Traveling vehicle system

Abstract

The invention provides a traveling vehicle system. A traveling vehicle system (1) is provided with: a rail (4) having, in a part thereof, a non-autonomous section in which a traveling vehicle (6) cannot be autonomous; a traveling vehicle (6) that travels along the rail (4); and a movement means (60) that moves the traveling vehicle (6) in one direction in the non-autonomous section. The moving unit (60) has a moving mechanism (63) that moves the moving block (61) in one direction. The traveling vehicle (6) is provided with: an engagement section (53) capable of engaging with the moving block (61); and a switching mechanism (53C) that switches the position of the engaging part (53) between a first position where the engaging part (53) is engaged by the moving block (61) and a second position where the engaging part (53) is separated from the moving block (61). The moving mechanism (63) moves the traveling vehicle (6) by moving the moving block (61) in one direction in a state in which the moving block (61) is engaged with the engagement section (53).

Description

Technical Field

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

[0002] There is known an elevated vehicle having a traveling part that can travel along a track. In such a vehicle, it is necessary to perform maintenance such as regular inspection or cleaning of the traveling part. In the case where the maintenance part is the traveling part that travels inside the track, it is necessary to expose the maintenance part from the track. However, since a power supply line and a magnetic plate that supply power to the traveling part are arranged in the track, when the track is configured such that the maintenance part is exposed as described above, the traveling part becomes unable to move by itself.

[0003] For example, Patent Document 1 discloses a traveling vehicle system provided with a moving mechanism for moving a traveling vehicle along a track. According to this traveling vehicle system, the traveling vehicle can be moved on a track where the traveling vehicle cannot move on its own.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: International Publication No. WO2020 / 202856 Summary of the invention

[0007] Problems to be solved by the invention

[0008] However, the above-mentioned conventional traveling vehicle system includes a mechanism for clamping the traveling portion from the front and rear to match the size of various traveling vehicles and a mechanism for moving the traveling portion in a state of clamping the traveling portion, and thus has a complicated structure.

[0009] Therefore, an object of one aspect of the present invention is to provide a traveling vehicle system capable of moving a traveling vehicle with a simple configuration on a working track where the traveling vehicle cannot move on its own.

[0010] Means for solving problems

[0011] The traveling vehicle system involved in one aspect of the present invention comprises: a traveling track forming a self-propelled section in which the traveling vehicle can self-propelled; an operating track forming a non-self-propelled section in which the traveling vehicle cannot self-propelled; a traveling vehicle traveling along the traveling track; and a moving unit for moving the traveling vehicle in one direction in the non-self-propelled section, the moving unit having a moving mechanism for moving a moving block in one direction, the traveling vehicle having: an engaging portion capable of engaging with the moving block; and a switching mechanism for switching the position of the engaging portion between a first position in which the engaging portion is engaged with the moving block and a second position in which the engaging portion is separated from the moving block, the moving mechanism moving the traveling vehicle by moving the moving block in a state of being engaged with the engaging portion in one direction.

[0012] In the traveling vehicle system of this configuration, the moving block can be moved integrally with the traveling vehicle only by moving the moving block in a state of being engaged with the engaging portion of the traveling vehicle. The moving mechanism only needs to move the moving block in one direction, so the configuration can be simplified. In addition, the traveling vehicle side has a configuration that enables the engaging portion to engage with the moving mechanism, so the configuration of the moving mechanism side can be simplified. That is, in the traveling vehicle system of this configuration, the traveling vehicle can be moved by a simple configuration in an operating track where the traveling vehicle cannot move by itself.

[0013] In the traveling vehicle system according to one aspect of the present invention, the moving mechanism may be a direct-acting mechanism including a screw shaft and a driving unit. In this configuration, the moving block can be moved in one direction with a simple configuration.

[0014] In a vehicle system according to one aspect of the present invention, two or more engaging parts are arranged in one direction at intervals less than the maximum moving distance of a moving block in a direct-acting mechanism, and after the moving mechanism engages one engaging part with the moving block to move the vehicle in one direction, another engaging part arranged on the downstream side of the one engaging part in one direction engages with the moving block to move the vehicle in one direction. In this configuration, the vehicle can be moved beyond the movable distance of the moving block. Thus, the size of the vehicle in the moving direction in the moving mechanism can be reduced.

[0015] In the vehicle system according to one aspect of the present invention, the travel rail may include a branching portion and a plurality of guide members for guiding the vehicle in each direction branched at the branching portion, and the engaging portion may be a branching roller for switching the travel direction of the vehicle at the branching portion by selectively contacting each guide member of the branching portion. In this configuration, even if a component for engaging with the moving block is not newly provided, a component of the existing vehicle can be directly used as the engaging portion, and the vehicle can be manufactured at a low cost.

[0016] In the traveling vehicle system according to one aspect of the present invention, the moving mechanism may be supported by a support member mounted on the working rail. In this configuration, compared with a configuration in which the support member is suspended separately from a ceiling or the like, the number of man-hours required for installation can be greatly reduced.

