Running rail and running vehicle system

Abstract

In this ceiling traveling vehicle system, first rails and second rails are disposed in a grid. The first rails (or second rails) are disposed such that gaps which allow the passage of a connecting part that is provided below a traveling wheel are formed between the first rails (or second rails) and intersection part rails which are disposed at intersections of the grid. The first rails (or second rails) are provided with an auxiliary member that is removably attached to an attachment part which is provided at an end part in the lengthwise direction, that protrudes from a rail upper surface, and that contacts an auxiliary wheel.

Description

Technical Field

[0001] The present disclosure relates to a running rail and a running vehicle system.

Background Art

[0002] In a running vehicle system, a running vehicle having drive wheels and auxiliary wheels is known. For example, as described in Patent Document 1, a pair of front and rear auxiliary wheels are provided for the drive wheels. The positions of the drive wheels and the auxiliary wheels are set so that the lower ends of the drive wheels and the lower ends of the auxiliary wheels do not simultaneously pass over the gap of the rail. An auxiliary rail against which the auxiliary wheels abut is provided at the end of the rail constituting the track, and the pair of auxiliary wheels are arranged such that their lower ends are higher than the lower ends of the drive wheels. An auxiliary rail against which the auxiliary wheels abut is provided at the end of the track. When the drive wheels pass over the gap, only the auxiliary wheels rest on (are supported by) the auxiliary rail, thereby minimizing the wear caused by the contact between the auxiliary wheels and the auxiliary rail and suppressing the drive wheels from falling into the gap. Thereby, the vibration of the running vehicle is also suppressed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above-described conventional technology, an auxiliary track is formed on the track (running rail). That is, the auxiliary track is integrated with the running rail. While forming the running surface of the running rail flat, it is necessary to project the auxiliary track (auxiliary running surface on which the auxiliary wheels are placed) by a predetermined height from the running surface of the running rail. In such an integrated running rail, operations such as machining of the rail member are required, and the production cost tends to increase. Also, when changing the height or position of the auxiliary track in a specific running rail, it is necessary to replace the entire rail.

[0005] The present disclosure describes a running rail and a running vehicle system that enable cost reduction and facilitate adjustment of the auxiliary running surface.

Means for Solving the Problems

[0006] One aspect of the present disclosure is a running rail in which a running vehicle having running wheels in contact with the upper surface of the rail and auxiliary wheels positioned above the upper surface of the rail when the running wheels are in contact with the upper surface of the rail travels, and is arranged in a grid pattern in a first direction and a second direction orthogonal to the first direction. The running rail is arranged such that a gap through which a connecting portion provided below the running wheels can pass is formed between the running rail and an intersection rail arranged at the grid-like intersection, and is detachably attached to an attachment portion provided at a longitudinal end portion, and includes an auxiliary member that protrudes from the upper surface of the rail and contacts the auxiliary wheels.

[0007] According to this running rail, when the running wheels pass over the gap formed between the running rail and the intersection rail, the auxiliary wheels are supported on the auxiliary running surface of the auxiliary member. Also, since the auxiliary member is detachably attached to the attachment portion, the rail body and the auxiliary member can be produced separately (by using separate molds, etc.), enabling cost reduction. Also, since the auxiliary member is detachably attached to the attachment portion, adjustment of the position of the auxiliary running surface and change of the height by replacement are also facilitated.

[0008] The attachment portion may be a groove portion formed at an end in the longitudinal direction and extending in the longitudinal direction. According to this configuration, it is easy to attach the auxiliary member. If the groove portion is longer than the auxiliary member, the auxiliary member can be moved along the groove portion, and it is easy to adjust the position of the auxiliary member including the auxiliary running surface.

[0009] The auxiliary member has a main body, a pressing portion including a pressing slope that abuts against the main body from at least one of the longitudinal directions, and a screw that penetrates the main body and the pressing portion and collectively sandwiches them. The main body may be attached to the attachment portion by tightening the screw in a state where the main body, the pressing portion, and the screw are arranged in the groove portion. According to this configuration, the main body (auxiliary member) can be attached only by tightening the screw. Also, the auxiliary member can be removed only by loosening the screw. It is easy to attach and detach the auxiliary member to and from the rail main body. Further, by replacing only the main body constituting the auxiliary member, the length or height of the auxiliary running surface can be changed more easily and at low cost.

