Aerial vehicle system

Abstract

An aerial vehicle system is provided with: a track at least partially disposed in a lattice shape; and an aerial vehicle that has a traveling part that travels along the track, and a main body part that is disposed below the track and overhangs from the traveling part. The traveling unit includes traveling wheels that roll on the track about the rotating shaft, and a traveling drive motor that drives the traveling wheels. The traveling driving motor is arranged on a rotating shaft of the traveling wheel.

Description

Technical Field

[0001] One aspect of the present invention relates to an aerial vehicle system. Background Art

[0002] An aerial (elevated) vehicle system is known, which includes a track arranged in a grid shape and an aerial vehicle, wherein the aerial vehicle has a travel portion that travels along the track and a main body that is arranged below the track and suspended from the travel portion (for example, see Patent Document 1). In such an aerial vehicle system, the travel portion includes travel wheels that roll on the track with a rotation axis as a base axis and a travel drive motor that drives the travel wheels. The travel drive motor is arranged below the track and transmits the driving force to the travel wheels via a transmission mechanism including a belt or the like.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent No. 7070704 Summary of the invention

[0006] In the above-mentioned aerial vehicle system, for example, there is a case where the dimension in the height direction from the travel drive motor to the travel wheels is relatively large, and it is desired to realize a compact travel unit.

[0007] Therefore, an object of one aspect of the present invention is to provide an aerial vehicle system capable of achieving a compact traveling unit.

[0008] (1) An aerial vehicle system according to one aspect of the present invention comprises: a track at least part of which is arranged in a grid shape; and an aerial vehicle having a traveling portion that travels along the track, and a main body that is arranged below the track and cantilevered from the traveling portion, the traveling portion comprising: traveling wheels that roll on the track with a rotating axis as a base axis; and a traveling drive motor that drives the traveling wheels, the traveling drive motor being provided on the rotating axis of the traveling wheels.

[0009] According to the aerial vehicle system, the space above the track can be effectively utilized to arrange the travel drive motor, thereby, for example, being able to reduce the dimension in the height direction from the travel drive motor to the travel wheels, thereby achieving a compact travel unit.

[0010] (2) In the aerial vehicle system described in (1) above, the track may include a plurality of first tracks extending along a first direction and a plurality of second tracks extending along a second direction intersecting the first direction, and a support wall is connected to the upper surface of each of the plurality of first tracks and the upper surface of each of the plurality of second tracks, and a cutout is provided in the support wall, and the cutout allows the travel drive motor to pass through when the aerial vehicle is traveling. In this case, the support wall can increase the strength of the track, and the cutout can prevent the travel drive motor from interfering with the support wall.

[0011] (3) In the above-mentioned aerial vehicle system described in (1) or (2), the traveling wheels may be arranged to be freely rotatable, and the aerial vehicle system may include a steering drive unit for rotating the traveling wheels, and the steering drive unit is arranged below the track and below the traveling wheels. In this case, the steering drive unit can be arranged in a dead space below the track and below the traveling wheels, for example, there is no need to arrange the steering drive unit between the upper surface of the main body and the track, and the height dimension of the aerial vehicle can be reduced. As a result, the aerial vehicle can be made compact.

[0012] (4) In the aerial vehicle system described in any one of (1) to (3) above, the outer shape of the travel drive motor may be included in the outer shape of the travel wheel when viewed in the axial direction of the rotation axis. In this case, the enlargement of the travel unit caused by the travel drive motor can be suppressed.

[0013] (5) Alternatively, the aerial vehicle system described in (2) above may include: a support portion that axially supports the traveling wheels in a rotatable manner; a connection portion connected to the lower portion of the support portion; and a cable electrically connected to the traveling drive motor, wherein the track includes a plurality of intersecting tracks that are arranged with gaps relative to the ends of the first track and the second track, respectively, and the connection portion and the cable extend from the upper side of the track to the lower side through the gaps. Thus, the strength of the portion extending from the upper side of the track to the lower side through the gaps (hereinafter also referred to as a "narrow portion") can be improved compared to a case where a transmission mechanism such as a belt that transmits driving force to the traveling wheels is included.

[0014] Effects of the Invention

[0015] According to one aspect of the present invention, it is possible to provide an aerial vehicle system capable of achieving a compact traveling unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a perspective view showing an example of an aerial vehicle system according to an embodiment.

[0017] Figure 2 It means composition Figure 1An exploded perspective view of the four rail units of the rail assembly and the connecting components connecting them.

[0018] Figure 3 Yes means Figure 1 Side view of the aerial vehicle.

[0019] Figure 4 Yes means Figure 1 A three-dimensional image of the aerial vehicle.

[0020] Figure 5 This is a perspective view showing only the rail portion of the rail assembly.

[0021] Figure 6 It is a cross-sectional view showing the connection portion between a plurality of rail units.

[0022] Figure 7 It is a side view showing the running part, wheel turning mechanism and track.

[0023] Figure 8 It is a cross-sectional view showing the traveling portion.

[0024] Fig. 9 It is a perspective view showing the traveling unit and the wheel turning mechanism.

[0025] Fig.10 Yes means Fig. 9 A three-dimensional view showing the interior of the gear box being exposed.

[0026] Fig.11 Yes means Fig. 9 A sectional stereoscopic view of the running part and the wheel turning mechanism. DETAILED DESCRIPTION

[0027] Hereinafter, the implementation mode will be described with reference to the accompanying drawings. It should be noted that the same elements are marked with the same figure numbers in the description of the accompanying drawings, and repeated descriptions are omitted. In the accompanying drawings, the scale is appropriately changed for the convenience of description to express the various structures of the implementation mode. In some drawings, an XYZ orthogonal coordinate system is also recorded. In the following description, this coordinate system is referred to for the sake of ease of description. Hereinafter, a direction along the horizontal plane is set as the X direction (the first direction), a direction orthogonal to the X direction and along the horizontal plane is set as the Y direction (the second direction), and a vertical direction is set as the Z direction for description.