[0017] In the vehicle system involved in one aspect of the present invention, the working rail may be suspended from the ceiling of a building or a platform set on the ground, and the vehicle may be an elevated vehicle that transports articles by traveling along the working rail. In this configuration, the vehicle that cannot be reached by the hands of an operator standing on the ground of the building can be moved. This can save the trouble of preparing a step stool when the operator moves the vehicle manually, so the effect is better.

[0018] In a vehicle system according to one aspect of the present invention, the vehicle may include a linear motor that travels by generating magnetic force between the vehicle and a magnetic plate provided on a travel track, and no magnetic plate may be provided on the working track. In this configuration, the vehicle can be moved in a non-self-propelled section without a magnetic plate. In addition, the top surface portion provided with the magnetic plate can be opened in the self-propelled section of the vehicle, so that maintenance of the upper portion of the travel portion can be easily performed.

[0019] In the vehicle system according to one aspect of the present invention, a power supply line for supplying power to the vehicle may be arranged on the travel track, and no power supply line may be arranged on the working track. In this configuration, the vehicle can be moved in a non-propelled section without a power supply line.

[0020] Effects of the Invention

[0021] According to one aspect of the present invention, a traveling vehicle can be moved with a simple configuration on a working track on which the traveling vehicle cannot move on its own. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic plan view showing a traveling vehicle system according to one embodiment.

[0023] Figure 2 Observed from the direction of travel Figure 1 A schematic front view of the elevated vehicle.

[0024] Figure 3 Yes means Figure 1 A three-dimensional view of the working track.

[0025] Figure 4 Yes means Figure 3 A cross-sectional view of the working track and the traveling portion of the traveling vehicle.

[0026] Figure 5 (A)~ Figure 5 (E) is a diagram for explaining an example of the operation of the moving unit when moving the traveling vehicle.

[0027] Figure 6 (A)~ Figure 6 (D) is a diagram for explaining another example of the operation of the moving unit when moving the traveling vehicle.

[0028] Figure 7 (A)~ Figure 7 (C) is a diagram for explaining another example of the operation of the moving unit when moving the traveling vehicle. DETAILED DESCRIPTION

[0029] Hereinafter, a preferred embodiment of one aspect of the present invention will be described in detail with reference to the accompanying drawings. In the description of the drawings, the same elements are marked with the same reference numerals and repeated descriptions are omitted. Figure 2 to Figure 4 In the figure, “up”, “down”, “left”, “right”, “front” and “rear” directions are defined for convenience of explanation.

[0030] like Figure 1 as well as Figure 2 As shown, the vehicle system 1 is a system for conveying articles 10 between the loading sections 9 and 9 using an overhead vehicle 6 (hereinafter referred to as the vehicle 6) that can move along the driving rail 4. The articles 10 include, for example, a FOUP (Front Opening Unified Pod) that stores a plurality of semiconductor wafers, a container that stores a glass substrate, a container such as a reticle box, and general parts. The vehicle system 1 includes the driving rail 4, a plurality of vehicles 6, a plurality of loading sections 9, a working rail 41, and a moving unit 60.

[0031] The travel rail 4 is, for example, laid in the space above the head of the operator, that is, near the ceiling. The travel rail 4 is, for example, suspended from the ceiling. The travel rail 4 is a predetermined travel path for the traveling vehicle 6 to travel. The travel rail 4 is supported by pillars 40A, 40A. The travel rail 4 of the traveling vehicle system 1 has a main line portion 4A that travels in one direction in a predetermined area, and a retreat portion 4B that guides the traveling vehicle 6 into a work rail 41 provided with a work area 160 for maintaining the traveling vehicle 6. In addition, in the retreat portion 4B, the traveling vehicle 6 also moves in a predetermined direction.

[0032] The travel rail 4 includes a cylindrical rail body 40 composed of a pair of lower portions 40B, 40B, a pair of side portions 40C, 40C, and a top portion 40D, a power supply line 40E, and a magnetic plate 40F. The rail body 40 accommodates (encloses) a travel portion 50 of the travel vehicle 6. The lower portion 40B extends along the travel direction of the travel vehicle 6 and constitutes the lower surface of the rail body 40. The lower portion 40B is a plate-shaped member on which the travel rollers 51 of the travel vehicle 6 roll. The side portion 40C extends along the travel direction of the travel vehicle 6 and constitutes the side of the rail body 40. The top portion 40D extends along the travel direction of the travel vehicle 6 and constitutes the upper surface of the rail body 40.

[0033] The power supply line 40E is a part that supplies power to the power supply core 57 of the traveling vehicle 6 and transmits and receives signals with the power supply core 57. The power supply line 40E is fixed to a pair of side surfaces 40C and 40C, respectively, and extends along the traveling direction. The power supply line 40E supplies power to the power supply core 57 in a non-contact state. The magnetic plate 40F causes the LDM (Linear DC Motor) 59 of the traveling vehicle 6 to generate a magnetic force for traveling or stopping. The magnetic plate 40F is fixed to the top surface 40D, and extends along the traveling direction.

