Rail trolley system

Abstract

An overhead traveling vehicle system is provided with: a rail-bound trolley that moves in a first direction as a result of a movement unit moving over a pair of first guide rails, and moves in a second direction as a result of a movement unit moving over a pair of second guide rails; and a trolley controller for controlling the rail trolley. The pair of first guide rails and the pair of second guide rails are provided with position identification marks. The rail trolley is disposed to face the position recognition mark and has four position recognition sensors disposed so as to face the position recognition mark. The trolley controller derives, on the basis of the position information acquired by the position recognition sensor, the amount of shift between the predetermined position in the grid and the stop position of the rail trolley.

Description

Technical Field

[0001] One embodiment of the present invention relates to a rail-guided trolley system. Background Art

[0002] As a technology related to a rail-mounted trolley system, Patent Document 1 discloses an overhead transport vehicle system. The overhead transport vehicle system comprises: a track including a first rail (first rail) extending in a first direction and a second rail (second rail) extending in a second direction orthogonal to the first direction; and a rail-mounted trolley (overhead transport vehicle) that moves along the rail. The first rail and the second rail are arranged in a grid shape, forming a plurality of grids (partitions) in a top view. The rail-mounted trolley moves in the first direction by moving on a pair of adjacent first rails, and moves in the second direction by moving on a pair of adjacent second rails. The rail-mounted trolley can move from one grid to another grid adjacent to the one grid by moving in the first direction or the second direction.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent No. 7040638 Summary of the invention

[0006] Problem that the invention aims to solve

[0007] In a rail-mounted trolley system, in order to properly load articles on a loading portion such as a loading port arranged along the rail, the trolley must stop at a predetermined stop position pre-set for each loading portion. If the trolley stops at a position deviated from the predetermined stop position, the pre-set transfer action must be changed, and each time the transfer action is changed, the amount of deviation from the predetermined stop position must be detected.

[0008] In view of this, an object of one embodiment of the present invention is to provide a rail-guided trolley system that can detect the deviation from a preset stop position when transferring articles.

[0009] Means used to solve problems

[0010] A rail-guided trolley system according to one embodiment of the present invention comprises: a track, which is composed of a plurality of first guide rails extending in a first direction and second guide rails extending in a second direction orthogonal to the first direction and arranged in a grid pattern; a rail-guided trolley that moves in the first direction by a moving portion moving on a pair of first guide rails adjacent to each other in the second direction, and moves in the second direction by a moving portion moving on a pair of second guide rails adjacent to each other in the first direction; and a control portion that controls the rail-guided trolley; and each of the pair of first guide rails and each of the pair of second guide rails is provided with a position identification mark indicating position information on the track, and the rail-guided trolley has Four position identification sensors, each of which obtains position information from a position identification mark, are arranged to face each of the surfaces of a pair of first rails on which the position identification mark is arranged when the rail-guided trolley moves in a first direction, and are arranged to face each of the surfaces of a pair of second rails on which the position identification mark is arranged when the rail-guided trolley moves in a second direction. The control unit derives an offset between a predetermined position within a grid, i.e., an area surrounded by a pair of first rails and a pair of second rails, and a stop position of the rail-guided trolley based on the position information obtained by at least one position identification sensor.

[0011] In the rail-guided vehicle system of this configuration, when the rail-guided vehicle stops at a predetermined position of the grid, the positions in the extension direction of the first guide rail and the extension direction of the second guide rail can be obtained by four position recognition sensors. Therefore, the offset between the predetermined position in the grid and the stop position of the rail-guided vehicle can be derived based on the position information obtained by the position recognition sensors.

[0012] In the rail-guided vehicle of one embodiment of the present invention, the control unit can derive the inclination of the rail-guided vehicle relative to the grid when viewed from above, based on the position information obtained by at least three of the four position recognition sensors. In this configuration, the inclination of the rail-guided vehicle relative to the grid when viewed from above can be derived as the offset between the predetermined position in the grid and the stop position of the rail-guided vehicle.

[0013] In a rail vehicle according to an embodiment of the present invention, four position identification sensors can be arranged on one side and the other side of the rail vehicle in the first direction across the center line of the rail vehicle in the first direction (disposed front and back in the first direction), and can be arranged on one side and the other side of the rail vehicle in the second direction across the center line of the rail vehicle in the second direction (disposed front and back in the second direction). When the position identification mark is arranged according to a fixed rule relative to the first guide rail (for example, the position identification mark is not arranged at the end of the extension direction of the track, etc.), in this configuration, the possibility of detecting the position identification mark can be increased compared to the case where two position identification sensors arranged opposite to the first guide rail are arranged opposite to each other in the second direction (arranged at the same position in the first direction). In addition, in this configuration, the possibility of detecting the position identification mark can be increased compared to the case where two position identification sensors arranged opposite to the second guide rail are arranged opposite to each other in the first direction (arranged at the same position in the second direction).

[0014] In the rail-guided vehicle of one embodiment of the present invention, the rail-guided vehicle may include a transfer device for transferring an object, and the control unit controls the driving amount of the transfer device when the object is moved in the horizontal direction according to the offset amount. In this case, even if the rail-guided vehicle is not stopped at a predetermined position in the grid, the position of the transfer device for transferring the object can be adjusted, so that the object can be accurately transferred to the predetermined transfer position.

[0015] In a rail-guided vehicle according to an embodiment of the present invention, the rail-guided vehicle comprises: a transfer device for transferring an object; and a horizontal rotation mechanism for causing the object to rotate horizontally around a third direction orthogonal to both the first direction and the second direction; and a control unit controls the driving amount of the horizontal rotation mechanism when causing the object to rotate horizontally according to the offset amount. In this case, even when the rail-guided vehicle is not stopped at a predetermined position in the grid, the position of the object transferred by the transfer device can be adjusted by the horizontal rotation mechanism, so that the object can be transferred to the predetermined transfer position more accurately.

[0016] In the rail-mounted trolley system of one embodiment of the present invention, the control unit can control the moving unit according to the offset so that the rail-mounted trolley moves to a predetermined position in the grid. In this case, even when the rail-mounted trolley does not stop at the predetermined position in the grid, the position of the rail-mounted trolley can be adjusted, so that the object can be transferred to the predetermined transfer position more accurately.

[0017] Effects of the Invention

[0018] According to one embodiment of the present invention, when transferring an article, the deviation from a preset stop position can be detected. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1A perspective view showing an example of an overhead traveling vehicle system according to an embodiment of the present invention.

[0020] Figure 2 Representation composition Figure 1 An exploded perspective view of the four guide rail components of the guide rail assembly and the connecting members connecting them.

[0021] Figure 3 express Figure 1 Side view of the mobile vehicle in the.

[0022] Figure 4 express Figure 1 A three-dimensional view of the mobile vehicle in FIG.

[0023] Figure 5 A perspective view showing only the guide rail portion of the guide rail assembly.

[0024] Figure 6 A cross-sectional view showing a connection portion between a plurality of guide rail assemblies.

[0025] Figure 7 express Figure 2 A perspective view of the guide rail assembly in FIG.

[0026] Figure 8 A schematic cross-sectional view of the first guide rail when cut along a plane perpendicular to the X direction.

[0027] Fig. 9 express Figure 3 Block diagram of the functional composition of the mobile vehicle.

[0028] Fig.10 (a) and (b) are schematic plan views showing an example of the operation of the transport vehicle when placing articles on the load port while controlling the driving amount of the slide mechanism.