[0028] like Figure 1As shown, the aerial vehicle system 1 of the embodiment is a grid system (transportation system) for transporting articles M by aerial vehicles 2, for example, in a clean room of a semiconductor manufacturing plant. The aerial vehicle system 1, for example, includes a plurality of aerial vehicles 2 (hereinafter collectively referred to as "the vehicles 2"), a system controller 5 that controls the plurality of vehicles 2, and a track R for the plurality of vehicles 2 to travel. The vehicles 2 move along the track R of the aerial vehicle system 1. The vehicles 2 travel along the track R to transport articles M such as a FOUP (Front Opening Unified Pod) containing semiconductor wafers or a reticle box containing a reticle. The vehicle 2 may also be referred to as a trolley, a transport vehicle, a transport trolley, or a driving trolley, etc. The plurality of vehicles 2 enable high-density transport of articles M, thereby improving the transport efficiency of the articles M. It should be noted that the aerial vehicle system 1 may also include only one vehicle 2.

[0029] The track R is provided on the ceiling or near the ceiling of a building such as a clean room. The track R is provided adjacent to, for example, a processing device, a stocker (automatic warehouse), etc. The processing device is, for example, an exposure device, a coating and developing device, a film forming device, an etching device, etc., and performs various processes on the semiconductor wafers in the article M transported by the traveling vehicle 2. The stocker stores the article M transported by the traveling vehicle 2.

[0030] The rails R are arranged in a grid pattern when viewed from above (see also Figure 5 ). The track R extends in the horizontal direction. In the present embodiment, the track R is constructed by arranging a plurality of track units 100 including a first track R1, a second track R2, and an intersection track R3 side by side in the X direction and the Y direction. The aerial vehicle system 1 includes a plurality of track units 100 arranged side by side in the X direction and the Y direction, and a plurality of connecting components 140 connecting the plurality of track units 100 to each other. A track assembly 200 is formed by the plurality of track units 100 and the plurality of connecting components 140. The track assembly 200 is suspended from a ceiling, etc., not shown, by a plurality of suspension components H at a portion where the track units 100 are connected to each other by the connecting components 140.

[0031] Figure 2 It means composition Figure 1An exploded stereoscopic view of four rail units 100 and a connecting member 140 connecting the four rail units 100 of a rail assembly 200 in FIG. 1 . Each rail unit 100 is a rectangular parallelepiped (frame-shaped) member having the same structure. Each rail unit 100 includes two first rail members 110 arranged along the X direction, two second rail members 120 arranged along the Y direction, and four intersection rail members 130 arranged in a manner to form gaps on the extension lines of the first rail members 110 and the extension lines of the second rail members 120 (i.e., the positions of the intersection points of the grid). When the rail unit 100 is viewed from above, the two parallel first rail members 110 and the two parallel second rail members 120 are arranged in a square shape, and the four intersection rail members 130 are arranged at the vertices of the square.

[0032] Each rail unit 100 is made of metal, for example, and is a unit in which each part of the first rail member 110, the second rail member 120, and the cross rail member 130 is integrated after being molded. Each first rail member 110 includes a first beam 111 arranged at the upper end position of the rail unit 100 and extending in the X direction, a first rail R1 arranged at the lower end position of the rail unit 100 and extending in the X direction, and a first support wall 113 arranged between the first beam 111 and the first rail R1 and connected to the first beam 111 and the first rail R1. Each second rail member 120 includes a second beam 121 arranged at the upper end position of the rail unit 100 and extending in the Y direction, a second rail R2 arranged at the lower end position of the rail unit 100 and extending in the Y direction, and a second support wall 123 arranged between the second beam 121 and the second rail R2 and connected to the second beam 121 and the second rail R2. The plurality of first beams 111 and the plurality of second beams 121 form a lattice-shaped structure extending along the XY plane at the upper end of the rail assembly 200. The first support wall 113 extends along the XZ plane. The second support wall 123 extends along the YZ plane.

[0033] The intersection rail member 130 includes an intersection support column 133 extending in the Z direction (vertical direction) at a position where the first beam 111 and the second beam 121 are joined at a right angle, and an intersection rail R3 provided at a lower end of the intersection support column 133 .

[0034] like Figure 1 and Figure 5As shown, a plurality of first rails R1 extend in the X direction, respectively. A plurality of second rails R2 extend in the Y direction, respectively. The rail R is formed into a grid shape by a plurality of first rails R1 and a plurality of second rails R2 when viewed from above. The rail R forms a plurality of squares by a plurality of first rails R1 and a plurality of second rails R2. The intersection rail R3 is arranged at a portion corresponding to the intersection of the first rail R1 and the second rail R2. The intersection rail R3 is adjacent to the first rail R1 at a distance in the X direction, and is adjacent to the second rail R2 at a distance in the Y direction. The intersection rail R3 is used at any time when the traveling vehicle 2 travels along the first rail R1, when the traveling vehicle 2 travels along the second rail R2, and when the traveling vehicle 2 travels from the first rail R1 to the second rail R2 or from the second rail R2 to the first rail R1.

[0035] Each track unit 100 forms a square (or rectangular) track R corresponding to one square on its inner side. By arranging a plurality of track units 100 in the X direction and the Y direction, a plurality of first tracks R1 are connected and extended in the X direction, and a plurality of second tracks R2 are connected and extended in the Y direction. On the X direction line, two intersection tracks R3 are arranged at intervals between one first track R1 and another first track R1. On the Y direction line, two intersection tracks R3 are arranged at intervals between one second track R2 and another second track R2. The track R is described from another point of view. In the case of four squares consisting of two squares arranged in the X direction and two squares arranged in the Y direction, between two first tracks R1 adjacent in the Y direction and two other first tracks R1 adjacent in the Y direction, four intersection tracks R3 adjacent in the X direction and the Y direction (relative to the first track R1) are arranged at intervals. Moreover, between two second rails R2 adjacent to each other in the X direction and another two second rails R2 adjacent to each other in the X direction, four intersection rails R3 (with respect to the second rails R2) similar to those described above are arranged at intervals.