[0034] The vehicle 6 travels on the travel rail 4 and transports the article 10. The vehicle 6 travels on the travel rail 4 in that the travel rollers 51 of the vehicle 6 roll on the lower surface 40B of the travel rail 4. The vehicle 6 is configured to be able to transfer the article 10. The vehicle 6 is an elevated unmanned vehicle. The number of vehicles 6 provided in the vehicle system 1 is not particularly limited, and is a plurality of vehicles. The vehicle 6 includes a main body 7, a travel portion 50, and a vehicle controller 35. The main body 7 includes a main frame 22, a lateral feed portion 24, a θ driver 26, a lifting drive portion 28, a lifting platform 30, and a cover 33.

[0035] The main frame 22 is connected to the travel section 50, and supports the lateral feed section 24, the θ driver 26, the lifting drive section 28, the lifting platform 30, and the cover 33. The lateral feed section 24 causes the θ driver 26, the lifting drive section 28, and the lifting platform 30 to collectively lateral feed in a direction perpendicular to the travel direction of the travel rail 4. The θ driver 26 causes at least one of the lifting drive section 28 and the lifting platform 30 to rotate within a predetermined angle range in a horizontal plane. The lifting drive section 28 raises and lowers the lifting platform 30 by winding or releasing a hanging member such as a wire, a rope, or a belt. A chuck is provided on the lifting platform 30, and the article 10 can be freely grasped or released. For example, a pair of covers 33 are provided in front and behind the travel direction of the travel vehicle 6. The cover 33 makes claws, etc., not shown, appear and disappear to prevent the article 10 from falling during transportation.

[0036] The travel unit 50 allows the travel vehicle 6 to travel along the travel rail 4. Figure 5 (A)~ Figure 5 As shown in (E), the travel unit 50 has two main body parts 50A and 50B, and the two main body parts 50A and 50B are connected to each other. Figure 4 As shown, the two main bodies 50A and 50B respectively include a travel roller 51, a side roller 52, a branch roller (engagement portion) 53, an auxiliary roller 54, an inclined roller 55, a power supply core 57, and an LDM 59. Figure 2 The branch roller 53, the auxiliary roller 54 and the inclined roller 55 are omitted in the figure.

[0037] The travel roller 51 is a pair of rollers consisting of an outer wheel 51A as a travel wheel and an inner wheel 51B as a travel auxiliary wheel. The travel roller 51 is arranged at both ends of the travel section 50. The travel roller 51 is arranged on a pair of lower surfaces 40B, 40B (or the lower surfaces 40B, ... Figure 4 The side rollers 52 are arranged to clamp the outer wheels 51A of the travel rollers 51 in the front-rear direction. The side rollers 52 are arranged to be able to engage with the side surface 40C (or the side surface 40C described later) of the travel rail 4. Figure 4 The side support portion 45) contacts the side support portion 45.

[0038] The branching roller 53 is provided to switch the traveling vehicle 6 (traveling unit 50) from straight traveling to branching traveling at the branching portion of the traveling rail 4. More specifically, the branching roller 53 selectively contacts (contacts) with a guide member provided at the branching portion to be guided, thereby switching the traveling direction of the traveling vehicle 6. The branching roller 53 is provided with four (refer to Figure 6 (A)~ Figure 6 The branch roller 53 moves the maximum moving distance D (refer to Figure 3 ) are arranged in the travel direction (one direction) of the traveling vehicle 6. In the present embodiment, four are arranged along the travel direction on the left side of the traveling vehicle 6, and four are arranged along the travel direction on the right side of the traveling vehicle 6. The branching rollers 53 that can be engaged with the moving block 61 are the four branching rollers 53 arranged on the left side of the traveling vehicle 6.

[0039] The branch roller 53 is provided so as to be movable in the left-right direction by the switching mechanism 53C. The branch roller 53 can be engaged in the first position (see Figure 6 (B)) and the second position away from the moving block 61 (refer to Figure 6 (A)) switching position. The main body 50A and the main body 50B are respectively provided with a switching mechanism 53C. The switching mechanism 53C has a supporting member 53A and a roller driving unit 53B. The supporting member 53A supports the four branch rollers 53 and is configured to be movable in the left-right direction (width direction). The roller driving unit 53B moves the supporting member 53A in the left-right direction. The switching mechanism 53C moves the four branch rollers 53 in the left-right direction as a whole by moving the supporting member 53A in the left-right direction. The driving of the roller driving unit 53B is controlled by the traveling vehicle controller 35 which receives the command of the area controller 90.

[0040] The auxiliary rollers 54 are a group of three rollers arranged in front and behind the traveling section 50. The purpose of providing the auxiliary rollers 54 is to prevent the LDM 59 and the power supply core 57 from contacting the magnetic plate 40F arranged on the upper surface of the traveling rail 4 when the traveling section 50 tilts forward and backward due to acceleration and deceleration during traveling. The inclined rollers 55 are provided at the four corners of the LDM 59. The inclined rollers 55 are arranged in a state inclined relative to the front and rear directions. The purpose of providing the inclined rollers 55 is to prevent the traveling section 50 from tilting due to centrifugal force when traveling in a curve section.

