Traveling guide rail and traveling vehicle system

Abstract

In an aerial vehicle system, a first guide rail and a second guide rail are arranged in a lattice shape. The first guide rail (or the second guide rail) is disposed such that a gap is formed between the first guide rail (or the second guide rail) and an intersection guide rail disposed at the lattice-shaped intersection point, and a connecting part provided below the traveling wheel can pass through the gap. The first guide rail (or the second guide rail) is provided with an auxiliary member which is detachably attached to an attachment portion provided at an end portion in the longitudinal direction, protrudes from the upper surface of the guide rail, and is in contact with an auxiliary wheel.

Description

Technical Field

[0001] The invention relates to a traveling guide rail and a traveling vehicle system. Background Art

[0002] In a traveling vehicle system, a traveling vehicle having a traveling portion having a driving wheel and an auxiliary wheel is known. For example, as described in Patent Document 1, a pair of front and rear auxiliary wheels are provided relative to the driving wheel. The positions of the driving wheel and the auxiliary wheels are set so that the lower end of the driving wheel and the lower end of the auxiliary wheel do not pass through the gap of the guide rail at the same time. An auxiliary rail for the auxiliary wheels to abut is provided at the end of the guide rail (rail) constituting the track, and a pair of auxiliary wheels are configured so that their lower ends are higher than the lower end of the driving wheel. An auxiliary rail for the auxiliary wheels to abut is provided at the end of the track. The auxiliary wheels are carried on the auxiliary rail (supported by the auxiliary rail) only when the driving wheel passes through the gap, thereby minimizing the wear caused by the abutment between the auxiliary wheels and the auxiliary rail, and suppressing the driving wheel from falling into the gap. As a result, the vibration of the traveling vehicle is also suppressed.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent No. 7040636 Summary of the invention

[0006] In the above-mentioned conventional technology, an auxiliary rail is formed on the track (travel guide rail). That is, the auxiliary rail is integrated with the travel guide rail. The travel surface of the travel guide rail needs to be formed flat, and the auxiliary rail (auxiliary travel surface for carrying auxiliary wheels) needs to protrude from the travel surface of the travel guide rail by a specified height. In such an integrated travel guide rail, cutting and other processes are required for the guide rail components, and there is a tendency for the production cost to increase. In addition, in a certain travel guide rail, when the height or position of the auxiliary rail is changed, it is necessary to replace it together with the guide rail.

[0007] The present invention describes a travel guide rail and a travel vehicle system that can reduce costs and easily adjust an auxiliary travel surface.

[0008] One form of the present invention is a traveling guide rail, which is provided for a traveling vehicle to travel and is arranged in a grid shape in a first direction and a second direction perpendicular to the first direction. The traveling vehicle has traveling wheels that contact the upper surface of the guide rail, and auxiliary wheels that are located above the upper surface of the guide rail when the traveling wheels contact the upper surface of the guide rail. The traveling guide rail is arranged so that a gap is formed between the traveling guide rail and the intersection rail arranged at the intersection of the grid, and a connecting portion provided below the traveling wheel can pass through the gap. The traveling guide rail has an auxiliary component that can be detachably mounted on a mounting portion provided at an end in the length direction, protrudes from the upper surface of the guide rail, and contacts the auxiliary wheel.

[0009] According to the travel guide rail, when the travel wheel passes through the gap formed between the travel guide rail and the intersection guide rail, the auxiliary wheel is supported on the auxiliary travel surface of the auxiliary component. In addition, since the auxiliary component can be detachably mounted on the mounting portion, the guide rail body and the auxiliary component can be produced separately (by using separate molds, etc.), thereby reducing costs. In addition, since the auxiliary component can be detachably mounted on the mounting portion, it is easy to adjust the position of the auxiliary travel surface and change the height by replacement.

[0010] Alternatively, the mounting portion is a groove formed at the end in the longitudinal direction and extending in the longitudinal direction. According to this structure, the auxiliary component can be easily mounted. If the groove is longer than the auxiliary component, the auxiliary component can also be moved along the groove, thereby facilitating the adjustment of the position of the auxiliary component including the auxiliary running surface.

[0011] Alternatively, the auxiliary component may include: a main body; a pressing portion including a pressing slope that abuts against the main body from at least one side in the length direction; and a screw that penetrates the main body and the pressing portion and clamps the main body and the pressing portion together, and the main body is mounted on the mounting portion by tightening the screw while the main body, the pressing portion, and the screw are arranged in the groove. According to this structure, the main body (auxiliary component) can be installed only by tightening the screw. In addition, the auxiliary component can be removed only by loosening the screw. The auxiliary component can be easily loaded and unloaded relative to the guide rail main body. In addition, by replacing only the main body constituting the auxiliary component, the length or height of the auxiliary running surface can be changed more easily and at a low cost.

[0012] Alternatively, the auxiliary running surface of the auxiliary component that contacts the auxiliary wheel is formed at a position that is perpendicular to the length direction and along the width direction of the upper surface of the guide rail, at one side or the other side of the center line of the groove portion. According to this structure, it is advantageous in a case where a pair of auxiliary wheels are provided and the running positions of the auxiliary wheels in the direction of the axle are staggered. That is, by reversely embedding a common main body into the groove portion, two auxiliary running surfaces with different positions in the direction of the axle can be formed. It should be noted that since the running positions of the auxiliary wheels are staggered, the auxiliary wheels contact the auxiliary running surface only when the running wheels leave the running surface. Therefore, when a driving force based on the running wheels is generated, the running wheels will not leave the running surface due to the auxiliary wheels and the auxiliary running surface.

