Rotating mechanism and overhead transport vehicle

Abstract

The rotation mechanism includes a first portion and a second portion that rotates relative to the first portion about a rotation axis. Either the first portion or the second portion has a cylindrical member, and a transmission member wound in a spiral shape in a winding region that exceeds the outer peripheral surface by one turn on the outer peripheral surface of the cylindrical member. The other of the first part and the second part is provided with a driving part, and the driving part sends out the transmission component. At least one guide member is provided on the outer peripheral surface of the cylindrical member, and the at least one guide member is disposed in the circumferential direction at a position outside the winding region on an extension line of at least one of the upper end portion and the lower end portion, and is adjacent to the winding region in the rotational axis direction.

Description

Technical Field

[0001] The present invention relates to a rotating mechanism and an overhead transport vehicle. Background Art

[0002] In the past, for example, in an overhead transport vehicle for conveying articles, a structure in which a rotation drive unit is provided in a transfer device is known. For example, in the overhead transport vehicle described in Patent Document 1, the transverse mechanism and the lifting drive unit rotate around the first vertical axis within a range of 270 degrees by a first rotation drive unit. Thus, the transfer position (direction) of the article that is moved laterally by sliding the transverse mechanism can be changed within the range of its rotation angle.

[0003] Patent Document 1: International Publication No. 2020 / 090288

[0004] In order to rotate a certain part around a vertical rotation axis by a rotation drive unit, for example, the following mechanism is considered: a transmission member such as a belt is wound around the outer circumference of one of the first part arranged at the top and the second part arranged at the bottom, and a drive unit for delivering the transmission member is provided on the other of the first part and the second part. In this case, the transmission member is, for example, wound in a spiral shape around the outer circumference of one of the first part and the second part.

[0005] When the transmission component is wound within a range exceeding one circle (within a range exceeding the entire circumference of the outer circumference), a part of the transmission component is adjacent to other parts in the direction of the rotation axis. When the transmission component is sent out by the driving part, a part of the transmission component in contact with the driving part temporarily leaves the outer circumference, but then returns to the outer circumference again. If there are other parts of the transmission component near the part of the transmission component that has returned to the outer circumference, this part may overlap with other parts. Such overlap may lead to a reduction in rotation accuracy. Summary of the invention

[0006] The present disclosure describes a rotating mechanism and an overhead travelling vehicle that can prevent a portion of a transmission component from overlapping other portions.

[0007] A rotating mechanism comprises: a first part, and a second part arranged below the first part and rotating relative to the first part around a rotation axis extending in the up-down direction, wherein either the first part and the second part comprises: a cylindrical part which is arranged concentrically with the rotation axis; and a transmission part which is wound in a spiral shape on the outer circumference of the cylindrical part in a winding area which exceeds one turn of the outer circumference, and comprises an upper end and a lower end fixed to the cylindrical part, the other of the first part and the second part comprises a driving part which sends the transmission part out by applying a driving force to the transmission part, and at least one guide part is provided on the outer circumference of the cylindrical part, the at least one guide part being circumferentially arranged at a position outside the winding area on an extension line of at least one of the upper end and the lower end, and being adjacent to the winding area in the direction of the rotation axis.

[0008] According to the rotating mechanism, the transmission component is wound over one turn beyond the outer circumference, thereby enabling a rotation of more than 360 degrees. In addition, since the transmission component is open, it is easy to remove, achieving excellent maintainability. Furthermore, at least one guide component is adjacent to the winding area in the direction of the rotation axis. Thus, the transmission component is guided to the winding area by the guide component. Therefore, a part of the transmission component is prevented from overlapping other parts. As a result, the rotation accuracy in the rotating mechanism is improved.

[0009] At least one guide member may also include a lower guide member, which is circumferentially arranged at a position outside the winding area on an extension line of the lower end, and the lower guide member may also include an upward inclined surface that guides a portion of the transmission member near the upper end upward. The upward inclined surface of the lower guide member makes the transmission member guided smoothly, and can reliably prevent a portion of the transmission member near the upper end from overlapping other portions near the lower end.

[0010] At least one guide member may also include an upper guide member, which is circumferentially arranged at a position outside the winding area on an extension line of the upper end, and the upper guide member may also include a descending inclined surface for guiding a portion of the lower end of the transmission member downward. The descending inclined surface of the upper guide member makes the transmission member guided smoothly, and can reliably prevent a portion of the lower end of the transmission member from overlapping other portions of the upper end.

[0011] At least one guide member may also be arranged adjacent to at least one of the upper end and the lower end in the circumferential direction. The region where the transmission member is likely to overlap is the region near the end of the winding region starting from the upper end or the lower end. Thus, according to this structure, the transmission member can be more reliably prevented from overlapping.

[0012] As another embodiment of the present disclosure, an overhead transport vehicle may be provided, which comprises: a traveling trolley including a first portion; and a main body having a second portion and a transfer device installed below the second portion and transferring the transported object. In the overhead transport vehicle, the transfer device can be used to transfer items to the side and below, and the main body can be rotated around the rotation axis relative to the traveling trolley by the above-mentioned rotating mechanism. That is, according to the overhead transport vehicle, the rotation accuracy (swing accuracy) of the main body having the transfer device is improved, and items can be placed more accurately.

[0013] According to the present disclosure, a part of the transmission member is prevented from overlapping with other parts. As a result, the rotation accuracy in the rotating mechanism is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a perspective view showing an example of a traveling vehicle system according to the embodiment.

[0015] 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.