[0041] The power supply core 57 is arranged in front and behind the travel part 50 so as to sandwich the LDM59 in the left-right direction. The power supply core 57 performs non-contact power supply and non-contact transmission and reception of various signals with the power supply line 40E arranged on the travel rail 4 and the working rail 41. The power supply core 57 exchanges signals with the travel vehicle controller 35. The LDM59 is arranged in front and behind the travel part 50. The LDM59 generates a magnetic force for traveling or stopping between the LDM59 and the magnetic plate 40F arranged on the upper surface of the travel rail 4 through an electromagnet.

[0042] like Figure 1 As shown, the loading portion 9 is arranged along the travel track 4 and is set at a position where the article 10 can be delivered to the traveling vehicle 6. The loading portion 9 includes a temporary storage area and a delivery port. The temporary storage area is a loading portion for temporarily loading the article 10. The temporary storage area is, for example, a loading portion for temporarily placing the article 10 when the article 10 transported by the traveling vehicle 6 cannot be transferred to the delivery port because other articles 10 are loaded on the destination delivery port. The delivery port is a loading portion for delivering the article 10 to a semiconductor processing device (not shown) represented by, for example, a cleaning device, a film forming device, a photolithography device, an etching device, a heat treatment device, and a flattening device. In addition, the processing device is not particularly limited and can be various devices.

[0043] For example, the loading section 9 is arranged on the side of the travel rail 4. In this case, the traveling vehicle 6 feeds the lifting drive section 28 and the like in a transverse direction through the transverse feeding section 24, and slightly raises and lowers the lifting platform 30, thereby delivering the article 10 to the loading section 9. In addition, although not shown, the loading section 9 may be arranged directly below the travel rail 4. In this case, the traveling vehicle 6 raises and lowers the lifting platform 30, thereby delivering the article 10 to the loading section 9.

[0044] The vehicle controller 35 is an electronic control unit composed of a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory). The vehicle controller 35 controls various actions of the vehicle 6. Specifically, the vehicle controller 35 controls the travel section 50, the lateral feed section 24, the θ driver 26, the lifting drive section 28, the lifting platform 30, and the roller drive section 53B. The vehicle controller 35 can be configured as software that is executed by the CPU by loading a program stored in the ROM onto the RAM. The vehicle controller 35 can also be configured as hardware based on an electronic circuit or the like. The vehicle controller 35 communicates with the area controller 90 using a power supply line 40E such as a feeder provided on the travel track 4.

[0045] The area controller 90 is an electronic control unit composed of a CPU, a ROM, and a RAM. The area controller 90 can be configured as software that loads a program stored in the ROM into the RAM and is executed by the CPU. The area controller 90 can also be configured as hardware based on an electronic circuit or the like. The area controller 90 sends a conveyance instruction to cause the traveling vehicle 6 to convey the article 10.

[0046] like Figure 1 As shown, the work area 160 is a part of the retreat section 4B, and is an area where maintenance of the travel roller 51 and the power supply core 57 of the travel section 50 included in the travel vehicle 6 is performed. The work rail 41 (see Figure 3 ) and the mobile unit 60 (refer to Figure 5 as well as Figure 6 ).

[0047] The working rail 41 extends in one direction (hereinafter referred to as the "extension direction") in a manner that both ends thereof are continuous with the traveling rails 4, 4. Figure 3 as well as Figure 4 As shown, an open portion 47 is formed to expose at least a portion of the travel portion 50 (for example, the power supply core 57). In other words, the side portion 40C and the top portion 40D provided in the travel track 4 are not provided in the working track 41, and the magnetic plate 40F provided in the top portion 40D is not provided. Therefore, the travel vehicle 6 cannot move on its own in the working track 41. In the travel track 4, the working track 41 forms a non-self-propelled section in which the travel vehicle 6 cannot move on its own. In addition, it can be said that the travel track 4 forms a self-propelled section in which the travel vehicle 6 can move on its own.

[0048] The working rail 41 includes frames 42 disposed at both ends of the working rail 41 , a pair of lower support portions 43 , 43 , a pair of side support portions 45 , 45 , and a power supply line 40E.

[0049] The frame 42 has a pair of pillars 42A, 42A and a horizontal portion 42B. The pair of pillars 42A, 42A are pillar-shaped members that are arranged opposite to each other in the left-right direction and extend in the vertical direction. The horizontal portion 42B is fixed to the ceiling via a bracket (not shown) and a support (not shown). The horizontal portion 42B is a pillar-shaped member that connects the pair of pillars 42A, 42A at their upper ends.