[0013] As another aspect of the present invention, a vehicle system may be provided, which includes any of the above-mentioned travel rails and a vehicle that travels along the travel rail. According to the vehicle system, since the auxiliary wheels travel on the auxiliary components, it is possible to suppress the travel wheels from falling into the gap when the travel wheels of the aerial vehicle pass through the gap, and it is possible to suppress the vibration of the aerial vehicle. At least one of the height, length, and position of the auxiliary components that abut against the auxiliary wheels (for supporting the auxiliary wheels) can be easily changed.

[0014] As another aspect of the present invention, a traveling vehicle system may be provided, comprising: any one of the above-mentioned traveling guide rails; and a traveling vehicle, the traveling vehicle traveling along the traveling guide rail, and the auxiliary wheels being arranged at positions on one side and on the other side of the center line of the groove portion in the width direction. According to the traveling vehicle system, a pair of auxiliary wheels are provided on the traveling vehicle, and the traveling positions of the auxiliary wheels in the direction of the axle are staggered. Two auxiliary traveling surfaces having different positions in the direction of the axle are formed on the traveling guide rail, so that one of the pair of auxiliary wheels is supported by these auxiliary traveling surfaces. It should be noted that since the traveling positions of the auxiliary wheels are staggered, the auxiliary wheels contact the auxiliary traveling surfaces only when the traveling wheels leave the traveling surfaces. Therefore, when a driving force based on the traveling wheels is generated, the traveling wheels will not definitely leave the traveling surface due to the auxiliary wheels and the auxiliary traveling surfaces.

[0015] Effects of the Invention

[0016] According to the present invention, the cost can be reduced, and the height and position of the auxiliary running surface can be easily adjusted. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a perspective view showing an example of a traveling vehicle system according to the embodiment.

[0018] Figure 2 It means composition Figure 1 An exploded perspective view of the four guide rail units of the guide rail assembly and the connecting components connecting them.

[0019] Figure 3 Yes means Figure 1 Side view of the aerial vehicle.

[0020] Figure 4 Yes means Figure 1 A three-dimensional image of the aerial vehicle in the video.

[0021] Figure 5 This is a perspective view showing only the guide rail portion of the guide rail assembly.

[0022] Figure 6 It is a cross-sectional view showing a connection portion between a plurality of rail units.

[0023] Figure 7 It is a perspective view showing an example of the travel rail according to the embodiment.

[0024] Figure 8 middle, Figure 8 (a) is a side view showing the state of the running wheel running forward in the gap between the guide rails, Figure 8 (b) is Figure 8 (a) is a top view of .

[0025] Fig. 9 middle, Fig. 9 (a) is a side view showing a state where the running wheel is about to cross the gap between the guide rails. Fig. 9 (b) is a side view showing the state where the running wheel has completed crossing the gap.

[0026] Fig.10 It is an exploded perspective view showing auxiliary components mounted on the guide rail.

[0027] Fig.11 middle, Fig.11 (a) is Fig.10 A side view of the auxiliary components before assembly, Fig.11 (b) is a side view of the auxiliary component after assembly (when fixed).

[0028] Fig.12 It is along Fig.11 Cross-sectional view along line XII-XII in (b). DETAILED DESCRIPTION

[0029] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings. It should be noted that the same elements are marked with the same figure marks 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 embodiment. An XYZ orthogonal coordinate system is also recorded in some drawings. 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.

[0030] like Figure 1As shown, the aerial vehicle system (vehicle system) 1 of the embodiment is a grid system (transportation system or rail trolley system) for transporting articles M using 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 "vehicles 2"), a system controller 5 for controlling 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 vehicle 2 travels along the track R to transport articles M such as a FOUP (Front Opening Unified Pod) containing semiconductor wafers or a reticle box containing reticle films. 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.

[0031] 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.

[0032] 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 rail units 100 including a first rail R1, a second rail R2, and a cross rail R3 in the X direction and the Y direction. The aerial vehicle system 1 includes a plurality of rail units 100 arranged in the X direction and the Y direction, and a plurality of connecting components 140 connecting the plurality of rail units 100 to each other. A rail assembly 200 is formed by the plurality of rail units 100 and the plurality of connecting components 140. The rail assembly 200 is suspended from a ceiling (not shown) or the like by a plurality of suspension components H at a portion where the rail units 100 are connected to each other by the connecting components 140.

[0033] Figure 2 It means composition Figure 1An exploded stereoscopic view of four rail units 100 and a connecting member 140 connecting the 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 second rail members 120 (i.e., the positions of the intersection points of the grids). 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, and the four intersection rail members 130 are arranged at the vertices of the square.

[0034] Each guide rail unit 100 is made of metal, for example, and is a unit in which each part of the first guide rail member 110, the second guide rail member 120, and the cross-section guide rail member 130 is integrated after being formed. Each first guide rail member 110 includes a first beam portion 111 arranged at the upper end position of the guide rail unit 100 and extending in the X direction, a first rail (travel rail) R1 arranged at the lower end position of the guide rail unit 100 and extending in the X direction, and a first support wall 113 arranged between the first beam portion 111 and the first rail R1 and connected to the first beam portion 111 and the first rail R1. Each second rail member 120 includes a second beam 121 disposed at the upper end of the rail unit 100 and extending in the Y direction, a second rail (travel rail) R2 disposed at the lower end of the rail unit 100 and extending in the Y direction, and a second support wall 123 disposed between the second beam 121 and the second rail R2 and joined to the second beam 121 and the second rail R2. A lattice-shaped structure extending along the XY plane at the upper end of the rail assembly 200 is formed by a plurality of first beams 111 and a plurality of second beams 121. The first support wall 113 extends along the XZ plane. The second support wall 123 extends along the YZ plane.