[0036] In the track assembly 200, a plurality of first tracks R1, a plurality of second tracks R2, and a plurality of intersection tracks R3 are arranged at predetermined intervals from each other, thereby constructing the track R. A gap G corresponding to the above interval is formed between each first track R1 and each intersection track R3. A gap G corresponding to the above interval is formed between each second track R2 and each intersection track R3. The gap G in the track R has a constant size. Each first track R1 includes a flat and horizontal first running surface R1a on the upper surface, and the running wheels 31 of the running vehicle 2 run in the X direction (first running direction D1) on the first running surface R1a. Each second track R2 includes a flat and horizontal second running surface R2a on the upper surface, and the running wheels 31 of the running vehicle 2 run in the Y direction (second running direction D2) on the second running surface R2a. The intersection track R3 includes a flat and horizontal intersection running surface R3a on the upper surface. The first running surface R1a, the second running surface R2a, and the intersecting running surface R3a have the same height in the entire track R. The first running surface R1a, the second running surface R2a, and the intersecting running surface R3a are arranged on the same or substantially the same horizontal plane.

[0037] For example, a gap as large as the gap G is not formed between the four intersection rails R3. When the traveling vehicle 2 passes through a plurality of rail units 100 in a straight line, the traveling wheels 31 of the traveling vehicle 2 travel on the intersection travel surface R3a. At this time, the traveling wheels 31 pass through two of the four intersection rails R3. Alternatively, when the traveling vehicle 2 changes the travel direction between the rail units 100 (changes the travel direction by 90 degrees, i.e., turns), the traveling wheels 31 of the traveling vehicle 2 pass through the intersection travel surface R3a (while changing the direction).

[0038] As described above, in the track assembly 200, the first track member 110, the second track member 120, and the intersecting track member 130 constitute the grid-shaped track R. The layout of the grid-shaped track R in the aerial vehicle system 1 can be appropriately adjusted or changed by setting the plurality of track units 100 to any arrangement (including adding or deleting the track units 100).

[0039] Reference Figure 2 and Figure 6 The connection structure of the rail unit 100 using the connection member 140 will be described. Figure 2 and Figure 6As shown, each connecting member 140 includes an upper connecting member 141 and a lower connecting member 142. The upper connecting member 141, which is a plate or frame-shaped extending horizontally, is mounted on the upper surface of one of the four corners of a plurality of (typically four) rail units 100. The upper connecting member 141 abuts against the vicinity of the intersection of the first beam portion 111 and the second beam portion 121 in each rail unit 100. The lower connecting member 142, which is a plate or frame-shaped extending horizontally, supports the lower surface of one of the four corners of a plurality of (typically four) rail units 100. The lower connecting member 142 abuts against the intersection rail R3 in each rail unit 100.

[0040] The rod-shaped suspension component H extending in the vertical direction passes through the upper connecting component 141 and the lower connecting component 142. The upper connecting component 141 and / or the lower connecting component 142 are fixed to the track unit 100 by a fastening component not shown in the figure, so that the track units 100 are connected to each other. It should be noted that a space 100e extending in the Z direction is formed between the track units 100, and a space R3e extending in the Z direction is formed between four adjacent intersection rails R3 in the X direction and the Y direction (the central part when viewed from above). The suspension component H is inserted in the space 100e and the space R3e, and the upper connecting component 141 and / or the lower connecting component 142 are fixed relative to the suspension component H.

[0041] The aerial vehicle system 1 includes a communication system (not shown). The communication system is used for communication between the aerial vehicle 2 and the system controller 5. The aerial vehicle 2 and the system controller 5 are connected to each other via the communication system so as to be able to communicate.

[0042] Next, refer to Figure 1 , Figure 3 and Figure 4 The structure of the traveling vehicle 2 will be described. Figure 1 and Figure 3 As shown, the traveling vehicle 2 is configured to be able to travel along the track R. The traveling vehicle 2 includes a traveling trolley 20 that travels on the track R, and a main body 10 that is mounted on the lower part of the traveling trolley 20 and is freely rotatable relative to the traveling trolley 20. The traveling trolley 20 includes a trolley unit 50, for example, a rectangular trolley unit 50 disposed below the track R, a traveling portion 30 that is provided at the four corners of the trolley unit 50 when viewed from above and protrudes upward from the trolley unit 50, and four wheel turning mechanisms 40 that respectively turn four traveling wheels 31 in the traveling portion 30 relative to the trolley unit 50. The traveling portion 30 and the wheel turning mechanism 40 are integrated as a unit. A trolley controller (control unit) 8 is provided inside the trolley unit 50.

[0043] The main body 10 is disposed below the rail R and is suspended from the travel portion 30. Figure 3 and Figure 4As shown, the main body 10 has a main frame 12 formed in a cylindrical shape, for example. The main frame 12 includes a disc-shaped top plate 12a and a cylindrical frame 12b hanging from the peripheral edge of the top plate 12a, and has a shape with an open lower surface. The main body 10 is formed so as to be contained in a square of the track R when viewed from above (see Figure 1 ) within the dimensions. The traveling vehicle 2 can meet other traveling vehicles 2 traveling on the adjacent first track R1 or second track R2. The main body 10 includes a transfer device 18 arranged inside the main frame 12. The transfer device 18 is, for example, rectangular when viewed from above. The cylindrical frame 12b is open in a portion of the circumferential direction. The range of the open portion (cutout) is large enough to allow the transfer device 18 to pass through. The transfer device 18 passes through the open portion of the cylindrical frame 12b when moving horizontally.

[0044] The main body 10 is mounted on the lower part of the trolley unit 50 and is free to rotate around the rotation axis L10 in the Z direction relative to the trolley unit 50. The traveling wheels 31 provided at the four corners of the trolley unit 50 are placed on the track R (on the first traveling surface R1a, the second traveling surface R2a or the intersection traveling surface R3a). The trolley unit 50 is suspended on the track R by means of four traveling wheels 31 and four wheel turning mechanisms 40. The trolley unit 50 and the main body 10 can be stably suspended by the four traveling wheels 31, and the main body 10 can be stably driven. That is, the traveling vehicle 2 is suspended and supported by the traveling wheels 31 that travel along the track R, and moves below the track R.