[0016] Figure 3 Yes means Figure 1 Side view of the overhead crane in Figure 2.

[0017] Figure 4 Yes means Figure 1 A three-dimensional image of an overhead transport vehicle.

[0018] Figure 5 It is a perspective view showing the first portion of the overhead travelling vehicle and the main body attached to the first portion.

[0019] Figure 6 It is a perspective view showing the cylindrical member of the first part, the transmission member, and the driving unit provided in the second part.

[0020] Figure 7 It is a side view of the cylindrical component.

[0021] Figure 8 It is a figure which shows two guide members attached to the cylindrical member.

[0022] Fig. 9 (a) is a three-dimensional diagram of the guide component. Fig. 9 (b) is the front view of the guide component, Fig. 9 (c) is a bottom view of the guide component. DETAILED DESCRIPTION

[0023] Hereinafter, the embodiments of the present disclosure will be described with reference to the accompanying drawings. In addition, 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, for the convenience of explanation, the various structures of the embodiments are expressed by appropriately changing the scale. In some drawings, an XYZ orthogonal coordinate system is also marked. In the following description, this coordinate system is referred to for the convenience of explanation. Hereinafter, a direction along the horizontal plane is set as the X direction (first direction), a direction orthogonal to the X direction and along the horizontal plane is set as the Y direction (second direction), and a vertical direction is set as the Z direction for explanation.

[0024] like Figure 1 As shown, the overhead vehicle system (vehicle system) 1 involved in the embodiment is, for example, a grid system (conveyor system or rail-mounted trolley system) for transporting articles M through overhead vehicles (overhead transfer vehicles) 2 in a clean room of a semiconductor manufacturing plant. The overhead vehicle system 1 includes, for example: a plurality of overhead vehicles 2 (hereinafter collectively referred to as "vehicles"), a system controller 5 that controls the plurality of vehicles 2, and a track R on which the plurality of vehicles 2 travel. The vehicles 2 move along the track R of the overhead vehicle system 1. The vehicles 2 travel along the track R to transport articles M such as a FOUP (Front Opening Unified Pod) for accommodating semiconductor wafers or a mask Pod for accommodating masks. The vehicles 2 may also be referred to as a trolley, a transport vehicle, a transport trolley, or a traveling trolley, etc. The plurality of vehicles 2 enable high-density transport of articles M, thereby improving the transport efficiency of the articles M. In addition, the overhead vehicle system 1 may also include only one vehicle 2.

[0025] 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 machine, a film forming device, an etching device, etc., and performs various processes on the semiconductor wafer in the article M transported by the traveling vehicle 2. The stocker stores the article M transported by the traveling vehicle 2.

[0026] The track R is arranged in a grid shape when viewed from above. 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 elevated vehicle system 1 comprises: 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 in a portion where the rail units 100 are connected to each other by the connecting components 140.

[0027] Figure 2 It means composition Figure 1 Exploded three-dimensional view of four guide rail units 100 and connecting components 140 connecting them of the guide rail assembly 200. Each guide rail unit 100 is a rectangular parallelepiped (frame-shaped) component having the same structure. Each guide rail unit 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 in a manner 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 the guide rail unit 100 is viewed from above, the two parallel first guide rail components 110 and the two parallel second guide rail components 120 are arranged in a square, and the four cross-section guide rail components 130 are arranged at the vertices of the square.

[0028] Each guide rail unit 100 is made of metal, for example, and is a unit formed by integrating the first guide rail member 110, the second guide rail member 120, and the cross-section guide rail member 130 after molding. Each first guide rail member 110 includes: a first beam portion 111, which is arranged at the upper end position of the guide rail unit 100 and extends along the X direction; a first rail R1, which is arranged at the lower end position of the guide rail unit 100 and extends along 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 component 120 includes: a second beam 121, which is arranged at the upper end of the rail unit 100 and extends along the Y direction; a second rail R2, which is arranged at the lower end of the rail unit 100 and extends along 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 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.

[0029] The intersection rail component 130 includes: an intersection support column 133 extending along the Z direction (vertical direction) at a position where the first beam 111 and the second beam 121 are joined at right angles; and an intersection rail R3 provided at the lower end of the intersection support column 133 .

[0030] like Figure 1As 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 grid shape when viewed from above by a plurality of first guide rails R1 and a plurality of second guide rails R2. The track R forms 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 is 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.

[0031] Each guide rail unit 100 forms a square (or rectangular) track R corresponding to one square on its inner side. A plurality of guide rail units 100 are arranged in the X direction and the Y direction, whereby a plurality of first guide rails R1 extend continuously in the X direction, and a plurality of second guide rails R2 extend continuously 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 perspective. In the case of four squares consisting of two squares arranged in the X direction and two squares arranged in the Y direction, four intersection rails R3 adjacent in the X direction and the Y direction are arranged at intervals (relative to the first guide rail R1) between two first guide rails R1 adjacent in the Y direction and another two first guide rails R1 adjacent in the Y direction. In addition, four intersection rails R3 similar to those described above are arranged at intervals (with respect to the second rails R2) between two second rails R2 adjacent to each other in the X direction and between another two second rails R2 adjacent to each other in the X direction.

[0032] 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 first running surface R1a which is flat and horizontal on the upper surface, and the running wheels 31 of the running vehicle 2 run in the X direction (first running direction D1) on the first running surface R1a. Each second guide rail R2 includes a second running surface R2a which is flat and horizontal on the upper surface, and the running wheels 31 of the running vehicle 2 run in the Y direction (second running direction D2) on the second running surface R2a. The intersection 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 over 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.