[0035] 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 the lower end of the intersection support column 133 .

[0036] like Figure 1 and Figure 5As shown, a plurality of first guide rails R1 extend respectively along the X direction. A plurality of second guide rails R2 extend respectively along the Y direction. The track R is formed into a lattice shape by a plurality of first guide rails R1 and a plurality of second guide rails R2 when viewed from above. The track R is formed into a plurality of squares by a plurality of first guide rails R1 and a plurality of second guide rails R2. The intersection rail R3 is arranged at a portion corresponding to the intersection of the first guide rail R1 and the second guide rail R2. The intersection rail R3 is adjacent to the first guide rail R1 at a distance in the X direction. The intersection rail R3 is adjacent to the second guide rail R2 at a distance in the Y direction. The intersection rail R3 can be used at any time when the traveling vehicle 2 travels along the first guide rail R1, when the traveling vehicle 2 travels along the second guide rail R2, and when the traveling vehicle 2 travels from the first guide rail R1 to the second guide rail R2 or from the second guide rail R2 to the first guide rail R1.

[0037] Each guide rail unit 100 has a square (or rectangular) track R formed inside thereof corresponding to one square. By arranging a plurality of guide rail units 100 in the X direction and the Y direction, a plurality of first guide rails R1 extend in a row in the X direction, and a plurality of second guide rails R2 extend in a row in the Y direction. On the X direction line, two intersection rails R3 are arranged at intervals between one first guide rail R1 and another first guide rail R1. On the Y direction line, two intersection rails R3 are arranged at intervals between one second guide rail R2 and another second guide rail 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 guide rails R1 adjacent in the Y direction and another two first guide rails R1 adjacent in the Y direction, four intersection rails R3 adjacent in the X direction and the Y direction (relative to the first guide rail 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 the above are arranged at intervals.

[0038] In the guide rail assembly 200, a plurality of first guide rails R1, a plurality of second guide rails R2, and a plurality of intersection guide rails R3 are arranged at predetermined intervals from each other, thereby constructing a track R. A gap G corresponding to the above interval is formed between each first guide rail R1 and each intersection guide rail R3. A gap G corresponding to the above interval is formed between each second guide rail R2 and each intersection guide rail R3. The gap G in the track R has a constant size. Each first guide rail 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 along the X direction (first running direction D1) on the first running surface R1a. Each second guide rail 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 along the Y direction (second running direction D2) on the second running surface R2a. The intersection guide rail 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.

[0039] For example, a gap as large as the gap G is not formed between the four intersection rails R3. When the vehicle 2 passes through the plurality of rail units 100 in a straight line, the wheels 31 of the vehicle 2 travel on the intersection travel surface R3a. At this time, the wheels 31 pass over two of the four intersection rails R3. Alternatively, when the vehicle 2 changes its travel direction between the rail units 100 (changes its travel direction by 90 degrees, i.e., turns), the wheels 31 of the vehicle 2 pass over the intersection travel surface R3a (while changing its direction).

[0040] As described above, in the rail assembly 200, the first rail member 110, the second rail member 120, and the cross rail member 130 constitute the grid-shaped rail R. The layout of the grid-shaped rail R in the aerial vehicle system 1 can be appropriately adjusted or changed by setting the plurality of rail units 100 to any arrangement (including adding or deleting the rail units 100).

[0041] Reference Figure 2 and Figure 6 The connection structure of the guide 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) guide 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 guide 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) guide rail units 100. The lower connecting member 142 abuts against the intersection rail R3 in each guide rail unit 100.

[0042] The rod-shaped suspension member H extending in the vertical direction passes through the upper connecting member 141 and the lower connecting member 142. The upper connecting member 141 and / or the lower connecting member 142 are fixed to the guide rail unit 100 by a fastening member not shown in the figure, thereby connecting the guide rail units 100 to each other. It should be noted that a space 100e extending in the Z direction is formed between the guide rail 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 member H is inserted in the space 100e and the space R3e, and the upper connecting member 141 and / or the lower connecting member 142 are fixed relative to the suspension member H.

[0043] 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.

[0044] 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 provided so as 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, 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 in a plan view 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. A trolley controller (control unit) 8 is provided inside the trolley unit 50.

[0045] The main body 10 is disposed below the track R. 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 guide rail R1 or second guide rail 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 formation 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.

[0046] 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.

[0047] The transfer device 18 moves in the horizontal direction relative to the main body 10, thereby transferring the article M between the main body 10 and 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 retained on the lower surface of the top plate 12a. Between the sliding mechanism 11 and the lifting drive unit 14, a rotation drive unit 16 that rotationally drives the lifting drive unit 14 relative to the sliding mechanism 11 around the rotation axis L14 is provided. 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 articles M are transferred to and from the traveling vehicle 2.

[0048] 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.

[0049] The lifting drive unit 14 is, for example, a winch, which lowers the article holding unit 13 by releasing the hanging member 13b, and raises the article holding unit 13 by winding up the hanging 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.

[0050] 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.

[0051] 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.

[0052] The trolley unit 50 has a cylindrical supporting member (cylindrical member) 52 at the lower end. On the lower surface side of the supporting member 52, the top plate portion 12a of the main frame 12 is rotatably mounted. For example, a rotation drive unit such as an electric motor, which is not shown in the figure, 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 and the transfer device 18 rotate together. The traveling vehicle 2 can transfer the article M relative to the loading port by using the transfer device 18.

[0053] 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 by 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 off.

