Object conveyance system

Abstract

The invention provides an object conveying system. The object conveying system comprises an object conveying device and a carrying table. The object conveying device comprises a walking part, a trolley part and a transfer machine part. A rail extending in the lateral direction is disposed between the object conveying device and the mounting table. The transverse moving mechanism of the trolley part moves back and forth along the track. The rail includes an inclined portion and a horizontal portion. The inclined portion extends in a direction away from the object conveying device in the transverse direction and obliquely upward in the vertical direction. When the transverse moving mechanism moves in the direction away from the object carrying device in the transverse direction, the first wheel and the second wheel on the transverse moving mechanism move along the track. When the lateral moving mechanism moves to the carrying table, the boundary of the inclined part and the horizontal part is located between the first wheel and the second wheel at the viewing angle in the walking direction.

Description

Technical Field

[0001] The present invention relates to an object conveying system, and particularly to an object conveying system that improves the tilting problem when a lateral mechanism moves. Background Art

[0002] In an existing object conveying system, an object conveying device moves between different docking points to convey an object. When the object conveying device docks at a docking point, the carriage part of the object conveying device is then moved to a mounting table in the lateral direction to perform operations of picking up and putting down the object. However, when the carriage part approaches the mounting table, the wheels of the lateral movement mechanism on the carriage part (the wheels closer to the mounting table side in the lateral direction) will generate an impact and vibrate when entering along the joint part of the track, and in order to suppress this vibration, the position of the track is lowered to a position lower than the original, and then the carriage part becomes tilted after completely entering the mounting table. Summary of the Invention

[0003] The present invention provides an object conveying system that can correct the tilting angle of the carriage part and reduce the impact when entering the track.

[0004] The object conveying system of the present invention includes an object conveying device and a mounting table disposed adjacent to the object conveying device. The object conveying device includes a traveling part, a carriage part, and a transfer machine part. The traveling part is disposed on a traveling track to move along the traveling direction. The carriage part is provided below the traveling part and includes a lateral movement mechanism that moves along the lateral direction and a lifting mechanism that moves along the vertical direction. The transfer machine part is provided below the lifting mechanism. Among them, a track extending along the lateral direction is disposed between the object conveying device and the mounting table. The lateral movement mechanism moves back and forth between the object conveying device and the mounting table in the lateral direction along the track, and a first wheel is provided on one side of the lateral movement mechanism in the lateral direction, and a second wheel is provided on the other side. The track includes an inclined part and a horizontal part, and the inclined part extends obliquely in a direction away from the object conveying device in the lateral direction and upward in the vertical direction. When the lateral movement mechanism moves in a direction away from the object conveying device in the lateral direction, the first wheel and the second wheel move along the track, and when the lateral movement mechanism moves to the mounting table, in the viewing angle in the traveling direction, the boundary between the inclined part and the horizontal part is located between the first wheel and the second wheel.

[0005] In an embodiment of the present invention, the size of the first wheel is the same as the size of the second wheel, and the first wheel and the second wheel are arranged staggeredly in the traveling direction. The track includes a first track and a second track disposed adjacent to each other in the traveling direction. When the lateral movement mechanism moves in a direction away from the object conveying device in the lateral direction, the first wheel is farther away from the object conveying device than the second wheel, and the first wheel moves along the first track, and the second wheel moves along the second track.

[0006] In an embodiment of the present invention, the inclined portion is provided on the first rail, the horizontal portion is farther from the object transfer device than the inclined portion, and the inclined portion extends obliquely toward the horizontal portion.

[0007] In an embodiment of the present invention, the size of the first wheel is smaller than the size of the second wheel. The horizontal portion includes a first horizontal portion and a second horizontal portion that is closer to the object transfer device than the first horizontal portion. The horizontal height of the first horizontal portion in the up-down direction is greater than the horizontal height of the second horizontal portion in the up-down direction, and the inclined portion is provided between the first horizontal portion and the second horizontal portion to connect the two. When the lateral movement mechanism moves in the lateral direction away from the object transfer device, the first wheel is farther from the object transfer device than the second wheel, and when the lateral movement mechanism moves to the placement table, the first wheel is located on the first horizontal portion and the second wheel is located on the second horizontal portion.