[0045] The transfer device 18 moves in the horizontal direction relative to the main body 10, thereby transferring the article M between the loading port (loading platform). The transfer device 18 is provided below the top plate 12a of the main frame 12. The main body 10 including the transfer device 18 can rotate around the rotation axis L10 by a rotation drive unit such as an electric motor (not shown) provided on the top plate 12a. The transfer device 18 has an article holding portion 13 that holds the article M on the lower side of the track R, a lifting drive unit 14 that lifts and lowers the article holding portion 13 in the vertical direction, and a sliding mechanism 11 that slides and moves the lifting drive unit 14 in the horizontal direction. The sliding mechanism 11 is maintained on the lower surface of the top plate 12a. Between the sliding mechanism 11 and the lifting drive unit 14, there is provided a rotation drive unit 16 that rotationally drives the lifting drive unit 14 relative to the sliding mechanism 11 around the rotation axis L14. The rotation drive unit 16 is provided below the sliding mechanism 11, and the lifting drive unit 14 is provided below the rotation drive unit 16. The article holding unit 13 is provided below the lifting drive unit 14 via a plurality of suspension members 13b. The loading port is a transfer destination or a transfer source of the traveling vehicle 2 and is a location where the articles M are transferred to and from the traveling vehicle 2.

[0046] The article holding part 13 suspends and holds the article M by gripping the flange Ma of the article M. The article holding part 13 is, for example, a chuck having a claw 13a that can move in the horizontal direction. The article holding part 13 makes the claw 13a enter under the flange Ma of the article M and raises the article holding part 13, thereby holding the article M. The article holding part 13 is connected to a suspension member 13b such as a wire rope or a belt.

[0047] The lifting drive unit 14 is, for example, a winch, which lowers the article holding unit 13 by releasing the suspension member 13b, and raises the article holding unit 13 by winding up the suspension member 13b. The lifting drive unit 14 is controlled by the carriage controller 8 to lower or raise the article holding unit 13 at a predetermined speed. In addition, the lifting drive unit 14 is controlled by the carriage controller 8 to keep the article holding unit 13 at a target height.

[0048] The sliding mechanism 11 has a plurality of movable plates arranged to overlap each other in the Z direction, for example. By rotating the main body 10, the sliding mechanism 11 moves the rotation drive unit 16, the lifting drive unit 14, and the article holding unit 13 installed on the lowest movable plate in any direction in the horizontal plane. The moving direction of the movable plate in the sliding mechanism 11 is determined by the rotation angle of the main body 10 relative to the trolley unit 50. In the main body 10, the orientation of the transfer device 18 and the main frame 12 is set so that the moving direction of the movable plate coincides with the position of the open part of the cylindrical frame 12b.

[0049] The rotation drive unit 16 includes, for example, an electric motor, etc., which causes the lifting drive unit 14 (and the article holding unit 13) to rotate within a specified angle range around a rotation axis L14 extending in the vertical direction. The angle that can be rotated by the rotation drive unit 16 is, for example, any angle below 180 degrees, but the upper limit is not limited to 180 degrees. The rotation drive unit 16 can make the laterally extended article holding unit 13 (or the article M held by the article holding unit 13) face the desired direction. The sliding mechanism 11 and the rotation drive unit 16 are controlled by the trolley controller 8. It should be noted that even in the state where the movable plate of the sliding mechanism 11 is not moved but is stored ( Figure 3 In the state shown by the solid line in the middle, the lifting drive unit 14 can also be rotated by the rotation drive unit 16. In this case, for example, the rotation axis L14 of the lifting drive unit 14 coincides with the rotation axis L10 of the main body 10.

[0050] The trolley unit 50 has a cylindrical supporting member (cylindrical member) 52 at the lower end. The top plate portion 12a of the main frame 12 is rotatably mounted on the lower surface side of the supporting member 52. For example, a rotation drive unit (not shown) such as an electric motor is provided on the top plate portion 12a. By transmitting the driving force of the rotation drive unit to the supporting member 52, the main frame 12 rotates relative to the trolley unit 50 around the rotation axis L10 extending in the vertical direction. The angle at which the main frame 12 can rotate is, for example, any angle between 360 degrees and 540 degrees, but the upper limit is not limited to 540 degrees, and the lower limit is not limited to 360 degrees. The sliding mechanism 11 is mounted on the lower surface side of the top plate portion 12a, and the top plate portion 12a supports the sliding mechanism 11. The main frame 12 and the transfer device 18 are integrated, and the main frame 12 rotates together with the transfer device 18. The traveling vehicle 2 can transfer the article M relative to the loading port by using the transfer device 18.

[0051] It should be noted that a cover (not shown) may be installed on the outer surface side of the cylindrical frame 12b. In this case, the cover surrounds the transfer device 18 and the article M held on the transfer device 18. The cover is a cylindrical shape with an open lower end, and has a shape in which a portion (the above-mentioned open portion) from which the movable plate of the sliding mechanism 11 protrudes is cut away.

[0052] The travel unit 30 has four travel wheels 31. Two auxiliary wheels 32 are provided on each of the travel wheels 31. Figure 4 As shown, the traveling wheels 31 are provided at the four corners of the trolley unit 50 in a manner protruding upward from the upper surface cover 51. Each traveling wheel 31 can rotate around a horizontal or substantially horizontal axle along the XY plane. A traveling drive motor 33 is provided on the rotation axis L31 of each traveling wheel 31. Each traveling wheel 31 is driven to rotate by the driving force of the traveling drive motor 33. The traveling drive motor 33 is configured to be able to switch between forward and reverse rotation, for example. The traveling wheels 31 are respectively rotated about the rotation axis L31 (refer to Figure 7 and 8 ) is the base axis and rolls on the track R. The traveling wheels 31 roll on the running surfaces R1a, R2a, and R3a of the first track R1, the second track R2, and the intersection track R3, respectively, so that the traveling vehicle 2 travels. That is, the traveling unit 30 travels along the track R. It should be noted that it is not limited to that all the four traveling wheels 31 are driven to rotate by the driving force of the traveling drive motor 33, and a structure in which a part of the four traveling wheels 31 is driven to rotate may also be used.