[0010] The auxiliary running surface of the auxiliary member in contact with the auxiliary wheel may be formed at a position offset to one side or the other side of the center line of the groove portion in the width direction orthogonal to the longitudinal direction and along the upper surface of the rail. According to this configuration, when a pair of auxiliary wheels are provided and the running position in the direction of the axle of the auxiliary wheels is shifted, it is advantageous. That is, by fitting the common main body into the groove portion in the reverse direction, two types of auxiliary running surfaces with different positions in the direction of the axle can be formed. Note that when the running position of the auxiliary wheel is shifted, the auxiliary wheel comes into contact with the auxiliary running surface only when the running wheel comes off the running surface. Therefore, when the driving force is generated by the running wheel, the running wheel is not separated from the running surface by the auxiliary wheel and the auxiliary running surface.

[0011] As another aspect of the present disclosure, a traveling vehicle system may be provided that includes any one of the above-described traveling rails and a traveling vehicle that travels along the traveling rail. According to this traveling vehicle system, when the auxiliary wheels travel on the auxiliary member, it is possible to suppress the traveling wheels of the ceiling traveling vehicle from falling into the gap when passing over the gap, and to suppress the vibration of the ceiling traveling vehicle. At least one of the height, length, and position of the auxiliary member (for supporting the auxiliary wheels) for abutting against the auxiliary wheels can be easily changed.

[0012] As yet another aspect of the present disclosure, a traveling vehicle system may be provided that includes any one of the above-described traveling rails and a traveling vehicle that travels along the traveling rail, wherein the auxiliary wheels are disposed at positions offset to one side and the other side of the center line of the groove portion in the width direction. According to this traveling vehicle system, a pair of auxiliary wheels are provided on the traveling vehicle, and the traveling positions of the auxiliary wheels are displaced in the direction of the axle. Since the traveling rail is formed with two types of auxiliary traveling surfaces having different positions in the direction of the axle, one of the pair of auxiliary wheels is supported by these auxiliary traveling surfaces. Note that, due to the displacement of the traveling positions of the auxiliary wheels, the auxiliary wheels come into contact with the auxiliary traveling surfaces only when the traveling wheels deviate from the traveling surface. Therefore, when the driving force is generated by the traveling wheels, the auxiliary wheels and the auxiliary traveling surfaces do not surely separate the traveling wheels from the traveling surface.

Advantages of the Invention

[0013] According to the present disclosure, cost reduction is possible, and it is also easy to adjust the height or position of the auxiliary traveling surface.

Brief Description of the Drawings

[0014]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

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Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

BEST MODE FOR CARRYING OUT THE INVENTION

[0015] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In the description of the drawings, the same reference numerals are given to the same elements, and redundant explanations are omitted. In the drawings, for convenience of explanation, each configuration according to the embodiment is represented with the scale appropriately changed. An XYZ orthogonal coordinate system is also shown in some of the drawings. In the following description, this coordinate system is referred to for ease of explanation. Hereinafter, one direction along the horizontal plane is defined as the X direction (first direction), a direction orthogonal to the X direction and along the horizontal plane is defined as the Y direction (second direction), and the vertical direction is defined as the Z direction for explanation.

[0016] As shown in FIG. 1, a ceiling traveling vehicle system (traveling vehicle system) 1 according to an embodiment is a grid system (conveying system or rail trolley system) for conveying an article M by a ceiling traveling vehicle 2 in, for example, a clean room of a semiconductor manufacturing factory. The ceiling traveling vehicle system 1 includes, for example, a plurality of ceiling traveling vehicles 2 (hereinafter collectively referred to as "traveling vehicles 2"), a system controller 5 that controls the plurality of traveling vehicles 2, and a track R on which the plurality of traveling vehicles 2 travel. The traveling vehicle 2 moves along the track R of the ceiling traveling vehicle system 1. The traveling vehicle 2 travels along the track R and conveys an article M such as a FOUP (Front Opening Unified Pod) that houses a semiconductor wafer or a reticle Pod that houses a reticle. The traveling vehicle 2 may be referred to as a trolley, a conveying vehicle, a conveying trolley, or a traveling trolley. With the plurality of traveling vehicles 2, high-density conveyance of the article M becomes possible, and the conveyance efficiency of the article M is improved. Note that the ceiling traveling vehicle system 1 may include only one traveling vehicle 2.