[0029] Fig.11 (a) and (b) are schematic plan views showing an example of the operation of the transport vehicle when placing articles on the load port while controlling the driving amount of the rotation drive unit.

[0030] Fig.12 (a) and (b) are schematic plan views showing an example of the operation of the travel vehicle when placing articles on the load port while controlling the driving amount of the travel drive motor. DETAILED DESCRIPTION

[0031] Hereinafter, an embodiment of an embodiment of the present invention will be described with reference to the accompanying drawings. Furthermore, in the description of the accompanying drawings, the same elements are marked with the same symbols and their repeated descriptions are omitted. In the accompanying drawings, for the convenience of description, the various components of the embodiment are appropriately changed in scale and expressed. The XYZ orthogonal coordinate system is recorded together in some of the accompanying drawings. In the following description, this coordinate system is referred to for the convenience 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 orthogonal to both the X direction and the Y direction is set as the Z direction for description.

[0032] like Figure 1 As shown, the overhead moving vehicle system (railway trolley system) 1 of the embodiment of the present invention is, for example, a grid system (transportation system) for transporting articles (objects) M through overhead moving vehicles (railway trolleys) 2 in a clean room of a semiconductor manufacturing plant. The overhead moving vehicle system 1, for example, includes a plurality of overhead moving vehicles 2 (hereinafter collectively referred to as "moving vehicles 2"), a system controller 5 for controlling the plurality of moving vehicles 2, and a track R for the movement of the plurality of moving vehicles 2. The moving vehicles 2 move along the track R of the overhead moving vehicle system 1. The moving vehicles 2 move along the track R to transport articles M, such as a front opening unified pod (FOUP) for accommodating semiconductor wafers, or a reticle pod for accommodating masks. The moving vehicle 2 may also be referred to as a trolley, a transport vehicle, a transport trolley, or a moving trolley. The plurality of transport vehicles 2 can realize high-density transport of the articles M, thereby improving the transport efficiency of the articles M. In addition, the overhead transport vehicle system 1 may include only one transport vehicle 2 .

[0033] 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 storage (automatic storage), etc. The processing device is, for example, an exposure device, a coating and developing device, a film forming device, an etching device, etc., which performs various processes on the semiconductor wafers in the article M transported by the moving vehicle 2. The storage holds the article M transported by the moving vehicle 2.

[0034] The track R is 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 guide rail assemblies 100 including a first guide rail R1, a second guide rail R2 and a cross rail R3 in the X direction and the Y direction. The overhead traveling vehicle system 1 comprises: a plurality of guide rail assemblies 100 arranged in the X direction and the Y direction; and a plurality of connecting members 140 connecting the plurality of guide rail assemblies 100 to each other. A guide rail assembly 200 is formed by the plurality of guide rail assemblies 100 and the plurality of connecting members 140. The guide rail assembly 200 is suspended from a ceiling (not shown) or the like by a plurality of hanging members H in a portion where the guide rail assemblies 100 are connected to each other by the connecting members 140.

[0035] Figure 2 Representation composition Figure 1 An exploded stereoscopic view of the four guide rail components 100 and the connecting member 140 connecting them of the guide rail assembly 200 in FIG. 1 . Each guide rail component 100 is a rectangular parallelepiped (frame-shaped) component having the same structure. Each guide rail component 100 includes: two first guide rail components 110 arranged along the X direction; two second guide rail components 120 arranged along the Y direction; and four cross-section guide rail components 130 arranged to form gaps on the extension lines of the first guide rail components 110 and the second guide rail components 120 (i.e., the positions of the intersections of the grids). When looking down at the guide rail component 100, the two parallel first guide rail components 110 and the two parallel second guide rail components 120 are arranged in a square shape, and the four cross-section guide components 130 are arranged at the positions of the vertices of the square.

[0036] Each guide rail assembly 100 is made of metal, for example, and is an assembly 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 formed and integrated. Each first guide rail member 110 includes: a first beam portion 111, which is arranged at the upper end position of the guide rail assembly 100 and extends in the X direction; a first rail R1, which is arranged at the lower end position of the guide rail assembly 100 and extends in the X direction; and a first support wall 113, which is arranged between the first beam portion 111 and the first rail R1, and is connected to the first beam portion 111 and the first rail R1. Each second rail member 120 includes: a second beam 121, which is arranged at the upper end of the rail assembly 100 and extends in the Y direction; a second rail R2, which is arranged at the lower end of the rail assembly 100 and extends in the Y direction; and a second support wall 123, which is arranged between the second beam 121 and the second rail R2 and is connected to the second beam 121 and the second rail R2. A lattice-shaped structure extending along the XY plane is formed at the upper end of the rail assembly 200 by the plurality of first beams 111 and the 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.

[0037] 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 disposed at a lower end of the intersection support column 133 .

[0038] like Figure 1 and Figure 5 As shown, a plurality of first guide rails R1 extend in the X direction respectively. A plurality of second guide rails R2 extend in the Y direction respectively. In the track R, a plurality of first guide rails R1 and a plurality of second guide rails R2 are arranged in a grid shape when viewed from above. The track R forms a plurality of squares by a plurality of first guide rails R1 and a plurality of second guide rails R2. That is, the track R forms a space surrounded by a pair of first guide rails R1 and a pair of second guide rails R2 when viewed from above, namely, a grid C. 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 has a portion (first guide) that is adjacent to the first guide rail R1 in the X direction and extends in the X direction with a gap therebetween. The intersection rail R3 has a portion (second guide) that is adjacent to the second guide rail R2 in the Y direction and extends in the Y direction. The intersection rail R3 can be used at any time, that is, when the vehicle 2 moves along the first rail R1, when the vehicle 2 moves along the second rail R2, when the vehicle 2 moves from the first rail R1 to the second rail R2, or when the vehicle 2 moves from the second rail R2 to the first rail R1.

[0039] Each guide rail assembly 100 forms a square (or rectangular) track R corresponding to one grid on its inner side. By arranging a plurality of guide rail assemblies 100 in the X direction and the Y direction, a plurality of first guide rails R1 are connected and extended in the X direction, and a plurality of second guide rails R2 are connected and extended in the Y direction. On the X direction line, two intersecting guide rails R3 are arranged at intervals between one first guide rail R1 and another first guide rail R1. On the Y direction line, two intersecting guide rails R3 are arranged at intervals between one second guide rail R2 and another second guide rail R2. The track R is described below in other embodiments. When focusing on the four squares consisting of two squares arranged in the X direction and two squares arranged in the Y direction, four intersecting rails R3 adjacent in the X direction and the Y direction are arranged at intervals (with respect to the first rails R1) between two first rails R1 adjacent in the Y direction and two other first rails R1 adjacent in the Y direction. In addition, four intersecting rails R3 similar to the above are arranged at intervals (with respect to the second rails R2) between two second rails R2 adjacent in the X direction and two other second rails R2 adjacent in the X direction.

[0040] 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 to construct the 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 fixed 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 traveling vehicle 2 run on the first running surface R1a in the X direction (first running direction D1). 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 traveling vehicle 2 run on the second running surface R2a in the Y direction (second running direction D2). The intersection guide rail R3 includes a flat and horizontal intersection travel surface R3a on the upper surface. The heights of the first travel surface R1a, the second travel surface R2a, and the intersection travel surface R3a are equal over the entire rail R. The first travel surface R1a, the second travel surface R2a, and the intersection travel surface R3a are arranged on the same or substantially the same horizontal plane.