[0053] Four wheel turning mechanisms 40 (steering drive units) are fixed to a frame (not shown) in the carriage unit 50, and a pedestal 34 is connected to each wheel turning mechanism 40 via a turning shaft of the wheel turning mechanism 40. On the pedestal 34, a traveling wheel 31, two auxiliary wheels 32, and a traveling drive motor 33 are mounted via a connecting portion 35 and a supporting portion 36 (supporting member). For example, a square upper surface cover 51 is provided on the upper surface of the housing 53, and the pedestal 34 is arranged at the cutouts formed at the four corners of the upper surface cover 51. The connecting portion 35, the traveling wheel 31, the auxiliary wheel 32, and the traveling drive motor 33 are arranged above the upper surface cover 51.

[0054] like Figure 3 and Figure 4 As shown, the connecting portion 35 connects the trolley unit 50 (more specifically, the wheel turning mechanism 40 fixed in the trolley unit 50) and the traveling wheel 31. Due to this connecting structure, the trolley unit 50 and the main body 10 are arranged below the track R, and are suspended from the traveling portion 30. The connecting portion 35 is formed to have a thickness that can pass through the gap G between the first track R1 and the intersection track R3 and the gap G between the second track R2 and the intersection track R3. The support portion 36 is provided on the upper portion of the connecting portion 35, and supports the rotating shaft of the traveling wheel 31 and the rotating shaft of the auxiliary wheel 32 in a rotatable manner. The support portion 36 maintains the relative position of the traveling wheel 31 and the auxiliary wheel 32.

[0055] like Figure 4 As shown, the traveling wheel 31 is freely rotatable with the rotation axis L30 extending in the vertical direction as the base axis. The four rotation axes L30 are arranged at the vertices of the square when viewed from above, and the rotation axis L10 is arranged at the center of the rotation axes L30. In other words, the four rotation axes L30 are arranged at positions that are four-fold symmetrical about the rotation axis L10 of the main body 10. When viewed from above, the position of the traveling wheel 31 is different from (offset from) the position of the rotation axis L30. The traveling wheel 31 rotates through the wheel turning mechanism 40, as a result of which the traveling direction of the traveling vehicle 2 can be changed.

[0056] The auxiliary wheels 32 are arranged one each in front and behind the traveling direction of the traveling wheel 31. The auxiliary wheels 32 can rotate around a horizontal or substantially horizontal axle along the XY plane. The lower end of the auxiliary wheel 32 is set higher than the lower end of the traveling wheel 31, for example. Therefore, when the traveling wheel 31 travels on the traveling surfaces R1a, R2a, and R3a, the auxiliary wheels 32 do not contact the traveling surfaces R1a, R2a, and R3a. In addition, when the traveling wheel 31 passes through the gap G between the first rail R1 and the intersection rail R3 and the gap G between the second rail R2 and the intersection rail R3, the auxiliary wheels 32 contact the auxiliary components (not shown) provided on the first rail R1 and the second rail R2 to suppress the falling of the traveling wheel 31. It should be noted that it is not limited to setting two auxiliary wheels 32 on one traveling wheel 31. For example, one auxiliary wheel 32 may be set on one traveling wheel 31, or no auxiliary wheel 32 may be set.

[0057] The wheel turning mechanism 40 is a mechanism for turning the traveling wheel 31. For example, one of the four wheel turning mechanisms 40 is arranged at each of the four corners in the housing 53 of the trolley unit 50. Each wheel turning mechanism 40 has a steering motor 43 and a driving force transmission unit 42 provided between the steering motor 43 and the traveling wheel 31. The driving force transmission unit 42 is fixed to a frame (not shown) in the trolley unit 50. The driving force transmission unit 42 is connected to the pedestal 34 via a rotating shaft. Each wheel turning mechanism 40 causes the pedestal 34, the connecting part 35, the supporting part 36, the traveling wheel 31, the auxiliary wheel 32 and the traveling drive motor 33 to rotate integrally around the rotating shaft L30. When the traveling vehicle 2 is located at the center of each track unit 100, each traveling wheel 31 is rotated 90 degrees with each rotating shaft L30 as the base axis. As a result, the traveling wheel 31 rotates on the intersection track R3. As a result, the traveling vehicle 2 can turn. The so-called turning refers to the switching of the vehicle 2 from the first state of traveling in the first traveling direction D1 to the second state of traveling in the second traveling direction D2, or the switching of the vehicle 2 from the second state of traveling in the second traveling direction D2 to the first state of traveling in the first traveling direction D1. The turning of the vehicle 2 is performed, for example, when the vehicle 2 is stopped. The turning of the vehicle 2 can also be performed when the vehicle 2 is stopped but the object M is moving (for example, rotating). The driving of the wheel rotating mechanism 40 is controlled by the trolley controller 8.

[0058] The trolley controller 8 controls the traveling vehicle 2 in general. The trolley controller 8 is a computer composed of a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory). The trolley controller 8 can be configured as software that loads the program stored in the ROM onto the RAM and is executed by the CPU, for example. The trolley controller 8 can also be configured as hardware based on electronic circuits, etc. The trolley controller 8 can be composed of either one device or multiple devices. In the case of being composed of multiple devices, these devices are connected via a communication network such as the Internet or an intranet, thereby logically constructing one trolley controller 8. The trolley controller 8 is, for example, provided in the trolley unit 50.