[0033] For example, there is no gap of the size of the gap G 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 on any 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 on the intersection travel surface R3a (while changing its direction).

[0034] As described above, in the guide rail assembly 200, the first guide rail member 110, the second guide rail member 120, and the intersection guide rail member 130 form a grid-shaped rail R. The layout of the grid-shaped rail R in the overhead traveling vehicle system 1 can be appropriately adjusted or changed by setting the plurality of guide rail units 100 to any arrangement (including adding or deleting the guide rail units 100).

[0035] Reference Figure 2 The connection structure of the guide rail unit 100 using the connection member 140 will be described. Figure 2As shown, each connecting member 140 includes an upper connecting member 141 and a lower connecting member 142. The upper surface of any one of the four corners of a plurality of (typically four) guide rail units 100 is mounted on the upper connecting member 141 which is a plate or frame extending horizontally. 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 extending horizontally supports the lower surface of any 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.

[0036] The rod-shaped suspension member H extending in the vertical direction penetrates 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. In addition, 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 the 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 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 suspension member H.

[0037] 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.

[0038] 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 has: a traveling trolley 20 that travels on the track R, and a main body 10 that is mounted on the lower part of the traveling trolley 20 and is freely rotatable relative to the traveling trolley 20. The traveling trolley 20 includes: a trolley unit 50 of, for example, a rectangular shape, which is arranged below the track R; a traveling part 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 swivel mechanisms 40 that make the four traveling wheels 31 in the traveling part 30 swivel respectively relative to the trolley unit 50. A trolley controller (control unit) 8 is provided inside the trolley unit 50.

[0039] 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 into a square (see FIG. 1 ) accommodated in the track R when viewed from above. Figure 1 ) size. The traveling vehicle 2 can be staggered with 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 in shape when viewed from above. The cylindrical frame 12b is open in a portion of the circumferential direction. The range of the opening (cutout) is large enough to allow the transfer device 18 to pass through. The transfer device 18 passes through the opening of the cylindrical frame 12b when moving horizontally.

[0040] The main body 10 is mounted on the lower part of the trolley unit 50 and can freely 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 from the track R via four traveling wheels 31 and four wheel rotation 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.

[0041] 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 arranged 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 driving unit (described in detail later) arranged on the top plate 12a. The transfer device 18 includes: an article holding unit 13, which holds the article M on the lower side of the track R; a lifting drive unit 14, which lifts and lowers the article holding unit 13 in the vertical direction; and a sliding mechanism 11, which slides and moves the lifting drive unit 14 in the horizontal direction. The sliding mechanism 11 is held on the lower surface of the top plate 12a. A rotation drive unit 16 is arranged between the sliding mechanism 11 and the lifting drive unit 14, and the rotation drive unit 16 rotates the lifting drive unit 14 relative to the sliding mechanism 11 around the rotation axis L14. The rotation drive unit 16 is arranged below the sliding mechanism 11, and the lifting drive unit 14 is arranged below the rotation drive unit 16. The article holding unit 13 is provided below the lifting drive unit 14 via a plurality of suspension members 13b. The loading port is a transfer destination or a transfer source of the traveling vehicle 2 and is a location where the articles M are transferred to and from the traveling vehicle 2.

[0042] The article holding part 13 holds the flange Ma of the article M, thereby suspending and holding 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 or a belt.

[0043] 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.

[0044] The sliding mechanism 11 has, for example, a plurality of movable plates arranged overlapping in the Z direction. 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 of the movable plate installed on the bottom layer 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 opening of the cylindrical frame 12b.

[0045] 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. In addition, in a state where the movable plate of the sliding mechanism 11 is not moved but is stored (in 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.

[0046] The trolley unit 50 has a cylindrical supporting member (cylindrical member) 52 at the lower end. The top plate portion 12a of the main frame 12 is rotatably mounted on the lower surface side of the supporting member 52. For example, a driving unit such as an electric motor is provided on the top plate portion 12a (described in detail later). The driving force of the driving unit is transmitted to the supporting member 52, whereby the main frame 12 rotates relative to the trolley unit 50 around the rotation axis L10 extending in the vertical direction. The main frame 12 can rotate at any angle of, for example, more than 360 degrees and less than 540 degrees, but the upper limit is not limited to 540 degrees. The sliding mechanism 11 is mounted on the lower surface side of the top plate portion 12a, and the top plate portion 12a supports the sliding mechanism 11. The main frame 12 and the transfer device 18 are integrated, and the main frame 12 rotates together with the transfer device 18. The traveling vehicle 2 can transfer the article M relative to the loading port by using the transfer device 18.

[0047] In addition, 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 the protruding portion of the movable plate of the sliding mechanism 11 (the above-mentioned opening portion) is cut away.

[0048] The travel unit 30 has four travel wheels 31. Two auxiliary wheels 32 are provided on each of the travel wheels 31. Figure 4 As shown, the traveling wheels 31 are arranged at the four corners of the trolley unit 50 so as to protrude upward from the upper surface cover 51. Each traveling wheel 31 can rotate around a horizontal or substantially horizontal wheel axis along the XY plane. A traveling drive motor 33 is arranged on the rotating shaft of each traveling wheel 31. Each traveling wheel 31 is rotationally driven by the driving force of the traveling drive motor 33. The traveling drive motor 33 is configured, for example, to be able to switch between forward and reverse rotation. 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. In addition, it is not limited to that all the four traveling wheels 31 are rotationally driven by the driving force of the traveling drive motor 33, and it can also be configured to rotationally drive a part of the four traveling wheels 31.