[0041] For example, a gap of the size of the gap G is not formed between the four intersection rails R3. When the traveling vehicle 2 passes through the plurality of rail assemblies 100 in a straight line, the traveling wheels 31 of the traveling vehicle 2 travel on the intersection travel surface R3a. At this time, the traveling wheels 31 pass over any two of the four intersection rails R3. Alternatively, when the traveling vehicle 2 changes the travel direction between the rail assemblies 100 (changes the travel direction by 90 degrees, i.e., turns), the traveling wheels 31 of the traveling vehicle 2 pass over the intersection travel surface R3a (and changes the direction).

[0042] As described above, in the guide rail assembly 200, the first guide rail member 110, the second guide rail member 120, and the cross-portion guide rail member 130 constitute the lattice-shaped rail R. The layout of the lattice-shaped rail R in the overhead traveling vehicle system 1 can be appropriately adjusted or changed by making the plurality of guide rail assemblies 100 into any arrangement (including adding or deleting the guide rail assemblies 100).

[0043] Reference Figure 2 and Figure 6 , the connection structure of the guide rail assembly 100 formed by the connection member 140 is 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 extending horizontally, is mounted with the upper surface of any one of the four corners of a plurality of (typically 4) guide rail assemblies 100. The upper connecting member 141 abuts against the intersection of the first beam 111 and the second beam 121 in each guide rail assembly 100. The lower connecting member 142, which is a plate or frame extending horizontally, supports the lower surface of any one of the four corners of a plurality of (typically 4) guide rail assemblies 100. The lower connecting member 142 abuts against the cross rail R3 in each guide rail assembly 100.

[0044] A rod-shaped hanging 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 assembly 100 by a fastening member (not shown), thereby connecting the guide rail assemblies 100 to each other. Furthermore, a space 100e extending in the Z direction is formed between the guide rail assemblies 100, and a space R3e extending in the Z direction is formed between the four intersecting guide rails R3 adjacent in the X direction and the Y direction (the central part when viewed from above). The hanging member H is inserted into the space 100e and the space R3e, and the upper connecting member 141 and / or the lower connecting member 142 are fixed to the hanging member H.

[0045] The overhead traveling vehicle system 1 includes a communication system (not shown). The communication system is used for communication between the traveling vehicle 2 and the system controller 5. The traveling vehicle 2 and the system controller 5 are connected to each other so as to be communicable via the communication system.

[0046] Then, refer to Figure 1 , Figure 3 and Figure 4 , the structure of the moving vehicle 2 is described. Figure 1 and Figure 3 As shown, the travel vehicle 2 is arranged to be movable along the track R. The travel vehicle 2 has: a travel trolley 20 that moves on the track R; and a main body 10 that is mounted on the lower part of the travel trolley 20 and can be freely rotated relative to the travel trolley 20. The travel trolley 20 includes: a trolley assembly 50 of, for example, a rectangular shape, which is arranged below the track R; a travel portion 30 that is arranged at the four corners of the trolley assembly 50 in a plan view and protrudes upward from the trolley assembly 50; and four wheel rotation mechanisms 40 that allow each of the four travel wheels 31 in the travel portion 30 to rotate relative to the trolley assembly 50. A trolley controller (control unit) 8 is provided inside the trolley assembly 50.

[0047] The main body 10 is disposed below the track R. Figure 3 and Figure 4As shown in FIG. 1 , the main body 10 has a main body frame 12 formed, for example, in a cylindrical shape. The main body frame 12 includes a disc-shaped top plate 12a and a cylindrical frame 12b hanging down from the peripheral edge of the top plate 12a, and has a shape with an open bottom. The main body 10 is formed as a square that is retracted into the track R in a plan view (see FIG. 1 ). Figure 1 ) size. The moving vehicle 2 can pass alternately with another moving vehicle 2 moving on the adjacent first guide rail R1 or second guide rail R2. The main body 10 has a transfer device 18 arranged inside the main body frame 12. The transfer device 18 is, for example, rectangular in a plan view. The cylindrical frame 12b is open at a portion of the circumferential direction. The formation range of the open portion (notch) 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.

[0048] The main body 10 is mounted on the lower part of the trolley assembly 50, and can be freely rotated around the rotation axis L10 in the Z direction relative to the trolley assembly 50. The travel wheels 31 provided at the four corners of the trolley assembly 50 are placed on the track R (on the first travel surface R1a, the second travel surface R2a, or the intersection travel surface R3a). The trolley assembly 50 is suspended from the track R via the four travel wheels 31 and the four wheel rotation mechanisms 40. The trolley assembly 50 and the main body 10 can be stably suspended by the four travel wheels 31, and the main body 10 can be stably moved. That is, the travel vehicle 2 is suspended and supported by the travel wheels 31 that travel along the track R, so as to move under the track R.

[0049] The transfer device 18 moves in the horizontal direction relative to the main body 10 to transfer the article M between the loading port (loading platform). The transfer device 18 is disposed below the top plate 12a of the main body 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) disposed on the top plate 12a. The transfer device 18 includes: an article holding portion 13 that holds the article M on the lower side of the track R; a lifting drive portion 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 portion 14 in the horizontal direction. The sliding mechanism 11 is retained on the lower surface of the top plate 12a. A rotation drive portion 16 is provided between the sliding mechanism 11 and the lifting drive portion 14, and the rotation drive portion 16 drives the lifting drive portion 14 to rotate around the rotation axis L14 relative to the sliding mechanism 11. The rotary drive unit 16 is provided below the slide mechanism 11, and the lifting drive unit 14 is provided below the rotary drive unit 16. The article holding unit 13 is provided below the lifting drive unit 14 via a plurality of root hanging members 13b. The loading port is a transfer destination or a transfer departure point of the transport vehicle 2, and is a place where the articles M are transferred to and from the transport vehicle 2.

[0050] The article holding part 13 holds the article M in a hanging manner by gripping the flange Ma of the article M. The article holding part 13 is, for example, a clamp having a claw 13a that can move in the horizontal direction. The article holding part 13 holds the article M by making the claw 13a enter under the flange Ma of the article M and by raising the article holding part 13. The article holding part 13 is connected to a hanging member 13b such as a wire or a belt.

[0051] The lifting drive unit 14 is, for example, a crane, which lowers the article holding unit 13 by sending out 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.

[0052] The sliding mechanism 11 has a plurality of movable plates arranged to overlap 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 bottom movable plate to 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 assembly 50. In the main body 10, the orientation of the transfer device 18 and the main body 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.

[0053] 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 predetermined 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. Furthermore, even if 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 FIG. 1 , 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 is consistent with the rotation axis L10 of the main body 10.

[0054] The trolley assembly 50 has a cylindrical support member (cylindrical member) 52 at the lower end. On the lower surface side of the support member 52, the top plate portion 12a of the main body frame 12 is rotatably mounted. For example, a rotation drive unit (horizontal rotation mechanism) 12c such as an electric motor is provided on the top plate portion 12a. The driving force of the rotation drive unit 12c is transmitted to the support member 52, and the main body frame 12 rotates around the rotation axis L10 extending in the vertical direction relative to the trolley assembly 50. The rotatable angle of the main body frame 12 is, for example, any angle greater than 360 degrees and less than 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 body frame 12 and the transfer device 18 are integrated, and the main body frame 12 rotates together with the transfer device 18. The transfer vehicle 2 can transfer the articles M to and from the loading port by using the transfer device 18 .

[0055] Furthermore, a cover (not shown) may be mounted 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 has a cylindrical shape with an open lower end, and is a shape in which the protruding portion of the movable plate of the sliding mechanism 11 (the above-mentioned open portion) is cut out.