[0050] The lower support portion 43 supports the traveling portion 50 from below. More specifically, the lower support portion 43 is a component that allows the inner wheel 51B of the traveling roller 51 of the traveling vehicle 6 to roll and travel. The lower support portion 43 is fixed to the lower end of the column portion 42A of the frame 42. The lower support portion 43 is formed so that, in the vertical direction, the first portion 43B opposite to the inner wheel 51B is located above the second portion 43A opposite to the outer wheel 51A. The first portion 43B of the lower support portion 43 (i.e., the rolling surface of the inner wheel 51B) is connected to the traveling rail 4 to form a lower portion 40B (see FIG. 4B ) that is connected to the traveling rail 4. Figure 2 ) are connected in a manner that the upper surfaces of the two side supports are planes of the same level (coplanar). The side support portion 45 is a component that contacts the side roller 52 of the traveling vehicle 6.

[0051] The side support portion 45 is mounted on the pair of frames 42, 42. The power supply line 40E is mounted on the pair of frames 42, 42 and is arranged in the open portion 47 on the side of the working rail 41. The power supply line 40E provided on the working rail 41 is connected to the power supply line 40E provided on the travel rail 4. That is, the travel vehicle 6 cannot move on its own in the working rail 41, but can receive power supply.

[0052] like Figure 3 to Figure 5 As shown, the moving unit 60 moves the traveling vehicle 6 along the extension direction (one direction) of the working rail 41 as the non-self-propelled section. The traveling rails 4, 4 are connected to both ends of the working rail 41. The moving unit 60 moves the non-self-propelled traveling vehicle 6 between the traveling rail 4 on one side and the traveling rail 4 on the other side. The moving unit 60 includes a moving block 61 and a moving mechanism 63.

[0053] The moving block 61 is a component that can engage with the branching roller 53. More specifically, a recessed portion 61a into which the branching roller 53 can enter (engage) is formed on the moving block 61. The moving unit 60 moves the moving block 61 in a state where the branching roller 53 is engaged with the recessed portion 61a, thereby moving the branching roller 53 and the traveling portion 50 together with the moving block 61.

[0054] The moving mechanism 63 is a mechanism for moving the moving block 61 in the extension direction of the working track 41. The moving mechanism 63 is a direct-acting mechanism (ball screw) having a screw shaft 63A, a nut 63B, a shaft drive portion 63C, and a slide rail 63D. The screw shaft 63A is a long member having a threaded groove formed on the outer peripheral surface and extending in one direction, one end of which is connected to the shaft drive portion 63C, and the other end is supported by a bearing portion 63E. The screw shaft 63A is configured so that its extension direction is substantially parallel to the extension direction of the working track 41.

[0055] The nut 63B is a component that is screwed into the thread groove of the screw shaft 63A. The nut 63B moves along the extension direction of the screw shaft 63A, that is, the extension direction of the working track 41, by the rotation of the screw shaft 63A. The nut 63B is supported to be able to slide on the slide rail 63D. The shaft drive unit 63C is a motor, and its rotating shaft is connected to the screw shaft 63A. The drive of the shaft drive unit 63C is controlled by the area controller 90. The slide rail 63D supports a part of the nut 63B from below so that it can slide along the extension direction of the working track 41.

[0056] The moving mechanism 63 is arranged on one of the pair of lower support parts 43, 43, and is arranged in a state supported from below by the left lower support part (support member) 43. In addition, in the present embodiment, an example is given in which the moving mechanism 63 is arranged on a part of the lower support part 43 that supports the traveling vehicle 6 from below, but for example, a dedicated support member for supporting the moving mechanism 63 may be installed on the pair of frames 42, 42, etc., and the supporting member may support the moving mechanism 63. A cleaning device for cleaning the traveling vehicle 6 and maintenance equipment such as a camera for inspecting various parts of the traveling vehicle 6 may also be provided on the lower support part 43 provided with the moving mechanism 63.

[0057] Next, mainly use Figure 5 as well as Figure 6 The operation of the moving unit 60 when moving the traveling vehicle 6 will be described. Figure 5 (A) and Figure 5 As shown in (B), the traveling vehicle 6 reaches the working track 41 according to the movement command from the area controller 90 to the working area 160 (working track 41). As described above, the working track 41 is not provided with the magnetic plate 40F, but as long as a part of at least one of the two main parts 50A and 50B is in a position overlapping with the magnetic plate 40F of the traveling track 4, the traveling vehicle 6 can travel. Figure 6 As shown in FIG. 2 (A), the traveling vehicle 6 stops in a state where one main body portion 50A enters the working rail 41, for example.

[0058] The moving block 61 waits at a side position of the traveling vehicle 6 which is stopped in a state where the main body 50A on one side enters the working rail 41. More specifically, the moving block 61 waits at a side position of the branching roller 53 located at the front row of the traveling vehicle 6. In this state, Figure 6 As shown in (B), the traveling vehicle 6 drives the roller driving unit 53B of the switching mechanism 53C to move the supporting member 53A to the left. That is, the position of the branch roller 53 is switched from the second position away from the moving block 61 to the first position engaged with the moving block 61. As a result, the branch roller 53 is in a state of being engaged with the moving block 61.