[0049] Four wheel turning mechanisms 40 are fixed to a trolley frame (not shown) in the trolley unit 50, and a pedestal 34 is connected to each wheel turning mechanism 40 via a turning axis of the wheel turning mechanism 40. A traveling wheel 31, two auxiliary wheels 32, and a traveling drive motor 33 are mounted on the pedestal 34 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 in 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.

[0050] 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. Through 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 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, and supports the rotating shaft of the traveling wheel 31 and the rotating shaft of the auxiliary wheel 32 so that they can rotate. The supporting member 36 maintains the relative position of the traveling wheel 31 and the auxiliary wheel 32.

[0051] like Figure 4 As shown, the traveling wheel 31 is configured to be able to rotate around a rotation axis L30 extending in a 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 axes L30. In other words, the four rotation axes L30 are arranged at positions that are four-fold symmetrical about the rotation axis L10 of the main body 10. When viewed from above, the position of the traveling wheel 31 is different from (offset from) the position of the rotation axis L30. The traveling wheel 31 rotates through the wheel rotation mechanism 40, as a result of which the traveling direction of the traveling vehicle 2 can be changed.

[0052] 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 wheel axis 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 between the second guide rail R2 and the intersection guide rail R3, the auxiliary wheels 32 contact with the auxiliary components (not shown) provided on the first guide rail R1 and the second guide rail R2 to suppress the falling of the traveling wheel 31. In addition, it is not limited to providing 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.

[0053] 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 trolley frame (not shown) in the trolley unit 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 connecting part 35, the supporting part 36, the traveling wheel 31, the auxiliary wheel 32 and the traveling drive motor 33 to rotate integrally around the swing 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 swing 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. Turning means switching from a first state where the vehicle 2 is traveling in a first traveling direction D1 to a second state where the vehicle 2 is traveling in a second traveling direction D2, or switching from a second state where the vehicle 2 is traveling in the second traveling direction D2 to a first state where the vehicle 2 is 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 article M is moving (for example, rotating). The driving of the wheel rotating mechanism 40 is controlled by the trolley controller 8.

[0054] As described above, the 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.

[0055] 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 (eg, near the connection portion 35). The guide rollers prevent the travel vehicle 20 (travel vehicle 2) from being displaced relative to the rail R.

[0056] 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 marker indicating position information provided on the track R. The position detection unit detects the position marker in a non-contact manner.

[0057] The trolley controller 8 centrally controls the traveling vehicle 2. 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 a 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 one device or a plurality of devices. In the case of being composed of a plurality of devices, they are connected via a communication network such as the Internet or an intranet, thereby logically constructing a trolley controller 8. The trolley controller 8 is, for example, provided in the trolley unit 50.

[0058] The trolley controller 8 controls the travel of the traveling vehicle 2 based on the transport instruction. The trolley controller 8 controls the travel of the traveling vehicle 2 by controlling the travel drive motor 33 and the steering motor 43, etc. The trolley controller 8 controls, for example, the travel speed, the action related to stopping, and the action related to the direction change. The trolley controller 8 controls the transfer action of the traveling vehicle 2 based on the transport instruction. The trolley controller 8 controls the transfer direction of the transfer device 18 by controlling the rotation (rotation) of the main body 10 (main body frame 12 and transfer device 18). The trolley controller 8 controls the transfer action of the traveling vehicle 2 by controlling the transfer device 18, etc. The trolley controller 8 controls the loading action of the article M arranged at the specified loading port, and the unloading action of putting the held article M down to the specified loading port.

[0059] 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 one device or as a plurality of devices. In the case of being configured as a plurality of devices, they are connected via a communication network such as the Internet or an intranet, thereby logically constructing one system controller 5. At least a part of the various controls of the system controller 5 can also be executed by the trolley controller 8.

[0060] The system controller 5 selects any one of the multiple traveling vehicles 2 that can transport the article M, and assigns a transport instruction to the selected traveling vehicle 2. The transport instruction includes a driving instruction for the traveling vehicle 2 to drive to the loading port, a loading instruction for the article M arranged at the loading port, or an unloading instruction for the held article M to the loading port.

[0061] Next, refer to Figure 5 and Figure 6 The mechanism for rotating (swinging) the main body 10 provided in the traveling vehicle 2 is described in detail. The traveling vehicle 2 is provided with a rotating mechanism 300 (see Figure 6 ). The rotating mechanism 300 includes: a trolley frame lower portion (first portion) 50a as a part of the trolley unit 50, and a main frame (second portion) 12 arranged below the trolley frame lower portion 50a. The rotating mechanism 300 is a mechanism for rotating the main frame 12 relative to the trolley frame lower portion 50a. The main frame 12 rotates relative to the trolley frame lower portion 50a around a rotation axis L10 extending in the up-down direction.

[0062] like Figure 5 As shown, the lower part 50a of the trolley frame has a supporting member (cylindrical member) 52 constituting the lower end of the trolley frame. The supporting member 52 is arranged concentrically with the rotation axis L10. The top plate portion 12a of the horizontally extending main frame 12 has, for example: a circular recess 12c formed concentrically with the rotation axis L10, and a central hole 12e formed in the center of the recess 12c (the position where the rotation axis L10 passes). The trolley frame and the top plate portion 12a are connected, for example, by an axle body passing through the central hole 12e. In addition, in order to rotate the top plate portion 12a around the rotation axis L10 relative to the supporting member 52, a guiding member (protrusion, etc.) is provided on either side of the supporting member 52 and the top plate portion 12a, and a guided portion (recess, etc.) is provided on the other side of the supporting member 52 and the top plate portion 12a. For example, a part of the lower part 50a of the trolley frame may also be embedded in the recess 12c. According to the structure exemplified in this way, the main body frame 12 is provided so as to be rotatable while being suspended from the carriage frame lower portion 50 a .