[0059] The trolley controller 8 controls the travel of the traveling vehicle 2 based on the transport instruction. The trolley controller 8 controls the travel of the traveling vehicle 2 by controlling the travel drive motor 33 and the steering motor 43, etc. The trolley controller 8 controls, for example, the travel speed, the action related to stopping, and the action related to the direction change. The trolley controller 8 controls the transfer action of the traveling vehicle 2 based on the transport instruction. The trolley controller 8 controls the transfer direction of the transfer device 18 by controlling the rotation (rotation) of the main body 10 (main body frame 12 and transfer device 18). The trolley controller 8 controls the transfer action of the traveling vehicle 2 by controlling the transfer device 18, etc. The trolley controller 8 controls the loading action of the article M arranged at the specified loading port and the unloading action of unloading the held article M to the specified loading port.

[0060] The system controller 5 is a computer composed of a CPU, a ROM, a RAM, and the like. The system controller 5 can be configured as software that loads a program stored in the ROM into the RAM and is executed by the CPU, for example. The system controller 5 can also be configured as hardware based on an electronic circuit or the like. The system controller 5 can be configured as either a single device or a plurality of devices. In the case of being configured as a plurality of devices, these devices are connected via a communication network such as the Internet or an intranet, thereby logically constructing a single system controller 5. At least a portion of the various controls of the system controller 5 can also be executed by the trolley controller 8.

[0061] The system controller 5 selects one of the multiple vehicles 2 that can transport the article M, and assigns a transport instruction to the selected vehicle 2. The transport instruction includes a travel instruction for causing the vehicle 2 to travel to the loading port, a loading instruction for the article M placed at the loading port, or an unloading instruction for the held article M to the loading port.

[0062] Next, refer to Figure 7 and Figure 8The travel unit 30 will be described in detail. Figure 7 and Figure 8 , an example is shown in which the running wheel 31 runs along the Y direction on the intersection running surface R3a. Figure 8 , a cross section of the travel portion 30 along the XZ plane is shown. The travel portion 30 includes the travel wheel 31, the travel drive motor 33, the support portion 36, and the connection portion 35 as described above. The travel wheel 31 rolls on the track R with the rotation axis L31 as the base axis. The travel wheel 31 rotates with the rotation axis L30 as the base axis. At this time, since the rotation axis L30 is located on the intersection track R3, the travel wheel 31 can rotate on the intersection track R3. The travel wheel 31 includes an outer ring portion 31a and a wheel portion 31b.

[0063] The travel drive motor 33 is a drive source that generates a drive force for rotating the travel wheel 31. The travel drive motor 33 drives the travel wheel 31. The travel drive motor 33 is configured so that the output shaft 33a of the travel drive motor 33 is coaxial with the rotation axis L31 of the travel wheel 31. The travel drive motor 33 is provided on the rotation axis L31 of the travel wheel 31. Specifically, from the direction along the rotation axis L31, the travel drive motor 33 is configured in a manner overlapping with the rotation axis L31. The output shaft 33a of the travel drive motor 33 is connected to the wheel portion 31b of the travel wheel 31 via a connecting portion 37. The connecting portion 37 includes, for example, a speed reducer that reduces the rotation speed of the travel drive motor 33, and an axle that transmits the drive force of the travel drive motor 33 to the travel wheel 31.

[0064] The outer diameter of the travel drive motor 33 is smaller than the outer diameter of the travel wheel 31. When viewed from the axial direction of the rotation axis L31, the outer shape of the travel drive motor 33 is included in the outer shape of the travel wheel 31. The travel drive motor 33 is electrically connected to the cable Ca. The travel drive motor 33 is electrically connected to the trolley controller 8 described later via the cable Ca. The travel drive motor 33 is driven based on an instruction input from the trolley controller 8, thereby rotating and driving the travel wheel 31.

[0065] The support portion 36 axially supports the traveling wheel 31 and the auxiliary wheel 32 in a rotationally free manner. In other words, the support portion 36 supports the axle of the traveling wheel 31 so that the traveling wheel 31 can rotate in the rotation direction around the rotation axis L31. The support portion 36 supports the axle of the auxiliary wheel 32 so that the auxiliary wheel 32 can rotate in the rotation direction around the rotation axis of the auxiliary wheel 32. In the example shown in the figure, the support portion 36 extends in the up-down direction, supports the traveling wheel 31 in a rotationally free manner via the connection portion 37, and supports the auxiliary wheel 32 in a rotationally free manner.

[0066] The connecting portion 35 is connected to the lower portion of the support portion 36. In the example shown in the figure, the connecting portion 35 extends downward from the lower portion of the support portion 36 while being bent inward (toward the travel drive motor 33), and after being extended downward in a straight line, it is extended in a manner bent outward (toward the travel wheel 31). The cable Ca is arranged on the connecting portion 35 in a manner along the connecting portion 35. For example, when the traveling vehicle 2 travels on the first track R1 and crosses the second track R2, or when the traveling vehicle 2 travels on the second track R2 and crosses the first track R1, the connecting portion 35 and the cable Ca pass through the gap G and extend from the top of the track R to the bottom (refer to Figure 7 The base portion 34 is a substantially rectangular parallelepiped portion that is continuous with the lower portion of the connecting portion 35 (see Figure 4 For example, the base portion 34 is fixed to the upper end portion of the rotary drum 48 .

[0067] like Figure 2 and Figure 8 As shown, a first support wall (support wall) 113 is connected to the upper surface of a plurality of first rails R1, and a second support wall (support wall) 123 is connected to the upper surface of a plurality of second rails R2. A first cutout K1 is formed on the first support wall 113 and the second support wall 123. The first cutout K1 allows the travel portion 30 to pass through when the travel vehicle 2 travels. For example, the first cutout K1 and the second cutout K2 allow the travel wheels 31 and the travel drive motor 33 to pass through.

[0068] The first cutout portion K1 of the first support wall 113 has a shape in which the end portion of the first support wall 113 in the X direction is cut out so as to open outward in the X direction when viewed from the Y direction. The first cutout portion K1 of the second support wall 123 has a shape in which the end portion of the second support wall 123 in the Y direction is cut out so as to open outward in the Y direction when viewed from the X direction. The first cutout portion K1 includes a first portion K11 and a second portion K12. The first portion K11 and the second portion K12 are continuous with each other. The first portion K11 allows a portion of the travel drive motor 33 on the opposite side to the travel wheel 31 to pass through. The second portion K12 allows other portions of the travel drive motor 33, the connection portion 37, the support portion 36, the travel wheel 31, and the auxiliary wheel 32 to pass through.