[0056] The moving part 30 has four moving wheels 31. Two auxiliary wheels 32 are provided on each moving wheel 31. Figure 4 As shown, the travel wheels 31 are provided at the positions of the four corners of the trolley assembly 50 in a manner protruding upward from the upper surface cover 51. Each travel wheel 31 can rotate around a horizontal or substantially horizontal axle along the XY plane. A travel drive motor 33 is provided on the rotation axis of each travel wheel 31. Each travel wheel 31 is rotationally driven by the driving force of the travel drive motor 33. The travel drive motor 33 is configured to be switchable between forward and reverse rotation, for example. Each of the travel wheels 31 rolls on the rail R. Each of the travel wheels 31 rolls on the travel surfaces R1a, R2a, and R3a of the first guide rail R1, the second guide rail R2, and the cross guide rail R3 to move the travel vehicle 2. Furthermore, it is not limited to that all of the four travel wheels 31 are rotationally driven by the driving force of the travel drive motor 33, and it may also be a configuration in which a part of the four travel wheels 31 is rotationally driven.

[0057] The traveling wheel 31 of the traveling unit 30 travels on the first traveling surface R1a of a pair of first guide rails R1 adjacent to each other in the Y direction, so that the traveling vehicle 2 moves in the X direction. In addition, the traveling wheel 31 of the traveling unit 30 travels on the second traveling surface R2a of a pair of second guide rails R2 adjacent to each other in the X direction, so that the traveling vehicle moves in the Y direction.

[0058] Four wheel turning mechanisms 40 are fixed to a frame (not shown) in the carriage assembly 50, and the pedestal 34 is connected to each wheel turning mechanism 40 via the turning axis of the wheel turning mechanism 40. On the pedestal 34, the travel wheel 31, two auxiliary wheels 32, and one travel drive motor 33 are mounted via the connecting portion 35 and the supporting member 36. For example, a square upper surface cover 51 is provided on the upper surface of the frame 53, and the pedestal 34 is provided at the notches formed at the four corners of the upper surface cover 51. The connecting portion 35, the travel wheel 31, the auxiliary wheel 32, and the travel drive motor 33 are arranged above the upper surface cover 51.

[0059] like Figure 3 and Figure 4 As shown, the connecting portion 35 connects the trolley assembly 50 (more specifically, the wheel turning mechanism 40 fixed in the trolley assembly 50) and the traveling wheel 31. With this connecting structure, the trolley assembly 50 and the main body 10 are arranged below the rail 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 cross section guide rail R3, and between the second guide rail R2 and the cross section guide rail R3. The supporting member 36 is provided on the upper part of the connecting portion 35, so as to rotatably support the rotation axis of the traveling wheel 31 and the rotation axis of the auxiliary wheel 32. The supporting member 36 maintains the relative position of the traveling wheel 31 and the auxiliary wheel 32.

[0060] like Figure 4 As shown, the traveling wheel 31 is arranged 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 in a plan view, and the rotation axis L10 is arranged at the center of the rotation axes L30. In other words, the four rotation axes L30 are arranged at positions that are four-fold symmetrical to the rotation axis L10 of the main body 10. In a plan view, 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 rotation mechanism 40, and as a result, it can change the traveling direction of the traveling vehicle 2.

[0061] The auxiliary wheels 32 are arranged one each in front and behind the traveling direction of the traveling wheel 31. Each of 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, R3a, the auxiliary wheel 32 does not contact the traveling surfaces R1a, R2a, R3a. In addition, when the traveling wheel 31 passes through the gap G between the first guide rail R1 and the intersection rail R3, and between the second guide rail R2 and the intersection rail R3, the auxiliary wheel 32 contacts an auxiliary member (not shown) provided on the first guide rail R1 and the second guide rail R2, and suppresses the traveling wheel 31 from falling. Furthermore, it is not limited to provide two auxiliary wheels 32 on one traveling wheel 31 . For example, one auxiliary wheel 32 may be provided on one traveling wheel 31 , or no auxiliary wheel 32 may be provided.

[0062] The four wheel turning mechanisms 40 are arranged, for example, at the four corners of the frame 53 of the carriage assembly 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 travel wheel 31. The driving force transmission unit 42 is fixed to a frame (not shown) in the carriage assembly 50. The driving force transmission unit 42 is connected to the base unit 34 via a swing axis. Each wheel turning mechanism 40 causes the base unit 34, the connection unit 35, the support member 36, the travel wheel 31, the auxiliary wheel 32, and the travel drive motor 33 to rotate integrally around the swing axis L30. When the travel vehicle 2 is located at the center of each guide rail assembly 100, each travel wheel 31 is rotated 90 degrees around each swing axis L30. Therefore, the travel wheel 31 rotates on the intersection guide rail R3. Therefore, the travel vehicle 2 can turn. The so-called turning refers to the switching of the moving vehicle 2 from the first state of moving in the first moving direction D1 to the second state of moving in the second moving direction D2, or the switching of the moving vehicle 2 from the second state of moving in the second moving direction D2 to the first state of moving in the first moving direction D1. The turning of the moving vehicle 2 is performed, for example, when the moving vehicle 2 is stopped. The turning of the moving vehicle 2 can also be performed when the moving 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 carriage controller 8.

[0063] As described above, the gap G is formed in the rail R. When the vehicle 2 moves on the first rail R1 and crosses the second rail R2, or when the vehicle 2 moves 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.

[0064] Furthermore, guide rollers that abut against the side surfaces of the cross 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 can prevent the travel carriage 20 (travel vehicle 2) from being displaced relative to the rail R.

[0065] The traveling vehicle 2 includes one grid recognition sensor (first sensor) S1 and four position recognition sensors (second sensors) S2. Figure 4 In the example, only three of the four position recognition sensors S2 are shown. The grid recognition sensor S1 and the position recognition sensor S2 are housed in the frame 53 of the carriage assembly 50. The grid recognition sensor S1 is configured so that the detection direction is approximately perpendicular to the upper surface cover 51 and faces the upward direction. The position recognition sensor S2 is configured so that the detection direction faces the approximately upward direction. In more detail, the position recognition sensor S2 is configured so that its detection direction faces a direction inclined outward when viewed from the center of the grid C relative to the Z direction.

[0066] On the track R, a grid recognition mark (first mark) M1 and a position recognition mark (second mark) M2 are arranged (see Figure 7 ). The grid recognition sensor S1 detects the grid recognition mark M1 arranged on the track R in a non-contact manner. The position recognition sensor S2 detects the position recognition mark M2 arranged on the track R in a non-contact manner. The position recognition sensor S2 detects the position recognition mark M2 through the notch 51a provided in the upper surface cover 51. The grid recognition mark M1 and the position recognition mark M2 are described in detail below.

[0067] When the moving vehicle 2 is located at a predetermined position in the grid C (when parked or moving), the grid recognition sensor S1 faces the grid recognition mark M1. At this time, the grid recognition sensor S1 acquires information (first information) of the grid C from the grid recognition mark M1.

[0068] The position recognition sensor S2 is arranged so as to contact the second surface 62 (see FIG. 1 ) on which the position recognition mark M2 is arranged in each of the pair of first rails R1 included in the rail assembly 100 when the vehicle 2 moves in the X direction. Figure 8 ). In addition, the position recognition sensor S2 is arranged to face each of the second surfaces 62 on which the position recognition mark M2 is arranged in each of the pair of second rails R2 included in the rail assembly 100 when the vehicle 2 moves in the Y direction. The position recognition sensor S2 obtains the position information (second information) in the rail R from the position recognition mark M2.