[0008] In an embodiment of the present invention, the placement table includes a first placement table and a second placement table. The first placement table is provided on one side of the object transfer device, and the second placement table is provided on the other side of the object transfer device. The rail includes a first rail and a second rail. The first rail is disposed between the object transfer device and the first placement table, and the second rail is disposed between the object transfer device and the second placement table. And in the viewing angle in the lateral direction, the first rail and the second rail are adjacently provided. The first wheel is adjacently disposed with a third wheel in the traveling direction, and the second wheel is adjacently disposed with a fourth wheel in the traveling direction. When the lateral movement mechanism moves in the lateral direction to the side where the first placement table is located, the first wheel and the second wheel move along the first rail. When the lateral movement mechanism moves in the lateral direction to the other side where the second placement table is located, the third wheel and the fourth wheel move along the second rail.

[0009] In an embodiment of the present invention, the size of the third wheel is the same as the size of the second wheel, and the size of the fourth wheel is the same as the size of the first wheel.

[0010] Based on the above, in the object transfer device of the object transfer system of the present invention, the lateral movement mechanism of the carriage portion moves along a rail having an inclined portion and a horizontal portion, and the inclined portion extends obliquely in a direction away from the object transfer device and upward in the up-down direction. During the process of the first wheel and the second wheel in the lateral movement mechanism moving along the rail, at least one of the first wheel or the second wheel passes through the inclined portion on the rail, so that the inclination of the carriage portion is corrected. And after the lateral movement mechanism moves to the placement table, the boundary between the inclined portion and the horizontal portion is located between the first wheel and the second wheel, that is, at least one of the first wheel or the second wheel is located on the horizontal portion. Accordingly, the object transfer system of the present invention can correct the inclination angle of the carriage portion and reduce the impact when entering the rail. Description of the Drawings

[0011] Figure 1A and Figure 1B are schematic diagrams of the object transfer system of the present invention in different operating states;

[0012] Figure 2 is a top view of the lateral movement mechanism of the object transfer device in an embodiment of the present invention before entering the track;

[0013] Figure 3 is Figure 2 a perspective schematic diagram of the lateral movement mechanism after actuating and entering the track;

[0014] Figure 4 is a top view of the lateral movement mechanism of the object transfer device in another embodiment of the present invention before entering the track;

[0015] Figure 5 is Figure 4 a perspective schematic diagram of the lateral movement mechanism after actuating and entering the track.

