices P1 to P4 and four sides S1 to S4. The quadrilateral QD is configured in a state where none of the sides S1 to S4 is parallel to the first track R1 and the second track R2. In this structure, the four wheels 21 are configured in a state where the left and right wheels 21 in the driving direction T are offset in the driving direction T.

[0043] In this embodiment, the quadrilateral QD is a rhombus in a plan view. In this case, since the parts such as the wheels 21 constituting the traveling portion 20 are highly symmetrical, the manufacturing is easy and the weight balance of the traveling vehicle V can be ensured.

[0044] The wheels 21A and 21D corresponding to the rotation axes AX1 and AX4 corresponding to the vertices P1 and P4 of the acute angle of the rhombus are arranged on the inner side of the traveling vehicle V compared with the rotation axes AX1 and AX4 in a plan view. The wheels 21B and 21C corresponding to the rotation axes AX2 and AX3 corresponding to the vertices P2 and P3 of the obtuse angle of the rhombus are arranged on the outer side of the traveling vehicle V compared with the rotation axes AX2 and AX3 in a plan view. The four wheels 21 are arranged at positions where the lengths to the corresponding rotation axes AX are equal. Since the rotation radius of the four wheels 21 when rotating around the rotation axis AX is equal, the wear of the wheels 21 can be uniformed among the four wheels 21.

[0045] exist Figure 3 , the wheels 21 corresponding to the vertices P1 and P2 are listed as examples. The wheels 21A and 21B located in the left-right direction with respect to the traveling direction T are arranged at an equal distance L1 with respect to the central axis O of the traveling vehicle V in a plan view. In addition, the length from the rotation axis AX1 corresponding to the vertex P1 of the acute angle of the rhombus to the wheel 21A and the length from the rotation axis AX2 corresponding to the vertex P2 of the obtuse angle of the rhombus to the wheel 21B are equal to the distance L2.

[0046] Figures 4 to 7 An example of the operation when the traveling vehicle V changes the traveling direction T from the first direction D1 to the second direction D2 is shown. When the traveling direction T is the first direction D1, that is, when the traveling vehicle V is traveling on the first track R1, the wheels 21A and 21C are arranged on the left and right sides of the traveling direction T, and the wheels 21B and 21D are arranged on the left and right sides of the traveling direction T. The two left and right wheels 21A and 21C in the traveling direction T are arranged in a state of being offset by a distance L3 in the traveling direction T. In addition, the two left and right wheels 21B and 21D in the traveling direction T are arranged in a state of being offset by a distance L3 in the traveling direction T. Therefore, when the traveling vehicle V is traveling on the first track R1, the left and right wheels 21A and 21C pass through the gap D at different timings, and the left and right wheels 21B and 21D pass through the gap D at different timings. As a result, it is possible to prevent the vibration and noise generated when the four wheels 21 pass through the gap D from being generated simultaneously in the left and right wheels 21, so that the increase in vibration transmitted to the traveling vehicle V can be suppressed. In addition, the four wheels 21 are arranged with the front and rear wheels 21A and 21B in the driving direction T roughly aligned in a straight line, and similarly, the front and rear wheels 21C and 21D in the driving direction T are arranged roughly aligned in a straight line. Therefore, the area through which the wheels 21 pass on the track R can be reduced.

[0047] When the traveling direction T is the second direction D2, that is, when the traveling vehicle V is traveling on the second rail R2, the wheels 21A and 21B are arranged on the left and right sides of the traveling direction T, and the wheels 21C and 21D are arranged on the left and right sides of the traveling direction T. The two left and right wheels 21A and 21B in the traveling direction T are arranged in a state of being shifted by a distance L3 in the traveling direction T. In addition, the two left and right wheels 21C and 21D in the traveling direction T are arranged in a state of being shifted by a distance L3 in the traveling direction T. Therefore, when the traveling vehicle V is traveling on the second rail R2, the left and right wheels 21A and 21B pass through the gap D at different timings, and the left and right wheels 21C and 21D pass through the gap D at different timings. As a result, even when traveling on the second rail R2, it is possible to prevent the vibration and noise generated when the four wheels 21 pass through the gap D from being generated simultaneously in the left and right wheels 21, thereby suppressing the increase of the vibration transmitted to the traveling vehicle V. In addition, the four wheels 21 are arranged with the front and rear wheels 21A and 21C in the driving direction T roughly aligned in a straight line, and similarly, the front and rear wheels 21B and 21D in the driving direction T are arranged with the front and rear wheels 21B and 21D roughly aligned in a straight line. Therefore, the area through which the wheels 21 pass on the track R can be reduced.

[0048] Figure 8 1 shows another example of the upper unit 17. The upper unit 17A may be a plate-like structure formed in a rhombus shape in a plan view and not hollowed out in the center. In this case, the upper unit 17A has a structure enclosing a quadrilateral QD in a plan view and is not easily deformed.