[0054] The travel unit 30 has four travel wheels 31. Two auxiliary wheels 32 are provided for each travel wheel 31. Figure 4 As shown, the traveling wheels 31 are arranged 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 rotating shaft 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 roll on the rails R, respectively. The traveling wheels 31 roll on the traveling surfaces R1a, R2a, and R3a of the first guide rail R1, the second guide rail R2, and the intersection guide rail R3, respectively, so that the traveling vehicle 2 travels. It should be noted that it is not limited to that all four traveling wheels 31 are driven to rotate by the driving force of the traveling drive motor 33, and it can also be a structure in which part of the four traveling wheels 31 are driven to rotate.

[0055] Four wheel turning mechanisms 40 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 member 36. 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.

[0056] 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 guide rail R1 and the intersection guide rail R3 and the gap G between the second guide rail R2 and the intersection guide rail R3. The supporting member 36 is provided on the upper part 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 supporting member 36 maintains the relative position of the traveling wheel 31 and the auxiliary wheel 32.

[0057] like Figure 4 As shown, the traveling wheel 31 is configured to be able to rotate around a rotation axis L30 extending in the vertical direction. The four rotation axes L30 are arranged at the vertices of a square when viewed from above, and the rotation axis L10 is arranged at the center of the rotation axis L30. In other words, the four rotation axes L30 are arranged at positions that are four-fold symmetrical with respect to the rotation axis L10 of the main body 10. When viewed from above, the position of the traveling wheel 31 is different (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.

[0058] 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 to be 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 guide rail R1 and the intersection guide rail R3 and the gap G between the second guide rail R2 and the intersection guide rail R3, the auxiliary wheels 32 contact the auxiliary components (described later) provided on the first guide rail R1 and the second guide rail R2, thereby preventing the traveling wheel 31 from falling in. It should be noted that it is not limited to providing two auxiliary wheels 32 for one traveling wheel 31. For example, one auxiliary wheel 32 may also be provided for one traveling wheel 31.

[0059] The four wheel turning mechanisms 40 are arranged, for example, at the four corners of 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 member 36, the traveling wheel 31, the auxiliary wheel 32 and the traveling drive motor 33 to rotate integrally around the rotation axis L30. When the traveling vehicle 2 is located at the center of each guide rail unit 100, each traveling wheel 31 is rotated 90 degrees around each rotation axis L30 as the center. As a result, the traveling wheel 31 rotates on the intersection guide rail R3. As a result, the traveling vehicle 2 can turn. The so-called turning means that the vehicle 2 switches 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 vehicle 2 switches 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.

[0060] As described above, a gap G is formed in the rail R. When the vehicle 2 travels on the first rail R1 and crosses the second rail R2, or when the vehicle 2 travels on the second rail R2 and crosses the first rail R1, a portion of the vehicle 2 (specifically, for example, the connection portion 35) passes through the gap G.

[0061] 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 deviating from the track R.

[0062] The traveling vehicle 2 includes a position detection unit (not shown) for detecting position information. The position detection unit detects the current position of the traveling vehicle 2 by, for example, detecting a position mark indicating position information provided on the track R. The position detection unit detects the position mark in a non-contact manner.

[0063] 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.

[0064] 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 held and arranged at the specified loading port, and the unloading action of unloading the held article M to the specified loading port.

[0065] 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.

[0066] 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.

[0067] Next, refer to Figure 7 to Figure 12 The detailed structure of the first guide rail R1 serving as the travel rail according to the present embodiment will be described. Figure 7 It is a perspective view showing the first guide rail R1. Figure 8 (a) is a side view showing a state where the traveling wheel 31 is traveling near the gap G between the guide rails. Figure 8 (b) is Figure 8 (a) is a top view of . Fig. 9 (a) is a side view showing a state where the traveling wheel 31 is about to cross the gap G between the guide rails. Fig. 9 (b) is a side view showing a state where the traveling wheel 31 has completed crossing the gap G. Figure 7 As shown, the first guide rail R1 is configured such that its length direction is along the X direction. The short side direction, i.e., the width direction, of the first guide rail R1 is along the Y direction. The structure of the second guide rail R2 is also the same as that of the first guide rail R1. In the following description, only the structure of the first guide rail R1 is described, and the description related to the structure of the second guide rail R2 is omitted.

[0068] The first guide rail R1 includes a first running surface R1a. The first guide rail R1 is made of metal, for example. An auxiliary component 80 for forming an auxiliary running surface 81h for supporting the auxiliary wheel 32 is mounted on the first guide rail R1. Two auxiliary components 80 are mounted on one first guide rail R1. Each auxiliary component 80 is detachably mounted on mounting portions A, A disposed at both ends in the longitudinal direction of the guide rail body 70. Each auxiliary component 80 is separate from the guide rail body 70. In the present embodiment, the mounting portions A, A are, for example, a groove portion 71 extending straight in the longitudinal direction of the guide rail body 70. The groove portion 71 penetrates the guide rail body 70, for example, in the X direction. The two ends of the groove portion 71 in the longitudinal direction (extension direction) form a pair of mounting portions A, A. In this way, the first guide rail R1 includes a guide rail body 70 including a first running surface R1a for the running wheel 31 to run, and an auxiliary component 80 forming an auxiliary running surface 81h at a position higher than the first running surface R1a. The first running surface R1a is formed in the width direction of the first guide rail R1 between a joint area 113a to which the lower end of the first support wall 113 is joined and one end in the width direction of the guide rail body 70 provided with the groove portion 71. The auxiliary component 80 protrudes from the first running surface R1a. It should be noted that, although not shown in the figure, the second guide rail R2 also includes a guide rail body 70 including a second running surface R2a for the running wheels 31 to run, and an auxiliary component 80 forming an auxiliary running surface 81h at a position higher than the second running surface R2a. The plurality of auxiliary components 80 used in the track R are, for example, all the same components and are made common.