[0016] Description of Reference Numerals

[0017] 10: Object transfer system

[0018] 100, 100’: Object transfer device

[0019] 110: Traveling part

[0020] 120, 120’: Trolley part

[0021] 122, 122’: Lateral movement mechanism

[0022] 124: Lifting mechanism

[0023] 130: Transfer machine part

[0024] 200: Loading table

[0025] 202: First loading table

[0026] 204: Second loading table

[0027] B: Boundary

[0028] D1, D1’, D2, D2’, D3, D4: Dimensions

[0029] HD: Lateral direction

[0030] O: Object

[0031] R, R’: Tracks

[0032] R1, R1’: First tracks

[0033] R2, R2’: Second tracks

[0034] RH, RH': Horizontal part

[0035] RH1: First horizontal part

[0036] RH2: Second horizontal part

[0037] RR: Connection part

[0038] RT, RT': Inclined part

[0039] TD: Travel direction

[0040] TR: Travel track

[0041] UD: Up - down direction

[0042] W1, W1': First wheel

[0043] W2, W2': Second wheel

[0044] W3: Third wheel

[0045] W4: Fourth wheel Detailed implementation mode

[0046] Figure 1A And Figure 1B are schematic diagrams of the object transfer system of the present invention in different operating states. Figure 2 is a top view of the lateral movement mechanism of the object transfer device in an embodiment of the present invention before entering the track. Figure 3 Is Figure 2 A three - dimensional schematic diagram after the lateral movement mechanism actuates and enters the track. In this embodiment, the object transfer system 10 is, for example, used to transport an object O (such as a wafer, etc.) to each docking point in a semiconductor factory to improve the overall production efficiency. However, in other embodiments not shown, the object transfer system 10 can also be applied in other working areas suitable for transporting objects, and the present invention is not limited to the above - mentioned situations. The object transfer system 10 includes an object transfer device 100 and a mounting table 200 disposed adjacent to the object transfer device 100. Further, the object transfer device 100 moves, for example, along the travel direction TD (such as Figure 1A And Figure 1B In the vertical drawing direction) on the travel track TR connecting each docking point, and docks in the lateral direction HD (such as Figure 1A And Figure 1BBetween the two placement tables 200 in the left - right direction (in the drawing) of the figure. Therefore, when the object transfer device 100 stays at this docking point, it is equivalent to the placement tables 200 being arranged adjacent to the object transfer device 100. That is, in the object transfer system 10, the object transfer device 100 is set to be movable and the placement tables 200 are set to be immovable. However, in other embodiments not shown, it is also possible to provide only one placement table 200 according to actual needs, and the present invention is not limited thereto. The structure and operation mode of the object transfer system 10 will be further described below.

[0047] Please refer to Figure 1A and Figure 1B , in this embodiment, the object transfer device 100 includes a traveling part 110, a carriage part 120, and a transfer part 130. The traveling track TR is provided above the object transfer device 100 in the up - down direction UD (such as Figure 1A and Figure 1B in the up - down direction of the drawing), and the traveling part 110 is arranged on the traveling track TR to move along the traveling direction TD, for example, by a driving device (not shown) to achieve movement on the traveling track TR. The carriage part 120 is provided below the traveling part 110 in the up - down direction UD, and includes a lateral movement mechanism 122 that moves along the lateral direction HD and a lifting mechanism 124 that moves along the up - down direction UD. The transfer part 130 is provided below the lifting mechanism 124 and is used to place or drop the object O when it moves downward with the lifting mechanism 124. Therefore, when the object transfer device 100 docks at the side of the placement table 200 via the movement of the traveling part 110, the carriage part 120 moves the transfer part 130 closer to the placement table 200 via the movement of the lateral movement mechanism 122 along the lateral direction HD and the movement of the lifting mechanism 124 along the up - down direction UD. In addition, as Figure 1A and Figure 1B shown, the carriage part 120 has a housing cover, and the lateral movement mechanism 122, the lifting mechanism 124, the transfer part 130, and the object O all enter and exit from the inside of the housing, but the present invention is not limited thereto.

[0048] Furthermore, in this embodiment, a track R extending along the lateral direction HD is arranged between the object transfer device 100 and the placement table 200. As Figure 1A between Figure 1B and the state changes, the lateral movement mechanism 122 of the carriage part 120 moves along the track R in the lateral direction HD between the object transfer device 100 and the placement table 200 on one side in the lateral direction HD (that is, the first placement table 202 side, Figure 1A between Figure 1BIt moves back and forth between the left side of the drawing (of the object transfer device 100) and the other side of the placement table 200 in the lateral direction HD (i.e., the second placement table 204 side). In other embodiments not shown, the lateral movement mechanism 122 of the carriage unit 120 may also move back and forth between the right side of the drawing (of the object transfer device 100) and the other side of the placement table 200 in the lateral direction HD. The present invention is not limited to the content shown. That is, although the relative position and operation between the object transfer device 100 and the placement table 200 are described later with the placement table 200 on one side in the lateral direction HD (the first placement table 202 side) as an example, it can also be applied to the placement table 200 on the other side in the lateral direction HD (if any), and its movement orientation and the like can be adjusted according to requirements (as described later). Figure 1A and Figure 1B the right side of the drawing (of the object transfer device 100). The present invention is not limited Figure 1A to Figure 1B what is shown. That is, although the relative position and operation between the object transfer device 100 and the placement table 200 are described later with the placement table 200 on one side in the lateral direction HD (the first placement table 202 side) as an example, it can also be applied to the placement table 200 on the other side in the lateral direction HD (if any), and its movement orientation and the like can be adjusted according to requirements (as described later).