[0059] The moving mechanism 63 moves the traveling vehicle 6 integrally by moving the moving block 61 in a state of being engaged with the branching roller 53 of the traveling vehicle 6 along the extending direction (one direction) of the working rail 41. The moving mechanism 63 moves the traveling vehicle 6 to a predetermined position of the working rail 41, for example. The maintenance equipment as described above is provided at the predetermined position, and the traveling vehicle 6 is subjected to predetermined maintenance. Figure 5 As shown in (C), the moving mechanism 63 moves the moving block 61 to the end of the extending direction of the moving mechanism 63.

[0060] In this state, if Figure 6 As shown in (C), the traveling vehicle 6 drives the roller driving unit 53B of the switching mechanism 53C to move the supporting member 53A to the right. That is, the position of the branch roller 53 is switched from the first position to the second position. Figure 6 As shown in (D), the branch roller 53 is separated from the moving block 61. Figure 5 As shown in (D) of FIG. 6 , the moving mechanism 63 moves the moving block 61 in the direction opposite to the moving direction of the traveling vehicle 6 , and stops the moving block 61 on the side of the diverging roller 53 arranged in the last row of the traveling vehicle 6 .

[0061] Next, as described above, the traveling vehicle 6 drives the roller driving unit 53B of the switching mechanism 53C to move the supporting member 53A to the left, so that the branch roller 53 is engaged with the moving block 61. Figure 5 As shown in (E), the moving mechanism 63 moves the traveling vehicle 6 until the main body 50A on one side enters the traveling track 4. In this way, the moving mechanism 63 of this embodiment is such that after the branch roller (one engaging portion) 53 arranged in the front row of the traveling vehicle 6 is engaged with the moving block 61 to move the traveling vehicle 6 along the extension direction of the working track 41, the branch roller 53 arranged in the rear row of the traveling vehicle 6 (another engaging portion arranged on the downstream side of one engaging portion in one direction) is engaged with the moving block 61 to move the traveling vehicle 6 in one direction.

[0062] exist Figure 5At the position of the traveling vehicle 6 shown in (E), the traveling vehicle 6 drives the roller driving unit 53B of the switching mechanism 53C to move the supporting member 53A to the right. That is, the position of the branch roller 53 is switched from the first position to the second position. As a result, the branch roller 53 is in a state of being separated from the moving block 61. As described above, in this state, the main body 50A of the two main bodies 50A and 50B advances to a position overlapping with the magnetic plate 40F of the traveling track 4, so that the traveling vehicle 6 is in a state of being able to move on its own. The traveling vehicle 6 detaches from the working area 160 according to the movement command from the area controller 90.

[0063] Next, the effects of the traveling vehicle system 1 of the above embodiment will be described. In the traveling vehicle system 1 of the above embodiment, the moving block 61 can be moved integrally with the traveling vehicle 6 only by moving the moving block 61 in a state of being engaged with the branching roller 53 provided on the traveling vehicle 6. The moving mechanism 63 only needs to move the moving block 61 in one direction, so the structure can be simplified. In addition, the traveling vehicle 6 side has a structure that engages the branching roller 53 with the moving block 61, so the structure of the moving mechanism 63 side can be simplified.

[0064] In the traveling vehicle system 1 of the above embodiment, the moving mechanism 63 is a direct-acting mechanism (ball screw) including the screw shaft 63A and the shaft driving portion 63C. Therefore, the moving block 61 can be moved along the extending direction of the working rail 41 with a simple configuration.

[0065] In the vehicle system 1 of the above-described embodiment, two or more branch rollers 53 are arranged in the travel direction of the vehicle 6 at intervals less than the maximum moving distance D of the moving block 61 in the direct-acting mechanism, and after the moving mechanism 63 engages the branch rollers 53 in the front row with the moving block 61 to move the vehicle 6 along the extending direction of the working rail 41, the branch rollers 53 in the rear row are engaged with the moving block 61 to move the vehicle 6 along the extending direction of the working rail 41. In this configuration, the vehicle 6 can be moved beyond the movable distance of the moving block 61. Thus, the size of the moving mechanism 63 in the moving direction of the vehicle 6 can be reduced.

[0066] In the vehicle system 1 of the above embodiment, by switching the position of the branch roller 53 provided in the vehicle 6 in the left-right direction, the branch roller 53 can be engaged with the moving block 61. In this configuration, even if an engaging portion engaged with the moving block 61 is not newly provided, the components provided in the existing vehicle 6 can be directly used, so that it can be manufactured at a low cost.

[0067] In the traveling vehicle system 1 of the above embodiment, the moving mechanism 63 is supported by the lower support portion 43 attached to the working rail 41. Therefore, compared with a configuration in which a supporting member that supports the moving mechanism 63 is separately suspended from a ceiling or the like, the number of man-hours required for installation can be greatly reduced.