[0069] The auxiliary component 80 has a main body 81 having an auxiliary running surface 81h formed on the upper surface. One main body 81 is provided, for example, at an inner side of the one end surface R1b of the first guide rail R1, that is, at a position at a predetermined distance from the one end surface R1b. In addition, the other main body 81 is provided, for example, also at an inner side of the other end surface R1c of the first guide rail R1, that is, at a position at a predetermined distance from the other end surface R1c. None of the auxiliary components 80 protrudes from the one end surface R1b and the other end surface R1c, but is contained within the range of the guide rail main body 70 in the X direction.

[0070] like Figure 8As shown in (a), the lower ends of the pair of auxiliary wheels 32 are arranged at a position higher than the lower ends of the traveling wheels 31. When the traveling wheel 31 travels on the first traveling surface R1a, the pair of auxiliary wheels 32 are located away from the first traveling surface R1a, and a gap is formed between the auxiliary wheels 32 and the first traveling surface R1a. That is, when the traveling wheel 31 is in contact with the first traveling surface R1a (the upper surface of the guide rail), the auxiliary wheels 32 are located above the first traveling surface R1a. The diameters of the pair of auxiliary wheels 32 are approximately equal. The diameter of each auxiliary wheel 32 is smaller than the diameter of the traveling wheel 31. The heights of the axles 32a of the pair of auxiliary wheels 32 are equal. The axles 32a of each auxiliary wheel 32 are arranged at a position lower than the axle 31a of the traveling wheel 31. Through the above-mentioned support member 36 (refer to Figure 4 ), the relative positional relationship between the running wheel 31 (axle 31a) and the pair of auxiliary wheels 32 (axles 32a) is fixed in a state where the axle 31a and the two axles 32a are parallel to each other.

[0071] The lower ends of the pair of auxiliary wheels 32 are located at approximately the same height. Figure 8 As shown in (b), as an example, the running wheel 31 is arranged on the outermost side in the Y direction (the positive (+) side in the Y direction in the figure) on the first running surface R1a, and a pair of auxiliary wheels 32 are arranged between the running wheel 31 and the inner end surface of the first guide rail R1. It should be noted that the "outside" mentioned here refers to the positional relationship observed from the running vehicle 2. Among a pair of auxiliary wheels 32, for example, one auxiliary wheel 32 and the (other) auxiliary wheel 32 behind in the running direction, the positions in the direction of the axle 32a (Y direction) are offset. Therefore, the running position (running path) of the running wheel 31 in the Y direction, the running position (running path) of one auxiliary wheel 32, and the running position (running path) of the other auxiliary wheel 32 are different. The running wheel 31 always runs on the inner side of the auxiliary component 80 in the width direction and does not contact the auxiliary component 80.

[0072] With reference to the intersection rail R3, the upstream first rail R1 is arranged on the upstream side (near front side) in the travel direction, and the downstream first rail R1 is arranged on the downstream side (inner side) in the travel direction. For example, the auxiliary component 80 provided at the end of the upstream first rail R1 is provided at a position and height corresponding to the rear auxiliary wheel 32. The auxiliary component 80 provided at the end of the downstream first rail R1 is provided at a position and height corresponding to the front auxiliary wheel 32.

[0073] Refer again Figure 5 The track R is described below. In the track R, a connection portion 35 (see FIG. 1 ) provided below the traveling wheel 31 is formed between a plurality of first guide rails R1, a plurality of second guide rails R2, and an intersection guide rail R3 disposed at the intersection of the first guide rails R1 and the second guide rails R2. Figure 3 ) can pass through a plurality of gaps G. The connecting portion 35 connects the traveling wheels 31 and the carriage unit 50 of the traveling carriage 20.

[0074] like Fig. 9 As shown in (a), when the traveling wheel 31 reaches the gap G, the auxiliary wheel 32 at the rear rides on the auxiliary running surface 81h of the auxiliary component 80 and runs on the auxiliary component 80. As a result, the auxiliary wheel 32 is supported by the auxiliary running surface 81h, and the traveling wheel 31 is prevented from falling into the gap G. Therefore, the vibration of the traveling vehicle 2 when the traveling wheel 31 passes through the gap G is suppressed. Fig. 9 As shown in (b), at the time when the traveling wheel 31 rides on the intersection rail R3, the auxiliary wheel 32 may still ride on the auxiliary traveling surface 81h. When the traveling wheel 31 passes through the gap G between the intersection rail R3 and the first rail R1 on the downstream side, the front auxiliary wheel 32 and the auxiliary member 80 prevent the traveling wheel 31 from falling into the gap G, thereby preventing the vibration of the traveling vehicle 2 when the traveling wheel 31 passes through the gap G.

[0075] That is, the lower end of the traveling wheel 31 or the lower end of one of the auxiliary wheels 32 is always in contact with a certain support surface (the first traveling surface R1a or the auxiliary traveling surface 81h). Thus, the traveling wheel 31 or one of the auxiliary wheels 32 is supported by a certain support surface. The position and length of the auxiliary component 80 are set based on the diameter of the traveling wheel 31, the diameter of the auxiliary wheel 32, and the positional relationship (separation distance in the X direction) of the axle 32a of the auxiliary wheel 32 relative to the axle 31a of the traveling wheel 31.