[0049] Please refer to Figures 1A to 3 , in this embodiment, a first wheel W1 is provided on one side of the lateral movement mechanism 122 in the lateral direction HD (close to the first placement table 202 side), and a second wheel W2 is provided on the other side (close to the second placement table 204 side). The second wheel W2 is provided to prevent the central part of the lateral movement mechanism 122 from bending due to weight when only the first wheel W1 or the object transfer device 100 supports the lateral movement mechanism 122, and the second wheel W2 is needed to assist in supporting. As Figure 2 and Figure 3 shown, the track R includes an inclined portion RT and a horizontal portion RH. The inclined portion RT extends obliquely upward in the direction away from the object transfer device 100 in the lateral direction HD and in the upper direction UD. That is, the inclination direction of the inclined portion RT is that the farther away from the object transfer device 100, the higher in the upper direction UD.

[0050] Furthermore, as Figure 1B and Figure 3 shown, when the lateral movement mechanism 122 moves in the direction away from the object transfer device 100 in the lateral direction HD, the first wheel W1 and the second wheel W2 move along the track R. Among them, the first wheel W1 moves along the inclined portion RT on the track R and gradually rises upward in the upper direction UD, and then the inclination of the carriage unit 120 begins to be corrected. At this time, the first wheel W1 is farther away from the object transfer device 100 than the second wheel W2, but in other embodiments not shown, it can also be the opposite, such as the second wheel W2 being farther away from the object transfer device 100 than the first wheel W1, and the second wheel W2 moves along the inclined portion RT on the track R. And when the lateral movement mechanism 122 moves to the placement table 200, from the viewing angle in the traveling direction TD, the boundary B between the inclined portion RT and the horizontal portion RH is located between the first wheel W1 and the second wheel W2 (asFigure 3 )。Therefore, after the first round of wheels W1 at this time is guided by the inclined portion RT, the carriage portion 120 is formed in a horizontal state.

[0051] It can be seen from this that in the object transfer device 100 of the object transfer system 10 of the present embodiment, the lateral movement mechanism 122 of the carriage portion 120 moves along the track R having the inclined portion RT and the horizontal portion RH, and the inclined portion RT extends obliquely upward in the direction away from the object transfer device 100 and in the up-down direction UD. During the process of the first round of wheels W1 and the second round of wheels W2 in the lateral movement mechanism 122 moving along the track R, at least one of the first round of wheels W1 or the second round of wheels W2 passes through the inclined portion RT on the track R, correcting the inclination of the carriage portion 120. And, after the lateral movement mechanism 122 moves to the mounting table 200, the boundary B between the inclined portion RT and the horizontal portion RH is located between the first round of wheels W1 and the second round of wheels W2, that is, at least one of the first round of wheels W1 or the second round of wheels W2 is located on the horizontal portion RH. Accordingly, the object transfer system 10 of the present embodiment can correct the inclination angle of the carriage portion 120 and reduce the impact when entering the track R.