[0069] The trolley controller 8 controls the moving vehicle 2 in general. The trolley controller 8 is a computer including a central processing unit (CPU), a read-only memory (ROM), and a random access memory (RAM). The trolley controller 8 can be configured as software, for example, in which a program stored in the ROM is loaded onto the RAM and executed by the CPU. The trolley controller 8 can also be configured as hardware formed by electronic circuits, etc. The trolley controller 8 can be composed of one device or a plurality of devices. In the case of being composed of a plurality of devices, a trolley controller 8 is logically constructed by connecting them via a communication network such as the Internet or an intranet. The trolley controller 8 is, for example, provided in the trolley assembly 50.

[0070] The trolley controller 8 controls the movement of the moving vehicle 2 according to the transport instruction. The trolley controller 8 controls the movement of the moving 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 moving vehicle 2 according to 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 (the main body frame 12 and the transfer device 18). The trolley controller 8 controls the transfer action of the moving vehicle 2 by controlling the transfer device 18, etc. The trolley controller 8 controls the grabbing action of grabbing the article M arranged at the predetermined loading port, and the unloading action of putting the held article M down to the predetermined loading port.

[0071] The system controller 5 is a computer including a CPU, a ROM, and a RAM. The system controller 5 may be configured as software, for example, in which a program stored in the ROM is loaded onto the RAM and executed by the CPU. The system controller 5 may also be configured as hardware formed by electronic circuits, etc. The system controller 5 may be configured by one device or by a plurality of devices. When the system controller 5 is configured by a plurality of devices, one system controller 5 is logically constructed by connecting them via a communication network such as the Internet or an intranet. At least a part of the various controls of the system controller 5 may be executed by the trolley controller 8.

[0072] The system controller 5 selects any one of the plurality of transport vehicles 2 that can transport the article M, and assigns a transport command to the selected transport vehicle 2. The transport command includes a transport command for the transport vehicle 2 to move to the loading port, a command for picking up the article M arranged at the loading port, or a command for unloading the held article M to the loading port.

[0073] Figure 7 express Figure 2A perspective view of the guide rail assembly 100 in FIG. Figure 8 This is a schematic cross-sectional view of the first guide rail R1 when cut along a plane perpendicular to the X direction. Figure 7 In the example of FIG. 1 , the figure shows a guide rail assembly 100 viewed from the negative side in the Z direction. Figure 7 and Figure 8 As shown, each of the first rail R1 and the second rail R2 included in the rail assembly 100 has a first surface 61 and a second surface 62 .

[0074] First, the first guide rail R1 is described. In the present embodiment, the first surface 61 is orthogonal to the Z direction. The first surface 61 is parallel to the first travel surface R1a in the Z direction. The shape of the first surface 61 is a rectangle extending in the X direction when viewed from above. The first surface 61 is formed to face the grid recognition sensor S1 of the traveling vehicle 2. The first surface 61 is formed so that the traveling vehicle 2 can be moved in the X direction in a state where the grid recognition sensor S1 of the traveling vehicle 2 is facing.

[0075] On the first surface 61, a grid identification mark M1 indicating information of the grid C is disposed. In other words, the grid identification mark M1 indicates information of which grid among the plurality of grids C formed by the track R. The information of the grid C may be an ID that uniquely specifies the grid C, or may be information related to the position of the grid C. In the present embodiment, the grid identification mark M1 is composed of a barcode Ba. Figure 7 In the example, the barcode Ba is arranged at the center of the first guide rail R1 (first surface 61) in the X direction. The grid recognition mark M1 faces the grid recognition sensor S1 when the traveling vehicle 2 is located at a predetermined position in the grid C. The grid recognition sensor S1 obtains information about the grid C from the grid recognition mark M1.

[0076] In the present embodiment, the so-called predetermined position refers to the center of the grid. The state in which the travel vehicle 2 is located at the center of the grid in the grid C refers to the state in which the trolley assembly 50 is not offset in the horizontal direction relative to the grid C, and the trolley assembly 50 is not offset in the rotational direction relative to the grid C. The so-called "the trolley assembly 50 is not offset in the horizontal direction relative to the grid C" means that the center of the trolley assembly 50 coincides with the center of the grid C when viewed from above. The so-called "the trolley assembly 50 is not offset in the rotational direction relative to the grid C" means that, in a plan view, of the four sides of the rectangular trolley assembly 50, each of the two sides extending in the X direction is parallel to a pair of first guide rails R1 constituting the grid C, and each of the two sides extending in the Y direction is parallel to a pair of second guide rails R2 constituting the grid C. Furthermore, the center of the first guide rail R1 or the center of the grid C does not have to be strictly the center or the center, and may have a fixed width.

[0077] When viewed from the center of the grid C, the second surface 62 is arranged outside the first surface 61. The second surface 62 is disposed toward the traveling vehicle 2 side relative to the first surface 61 ( Figure 7 The second surface 62 is shaped like a rectangle extending in the X direction when viewed from a direction perpendicular to the second surface 62. The second surface 62 is formed to face the position recognition sensor S2 of the traveling vehicle 2. The second surface 62 is formed so that the traveling vehicle 2 can move in the X direction in a state where the position recognition sensor S2 of the traveling vehicle 2 faces.

[0078] On the second surface 62, there is arranged a position identification mark M2 indicating position information in the track R (first guide rail R1). The position information in the first guide rail R1 may be information related to the position in the X direction in the first guide rail R1, or may be information related to the distance from the center of the first guide rail R1 in the X direction (the center of the grid). The information represented by the position identification mark M2 is different from the information represented by the grid identification mark M1. In the present embodiment, the position identification mark M2 is composed of a plurality of (14 as an example) bar codes Bb arranged in the X direction. The plurality of bar codes Bb are arranged without gaps in the X direction on the second surface 62. The position identification mark M2 faces the position identification sensor S2 when the moving vehicle 2 is moving or stopped along the first guide rail R1. The position identification sensor S2 obtains the position information in the first guide rail R1 from the position identification mark M2.

[0079] Next, the second guide rail R2 will be described. In the present embodiment, the configuration of the second guide rail R2 is the same as that of the first guide rail R1. Therefore, the description overlapping with the first guide rail R1 will be appropriately omitted.

[0080] In the second guide rail R2, the first surface 61 is aligned with the second transition surface R2a (see Figure 1 , Figure 2 and Figure 5 ). The shape of the first surface 61 is a rectangle extending in the Y direction when viewed from above. The first surface 61 is formed so that the moving vehicle 2 can move in the Y direction with the grid recognition sensor S1 facing. The grid recognition mark M1, that is, the barcode Ba, is arranged on the first surface 61. Figure 7 In the example of , the barcode Ba is arranged at the center of the second guide rail R2 (first surface 61) in the Y direction.

[0081] The shape of the second surface 62 is a rectangle extending in the Y direction when viewed from a direction orthogonal to the second surface 62. The second surface 62 is formed so that the moving vehicle 2 can be moved in the Y direction in a state where the position identification sensor S2 of the moving vehicle 2 is facing. A position identification mark M2 is arranged on the second surface 62. The position information in the second guide rail R2 may be information related to the position in the Y direction in the second guide rail R2, or may be information related to the distance from the center of the second guide rail R2 in the Y direction (the center of the grid). In the present embodiment, the position identification mark M2 is composed of a plurality of (14 as an example) bar codes Bb arranged in the Y direction. The plurality of bar codes Bb are arranged on the second surface 62 without gaps along the Y direction. The position identification mark M2 faces the position identification mark M2 when the moving vehicle 2 is moving or stopped along the second guide rail R2. The position recognition sensor S2 acquires position information in the second guide rail R2 from the position recognition mark M2.