[0076] It should be noted that the intersection rail R3 in the track R is not only used for the straight-line passage of the traveling wheels 31 and the auxiliary wheels 32, but also for direction change. If the auxiliary component 80 is set on the intersection rail R3, it will hinder the travel (or passage, or direction change) of the traveling vehicle 2. Therefore, the auxiliary component 80 is not set on the intersection rail R3. The intersection rail R3 only includes a flat and horizontal intersection travel surface R3a on its upper surface. Regarding the position, height and length of the auxiliary component 80 in this embodiment, the same concept as the design of the position, height and length of the auxiliary track recorded in Japanese Patent Gazette No. 7040636 (the above-mentioned patent document 1) can be used. It should be noted that in this embodiment, the diameter of the traveling wheel 31, the diameter of the auxiliary wheel 32, the positional relationship of the axle 32a of the auxiliary wheel 32 relative to the axle 31a of the traveling wheel 31, etc. can be appropriately changed.

[0077] Reference Fig.10 , Fig.11 (a) and Fig.11 (b) The details of the auxiliary component 80 are described. Fig.10 It is an exploded perspective view showing the auxiliary component 80. Fig.11 (a) is a side view of the auxiliary component 80 before assembly, Fig.11 (b) is a side view of the auxiliary component 80 after assembly (fixed). Fig.10 and Fig.11 As shown in (a), the auxiliary component 80 includes: a main body 81, which includes a convex portion 81g forming an auxiliary running surface 81h; a first pressing portion 82, which includes a first pressing slope 82a abutting against the main body 81 from one side of the length direction (X direction) of the first guide rail R1; a second pressing portion 83, which includes a second pressing slope 83a abutting against the main body 81 from the other side of the length direction (X direction) of the first guide rail R1; and a nut 84 and a screw 85, which clamp the main body 81, the first pressing slope 82a and the second pressing portion 83 in the middle for tightening.

[0078] A through hole 81e is formed in the main body 81. A through hole 82e is formed in the first pressing portion 82, and a through hole 83e is formed in the second pressing portion 83. A hole portion 84e is formed in the nut 84. The through hole 81e, the through hole 82e, the through hole 83e, and the hole portion 84e are arranged in a straight line. The screw shaft 85a of the screw 85 is inserted through the through hole 81e, the through hole 82e, the through hole 83e, and the hole portion 84e. An internal thread is formed on the inner surface of the hole portion 84e, and an external thread that is screwed to the internal thread of the nut 84 is formed at the front end portion of the screw shaft 85a.

[0079] like Fig.11 As shown in (b), a first receiving slope 81b facing obliquely upward is formed on one side of the main body 81, and a second receiving slope 81c facing obliquely upward is formed on the other side of the main body 81. The inclination angle of the first receiving slope 81b is equal to the inclination angle of the second receiving slope 81c, for example. A first pressing slope 82a facing obliquely downward and abutting against the first receiving slope 81b is formed on the first pressing portion 82. The inclination angle of the first pressing slope 82a is equal to the inclination angle of the first receiving slope 81b. In addition, a second pressing slope 83a facing obliquely downward and abutting against the second receiving slope 81c is formed on the second pressing portion 83. The inclination angle of the second pressing slope 83a is equal to the inclination angle of the second receiving slope 81c.

[0080] Fig.12 It is along Fig.11 (b) is a cross-sectional view of the line XII-XII. Fig.11 (b) and Fig.12As shown, the through hole 81e of the main body 81, the through hole 82e of the first pressing part 82, the through hole 83e of the second pressing part 83 and the hole 84e of the nut 84 are arranged on a straight line (on the X direction line), and the main body 81, the first pressing part 82, the second pressing part 83 and the nut 84 are arranged in the groove 71 in a state where the screw shaft 85a is inserted. The bottom of the first pressing part 82 and the bottom of the second pressing part 83 are placed on the bottom surface 72 of the groove 71, and on the other hand, the upper surface part 81a (the convex part 81g and the low wall part 81f) of the main body 81 protruding to both sides in the Y direction is placed on the first running surface R1a. By tightening the screw 85 in this state, the above-mentioned inclined surfaces abut each other, and the first pressing part 82 and the second pressing part 83 are close to each other relative to the main body 81. By further tightening the screw 85, the above-mentioned inclined surfaces rub against each other, and the first pressing part 82 and the second pressing part 83 rise in the groove 71 (slightly away from the bottom surface 72). The step portion 82b of the first pressing part 82 and the step portion 83b of the second pressing part 83 are pushed against a pair of protrusions 73 extending in the X direction formed near the opening of the groove 71. As a result, the pair of protrusions 73 are sandwiched between the upper surface portion 81a of the main body 81 and the step portion 82b of the first pressing part 82 and the step portion 83b of the second pressing part 83, so that the main body 81 is fixed. It should be noted that a fitting hole for a rotating tool to fit is formed at the head of the screw 85, and when the screw 85 is tightened, the rotating tool rotates in a state arranged in the groove 71. In addition, for example, the diameter of the through hole 82e and the diameter of the through hole 83e are larger than the diameter of the through hole 81e to allow the inclined surfaces to slide in the up and down directions.

[0081] like Fig.12 As shown, the convex portion 81g, i.e., the auxiliary running surface 81h, is formed at a position biased to one side (one side or the other side) of the center line C of the groove portion 71 in the width direction (left-right direction in the figure) of the guide rail body 70. The center line C is, for example, consistent with the center line of the screw shaft 85a. For example, the width of the auxiliary running surface 81h may be equal to the width of the low wall portion 81f. In this case, the auxiliary running surface 81h is only arranged in the area on one side of the center line C of the groove portion 71 in the width direction (left-right direction in the figure) of the guide rail body 70.