[0017] The track R is provided on the ceiling of a building such as a clean room or near the ceiling. The track R is provided adjacent to, for example, a processing apparatus, a stocker (automatic warehouse), or the like. The processing apparatus is, for example, an exposure apparatus, a coater developer, a film forming apparatus, an etching apparatus, or the like, and performs various processes on the semiconductor wafers in the article M conveyed by the traveling vehicle 2. The stocker stores the article M conveyed by the traveling vehicle 2.

[0018] The track R is arranged in a grid pattern in plan view (see also Fig. 5). The track R extends along 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 an intersection rail R3 side by side in the X direction and the Y direction. The ceiling traveling vehicle system 1 includes a plurality of rail units 100 arranged side by side in the X direction and the Y direction, and a plurality of connecting members 140 that connect the plurality of rail units 100 to each other. The rail assembly 200 is formed by the plurality of rail units 100 and the plurality of connecting members 140. The rail assembly 200 is suspended from a ceiling or the like (not shown) by a plurality of hanging members H at a portion where the rail units 100 are connected to each other by the connecting members 140.

[0019] Fig. 2 is an exploded perspective view showing four rail units 100 constituting the rail assembly 200 in Fig. 1 and the connecting members 140 that connect them. Each rail unit 100 is a rectangular parallelepiped (frame-shaped) member and has the same configuration. Each rail unit 100 includes two first rail members 110 arranged along the X direction, two second rail members 120 arranged along the Y direction, and four intersection rail members 130 arranged such that a gap is formed on the extension lines of the first rail members 110 and the second rail members 120 (i.e., at the positions of the intersections of the grids). When the rail unit 100 is viewed in plan view, two parallel first rail members 110 and two parallel second rail members 120 are arranged in a square shape, and four intersection rail members 130 are arranged at the positions of the vertices of the square.

[0020] Each rail unit 100 is, for example, made of metal and is a unit integrated after each of the first rail member 110, the second rail member 120, and the intersection rail member 130 is formed. Each first rail member 110 includes a first beam portion 111 disposed at the upper end position of the rail unit 100 and extending in the X direction, a first rail (running rail) R1 disposed at the lower end position of the rail unit 100 and extending in the X direction, and a first support wall 113 disposed between the first beam portion 111 and the first rail R1 and joined to the first beam portion 111 and the first rail R1. Each second rail member 120 includes a second beam portion 121 disposed at the upper end position of the rail unit 100 and extending in the Y direction, a second rail (running rail) R2 disposed at the lower end position of the rail unit 100 and extending in the Y direction, and a second support wall 123 disposed between the second beam portion 121 and the second rail R2 and joined to the second beam portion 121 and the second rail R2. A lattice-like structure extending along the XY plane is formed at the upper end position of the rail assembly 200 by the plurality of first beam portions 111 and the plurality of second beam portions 121. The first support wall 113 extends along the XZ plane. The second support wall 123 extends along the YZ plane.

[0021] The intersection rail member 130 includes an intersection support column 133 extending along the Z direction (vertical direction) at a position where the first beam portion 111 and the second beam portion 121 are joined at a right angle, and an intersection rail R3 provided at the lower end of the intersection support column 133.

[0022] As shown in FIGS. 1 and 5, a plurality of first rails R1 extend along the X direction respectively. A plurality of second rails R2 extend along the Y direction respectively. The track R is formed in a lattice shape in plan view by the plurality of first rails R1 and the plurality of second rails R2. The track R forms a plurality of meshes by the plurality of first rails R1 and the plurality of second rails R2. The intersection rail R3 is disposed at a portion corresponding to the intersection of the first rail R1 and the second rail R2. The intersection rail R3 is adjacent to the first rail R1 with a space therebetween in the X direction. The intersection rail R3 is adjacent to the second rail R2 with a space therebetween in the Y direction. The intersection rail R3 is used in any of the cases where the traveling vehicle 2 travels along the first rail R1, where the traveling vehicle 2 travels along the second rail R2, and where the traveling vehicle 2 travels from the first rail R1 to the second rail R2 or from the second rail R2 to the first rail R1.