[0082] Fig. 9 express Figure 3 The block diagram of the functional configuration of the traveling vehicle 2 in FIG. The vehicle controller 8 obtains the detection result of the grid recognition sensor S1. Specifically, the vehicle controller 8 obtains the information of the grid C obtained by the grid recognition sensor S1. In addition, the vehicle controller 8 specifies the grid C where the traveling vehicle 2 is located based on the information of the grid C.

[0083] The carriage controller 8 obtains the detection result of the position recognition sensor S2. Specifically, the carriage controller 8 obtains the position information obtained by the position recognition sensor S2. In addition, the carriage controller 8 derives the offset between the predetermined position in the grid C and the stop position of the traveling vehicle 2 based on the position information. The offset includes the offset in the horizontal direction (X direction and Y direction) and the offset in the rotation direction around the Z direction.

[0084] The offset in the X direction can be derived, for example, by the following process, that is, using the position information obtained by at least one of the two position recognition sensors S2 (at least one of the four position recognition sensors S2) facing the second surface 62 of the first guide rail R1 and the pre-stored position information of the center of the grid C, and performing a predetermined calculation process. In addition, regarding the offset in the X direction, a table in which the position information represented by the position recognition mark M2 and the above-mentioned offset are stored in association can be pre-stored, and a read-out process can be performed, that is, the above-mentioned offset corresponding to the position information represented by the position recognition mark M2 obtained by the position recognition sensor S2 is read from the table, thereby deriving the offset in the X direction. The offset in the Y direction can also be derived by the above-mentioned calculation process or read-out process, similar to the offset in the X direction.

[0085] The offset in the rotational direction around the Z direction can be derived, for example, by the following process, that is, using the four position information obtained by the two position identification sensors S2 facing the second surface 62 of the first guide rail R1 and the two position identification sensors S2 facing the second surface 62 of the second guide rail R2, and performing a predetermined calculation process. Furthermore, the offset in the rotational direction around the Z direction can be derived by the following process, that is, using at least the above-mentioned three position information (position information obtained by at least three of the four position identification sensors S2), and performing a predetermined calculation process. In addition, regarding the offset in the rotational direction around the Z direction, a table in which the position information of each of the four guide rails constituting a grid C and the offset are associated and stored can be pre-stored, and a read-out process can be performed, that is, the above-mentioned offset corresponding to the three position information obtained by the position identification sensor S2 is read from the table, thereby deriving the offset in the rotational direction around the Z direction.

[0086] The carriage controller 8 controls the sliding mechanism 11 included in the transfer device 18 to move the article M in the horizontal direction. Specifically, the carriage controller 8 controls the movement amount of the movable plate of the sliding mechanism 11 to control the movement amount of the article M. The carriage controller 8 controls the driving amount of the sliding mechanism 11 when moving the article M in the horizontal direction according to the horizontal deviation amount.

[0087] use Fig.10 An example of the operation of the transport vehicle 2 when placing the article M on the load port LP while controlling the driving amount of the slide mechanism 11 will be described in more detail. Fig.10 (a) shows a state in which the transport vehicle 2 stops at a position that is offset in the horizontal direction relative to a predetermined position in the grid C during the process of transporting the article M in the first transport direction D1. Specifically, the stop position of the transport vehicle 2 is offset in the X direction relative to the predetermined position. As a result, the position of the article M is offset in the X direction relative to the load port LP to which the article M is transferred when viewed from above. Fig.10 In the example, the load port LP is located directly below the center of the grid C in the vertical direction.

[0088] First, two position recognition sensors S2 facing the second surface 62 of the pair of first guide rails R1 obtain position information in the first guide rail R1 from the position recognition mark M2. Next, the vehicle controller 8 derives the offset between the predetermined position in the grid C and the stop position of the traveling vehicle 2 based on the position information obtained by the two position recognition sensors S2.

[0089] Then, the carriage controller 8 drives the slide mechanism 11 to move the article M in the horizontal direction (X direction). At this time, the carriage controller 8 controls the movement amount of the movable plate of the slide mechanism 11 according to the horizontal displacement amount. As a result, the article M moves in the X direction according to the displacement amount derived by the carriage controller 8. Fig.10 As shown in (b), the position of the article M relative to the position of the load port LP is adjusted.

[0090] In addition, the carriage controller 8 controls the rotation drive unit 12c provided on the top plate portion 12a to horizontally rotate the transfer device 18 and the article M held by the transfer device 18 around the Z direction. Specifically, the carriage controller 8 controls the amount of horizontal rotation of the transfer device 18 and the article M held by the transfer device 18 by controlling the driving amount of the rotation drive unit 12c. The carriage controller 8 controls the driving amount of the rotation drive unit 12c when rotating the article M horizontally, based on the offset amount in the rotation direction derived as described above.

[0091] use Fig.11 Another example of the operation of the transport vehicle 2 when placing the article M on the load port LP while controlling the driving amount of the rotation drive unit 12c will be described in more detail. Fig.11 (a) shows a state in which the transport vehicle 2 stops at a position offset in the rotation direction relative to a predetermined position in the grid C during the conveyance of the article M. Specifically, the stop position of the transport vehicle 2 is offset in the clockwise direction relative to the predetermined position. As a result, the position of the article M is offset in the clockwise direction relative to the load port LP. Fig.11 In the example, the load port LP is located directly below the center of the grid C in the vertical direction.

[0092] First, the four position recognition sensors S2 acquire position information from the position recognition mark M2. Next, the vehicle controller 8 derives the deviation between the predetermined position in the grid C and the stop position of the traveling vehicle 2 based on the position information acquired by the four position recognition sensors S2.

[0093] Then, the trolley controller 8 drives the rotation drive unit 12c provided on the top plate 12a, thereby causing the object M to rotate horizontally in the counterclockwise direction around the Z direction. At this time, the trolley controller 8 controls the driving amount of the rotation drive unit 12c according to the offset amount in the rotation direction. As a result, the object M rotates horizontally in the counterclockwise direction according to the offset amount derived by the trolley controller 8. Fig.11 As shown in (b), the position of the article M relative to the position of the load port LP is adjusted.

[0094] Next, the effects of the overhead traveling vehicle system 1 of this embodiment will be described. In the traveling vehicle 2 of the above embodiment, when the traveling vehicle 2 stops at a predetermined position of the grid C, the four position recognition sensors S2 can obtain the positions of the first guide rail R1 and the second guide rail R2 in the extending direction. Therefore, the offset between the predetermined position in the grid C and the stopping position of the traveling vehicle 2 can be derived based on the position information obtained by the position recognition sensors S2.

[0095] In the above-mentioned embodiment, the carriage controller 8 can also derive the inclination of the traveling carriage 2 relative to the grid C when viewed from above, based on the position information obtained by the four position recognition sensors S2. In this configuration, the inclination of the traveling carriage 2 relative to the grid C when viewed from above can be derived as the offset between the predetermined position in the grid C and the stop position of the traveling carriage 2.