[0052] Please refer to Figure 2 , further, in the present embodiment, the size D1 of the first round of wheels W1 is the same as the size D2 of the second round of wheels W2, and the first round of wheels W1 and the second round of wheels W2 are arranged staggeredly in the traveling direction TD. Taking Figure 2 as an example, the first round of wheels W1 is arranged closer to the inside (i.e., closer to the center of the lateral movement mechanism 122) than the second round of wheels W2 in the traveling direction TD, but the present invention is not limited thereto, and it may also be that the second round of wheels W2 is arranged closer to the inside (i.e., closer to the center of the lateral movement mechanism 122) in the traveling direction TD. The track R includes a first track R1 and a second track R2 arranged adjacent to each other in the traveling direction TD, and respectively corresponding to the first round of wheels W1 and the second round of wheels W2. That is, in response to the first track R1 and the second track R2 arranged adjacent to each other in the traveling direction TD, the first round of wheels W1 and the second round of wheels W2 are arranged staggeredly in the traveling direction TD. Therefore, when the lateral movement mechanism 122 moves in the lateral direction HD away from the object transfer device 100 (i.e., Figure 2 on the left side), the first round of wheels W1 is farther from the object transfer device 100 than the second round of wheels W2, and the first round of wheels W1 moves along the first track R1, and the second round of wheels W2 moves along the second track R2.

[0053] Furthermore, in the present embodiment, as shown in Figure 2 and Figure 3 , the inclined portion RT is provided on the first track R1. The horizontal portion RH is provided on the first track R1 and the second track R2, and the horizontal portion RH is provided at a position farther from the object transfer device 100 than the inclined portion RT, that is,Figure 2 The middle track R is away from the end of the lateral movement mechanism 122, and the inclined portion RT extends obliquely toward the horizontal portion RH. Among them, the second track R2 can also be set as a horizontal track (such as Figure 3 ) that is at the same height as the horizontal portion RH in the up-down direction UD, but the present invention is not limited thereto. In addition, the second track R2 is provided with a connection portion RR to reduce the height difference when the second wheel W2 enters the track R and reduce the impact, but the present invention does not limit whether the connection portion RR is provided or not, and it can be adjusted according to requirements.

[0054] Therefore, when the lateral movement mechanism 122 moves in the lateral direction HD away from the object transfer device 100, the first wheel W1 enters the track R earlier than the second wheel W2, and passes through the inclined portion RT during the movement along the first track R1, and is lifted upward along the inclined direction of the inclined portion RT. Thus, even during the movement of the lateral movement mechanism 122, before entering the track R, the first wheel W1 is located at a lower position than the second wheel W2 due to the influence of gravity, and the first wheel W1 can still be lifted upward with the assistance of the inclined portion RT of the first track R1 after entering the track R, so that the overall height of the first-wheel W1 side of the lateral movement mechanism 122 (that is, the frame on which the first wheel W1 and the second wheel W2 are installed, etc.) is also lifted relative to the second wheel W2 for tilt correction. When the lateral movement mechanism 122 is completely stopped on the side of the placement table 200, the first wheel W1 is located on the horizontal portion RH away from the object transfer device 100 side, and the second wheel W2 is located on the horizontal portion RH close to the connection portion RR side, making the entire trolley portion 120 in a horizontal state. Accordingly, the object transfer system 10 of the present embodiment can correct the tilt angle of the trolley portion 120 and reduce the impact when entering the track R.

[0055] The following describes another embodiment for correcting the tilt.

[0056] Figure 4 is a top view of the lateral movement mechanism of the object transfer device in another embodiment of the present invention before entering the track. Figure 5 is Figure 4 a three-dimensional schematic diagram of the lateral movement mechanism after actuating and entering the track. In this embodiment, the trolley portion 120' is also applicable to the object transfer system 10, the object transfer device 100, and the placement table 200 as shown in Figure 1A and Figure 1B . Among them, compared with the previous embodiment shown in Figure 2 and Figure 3 , the lateral movement mechanism 122' of the trolley portion 120' in this embodiment is configured with more wheels, and the track R' also has a corresponding different configuration. For other structures not described, please refer to the description of the previous embodiment and will not be elaborated here.