[0068] The vehicle 6 of the vehicle system 1 of the above-mentioned embodiment is an elevated vehicle that travels along the travel rail 4, and the working rail 41 is suspended from a platform installed on the ceiling of a building or on the ground. In this configuration, the vehicle 6 that cannot be reached by the hands of an operator standing on the ground of the building can be moved. As a result, when the operator moves the vehicle 6 manually, the trouble of preparing a step stool can be omitted, so the effect is good.

[0069] In the traveling vehicle system 1 of the above embodiment, the traveling vehicle 6 can be moved even without providing the magnetic plate 40F on the working rail 41. Thus, in the working rail 41, the top surface 40D where the magnetic plate 40F is provided in the traveling rail 4 can be opened, so that the upper part of the traveling part 50 can be easily maintained.

[0070] Although one embodiment has been described above, one aspect of the present invention is not limited to the above embodiment and various modifications can be made without departing from the gist of the invention.

[0071] In the above embodiment, the branch roller 53 is used as an example of the engagement portion, but for example, a dedicated engagement member that can be engaged by the moving block 61 may be provided on the traveling vehicle 6. In this case, the engagement portion may be configured to be movable in the left-right direction or the up-down direction by a driving portion, and the driving portion may be configured to be controllable by the zone controller 90. In this case, the same effect as that of the above embodiment can be obtained.

[0072] In the above-mentioned embodiment and modification, an example in which the power supply line 40E is provided along the extension direction of the working rail 41 is given for description, but it is also possible to Figure 7 As shown in (A), the working track (non-autonomous section) 41 is a structure without a power supply line 40E. In this case, the traveling vehicle 6 is not supplied with power in the working track 41, and therefore cannot drive the shaft driving part 63C that moves the engaging part in the left-right direction. Figure 7 As shown in (A), in the configuration of the traveling vehicle system 1 of the modified example, the moving mechanism 63 is ensured to be longer than the working rail 41 in the traveling direction of the traveling vehicle 6, and the moving block 61 engaged with the branch roller 53 in the front row extends to the position of the traveling rail 4. That is, in the configuration of the modified example, as shown in FIG. Figure 7As shown in (C), in the traveling direction of the traveling vehicle 6, the traveling vehicle 6 can be moved beyond the range of the working rail 41.

[0073] When the traveling vehicle 6 is moved beyond the range of the working track 41, as shown in FIG. Figure 7 As shown in (C), one of the two main bodies 50A and 50B of the traveling vehicle 6, namely the main body 50A, overlaps with the power supply line 40E of the traveling rail 4, so that it can receive the supply of electricity and can switch the position of the branch roller 53 in the left and right direction. In addition, one of the two main bodies 50A and 50B of the traveling vehicle 6, namely the main body 50A, overlaps with the magnetic plate 40F of the traveling rail 4, so that the traveling vehicle 6 can move by itself. Even in the configuration of such a modified example, the traveling vehicle 6 can be moved in the working rail 41 without the power supply line 40E. In addition, the side portion 40C on which the power supply line 40E is provided in the traveling rail 4 can be opened in the working rail 41, so that the maintenance of the side portion of the traveling portion 50 is easy to perform.

[0074] The working rail 41 of the above embodiment is described by taking an example in which the side of the traveling vehicle 6 is completely open, but it may also have a wall portion (side portion) having a hole portion formed therein into which the moving block 61 can be inserted. In this case, the moving block 61 can also be moved along the extending direction of the working rail 41 in a state of being engaged with the branch roller 53, so that the traveling vehicle can be moved.

[0075] In the above-described embodiment and modified examples, an example is given in which the work area 160 (ie, the work rail 41 ) is disposed between the travel rails 4 , but the work area 160 may be disposed at the end portion of the travel rail 4 .

[0076] In the above-described embodiment and modified examples, the invention is described by taking as an example an application to the travel rail 4 for suspending the travel vehicle 6 for travel, but one aspect of the invention can also be applied to a travel vehicle system in which a travel vehicle travels on a rail disposed on the ground.

[0077] The technical subject matter of one aspect of the present invention can be described as follows.

[0078] [1] A vehicle system comprising:

[0079] The running track forms a self-driving section where the vehicle can run on its own;

[0080] The working track forms a non-autonomous section where the above-mentioned vehicle cannot operate autonomously;

[0081] A traveling vehicle travels along the traveling track; and

[0082] The moving unit moves the traveling vehicle in one direction in the non-autonomous section.

[0083] The moving unit has a moving mechanism for moving the moving block in the one direction.

[0084] The above-mentioned vehicle has:

[0085] A snap-fitting portion capable of snapping with the moving block; and

[0086] a switching mechanism for switching the position of the engagement portion between a first position in which the engagement portion is engaged by the moving block and a second position in which the engagement portion is separated from the moving block,

[0087] The moving mechanism moves the traveling vehicle by moving the moving block in a state of being engaged with the engaging portion in the one direction.

[0088] [2] A vehicle system as described in [1], wherein:

[0089] The moving mechanism is a direct-acting mechanism including a screw shaft and a driving unit.