[0096] In this embodiment, the position recognition mark M2 is not arranged on the back side (the surface facing the position recognition sensor S2) of the portion (the end of the first rail in the extension direction) of the cross rail R3 that is adjacent to the first rail R1 in the X direction and extends in the X direction. In this case, when the vehicle 2 is located at the end of any grid C in the X direction, in the configuration in which the two position recognition sensors S2 arranged opposite to the first rail are arranged opposite to each other in the Y direction, both of the two position recognition sensors S2 cannot detect the position recognition mark M2.

[0097] In this regard, in the above-described embodiment, the two position recognition sensors S2 disposed opposite to the first guide rail R1 are disposed on one side and the other side of the traveling vehicle 2 in the X direction, across the center line of the traveling vehicle 2 in the X direction (a line parallel to the Y direction and passing through the center of gravity of the traveling vehicle 2). That is, the two position recognition sensors S2 disposed opposite to the first guide rail are disposed so as to be offset from each other in the X direction. Therefore, compared with the case where the two position recognition sensors S2 disposed opposite to the first guide rail R1 are disposed opposite to each other in the Y direction (so as not to be offset from each other in the X direction), the possibility of detecting the position recognition mark M2 can be increased.

[0098] In addition, in the present embodiment, the position recognition mark M2 is not arranged on the back side (the surface facing the position recognition sensor S2) of the portion (the end portion of the second rail in the extension direction) of the cross rail R3 that is adjacent to the second rail R2 in the Y direction and extends in the Y direction. In this case, when the vehicle 2 is located at the end portion in the Y direction of one grid C, in the configuration in which the two position recognition sensors S2 arranged opposite to the second rail R2 are arranged opposite to each other in the X direction, both of the two position recognition sensors S2 cannot detect the position recognition mark M2.

[0099] In this regard, in the above-described embodiment, the two position recognition sensors S2 disposed opposite to the second guide rail R2 are disposed on one side and the other side of the traveling vehicle 2 in the Y direction across the center line of the traveling vehicle 2 in the Y direction. That is, the two position recognition sensors S2 disposed opposite to the second guide rail R2 are disposed so as to be offset from each other in the Y direction. Therefore, compared with the case where the two position recognition sensors S2 disposed opposite to the second guide rail R2 (so as not to be offset from each other in the Y direction) are disposed opposite to each other in the X direction, the possibility of detecting the position recognition mark M2 can be increased.

[0100] The carriage controller 8 of the traveling vehicle 2 in the above-mentioned embodiment controls the driving amount of the transfer device 18 when the article M is moved in the horizontal direction according to the offset amount derived as described above. In this case, even if the traveling vehicle 2 is not stopped at the predetermined position (grid center) in the grid C, the position of the article M transferred by the transfer device 18 can be adjusted, so that the article M can be accurately transferred to the predetermined transfer position.

[0101] The carriage controller 8 of the transport vehicle 2 of the above embodiment controls the driving amount of the rotary drive unit 12c when the article M is horizontally rotated according to the offset amount derived as described above. In this case, even if the transport vehicle 2 is not stopped at a predetermined position (grid center) in the grid C, the position of the article M transferred by the transfer device 18 can be adjusted by the rotary drive unit 12c, so that the article M can be transferred to the predetermined transfer position more accurately.

[0102] As mentioned above, although the embodiment of one embodiment of the present invention has been described, the embodiment of the present invention is not limited to the above-mentioned embodiment.

[0103] In the above embodiment, the following example is given for explanation, that is, in a configuration where the loading port LP is arranged directly below the center of the grid C in the vertical direction, when the traveling vehicle 2 stops at a position offset from the center of the grid C, the article M is transferred to a predetermined position of the loading port LP by controlling the movement amount of the movable plate of the sliding mechanism 11 and / or the driving amount of the rotation driving unit 12c, but the present invention is not limited to this. The carriage controller 8 may also control the movement amount of the traveling vehicle 2 in the X direction and the Y direction by controlling the traveling unit 30. Specifically, the carriage controller 8 may also control the driving amount of the traveling driving motor 33 that drives the traveling wheels 31 included in the traveling unit 30. The carriage controller 8 controls the traveling unit 30 according to the offset amount in the horizontal direction and the rotation direction so that the traveling vehicle 2 moves to the predetermined position.

[0104] The following uses Fig.12 An example of the operation of the traveling vehicle 2 when placing the article M on the load port LP while controlling the driving amount of the traveling driving motor 33 will be described in more detail. Fig.12 (a) shows a state in which the transport vehicle 2 stops at a position that is offset in the horizontal direction relative to a predetermined position in the grid C during the process of transporting the article M in the first transport direction D1. Specifically, the stop position of the transport vehicle 2 is offset in the X direction relative to the predetermined position. As a result, the position of the article M is offset in the X direction relative to the load port LP. Fig.12 In this example, the load port LP is located directly below the center of the grid C in the vertical direction.

[0105] First, two position recognition sensors S2 facing the second surface 62 of the pair of first guide rails R1 obtain position information from the position recognition mark M2. Next, the vehicle controller 8 derives the offset between the predetermined position in the grid C and the stop position of the traveling vehicle 2 based on the position information obtained by the two position recognition sensors S2.

[0106] Then, the carriage controller 8 drives the travel section 30 to move the travel carriage 2 in the horizontal direction (X direction). At this time, the carriage controller 8 controls the driving amount of the travel section 30 according to the horizontal offset. As a result, the object M moves in the X direction according to the offset derived by the carriage controller 8. Fig.12 As shown in (b), the position of the object M relative to the position of the load port LP is adjusted.

[0107] In the above-mentioned embodiment and modification, an example of transferring the article M to the load port LP in a configuration where the load port LP is arranged directly below the center of the grid C in the vertical direction is described, but the present invention is not limited thereto. For example, even in a case where the load port LP is arranged at a position offset from the center of the grid C in a plan view, the article M may be transferred to a predetermined position of the load port LP by controlling the driving amount of the transfer device 18 when the article M is moved in the horizontal direction (X direction and Y direction) or by controlling the driving amount of the rotation drive unit 12c, 16 when the article M is rotated horizontally, according to the offset amount, as shown in the above-mentioned embodiment and modification.

[0108] In addition, when the loading port LP is set at an offset position relative to the center of the grid C when viewed from above, the trolley controller 8 can also control the sliding mechanism 11 included in the transfer device 18 to move the article M in the horizontal direction, and then control the rotating drive unit 16 included in the transfer device 18 according to the offset amount derived as described above, thereby causing the article M to rotate horizontally.

[0109] In the above-mentioned embodiment and modification examples, an example has been described in which the moving vehicle 2 holds the article M on the lower side of the track R. However, the moving vehicle 2 may also hold the article M on the upper side of the track R. In this case, the trolley assembly 50 is arranged on the upper side of the moving portion 30. The grid recognition sensor S1 is, for example, arranged to face downward approximately perpendicularly with respect to the lower surface of the trolley assembly 50. The position recognition sensor S2 is, for example, arranged to face approximately downward. The position recognition sensor S2 is arranged to face a direction inclined outward when viewed from the center of the grid C with respect to the Z direction. In addition, the first surface 61 is arranged to be orthogonal to the Z direction and to face upward, and the second surface 62 is arranged to face the moving vehicle 2 side (for example, the first surface 61) with respect to the first surface 61. Figure 7 Therefore, the grid recognition sensor S1 faces the grid recognition mark M1 arranged on the first surface 61, and the position recognition sensor S2 faces the position recognition mark M2 arranged on the second surface 62.