[0057] Please refer toFigure 4 With Figure 5 , in this embodiment, a first wheel W1' (near the first mounting table 202 side) is provided on one side of the lateral movement mechanism 122' of the carriage unit 120' in the lateral direction HD, and a second wheel W2' (near the second mounting table 204 side) is provided on the other side. Furthermore, the track R' includes an inclined portion RT' and a horizontal portion RH' (such as the subsequent first horizontal portion RH1 and the second horizontal portion RH2). The inclined portion RT' extends obliquely upward in the direction away from the object transfer device 100 in the lateral direction HD and in the upward direction UD. Thus, when the lateral movement mechanism 122' moves in the direction away from the object transfer device 100 in the lateral direction HD, the first wheel W1' and the second wheel W2' move along the track R', and when the lateral movement mechanism 122' moves to the mounting table 200, in the viewing angle of the traveling direction TD, the boundary between the inclined portion RT' and the horizontal portion RH' (such as the subsequent first horizontal portion RH1 and the second horizontal portion RH2) is located between the first wheel W1' and the second wheel W2' (as Figure 5 ). Therefore, after the first wheel W1' is guided by the inclined portion RT' at this time, the carriage unit 120' is formed in a horizontal state. Accordingly, the object transfer system 10 of this embodiment can correct the inclination angle of the carriage unit 120' and reduce the impact when entering the track R'.

[0058] Please refer to Figure 4 , furthermore, in this embodiment, the size D1' of the first wheel W1' is smaller than the size D2' of the second wheel W2'. The horizontal portion RH' includes a first horizontal portion RH1 and a second horizontal portion RH2 that is closer to the object transfer device 100 than the first horizontal portion RH1. As Figure 5 shown, the horizontal height of the first horizontal portion RH1 in the up and down direction UD is greater than the horizontal height of the second horizontal portion RH2 in the up and down direction UD, and the inclined portion RT' is provided between the first horizontal portion RH1 and the second horizontal portion RH2 to connect the two. That is, in the track R, the horizontal heights in the up and down direction UD are, in order from high to low, the first horizontal portion RH1, the inclined portion RT', and the second horizontal portion RH2; in the lateral direction HD, in order from away from the object transfer device 100 to close to the object transfer device 100, they are the first horizontal portion RH1, the inclined portion RT', and the second horizontal portion RH2. Therefore, when the lateral movement mechanism 122' moves in the direction away from the object transfer device 100 in the lateral direction HD (i.e., Figure 5), the first wheel W1' is farther away from the object conveying device 100 than the second wheel W2', and when the lateral moving mechanism 122' moves to the loading platform 200, the first wheel W1' is located at the first horizontal portion RH1, and the second wheel W2' is located at the second horizontal portion RH2. At this time, since the size D1' of the first wheel W1' is small, the first horizontal portion RH1 located higher in the up-down direction UD can also be kept in the horizontal direction with the second wheel W2', that is, the carriage portion 120' is in a horizontal state.

[0059] Furthermore, if Figure 1A , Figure 1B As shown, in this embodiment, the loading platform 200 includes a first loading platform 202 and a second loading platform 204. The first loading platform 202 is disposed on one side of the object conveying device 100 (for example, Figure 1A and Figure 1B The second loading platform 204 is disposed on the other side of the object conveying device 100 (eg, Figure 1A and Figure 1B on the right side of the figure). Figure 4 As shown, the track R' includes a first track R1' and a second track R2', wherein the first track R1' is arranged between the object conveying device 100' and the first loading platform 202, and the second track R2' is arranged between the object conveying device 100' and the second loading platform 204. In the viewing angle of the horizontal direction HD, the first track R1' and the second track R2' are arranged adjacent to each other (not directly adjacent). That is, the first track R1' and the second track R2' are arranged staggered in the horizontal direction HD. Figure 4 For example, the second track R2 ′ is arranged outside the first track R1 ′ in the travel direction TD, but the present invention is not limited thereto, and the first track R1 ′ may also be arranged outside.