[0069] It should be noted that a second cutout portion K2 is formed on the side of the cross support column 133. The second cutout portion K2 allows the travel wheel 31 and the auxiliary wheel 32 to pass through. The second cutout portion K2 has a shape that is cut out in a manner that opens on the first support wall 113 or the second support wall 123 side. The second cutout portion K2 is formed in a manner that is continuous with the first cutout portion K1. It should be noted that the second cutout portion K2 may not exist.

[0070] Next, refer to Figure 7 , Figures 9 to 11 The wheel turning mechanism (steering drive unit) 40 is described in detail. Figure 7 As shown in FIG. 1 , the wheel turning mechanism 40 is disposed below the track R and below the traveling wheel 31. Figures 9 to 11 As shown, the driving force transmission unit 42 of the wheel turning mechanism 40 is a mechanism for transmitting the driving force generated in the steering motor 43 to the travel unit 30. The driving force transmission unit 42 includes a gear box 44, a housing 45, and a rotating cylinder 48. The gear box 44 is provided below the base 34. The housing 45 is disposed below the gear box 44. A fixing member 45a is provided on the side of the housing 45. The housing 45 is fixed to the frame 54 in the carriage unit 50 by means of the fixing member 45a (see Figure 7 ).

[0071] The rotary drum 48 is, for example, cylindrical. The rotary drum 48 has a rotary axis L30 as an axial direction and penetrates the gear box 44 and the housing 45. The rotary drum 48 is rotatably arranged relative to the gear box 44 and the housing 45 with the rotary axis L30 as a base axis. The pedestal 34 is connected to the upper end of the rotary drum 48. The lower end of the rotary drum 48 protrudes downward from the housing 45. An anti-slip component 49 is provided at the lower end of the rotary drum 48. The outer diameter of the anti-slip component 49 is larger than the outer diameter of the through hole in the housing 45 through which the rotary drum 48 passes. In this way, the rotary drum 48 can be prevented from falling off upward.

[0072] The steering motor 43 of the wheel turning mechanism 40 is a driving source for generating a driving force for turning. The steering motor 43 is disposed below the gear box 44. The steering motor 43 is fixed to the housing 45. The output shaft 43b of the steering motor 43 is arranged in parallel with the rotation axis L30. The output shaft 43b is connected to the driving force transmission unit 42.

[0073] like Fig.10 and Fig.11As shown, the gear box 44 has a first gear 46, a second gear 47 and a bearing 43c inside. The first gear 46 is, for example, a spur gear. The first gear 46 is arranged with the vertical direction as the axial direction. The first gear 46 is coaxially connected to the output shaft 43b of the steering motor 43. The second gear 47 is, for example, a fan-shaped gear. The second gear 47 is arranged with the rotary axis L30 as the axial direction. The second gear 47 meshes with the first gear 46. The second gear 47 is engaged with the outer peripheral surface of the rotating cylinder 48 in the rotation direction around the rotary axis L30. For example, a cylindrical body to which the inner peripheral surface of the second gear 47 is fixed can rotate in the rotation direction around the rotary axis L30, and the inner peripheral surface of the cylindrical body and the outer peripheral surface of the rotating cylinder 48 can rotate synchronously in a manner that they become one in the rotation direction by means of a keyway. Thus, the second gear 47 is connected to the support portion 36 via the rotating cylinder 48, the base portion 34 and the connecting portion 35. The bearing 43 c rotatably supports the output shaft 43 b of the steering motor 43 . The bearing 43 c is disposed below the first gear 46 .

[0074] In the wheel turning mechanism 40 constructed as described above, when the traveling wheel 31 is turned, first, the steering motor 43 generates a driving force, and the driving force is transmitted to the first gear 46 via the output shaft 43b. As a result, the first gear 46 rotates, and the second gear 47 meshing with the first gear 46 rotates with the rotation axis L30 as the base axis. In synchronization with the rotation of the second gear 47, the rotating cylinder 48 rotates, for example, 90 degrees with the rotation axis L30 as the base axis. As a result, the base portion 34, the connecting portion 35, and the supporting portion 36 rotate 90 degrees with the rotation axis L30 as the base axis, and the traveling wheel 31 rotates 90 degrees with the rotation axis L30 as the base axis.

[0075] It should be noted that guide rollers that contact the side surfaces of the intersection rail R3 may be provided between the travel wheel 31 and the wheel turning mechanism 40 (for example, near the connection portion 35). The guide rollers prevent the travel vehicle 20 (travel vehicle 2) from shifting relative to the rail R.

[0076] As described above, in the aerial vehicle system 1, the travel drive motor 33 for driving the travel wheel 31 is provided on the rotation axis L31 of the travel wheel 31 rolling on the rail R. Therefore, in the aerial vehicle system 1, the travel drive motor 33 can be arranged by effectively utilizing the space above the rail R. As a result, for example, the dimension in the height direction from the travel drive motor 33 to the travel wheel 31 can be reduced, and the travel unit 30 can be made compact. A compact system can be achieved.

[0077] In the aerial vehicle system 1, the first support wall 113 and the second support wall 123 are connected to the upper surface of each of the plurality of first rails R1 and the upper surface of each of the plurality of second rails R2, respectively, and the first support wall 113 and the second support wall 123 are provided with a first cutout portion K1 that allows the travel drive motor 33 to pass through when the travel vehicle 2 is traveling. In this case, the strength of the rails R can be increased by the first support wall 113 and the second support wall 123, and the interference of the travel drive motor 33 with respect to the first support wall 113 and the second support wall 123 can be avoided by the first cutout portion K1.