[0110] In the above-mentioned embodiment and modification, the case where the grid recognition mark M1 is set at the center of the first guide rail R1 in the X direction and the center of the second guide rail R2 in the Y direction has been described. However, the position of the grid recognition mark M1 may be arranged along the extension direction, for example, like the position recognition mark M2, and the setting position of the grid recognition mark M1 is not particularly limited as long as it can be detected by the grid recognition sensor S1.

[0111] In the above-mentioned embodiment and modification, although the case where the grid recognition mark M1 is arranged on the first surface 61 and the position recognition mark M2 is arranged on the second surface 62 is described, the arrangement relationship of the marks may be reversed. That is, the grid recognition mark M1 may be arranged on the second surface 62 and the position recognition mark M2 may be arranged on the first surface 61.

[0112] In the above-described embodiment and modified example, the case where four position recognition sensors S2 are provided on the traveling vehicle 2 has been described. However, the number of the position recognition sensors S2 may be changed as appropriate.

[0113] In the above-mentioned embodiments and variations, bar codes have been cited as examples of the grid recognition mark M1 and the position recognition mark M2 for explanation, but for example, a two-dimensional code such as a QR code (registered trademark) may also be used. In this case, a bar code reader that can read a two-dimensional bar code can be used to replace the bar code reader that can read a bar code used as the grid recognition sensor S1 and the position recognition sensor S2. In addition, as the grid recognition mark M1 and the position recognition mark M2, it is also possible to replace the above-mentioned code, or in addition to the above-mentioned code, use an identification (mark) that can be recognized by the grid recognition sensor S1 and the position recognition sensor S2, such as text, symbol, graphic, color, etc. In this case, a camera or the like may also be used as the grid recognition sensor S1 and the position recognition sensor S2.

[0114] The technical subject matter of one embodiment of the present invention can be described as follows. [1]

[0116] A rail trolley system, comprising:

[0117] A track is formed by arranging a plurality of first guide rails extending in a first direction and second guide rails extending in a second direction orthogonal to the first direction in a grid pattern;

[0118] a rail-guided vehicle that moves in the first direction by a moving portion moving on a pair of the first rails adjacent to each other in the second direction, and moves in the second direction by a moving portion moving on a pair of the second rails adjacent to each other in the first direction; and

[0119] A control unit controls the above-mentioned rail-guided trolley; and

[0120] Each of the pair of the first guide rails and each of the pair of the second guide rails is provided with a position identification mark indicating position information of the rails.

[0121] The rail-guided trolley has four position identification sensors, and the position identification sensors obtain the position information from the position identification marks. The position identification sensors are arranged to face each of the surfaces of each of the pair of first guide rails on which the position identification marks are arranged when the rail-guided trolley moves in the first direction, and are arranged to face each of the surfaces of each of the pair of second guide rails on which the position identification marks are arranged when the rail-guided trolley moves in the second direction.

[0122] The control unit derives a deviation amount between a predetermined position in a grid, which is an area surrounded by the pair of first rails and the pair of second rails, and the stop position of the rail-guided vehicle based on the position information acquired by at least one of the position recognition sensors. [2]

[0124] The rail-guided vehicle system as described in [1], wherein the control unit derives the inclination of the rail-guided vehicle relative to the grid when viewed from above based on the position information acquired by at least three of the four position recognition sensors. [3]

[0126] A rail trolley system as described in [1] or [2], wherein the four position identification sensors are arranged on one side and the other side of the rail trolley in the first direction across the center line of the rail trolley in the first direction, and are arranged on one side and the other side of the rail trolley in the second direction across the center line of the rail trolley in the second direction. [4]

[0128] The rail-guided trolley system as described in any one of [1] to [3], wherein the rail-guided trolley has a transfer device for transferring objects,

[0129] The control unit controls a driving amount of the transfer device when the object is moved in a horizontal direction according to the offset amount. [5]

[0131] The rail-guided trolley system as described in [2], wherein the rail-guided trolley comprises: a transfer device for transferring an object; and a horizontal rotation mechanism for causing the object to rotate horizontally about a third direction orthogonal to both the first direction and the second direction;

[0132] The control unit controls a driving amount of the horizontal turning mechanism when turning the object horizontally, based on the offset amount. [6]

[0134] A rail-guided trolley system as described in any one of [2] to [5], wherein the control unit controls the driving amount of the moving unit according to the offset amount so that the rail-guided trolley moves to a predetermined position in the grid.

[0135] Description of Reference Numerals

[0136] 1: Overhead moving vehicle system (railway trolley system)

[0137] 2: Elevated transfer vehicle (railway trolley)

[0138] 8: Car controller (control unit)

[0139] 12c, 16: Rotation drive unit (horizontal rotation mechanism)

[0140] 18: Transfer device

[0141] 30: Transition Department

[0142] 61: Page 1

[0143] 62: Page 2

[0144] C: Grid

[0145] M:Item (object)

[0146] M1: Mark for grid identification (first mark)

[0147] M2: Position identification mark (second mark)

[0148] R: Track

[0149] R1: Rail 1

[0150] R2: 2nd rail

[0151] S1: Grid recognition sensor (1st sensor)

[0152] S2: Position recognition sensor (second sensor)

Claims

1. A rail trolley system, comprising: The track is composed of a plurality of first guide rails extending in a first direction and second guide rails extending in a second direction orthogonal to the first direction, arranged in a grid pattern. a rail-guided vehicle that moves in the first direction by a moving portion moving on a pair of the first rails adjacent to each other in the second direction, and moves in the second direction by a moving portion moving on a pair of the second rails adjacent to each other in the first direction, and A control unit, controlling the above-mentioned rail-guided trolley; Each of the pair of the first guide rails and each of the pair of the second guide rails is provided with a position identification mark indicating position information on the rails. The above-mentioned rail-guided trolley has 4 sensors for position recognition. The position identification sensor obtains the position information from the position identification mark, and the position identification sensor is arranged to face each of the surfaces of each of the pair of first guide rails on which the position identification mark is arranged when the rail-guided trolley moves in the first direction, and is arranged to face each of the surfaces of each of the pair of second guide rails on which the position identification mark is arranged when the rail-guided trolley moves in the second direction. The control unit derives a deviation amount between a predetermined position in a grid, which is an area surrounded by the pair of first rails and the pair of second rails, and the stop position of the rail-guided vehicle based on the position information acquired by at least one of the position recognition sensors.

2. The rail trolley system of claim 1, wherein: The control unit derives an inclination of the rail-guided vehicle with respect to the grid in a plan view based on the position information acquired by at least three of the four position recognition sensors.

3. The rail trolley system according to claim 1 or 2, wherein: The four position identification sensors are arranged on one side and the other side of the rail carriage in the first direction across the center line of the rail carriage in the first direction, and are arranged on one side and the other side of the rail carriage in the second direction across the center line of the rail carriage in the second direction.

4. The rail trolley system according to claim 1 or 2, wherein: The rail-mounted trolley has a transfer device for transferring objects. The control unit controls a driving amount of the transfer device when the object is moved in a horizontal direction according to the offset amount.

5. The rail trolley system of claim 2, wherein: The rail-mounted trolley comprises: a transfer device for transferring an object; and a horizontal rotation mechanism for causing the object to rotate horizontally about a third direction orthogonal to both the first direction and the second direction; The control unit controls a driving amount of the horizontal turning mechanism when turning the object horizontally, based on the offset amount.

6. The rail trolley system of claim 2, wherein: The control unit controls the driving amount of the moving unit according to the offset amount so as to move the rail-guided vehicle to a predetermined position in the grid.

Images