[0082] like Figure 7 As shown, the two auxiliary components 80 are provided in opposite directions with respect to the guide rail body 70. In one auxiliary component 80, the screw 85 is inserted from the one end surface R1b side of the guide rail body 70. In the other auxiliary component 80, the screw 85 is inserted from the other end surface R1c side of the guide rail body 70. Thus, the two auxiliary running surfaces 81h formed at offset positions in the width direction as described above are formed. Figure 8 (b) shows two support surfaces at different positions in the direction of the axle 32a.

[0083] According to the first guide rail R1 and the second guide rail R2 of the present embodiment, when the traveling wheel 31 passes through the gap G formed between the first guide rail R1 and the second guide rail R2 and the intersection guide rail R3, the auxiliary wheel 32 is supported on the auxiliary traveling surface 81h of the auxiliary component 80. In addition, the first traveling surface R1a and the second traveling surface R2a are separate from the auxiliary component 80, and the auxiliary component 80 can be detachably mounted on the mounting portion A. Therefore, the guide rail body 70 including the first traveling surface R1a and the second traveling surface R2a, and the auxiliary component 80 including the auxiliary traveling surface 81h can be produced separately (by using separate molds, etc.), so that the cost can be reduced. In the conventional integrated traveling guide rail, the guide rail component needs to be specially processed (cutting, etc.), which is the main reason for the increase in cost. In the first guide rail R1 and the second guide rail R2 of the present embodiment, the cost issue is greatly improved. Furthermore, since the auxiliary member 80 is detachably mounted on the mounting portion A, it is easy to adjust the position of the auxiliary travel surface 81h and change the height by replacement.

[0084] The mounting portion A is a groove portion 71 formed at the end in the longitudinal direction and extending in the longitudinal direction. This makes it easy to mount the auxiliary component 80. If the groove portion 71 is longer than the auxiliary component 80, the auxiliary component 80 can also be moved along the groove portion 71, so that the position of the auxiliary component 80 including the auxiliary running surface 81h can be easily adjusted.

[0085] The main body 81 is installed and fixed by tightening the screw 85 in a state where the main body 81, the first pressing portion 82, the second pressing portion 83 and the nut 84 are arranged in the groove. By using the wedge-shaped first pressing portion 82 and the second pressing portion 83, the main body 81 (auxiliary component 80) can be installed only by tightening the screw 85. In addition, the auxiliary component 80 can be removed only by loosening the screw 85. The auxiliary component 80 can be easily attached and detached from the guide rail main body 70. In addition, by replacing only the main body 81 constituting the auxiliary component 80, the length or height of the auxiliary running surface 81h can be changed more easily and at a low cost.

[0086] The auxiliary running surface 81h is formed at a position deviated to one side or the other side of the center line C of the groove portion 71 in the width direction perpendicular to the longitudinal direction and along the first running surface R1a and the second running surface R2a. This structure is advantageous in the case where a pair of auxiliary wheels 32 are provided and the running positions of the auxiliary wheels 32 in the direction of the axle 32a are staggered as in the above-mentioned embodiment. That is, by inserting the common main body 81 into the groove portion 71 in reverse, two types of auxiliary running surfaces 81h with different positions in the direction of the axle 32a can be formed. In addition, since the running positions of the auxiliary wheels 32 are staggered, the auxiliary wheels 32 come into contact with the auxiliary running surface 81h only when the running wheel 31 is separated from the first running surface R1a or the second running surface R2a. Therefore, when the driving force based on the running wheel 31 is generated, the running wheel 31 will not be separated from the first running surface R1a or the second running surface R2a due to the auxiliary wheels 32 and the auxiliary running surface 81h.

[0087] According to the aerial vehicle system 1 of the present embodiment, since the auxiliary wheel 32 runs on the auxiliary component 80, it is possible to suppress the running wheel 31 from falling into the gap G when the running wheel 31 passes through the gap G, and it is possible to suppress the vibration of the running vehicle 2. At least any one of the height, length, and position of the auxiliary component 80 for contacting the auxiliary wheel 32 (for supporting the auxiliary wheel 32) can be easily changed.

[0088] The embodiments of the present invention have been described above, but the present invention is not limited to the above-mentioned embodiments. For example, it is not limited to the case where the lower ends of a pair of auxiliary wheels 32 are arranged at a position higher than the lower ends of the running wheels 31. For example, the lower ends of the auxiliary wheels 32 may also be arranged at a position lower than the lower ends of the running wheels 31. In this case, a low-level surface (another guide rail upper surface) lower than the first running surface R1a or the second running surface R2a is formed on the guide rail body 70, and when the running wheel 31 contacts the first running surface R1a or the second running surface R2a, the auxiliary wheel 32 is located above the low-level surface. The auxiliary component protrudes from the low-level surface. In addition, the lower ends of the pair of auxiliary wheels 32 may also be located at slightly different heights.

[0089] The groove 71 may not penetrate the guide rail body 70 in the X direction, but may be formed with a predetermined length from the one end surface R1b and the other end surface R1c. In this case, the length of the groove 71 is greater than the length of the auxiliary member 80.

[0090] The mounting portion A is not limited to the form of the groove portion 71. A structure in which a recess or a depression is provided on the first running surface R1a and / or the second running surface R2a and the auxiliary component 80 is embedded in the recess or the depression may be adopted. Alternatively, the auxiliary component 80 may be simply fixed to the first running surface R1a and / or the second running surface R2a as a separate body. In this case, as the fixing means, screw fixing or bonding means may be used.