[0060] Please refer to Figure 4 as well as Figure 5, furthermore, in this embodiment, the first wheel W1' is adjacently disposed with the third wheel W3 in the traveling direction TD, and the second wheel W2' is adjacently disposed with the fourth wheel W4 in the traveling direction TD. Moreover, both the third wheel W3 and the fourth wheel W4 are disposed on the outer side in the traveling direction TD compared with the first wheel W1' and the second wheel W2'. When the lateral movement mechanism 122' moves toward the side where the first mounting table 202 is located in the lateral direction HD, the first wheel W1' and the second wheel W2' move along the first track R1', while the third wheel W3 and the fourth wheel W4 do not contact the track R'. When the lateral movement mechanism 122' moves toward the other side where the second mounting table 204 is located in the lateral direction HD, the third wheel W3 and the fourth wheel W4 move along the second track R2', while the first wheel W1' and the second wheel W2' do not contact the track R'. In other embodiments not shown, when the first wheel W1' and the second wheel W2' move along the first track R1', the third wheel W3 and the fourth wheel W4 may also contact the track R' as needed, and vice versa. The present invention does not limit this.

[0061] And, in this embodiment, the size D3 of the third wheel W3 is the same as the size D2' of the second wheel W2', and the size D4 of the fourth wheel W4 is the same as the size D1' of the first wheel W1'. Therefore, the functions of the first wheel W1' and the fourth wheel W4 are equivalent, and the functions of the second wheel W2' and the third wheel W3 are equivalent. In other words, the first wheel W1' and the second wheel W2' function when moving toward the first mounting table 202 side, while the third wheel W3 and the fourth wheel W4 function when moving toward the second mounting table 204 side.

[0062] That is to say, when the lateral movement mechanism 122' moves along the lateral direction HD toward the first mounting table 202, the first wheel W1' enters the first track R1' earlier than the second wheel W2', so that the inclination correction is performed from the first mounting table 202 side of the lateral movement mechanism 122', and the first wheel W1' is lifted upward through the inclined portion RT' of the first track R1'. Accordingly, the object transfer system 10 of this embodiment can correct the inclined angle of the carriage unit 120 and reduce the impact when entering the track R'. Correspondingly, when the lateral movement mechanism 122' moves along the lateral direction HD toward the second mounting table 204, the third wheel W3 enters the second track R2' earlier than the fourth wheel W4, so that the inclination correction is performed from the second mounting table 204 side of the lateral movement mechanism 122', and the third wheel W3 is lifted upward through the inclined portion RT' of the second track R2'.

[0063] Thus, in the embodiment in which two placing tables 200 are provided, the left and right side rails R' are arranged (such as the positions of the first rail R1' and the second rail R2' in the traveling direction TD), and the same set of lateral movement mechanisms 122' can move back and forth in the lateral direction HD. Thus, without complex control operations on the lateral movement mechanisms 122', objects can be placed on the two placing tables 200 on the left and right sides. Moreover, the third wheel W3 and the fourth wheel W4 are added as components having the same functions as the first wheel W1' and the second wheel W2' and are applied to the placing table 200 on the other side. However, in other embodiments not shown, only one placing table 200 may be provided. In this case, the rail R' only includes the first rail R1' and the lateral movement mechanism 122' is only provided with the first wheel W1' and the second wheel W2', and the third wheel W3 and the fourth wheel W4 are omitted.

[0064] In summary, in the object transfer device of the object transfer system of the present invention, the lateral movement mechanism of the cart unit moves along a rail having an inclined portion and a horizontal portion, and the inclined portion extends obliquely upward in a direction away from the object transfer device and in the upward direction in the vertical direction. During the movement of at least one of the first wheel or the second wheel in the lateral movement mechanism along the inclined portion of the rail, the inclination of the cart unit is corrected. After the lateral movement mechanism moves to the placing table, the boundary between the inclined portion and the horizontal portion is located between the first wheel and the second wheel, that is, at least one of the first wheel or the second wheel is located on the horizontal portion. Accordingly, the object transfer system of the present invention can correct the inclination angle of the cart unit and reduce the impact when entering the rail.