[0049] Fig. 9 An example of two traveling vehicles V adjacent to each other in the traveling vehicle system SYS is shown. The main body 10 is arranged to be accommodated in one grid cell C forming one grid in the grid-shaped track R in a plan view. In this structure, when a plurality of traveling vehicles V travel on the grid-shaped track R, even if the traveling vehicles V are located in adjacent grid cells C, the traveling vehicles V can be prevented from interfering with each other.

[0050] As described above, in the traveling vehicle system SYS of the present embodiment, the left and right wheels 21 in the traveling direction T are in a state of being offset in the traveling direction T. Therefore, regardless of whether the traveling vehicle V is traveling on the first rail R1 or the second rail R2, the left and right wheels 21 pass through the gap D at different timings. As a result, since the vibration and noise generated when the wheels 21 pass through the gap D can be prevented from being generated simultaneously by the left and right wheels 21, it is possible to suppress an increase in vibration transmitted to the traveling vehicle V and achieve smooth traveling, and at the same time, it is possible to suppress noise transmitted to the surroundings.

[0051] The second embodiment is described. In this embodiment, the same reference numerals are used for the same structures as those in the above embodiment, and the description thereof is appropriately omitted or simplified. In addition, the structures that can be applied to this embodiment among the matters described in the embodiment of this specification are also appropriately applied to this embodiment.

[0052] Figures 10 to 12 1 is a plan view schematically showing an example of a traveling vehicle V2 in the traveling vehicle system SYS2 according to the second embodiment, and shows an example of an operation of the traveling vehicle V2 to change the traveling direction T from the first direction D1 to the second direction D2.

[0053] The quadrilateral QD2 in this embodiment is a rhombus when viewed from above, for example, and has four vertices P5 to P8 and four sides S5 to S8. The quadrilateral QD2 is configured in a state where none of the sides S5 to S8 are parallel to the first track R1 and the second track R2. In this structure, the four wheels 21 are configured in a state where the left and right wheels 21 in the driving direction T are offset in the driving direction T by a distance L6.

[0054] In the quadrilateral QD2, the two wheels 21A and 21D corresponding to the two rotation axes AX5 and AX8 located at the vertices P5 and P8 of the first diagonal angle α1 of the rhombus are separated from the corresponding rotation axes AX5 and AX8 by a first distance L4. In the quadrilateral QD2, the two wheels 21B and 21C corresponding to the two rotation axes AX6 and AX7 located at the vertices P6 and P7 of the second diagonal angle α2 of the rhombus are separated from the corresponding rotation axes AX6 and AX7 by a second distance L5.

[0055] When the traveling direction T is the first direction D1, the front and rear wheels 21A and 21B in the traveling direction T are arranged substantially in a straight line, and the front and rear wheels 21C and 21D in the traveling direction T are arranged substantially in a straight line. When the traveling direction T is the second direction D2, in the quadrilateral QD2, the front and rear wheels 21A and 21C in the traveling direction T are arranged substantially in a straight line, and the front and rear wheels 21B and 21D in the traveling direction T are arranged substantially in a straight line.

[0056] Thus, in the vehicle system SYS2 of the second embodiment, when the vehicle V2 travels in either the first direction D1 or the second direction D2, the front and rear wheels 21 in the travel direction T are substantially aligned in a straight line. Therefore, the area where the wheels 21 pass on the track R can be reduced.

[0057] The third embodiment is described. In this embodiment, the same reference numerals are used for the same structures as those in the above-mentioned embodiments, and the description thereof is appropriately omitted or simplified. In addition, the structures that can be applied to this embodiment among the matters described in the embodiments of this specification are also appropriately applied to this embodiment.

[0058] Figures 13 to 15 It is a plan view schematically showing an example of a traveling vehicle V3 in the traveling vehicle system SYS3 according to the third embodiment, and shows an example of the operation when the traveling vehicle V3 changes the traveling direction T from the first direction D1 to the second direction D2.

[0059] The quadrilateral QD3 in this embodiment has four vertices P9 to P12 and four sides S9 to S12. The quadrilateral QD3 is configured in a state where none of the sides S9 to S12 are parallel to the first track R1 and the second track R2. Although the relative sides S9 and S12 of the quadrilateral QD3 in this embodiment are parallel, the relative sides S10 and S11 are not parallel, so it is not a rhombus. In addition, the quadrilateral QD3 may not have any relative sides that are parallel. In this structure, the four wheels 21 are configured in a state where the left and right wheels 21 in the driving direction T are staggered in the driving direction T.

[0060] The wheel 21A corresponding to the rotation axis AX9 located at the vertex P9 is at a distance L7 from the rotation axis AX9. The wheel 21B corresponding to the rotation axis AX10 located at the vertex P10 is at a distance L8 from the rotation axis AX10. The wheel 21C corresponding to the rotation axis AX11 located at the vertex P11 is at a distance L9 from the rotation axis AX11. The wheel 21D corresponding to the rotation axis AX12 located at the vertex P12 is at a distance L10 from the rotation axis AX12.