[0091] The specific structure of the auxiliary component 80 may be changed relative to the above-mentioned embodiment. For example, one of the first pressing portion 82 and the second pressing portion 83 may be omitted. In addition, the nut 84 may be omitted, and an internal thread may be formed in the through hole 83e of the second pressing portion 83 instead. The auxiliary component is not limited to being fastened by the screw 85, and for example, a structure in which the auxiliary component is fixed in a one-touch manner by engaging the components with each other may be adopted.

[0092] The center position of the auxiliary running surface 81h in the width direction may be arranged on a vertical plane including the center line C of the groove 71. In this case, two grooves (two mounting portions) at different positions in the direction of the axle 32a may be formed for one auxiliary wheel 32 and the other auxiliary wheel 32.

[0093] The positions of the pair of auxiliary wheels 32 in the direction of the axle 32a may also be the same. In this case, the above two grooves are not necessary, and one groove is sufficient. Only one auxiliary wheel 32 may also be provided for one running wheel 31.

[0094] In the above embodiment, the four rotation axes L30 in the travel unit 30 and the wheel turning mechanism 40 are arranged at the vertices of a square when viewed from above. However, the arrangement of the rotation axes L30 may not be a square. When viewed from above, the position of the travel wheel 31 may coincide with the position of the rotation axes L30.

[0095] In the above-mentioned embodiment, the case where the running wheels 31 rotate on the intersection guide rail R3 is described, but it may also be that when each wheel turning mechanism 40 is used to turn, each running wheel 31 is transferred from the first running surface R1a to the second running surface R2a or from the second running surface R2a to the first running surface R1a.

[0096] In the above-mentioned embodiment, the case where the traveling vehicle is an overhead transfer vehicle has been described, but the traveling vehicle may be a rail-guided vehicle that travels on a guide rail (track) provided on the ground.

[0097] In the above embodiment, a grid system is used as the transport system SYS, but the transport system SYS is not limited to the grid system. For example, an AGV (Automated Guided Vehicle) may be used as the transport system, or various well-known systems that travel on a grid-shaped travel path may be used. In the above embodiment, the trolley V holds the article M on the lower side of the track R, but the main body 10 may be arranged above the track R and hold the article M on the upper side of the track R.

[0098] Description of Reference Numerals

[0099] 1: Aerial vehicle system (driving vehicle system), 2: Aerial vehicle, 5: System controller, 8: Carriage controller (control unit), 10: Main body, 18: Transfer device, 20: Driving carriage, 30: Driving part, 31: Driving wheel, 31a: Axle, 32: Auxiliary wheel, 32a: Axle, 33: Driving drive motor, 35: Connecting part, 40: Wheel turning mechanism, 43: Steering motor, 50: Carriage unit, 70: Guide rail main body, 71: Groove, 80: Auxiliary component, 81: Main body, 81g: Protrusion, 81h: Auxiliary driving surface, 82: First pressing part, 82a: First pressing slope, 83: Second pressing part, 83a: Second pressing slope Inclined surface, 84: nut, 85: screw, 100: guide rail unit, 110: 1st guide rail component, 113: 1st supporting wall, 120: 2nd guide rail component, 123: 2nd supporting wall, 130: intersection guide rail component, 140: connecting component, 200: guide rail assembly, A: mounting portion, C: center line (of groove portion), D1: 1st traveling direction, D2: 2nd traveling direction, G: gap, H: suspension component, M: article, R: track (grid-shaped track), R1: 1st guide rail (travel guide rail), R2: 2nd guide rail (travel guide rail), R3: intersection guide, R1a: 1st traveling surface, R2a: 2nd traveling surface, R3a: intersection traveling surface.

Claims

1. A travel guide rail, on which a travel vehicle travels, and arranged in a grid shape in a first direction and a second direction perpendicular to the first direction, wherein the travel vehicle has travel wheels in contact with an upper surface of the guide rail, and auxiliary wheels located above the upper surface of the guide rail when the travel wheels are in contact with the upper surface of the guide rail, wherein the travel guide rail is characterized in that: The travel rail is configured so that a gap is formed between the travel rail and the intersection rails arranged at the intersections of the grid, and the connecting portion provided below the travel wheel can pass through the gap. The travel rail includes an auxiliary member that is detachably mounted on a mounting portion provided at an end portion in a longitudinal direction, protrudes from an upper surface of the rail, and contacts the auxiliary wheel.

2. The travel guide rail according to claim 1, characterized in that: The mounting portion is a groove portion formed at the end portion in the longitudinal direction and extending along the longitudinal direction.

3. The travel guide rail according to claim 2, characterized in that: The auxiliary component comprises: a main body; a pressing portion, the pressing portion including a pressing inclined surface abutting against the main body from at least one side of the length direction; and a screw, the screw passing through the main body and the pressing portion and sandwiching the main body and the pressing portion together, The main body is mounted on the mounting portion by tightening the screw in a state where the main body, the pressing portion, and the screw are arranged in the groove portion.

4. The travel guide rail according to claim 2 or 3, characterized in that: The auxiliary running surface of the auxiliary member contacting the auxiliary wheel is formed at a position deviated to one side or the other side of the center line of the groove portion in a width direction perpendicular to the longitudinal direction and along the upper surface of the guide rail.

5. A driving vehicle system, characterized in that: have: The travel guide rail according to any one of claims 1 to 3; and The traveling vehicle travels along the traveling rail.

6. A driving vehicle system, characterized in that: have: The travel guide rail according to claim 4; and The traveling vehicle travels along the traveling guide rail, and the auxiliary wheels are arranged at positions deviated to one side and the other side of the center line of the groove portion in the width direction.

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