Claims

1. An object conveying system, characterized in that, Comprising an object transfer device and a placement table disposed adjacently to the object transfer device, the object transfer device includes: A traveling unit configured to move along a traveling direction on a traveling track; A carriage unit provided below the traveling unit, including a lateral movement mechanism that moves along a lateral direction and a lifting mechanism that moves along a vertical direction; and A transfer unit provided below the lifting mechanism, wherein A track extending along the lateral direction is disposed between the object transfer device and the placement table, and the lateral movement mechanism moves back and forth between the object transfer device and the placement table in the lateral direction along the track, and A first wheel is provided on one side of the lateral movement mechanism in the lateral direction, and a second wheel is provided on the other side. The track includes an inclined portion and a horizontal portion, and the inclined portion extends obliquely in a direction away from the object transfer device in the lateral direction and upward in the vertical direction. When the lateral movement mechanism moves in a direction away from the object transfer device in the lateral direction, the first wheel and the second wheel move along the track, and When the lateral movement mechanism moves to the placement table, from the viewing perspective in the traveling direction, the boundary between the inclined portion and the horizontal portion is located between the first wheel and the second wheel.

2. The object transfer system according to claim 1, wherein The size of the first wheel is the same as the size of the second wheel, and the first wheel and the second wheel are arranged staggeredly in the traveling direction. The track includes a first track and a second track disposed adjacent to each other in the traveling direction. When the lateral movement mechanism moves in a direction away from the object transfer device in the lateral direction, the first wheel is farther from the object transfer device than the second wheel, and the first wheel moves along the first track, and the second wheel moves along the second track.

3. The object transfer system according to claim 2, wherein The inclined portion is provided on the first track. The horizontal portion is farther from the object transfer device than the inclined portion, and The inclined portion extends obliquely toward the horizontal portion.

4. The object transfer system according to claim 1, wherein The size of the first wheel is smaller than the size of the second wheel. The horizontal portion includes a first horizontal portion and a second horizontal portion closer to the object transfer device than the first horizontal portion. The horizontal height of the first horizontal portion in the vertical direction is greater than the horizontal height of the second horizontal portion in the vertical direction, and The inclined portion is provided between the first horizontal portion and the second horizontal portion to connect the two. When the lateral movement mechanism moves in a direction away from the object transfer device in the lateral direction, the first wheel is farther from the object transfer device than the second wheel, and When the lateral movement mechanism moves to the placement table, the first wheel is located on the first horizontal portion, and the second wheel is located on the second horizontal portion.

5. The object transfer system according to claim 4, wherein: the placement table includes a first placement table and a second placement table, the first placement table is disposed on one side of the object transfer device, and the second placement table is disposed on the other side of the object transfer device; the rail includes a first rail and a second rail, the first rail is disposed between the object transfer device and the first placement table, the second rail is disposed between the object transfer device and the second placement table, and in a viewing angle in the lateral direction, the first rail and the second rail are disposed adjacent to each other; a third wheel is disposed adjacent to the first wheel in the traveling direction, and a fourth wheel is disposed adjacent to the second wheel in the traveling direction; when the lateral movement mechanism moves toward the side where the first placement table is located in the lateral direction, the first wheel and the second wheel move along the first rail; when the lateral movement mechanism moves toward the other side where the second placement table is located in the lateral direction, the third wheel and the fourth wheel move along the second rail.

6. The object transfer system according to claim 5, wherein: the size of the third wheel is the same as that of the second wheel, and the size of the fourth wheel is the same as that of the first wheel.

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