[0063] like Figure 6 As shown, the lower part 50a of the carriage frame has a transmission member 66, which is wound on the outer peripheral surface 52a of the support member 52. The transmission member 66 is, for example, a belt having a flat cross section. The cross section of the transmission member 66 is longer in the direction along the rotation axis L10 and shorter in the radial direction centered on the rotation axis L10. That is, the long side direction of the cross section of the transmission member 66 is parallel to the rotation axis L10, and the short side direction (thickness direction) of the cross section of the transmission member 66 is parallel to the above-mentioned radial direction. The transmission member 66 is wound in a spiral shape within a range exceeding one turn of the outer peripheral surface 52a.

[0064] Reference Figure 7 This will be described in more detail. Figure 7 52 is a side view of the support member 52. Figure 7 As shown in FIG. 1 , a groove portion 55 is formed on the outer peripheral surface 52a of the support member 52 over the entire circumference. The transmission member 66 is arranged in the groove portion 55. Figure 6 and Figure 7 As shown, an upper fixing groove 57A for fixing the upper end 67A of the transmission member 66 and a lower fixing groove 57B for fixing the lower end 67B of the transmission member 66 are formed on the outer peripheral surface 52a. The upper fixing groove 57A and the lower fixing groove 57B are both formed in the middle of the groove-shaped portion 55. The upper fixing groove 57A and the lower fixing groove 57B are different in position in the circumferential direction, for example, and also in position in the direction of the rotation axis L10. In the direction of the rotation axis L10, the upper fixing groove 57A is formed in the upper part of the outer peripheral surface 52a, and the lower fixing groove 57B is formed in the lower part of the outer peripheral surface 52a.

[0065] like Figure 6 As shown, the upper end 67A of the transmission member 66 is arranged at the upper part of the outer peripheral surface 52a, and the lower end 67B of the transmission member 66 is arranged at the lower part of the outer peripheral surface 52a. The transmission member 66 is wound around the outer peripheral surface 52a with a length obtained by adding one turn (360 degrees) and a predetermined angle range (for example, 60 degrees to 90 degrees). The predetermined angle range is a range in which the transmission members 66 overlap each other when viewed from above (viewed from the direction of the rotation axis L10). Within this range, the transmission members 66 are arranged substantially in parallel. The predetermined angle range may be less than 180 degrees or more than 180 degrees. The transmission member 66 is wound in a spiral shape in a winding area A extending from the upper end 67A (upper fixing groove 57A) toward the lower end 67B (lower fixing groove 57B) within a range of one turn and about 1 / 3 to 1 / 2 turn (a total of less than two turns). That is, the winding region A is a spiral region connecting the upper fixing groove 57A and the lower fixing groove 57B, and is a region through which the transmission member 66 originally (in a normal state) passes.

[0066] like Figure 7 As shown in FIG. 1 , the winding region A includes an upper edge portion 55a of a portion 66a near the upper end portion 67A of the transmission member 66. In addition, the winding region A includes a lower edge portion 55b where a portion 66b near the lower end portion 67B of the transmission member 66 is disposed. The upper edge portion 55a and the lower edge portion 55b are adjacent to each other in the direction of the rotation axis L10. The winding region A includes an arc-shaped inclined portion (at the position of the upper edge portion 55a and the lower edge portion 55b) connecting the upper edge portion 55a and the lower edge portion 55b. Figure 7Most of it is hidden behind. In addition, the transmission member 66 is wound in a spiral shape, so the upper edge 55a and the lower edge 55b are also slightly inclined in a spiral shape. The groove-shaped portion 55 of the outer peripheral surface 52a has a height slightly larger than twice the length of the cross section of the transmission member 66 in the long side direction (the length in the direction of the rotation axis L10). Therefore, within the range where the upper edge 55a and the lower edge 55b are adjacent, that is, within the range where the transmission members 66 are arranged in parallel, the gap between the transmission members 66 is shorter than the length of the cross section of the transmission member 66 in the long side direction.

[0067] like Figure 6 As shown, the main frame 12 has a driving unit 60, which sends the transmission member 66 by applying a driving force to the transmission member 66. For example, the diameter of the top plate portion 12a is larger than the diameter of the support member 52 (refer to Figure 5 ). The driving unit 60 is, for example, arranged radially outward of the supporting member 52. The driving unit 60 includes: a driving motor 63, which is mounted on the back side of the top plate portion 12a; a driving pulley 61, which is fixed to the driving shaft 63a of the driving motor 63; and a pair of auxiliary rollers 62, which are arranged on both sides of the driving pulley 61. Teeth are formed on the entire area of ​​the back side of the transmission member 66 (the surface that abuts against the outer peripheral surface 52a, that is, the surface facing the radial inner side). The transmission member 66 is a synchronous belt. In addition, teeth that mesh with the teeth of the transmission member 66 are formed on the outer peripheral surface of the driving pulley 61. The driving pulley 61 is a synchronous pulley. A part of the transmission member 66 is pulled out, and the pulled-out portion 66f is wound around the driving pulley 61. The pair of auxiliary rollers 62 presses the root of the pulled-out portion 66f. The rotation axis L61 of the driving pulley 61 is, for example, parallel to the rotation axis L10. The rotation axis of the pair of auxiliary rollers 62 is also parallel to the rotation axis L10. The drive shaft 63a penetrates the top plate 12a in a state of being freely rotatable relative to the top plate 12a. The drive motor 63 is controlled by the carriage controller 8. The drive unit 60 delivers the transmission member 66 in the circumferential direction (strictly speaking, in the direction along the spiral) by the rotational driving force of the drive motor 63 and the drive pulley 61.