[0078] In the aerial vehicle system 1, the wheel turning mechanism 40 is provided below the rail R and below the traveling wheel 31. In this case, the wheel turning mechanism 40 can be arranged in a blind spot area below the rail R and below the traveling wheel 31. As a result, it is not necessary to arrange the wheel turning mechanism 40 between the upper surface cover 51 of the carriage unit 50 and the rail R, and the height dimension of the traveling vehicle 2 can be reduced. As a result, the traveling vehicle 2 can be made compact.

[0079] In the aerial vehicle system 1, the outer shape of the travel drive motor 33 is included in the outer shape of the travel wheel 31 when viewed from the axial direction of the rotation axis L31. In this case, the diameter of the travel wheel 31 can be increased, and a well-balanced travel portion 30 can be constructed in the travel vehicle 2. By increasing the size of the travel wheel 31, the travel of the travel vehicle 2 can be made more stable, and the aerial vehicle 2 can carry heavier cargo (the carrying capacity of the travel vehicle 2 is improved). In addition, the travel wheel 31 can more reliably cross the gap G. In addition, the enlargement of the travel portion 30 caused by the travel drive motor 33 can be suppressed.

[0080] In the aerial vehicle system 1, for example, when the traveling vehicle 2 travels on the first rail R1 and crosses the second rail R2, or when the traveling vehicle 2 travels on the second rail R2 and crosses the first rail R1, the connecting portion 35 and the cable C pass through the gap G. Since there is no need to provide a transmission mechanism such as a belt that transmits the driving force to the traveling wheel 31 in the connecting portion 35, the strength of the connecting portion 35 and the like can be improved.

[0081] It should be noted that in the aerial vehicle system 1, since a transmission mechanism such as a belt is not required between the travel drive motor 33 and the travel wheel 31, the following effects are obtained. Backlash can be reduced and rigidity can be improved. Stop position accuracy can be improved. The size of the guide roller can be increased. The structure can be simplified and productivity can be improved.

[0082] In the aerial vehicle system 1 of the present embodiment, the wheel turning mechanism 40 can be unitized. As a result, the productivity of the wheel turning mechanism 40 is improved, and the easiness of replacement and inspection of the wheel turning mechanism 40 is improved.

[0083] In the aerial vehicle system 1 of the present embodiment, the first gear 46 and the second gear 47 are not provided on the upper surface cover 51 of the carriage unit 50, but are provided inside the gear box 44. Therefore, compared with a structure in which gears such as rack gears are directly provided on the main body 10, friction between the gears caused by vibrations during travel can be suppressed.

[0084] As mentioned above, although embodiment was described, one aspect of the present invention is not limited to the above-mentioned embodiment, and various changes can be made without departing from the scope of the invention.

[0085] In the above embodiment, the travel drive motor 33 is arranged so that the output shaft 33a of the travel drive motor 33 is coaxial with the rotation axis L31, but the present invention is not limited thereto. As long as the travel drive motor 33 is arranged on the rotation axis L31, the output shaft 33a may be offset from the rotation axis L31.

[0086] In the above embodiment, the case where the traveling vehicle is an aerial traveling vehicle is described, but the traveling vehicle may also be a rail-guided vehicle that travels on a track provided on the ground. In the above embodiment, a grid system is used as the aerial traveling vehicle system 1, but the aerial traveling vehicle system 1 is not limited to a grid system. For example, as the aerial traveling vehicle system, an AGV (Automated Guided Vehicle) may be used, or various well-known systems that travel on a grid-shaped traveling road may be used.

[0087] Each structure in the above-mentioned embodiment and modification examples is not limited to the above-mentioned materials and shapes, but various materials and shapes can be applied. Each structure in the above-mentioned embodiment or modification examples can be arbitrarily applied to each structure in other embodiments or modification examples. A part of each structure in the above-mentioned embodiment or modification examples can be appropriately omitted within the scope of the gist of one form of the present invention.

[0088] Description of Reference Numerals

[0089] 1: Aerial vehicle system, 2: Aerial vehicle, 10: Main body, 30: Traveling part, 31: Traveling wheel, 33: Traveling drive motor, 35: Connecting part, 36: Supporting part, 40: Wheel turning mechanism (steering drive part), 113: First supporting wall (supporting wall), 123: Second supporting wall (supporting wall), C: Cable, G: Gap, K1: First cutout part (cutout part), R: Track, R1: First track, R2: Second track, R3: Intersecting track, L30: Turning axis, L31: Rotation axis.

Claims

1. An aerial vehicle system, characterized in that: have: A track at least partially configured in a grid pattern; and an aerial vehicle having a travel portion that travels along the track, and a main body that is arranged below the track and is suspended from the travel portion, The traveling part comprises: Traveling wheels rolling on the track with the rotation axis as the base axis; and a travel drive motor for driving the travel wheels, The travel drive motor is disposed on the rotating shaft of the travel wheel.

2. The aerial vehicle system according to claim 1, characterized in that: The track includes a plurality of first tracks extending along a first direction and a plurality of second tracks extending along a second direction intersecting the first direction. A support wall is connected to an upper surface of each of the plurality of first rails and an upper surface of each of the plurality of second rails. The support wall is provided with a cutout portion that allows the travel drive motor to pass through when the aerial vehicle travels.

3. The aerial vehicle system according to claim 1 or 2, characterized in that: The traveling wheels are arranged to be free to rotate. The aerial vehicle system includes a steering drive unit for rotating the traveling wheels. The steering drive unit is disposed below the rail and below the traveling wheels.

4. The aerial vehicle system according to claim 1 or 2, characterized in that: When viewed in the axial direction of the rotating shaft, the outer shape of the travel drive motor is included in the outer shape of the travel wheel.

5. The aerial vehicle system according to claim 2, characterized in that: have: A support portion for axially supporting the travel wheel in a rotatable manner; a connecting portion connected to a lower portion of the supporting portion; and a cable electrically connected to the travel drive motor, The guide rail includes a plurality of intersecting rails disposed at intervals with respect to the end of the first rail and the end of the second rail. The connection portion and the cable extend downward from the upper side of the rail through the gap.

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