[0090] [3] A vehicle system as described in [2], wherein:

[0091] There are two or more engaging portions arranged in the one direction at intervals less than the maximum moving distance of the moving block in the linear motion mechanism.

[0092] After the moving mechanism engages one of the engagement portions with the moving block to move the vehicle in the one direction, the moving mechanism engages another engagement portion disposed downstream of the one engagement portion in the one direction with the moving block to move the vehicle in the one direction.

[0093] [4] A vehicle system as described in any one of [1] to [3], wherein:

[0094] The above-mentioned running track has:

[0095] branches; and

[0096] A plurality of guide members guide the traveling vehicle in each direction branched at the branching portion,

[0097] The engaging portion is a branching roller that switches the traveling direction of the traveling vehicle at the branching portion by selectively coming into contact with each of the guides at the branching portion.

[0098] [5] A vehicle system as described in any one of [1] to [4], wherein:

[0099] The moving mechanism is supported by a supporting member mounted on the working rail.

[0100] [6] A vehicle system as described in any one of [1] to [5], wherein:

[0101] The working rail is suspended from a platform installed on the ceiling of a building or on the ground.

[0102] The traveling vehicle is an elevated traveling vehicle that transports articles by traveling along the working rails.

[0103] [7] A vehicle system as described in any one of [1] to [6], wherein:

[0104] The traveling vehicle includes a linear motor, and the linear motor drives the traveling vehicle by generating a magnetic force between the linear motor and a magnetic plate provided on the traveling rail.

[0105] The magnetic plate is not provided on the working rail.

[0106] [8] A vehicle system as described in any one of [1] to [7], wherein:

[0107] A power supply line for supplying power to the traveling vehicle is arranged on the traveling track.

[0108] The above-mentioned power supply line is not provided on the above-mentioned working track.

[0109] Explanation of symbols

[0110] 1: Traveling vehicle system; 4: Traveling track; 6: Elevated traveling vehicle (traveling vehicle); 35: Traveling vehicle controller; 40E: Power supply line; 40F: Magnetic plate; 41: Working track; 42: Frame; 43: Lower support part; 45: Side support part; 50: Traveling part; 50A, 50B: Main body; 51: Traveling roller; 53: Branch roller; 53A: Support component; 53B: Roller driving part; 53C: Switching mechanism; 57: Power supply core; 60: Moving unit; 61: Moving block; 63: Moving mechanism; 63A: Screw shaft; 63B: Nut; 63C: Shaft driving part; 63D: Slide rail; 90: Area controller; 160: Working area.

Claims

1. A driving vehicle system, comprising: The running track forms a self-driving section where the vehicle can run on its own; The working track forms a non-autonomous section where the above-mentioned vehicle cannot operate autonomously; A traveling vehicle travels along the traveling track; and The moving unit moves the traveling vehicle in one direction in the non-autonomous section. The moving unit has a moving mechanism for moving the moving block in the one direction. The above-mentioned vehicle has: A snap-fitting portion capable of snapping with the moving block; and a switching mechanism for switching the position of the engagement portion between a first position in which the engagement portion is engaged by the moving block and a second position in which the engagement portion is separated from the moving block, The moving mechanism moves the traveling vehicle by moving the moving block in a state of being engaged with the engaging portion in the one direction.

2. The traveling vehicle system according to claim 1, wherein: The moving mechanism is a direct-acting mechanism including a screw shaft and a driving unit.

3. The traveling vehicle system according to claim 2, wherein: There are two or more engaging portions arranged in the one direction at intervals less than the maximum moving distance of the moving block in the linear motion mechanism. After the moving mechanism engages one of the engagement portions with the moving block to move the vehicle in the one direction, the moving mechanism engages another engagement portion disposed downstream of the one engagement portion in the one direction with the moving block to move the vehicle in the one direction.

4. The traveling vehicle system according to claim 1 or 2, wherein: The above-mentioned running track has: branches; and A plurality of guide members guide the traveling vehicle in each direction branched at the branching portion, The engaging portion is a branching roller that switches the traveling direction of the traveling vehicle at the branching portion by selectively coming into contact with each of the guides at the branching portion.

5. The traveling vehicle system according to claim 1 or 2, wherein: The moving mechanism is supported by a supporting member mounted on the working rail.

6. The traveling vehicle system according to claim 1 or 2, wherein: The working rail is suspended from a platform installed on the ceiling of a building or on the ground. The traveling vehicle is an elevated traveling vehicle that transports articles by traveling along the working rails.

7. The traveling vehicle system according to claim 1 or 2, wherein: The traveling vehicle includes a linear motor, and the linear motor drives the traveling vehicle by generating a magnetic force between the linear motor and a magnetic plate provided on the traveling rail. The magnetic plate is not provided on the working rail.

8. The traveling vehicle system according to claim 1 or 2, wherein: A power supply line for supplying power to the traveling vehicle is arranged on the traveling track. The above-mentioned power supply line is not provided on the above-mentioned working track.

Images