[0068] In the rotating mechanism 300 , the driving pulley 61 rotates about the rotation axis L61 , whereby the transmission member 66 is pulled, and the main body frame 12 rotates relative to the carriage frame lower portion 50 a .

[0069] like Figure 6 to Figure 8 As shown in FIG. 1 , two guide members 70 are fixed to the outer peripheral surface 52a of the support member 52. One guide member 70, namely the upper guide member 70A, is arranged at a position outside the winding area A on the extension line of the upper end portion 67A in the circumferential direction ( Figure 8The other guide member 70, i.e., the lower guide member 70B, is arranged outside the winding area A on the extension line of the lower end portion 67B in the circumferential direction ( Figure 8 In this way, the upper guide member 70A and the lower guide member 70B are respectively attached to the portion other than the spirally wound region A of the outer peripheral surface 52a.

[0070] like Figure 6 As shown, the inclined surface 73a (see Fig. 9 ) is provided so as to contact the upper surface of a portion 66d of the transmission member 66 in the direction of the rotation axis L10. The inclined surface 73a of the lower guide member 70B is provided so as to contact the lower surface of a portion 66c of the transmission member 66 in the direction of the rotation axis L10.

[0071] like Figure 8 As shown in FIG. 1 , a common (same) member, namely, the guide member 70 is used as the upper guide member 70A and the lower guide member 70B. However, the orientations in which they are mounted on the outer peripheral surface 52a are different. Fig. 9 (a) and Fig. 9 As shown in (c), the upper guide member 70A includes a fixing portion 71 provided at one end thereof, and a guide portion 73 extending in an arc shape from the fixing portion 71. The fixing portion 71 is provided with, for example, two holes 72. The fixing portion 71 is fixed to the upper fixing groove 57A or the lower fixing groove 57B by means of these holes 72 and screws (not shown). The curvature radius of the guide portion 73 is substantially consistent with the curvature radius of the outer peripheral surface 52a of the support member 52 (the bottom surface of the groove-shaped portion 55), and thus the guide portion 73 extends along the support member 52 (the bottom surface of the groove-shaped portion 55).

[0072] like Figure 6 and Figure 8As shown, the upper guide member 70A is arranged adjacent to the upper end 67A in the circumferential direction. The lower guide member 70B is arranged adjacent to the lower end 67B in the circumferential direction. Each guide member 70 is arranged close to the end of the transmission member 66 in this way, so that the mounting portion of each guide member 70 is set in the same area (or an area close to each other) as the mounting portion (fixing portion) of the upper end 67A and the lower end 67B. In more detail, the upper fixing groove 57A is provided with a recess and / or a hole portion for fixing the upper end 67A of the transmission member 66, and a recess and / or a hole portion for fixing the fixing portion 71 of the upper guide member 70A is provided. The lower fixing groove 57B is provided with a recess and / or a hole portion for fixing the lower end 67B of the transmission member 66, and a recess and / or a hole portion for fixing the fixing portion 71 of the lower guide member 70B is provided. In order to facilitate the fixing of the transmission member 66 and the guide member 70, the upper fixing groove 57A and the lower fixing groove 57B may be respectively formed flat. As a result, the guide portion 73 of the upper guide member 70A is arranged on the upper mounting portion 58A adjacent to the upper fixing groove 57A, and the guide portion 73 of the lower guide member 70B is arranged on the lower mounting portion 58B adjacent to the lower fixing groove 57B.

[0073] like Fig. 9 As shown in (b), in the direction of the rotation axis L10 of the guide portion 73 of the guide member 70 (refer to Figure 6 ) is formed with an inclined surface 73a at one end surface, and the height position of the inclined surface 73a in the direction of the rotation axis L10 gradually changes. Figure 6 As shown, the upper guide member 70A includes an inclined surface 73a (downward inclined surface). The inclined surface 73a guides a portion 66d near the lower end 67B of the transmission member 66 downward. In addition, the lower guide member 70B includes an inclined surface 73a (upward inclined surface) that guides a portion 66c near the upper end 67A of the transmission member 66 upward. In this specification, when the term "a portion near 'something'" is used, such as "a portion 66d near the lower end 67B" or "a portion 66c near the upper end 67A", it means that the portion is located near the end of either side. That is, "near 'something'" means "relatively close to 'something'".

[0074] After the driving pulley 61 pulls a portion 66d of the transmission member 66, when the portion 66d lands on the outer peripheral surface 52a, the upper guide member 70A prevents the portion 66d from overlapping with the other portion 66a. In addition, after the driving pulley 61 pulls a portion 66c of the transmission member 66, when the portion 66c lands on the outer peripheral surface 52a, the lower guide member 70B prevents the portion 66c from overlapping with the other portion 66b. Thus, the transmission member 66 is guided (when landing) so that the transmission member 66, the upper end portion 67A, the lower end portion 67B, and the various parts of the transmission member 66 are arranged in a standard position without overlapping each other.