[0061] When the traveling direction T is the first direction D1, the front and rear wheels 21A and 21B in the traveling direction T are arranged substantially in a straight line, and the front and rear wheels 21C and 21D in the traveling direction T are arranged substantially in a straight line. When the traveling direction T is the second direction D2, the front and rear wheels 21A and 21C in the traveling direction T are arranged substantially in a straight line, and the front and rear wheels 21B and 21D in the traveling direction T are arranged substantially in a straight line.

[0062] Thus, in the vehicle system SYS3 of the third embodiment, when the vehicle V3 travels in either the first direction D1 or the second direction D2, the front and rear wheels 21 in the travel direction T are substantially aligned in a straight line. Therefore, the area where the wheels 21 pass on the track R can be reduced.

[0063] The present invention has been described above using embodiments, but the technical scope of the present invention is not limited to the scope described in the above embodiments. It is obvious to those skilled in the art that various changes or improvements can be added to the above embodiments. In addition, within the scope of technical inconsistency, the matters described for a specific embodiment can be applied to other embodiments. It can be seen from the description of the claims that the method in which changes or improvements are added can also be included in the technical scope of the present invention. In addition, to the extent permitted by law, the disclosure of Japanese Patent Application No. 2020-189775 and all documents cited in the above embodiments, etc., are cited and made part of the description herein.

[0064] For example, the traveling vehicles V, V2, and V3 may be provided with a driving source for driving the wheels 21 for each of the four wheels 21, or may be provided with a driving source for each of two or three of the four wheels 21. For example, even if the left and right wheels 21 in the traveling direction T are driving wheels, the left and right wheels 21 in the traveling direction T are arranged in a staggered state in the traveling direction T, and therefore will not simultaneously pass through the gap D. Therefore, the traveling vehicles V, V2, and V3 can continue to travel based on any one of the driving wheels, and the traveling performance is stable.

[0065] In addition, the vehicle system only needs to have any side of the quadrilateral formed by the four rotation axes AX as vertices not be parallel to the first track R1 and the second track R2 when viewed from above, and the front and rear wheels 21 may not be aligned in a substantially straight line. In this vehicle system, the same effect as in the above embodiment can be obtained.

[0066] Description of Reference Numerals

[0067] 10 Main body

[0068] 17, 17A Upper unit

[0069] 20 Traveling parts

[0070] 21, 21A~21D wheels

[0071] 22 Training wheels

[0072] 30 Connection

[0073] 34 Direction conversion mechanism

[0074] AX, AX1 to AX12 Rotation axis

[0075] C Grid Cell

[0076] D Clearance

[0077] D1 First direction

[0078] D2 Second direction

[0079] Distance from L1 to L10

[0080] P1~P12 Vertex

[0081] QD, QD2, QD3 quadrilateral

[0082] R Track

[0083] R1 First Track

[0084] R2 Second track

[0085] R3 Partial Track

[0086] S1~S12 side

[0087] SYS, SYS2, SYS3 Driving vehicle system

[0088] V, V2, V3 driving car

[0089] α1 first diagonal

[0090] α2 Second opposite angle.

Claims

1. A vehicle system comprising a track and a vehicle traveling on the track, wherein: The track includes a plurality of first tracks arranged along a first direction, a plurality of second tracks arranged along a second direction orthogonal to the first direction, and a partial track arranged at a portion where an extension line of the first track intersects an extension line of the second track. The traveling vehicle includes a traveling portion that travels on the upper side of the track, a main body portion that is located below the track, and a connecting portion that connects the traveling portion and the main body portion. A gap is formed between the first rail and the partial rail and between the second rail and the partial rail for the connection portion to pass through when the vehicle is traveling. The travel unit includes four wheels that travel on the track, and a direction switching mechanism that switches the travel direction of the travel vehicle between the first direction and the second direction by rotating the wheels around four rotation axes that are orthogonal to the respective axles of the four wheels. In a plan view, any side of a quadrilateral formed with the four rotation axes as vertices is not parallel to the first track and the second track.

2. The driving vehicle system according to claim 1, characterized in that: The quadrilateral is a rhombus when viewed from above.

3. The vehicle system according to claim 2, characterized in that: The four wheels are arranged at positions with equal lengths to the corresponding rotation axes. The wheel corresponding to the rotation axis corresponding to the vertex of the acute angle of the rhombus is provided on the inner side of the traveling vehicle than the rotation axis in a plan view. The wheel corresponding to the rotation axis corresponding to the vertex of the obtuse angle of the rhombus is provided on the outer side of the traveling vehicle than the rotation axis in a plan view.

4. The driving vehicle system according to claim 2, characterized in that: The two wheels corresponding to the two rotation axes located at the vertices of the first opposite angles of the rhombus are at a first distance from the respective corresponding rotation axes, The two wheels corresponding to the two rotation axes located at the vertices of the second angle of the rhombus different from the first angle are at a second distance different from the first distance from the corresponding rotation axes. The front and rear wheels in the traveling direction are arranged substantially in a straight line.

5. The traveling vehicle system according to any one of claims 1 to 4, characterized in that: The track is formed into a grid shape by the first track and the second track, The main body is configured to be accommodated in one grid of the grid-shaped rail in a plan view.

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