[0075] According to the rotating mechanism 300 of the present embodiment, the transmission member 66 is wound by one turn of the outer circumferential surface 52a, so that a rotation of more than 360 degrees can be achieved. In addition, since the transmission member 66 is open, it is easy to remove, and excellent maintenance is achieved. In addition, at least one guide member 70 is adjacent to the winding area A in the direction of the rotation axis L10. As a result, the transmission member 66 is guided to the winding area A by the guide member 70. Therefore, a part of the transmission member 66 is prevented from overlapping other parts. As a result, the positional deviation in the rotating mechanism 300 is prevented, and the rotation accuracy is improved. In addition, since the transmission member 66 is open, the transmission member 66 can be replaced or adjusted by only releasing the fixing of the upper end 67A and the lower end 67B located at both ends. As a result, the replacement operation or adjustment operation of the transmission member 66 becomes easy, and excellent maintenance is achieved. According to the rotating mechanism 300, the transmission member 66 is sent out to a degree exceeding one turn of the outer circumferential surface 52a of the support member 52, thereby being able to be rotated by the drive unit 60. This enables rotation of 360 degrees or more (relative rotation).

[0076] The lower guide member 70B includes an inclined surface 73a (upward inclined surface) for guiding upward a portion 66c near the upper end 67A of the transmission member 66. The inclined surface 73a of the lower guide member 70B makes the transmission member 66 smoothly guided, and reliably prevents a portion 66c near the upper end 67A of the transmission member 66 from overlapping another portion 66b near the lower end 67B.

[0077] The upper guide member 70A includes an inclined surface 73a (downward inclined surface) for guiding downward a portion 66d near the lower end 67B of the transmission member 66. The inclined surface 73a of the upper guide member 70A makes the transmission member 66 smoothly guided, and reliably prevents a portion 66d near the lower end 67B of the transmission member 66 from overlapping other portions 66a near the upper end 67A.

[0078] The upper guide member 70A and the lower guide member 70B are arranged adjacent to the upper end portion 67A and the lower end portion 67B in the circumferential direction, respectively. The region where the transmission member 66 is likely to overlap is the region near the end of the winding region A starting from the upper end portion 67A or the lower end portion 67B. Thus, according to this structure, the transmission member 66 can be more reliably prevented from overlapping.

[0079] In the traveling vehicle 2 of the overhead traveling vehicle system 1, the article M can be transferred to the side and downward by the transfer device 18, and the main body 10 can be rotated about the rotation axis L10 relative to the traveling vehicle 20 by the rotating mechanism 300. That is, according to the traveling vehicle 2, the rotation accuracy (swing accuracy) of the main body 10 having the transfer device 18 is improved, and the article M can be placed more accurately. In addition, the deviation of the trajectory of the transmission member 66 of the rotation of the main body 10 is reduced by preventing overlap, which also contributes to the improvement of the stopping accuracy.

[0080] The above is a description of the embodiments of the present disclosure, but the present invention is not limited to the above embodiments. The upper guide member 70A is not limited to being arranged adjacent to the upper end portion 67A, but may be circumferentially away from the upper end portion 67A. The lower guide member 70B is not limited to being arranged adjacent to the lower end portion 67B, but may be circumferentially away from the lower end portion 67B. For example, either the upper guide member 70A or the lower guide member 70B may be omitted. Even in such a modified example, the guide member 70 is arranged at a position outside the winding area A (a position where the spiral transmission member 66 does not originally pass).

[0081] The inclined surface portion may be omitted in the guide member 70. The specific structure of the guide member is not limited to the above-described embodiment. For example, the guide member may be formed in a shape other than an arc-shaped extending shape.

[0082] In the above embodiment, an example is described in which the rotation axis L61 of the driving pulley 61 extends in the vertical direction, but the rotation axis L61 of the driving pulley 61 may be tilted in accordance with the tilt of the transmission member 66. Thus, the slip of the transmission member 66 on the driving pulley 61 can be reduced, thereby reducing the wear of the transmission member 66. The transmission member is not limited to the belt.

[0083] The first part arranged at the top can also be rotated relative to the second part arranged at the bottom by a rotating mechanism. In addition, in the above-mentioned embodiment, the lower part 50a of the trolley frame as the first part has a supporting part 52 and a transmission part 66 as a cylindrical part, and the main frame 12 as the second part has a driving part 60. It is also possible to be different from this structure and adopt the following structure: the second part arranged at the bottom has a cylindrical part and a transmission part, and the first part arranged at the top has a driving part. In this case, the second part can also be rotated relative to the first part, and the first part can also be rotated relative to the second part. In these modified examples, as a specific mechanism, the same mechanism as the above-mentioned embodiment can also be used.

[0084] In the above embodiment, the four rotation axes L30 in the travel unit 30 and the wheel rotation mechanism 40 are arranged at the vertices of a square in a plan view, but the arrangement of the rotation axes L30 may not be a square. In a plan view, the position of the travel wheel 31 may coincide with the position of the rotation axis L30.

[0085] In the above embodiment, the case where the running wheels 31 rotate on the intersection guide rail R3 is described, but when each wheel rotation mechanism 40 rotates, each running wheel 31 can also be 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.

[0086] In the above-described embodiment, the case where the traveling vehicle is an overhead travelling 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.

[0087] In the above embodiment, a grid system is used as the overhead traveling vehicle system 1, but the overhead traveling vehicle system 1 is not limited to the grid system. For example, an AGV (Automated Guided Vehicle) may be used as a conveying system, or various known systems that travel on a grid-shaped traveling path may be used. In the above embodiment, the traveling vehicle 2 holds the article M on the lower side of the track R, but the traveling vehicle 2 may also hold the article M on the upper side of the track R.

[0088] The constituent elements of one embodiment of the present invention are described below.

[0089] [1] A rotating mechanism comprising: a first portion; and a second portion disposed below the first portion and rotating relative to the first portion about a rotation axis extending in a vertical direction, wherein:

[0090] Either of the first part or the second part has:

[0091] a cylindrical member arranged concentrically with the rotation axis; and

[0092] a transmission member, which is wound in a spiral shape on the outer peripheral surface of the cylindrical member in a winding area exceeding one turn of the outer peripheral surface, and includes an upper end portion and a lower end portion fixed to the cylindrical member,

[0093] The other of the first part and the second part has a driving unit,

[0094] The driving unit applies a driving force to the transmission component to send the transmission component out.

[0095] At least one guide member is provided on the outer peripheral surface of the cylindrical member, and the at least one guide member is arranged in a circumferential direction at a position outside the winding area on an extension line of at least one of the upper end portion and the lower end portion, and is adjacent to the winding area in the direction of the rotation axis.

[0096] [2] A rotating mechanism according to [1], wherein:

[0097] The at least one guide member includes a lower guide member, and the lower guide member is arranged at a position outside the winding area on an extension line of the lower end portion in the circumferential direction.

[0098] The lower guide member includes an upward inclined surface that guides a portion of the transmission member near the upper end portion upward.

[0099] [3] The rotating mechanism according to [1] or [2], wherein:

[0100] The at least one guide member includes an upper guide member, and the upper guide member is arranged at a position outside the winding area on an extension line of the upper end portion in the circumferential direction.

[0101] The upper guide member includes a descending inclined surface that guides a portion of the transmission member near the lower end portion downward.

[0102] [4] A rotating mechanism according to any one of [1] to [3], wherein:

[0103] The at least one guide member is disposed adjacent to at least one of the upper end portion and the lower end portion in the circumferential direction.

[0104] [5] An overhead transport vehicle, comprising:

[0105] A traveling trolley including the first part mentioned above; and

[0106] The main body has the second part and a transfer device installed below the second part and transferring the conveyed object.

[0107] The main body is rotated around the rotation axis relative to the travel vehicle by the rotation mechanism described in any one of [1] to [4].

[0108] Description of Reference Numerals

[0109] 1… overhead traveling vehicle system (traveling vehicle system); 2… overhead traveling vehicle (overhead transport vehicle); 5… system controller; 8… trolley controller (control unit); 10… main body; 12… main body frame (second part); 18… transfer device; 20… traveling trolley; 30… traveling part; 33… traveling drive motor; 35… connecting part; 40… wheel turning mechanism; 43… steering motor; 50… trolley unit; 50a… lower part of trolley frame (first part); 52… supporting member (cylindrical member); 52a… outer peripheral surface; 58A… upper mounting part; 58B… lower mounting part; 60… driving part; 66… transmission member; 66c… a part (near the upper end); 66d… a part (near the lower end) points; 67A…upper end; 67B…lower end; 70…guide component; 70A…upper guide component; 70B…lower guide component; 100…guide rail unit; 110…first guide rail component; 113…first support wall; 120…second guide rail component; 123…second support wall; 130…intersection guide rail component; 140…connecting component; 200…guide rail assembly; 300…rotating mechanism; A…winding area; D1…first travel direction; D2…second travel direction; G…interval; H…suspension component; M…article; R…track; R1…first guide rail; R2…second guide rail; R3…intersection guide rail; R1a…first travel surface; R2a…second travel surface; R3a…intersection travel surface.

Claims

1. A rotating mechanism comprising: a first portion, and a second portion disposed below the first portion and rotating relative to the first portion about a rotation axis extending in a vertical direction, The rotating mechanism is characterized in that Either the first part or the second part has: a cylindrical member arranged concentrically with the rotation axis; and a transmission member, which is wound in a spiral shape on the outer peripheral surface of the cylindrical member in a winding area exceeding one turn of the outer peripheral surface, and includes an upper end portion and a lower end portion fixed to the cylindrical member, The other of the first part and the second part has a driving unit, The driving unit sends out the transmission component by applying a driving force to the transmission component. At least one guide member is provided on the outer peripheral surface of the cylindrical member, and the at least one guide member is arranged outside the winding area on the extension line of at least one of the upper end and the lower end in the circumferential direction and is adjacent to the winding area in the direction of the rotation axis.

2. The rotating mechanism according to claim 1, characterized in that: The at least one guide member includes a lower guide member, and the lower guide member is arranged in a position outside the winding area on an extension line of the lower end in the circumferential direction. The lower guide member includes an upward inclined surface that guides a portion of the transmission member near the upper end portion upward.

3. The rotating mechanism according to claim 1 or 2, characterized in that: The at least one guide member includes an upper guide member, and the upper guide member is arranged in a position outside the winding area on an extension line of the upper end in the circumferential direction. The upper guide member includes a descending inclined surface that guides a portion of the transmission member near the lower end portion downward.

4. The rotating mechanism according to claim 1, characterized in that: The at least one guide member is arranged adjacent to at least one of the upper end portion and the lower end portion in the circumferential direction.

5. An overhead transport vehicle, characterized in that: have: A traveling trolley including the first part; and The main body has the second part and a transfer device installed below the second part and transferring the conveyed object. The main body is rotated around the rotation axis relative to the traveling vehicle by the rotation mechanism according to claim 1 .

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