[0023] Each rail unit 100 forms a square (or rectangular) track R corresponding to one mesh on its inner side. By arranging a plurality of rail units 100 in the X direction and the Y direction, a plurality of first rails R1 are continuously extended in the X direction, and a plurality of second rails R2 are continuously extended in the Y direction. On the X-direction line, two intersection rails R3 are arranged with a space therebetween between one first rail R1 and another first rail R1. On the Y-direction line, two intersection rails R3 are arranged with a space therebetween between one second rail R2 and another second rail R2. From another perspective of the track R, when focusing on four meshes composed of two meshes arranged in the X direction and two meshes arranged in the Y direction, four intersection rails R3 adjacent to each other in the X direction and the Y direction are arranged with a space therebetween (with respect to the first rail R1) between two first rails R1 adjacent to each other in the Y direction and another two first rails R1 adjacent to each other in the Y direction. Also, four intersection rails R3 are arranged with a space therebetween (with respect to the second rail R2) between two second rails R2 adjacent to each other in the X direction and another two second rails R2 adjacent to each other in the X direction, which are the same as the above four intersection rails R3.

[0024] In the rail assembly 200, a plurality of first rails R1, a plurality of second rails R2, and a plurality of intersection rails R3 are arranged at a predetermined interval from each other, thereby constructing a track R. A gap G corresponding to the above interval is formed between each first rail R1 and each intersection rail R3. A gap G corresponding to the above interval is formed between each second rail R2 and each intersection rail R3. The gap G in the track R has a constant size. Each first rail R1 includes a first running surface R1a that is flat and horizontal on the upper surface, and the running wheels 31 of the running vehicle 2 run on the first running surface R1a in the X direction (first running direction D1). Each second rail R2 includes a second running surface R2a that is flat and horizontal on the upper surface, and the running wheels 31 of the running vehicle 2 run on the second running surface R2a in the Y direction (second running direction D2). The intersection rail R3 includes an intersection running surface R3a that is flat and horizontal on the upper surface. Over the entire track R, the heights of the first running surface R1a, the second running surface R2a, and the intersection running surface R3a are equal. The first running surface R1a, the second running surface R2a, and the intersection running surface R3a are arranged on the same or substantially the same horizontal plane.

[0025] For example, a gap having the same size as the gap G is not formed between the four intersection rails R3 described above. When the running vehicle 2 linearly passes through a plurality of rail units 100, the running wheels 31 of the running vehicle 2 run on the intersection running surface R3a. At that time, the running wheels 31 pass over any two of the four intersection rails R3 described above. Alternatively, when the running vehicle 2 changes its running direction between the rail units 100 (when changing the running direction by 90 degrees, that is, when steering), the running wheels 31 of the running vehicle 2 pass over the intersection running surface R3a (while changing the direction).

[0026] As described above, in the rail assembly 200, a lattice-shaped track R is constituted by the first rail member 110, the second rail member 120, and the intersection rail member 130. The layout of the lattice-shaped track R in the ceiling running vehicle system 1 can be appropriately adjusted or changed by making a plurality of rail units 100 in an arbitrary arrangement (including addition or deletion of the rail units 100).

[0027] Referring to FIGS. 2 and 6, the connection structure of the rail unit 100 by the connection member 140 will be described. As shown in FIGS. 2 and 6, each connection member 140 includes an upper connection member 141 and a lower connection member 142. One of the upper surfaces at the four corners of a plurality of (typically four) rail units 100 is attached to the horizontally extending plate-shaped or frame-shaped upper connection member 141. The upper connection member 141 abuts near the intersection of the first beam portion 111 and the second beam portion 121 in each rail unit 100. The horizontally extending plate-shaped or frame-shaped lower connection member 142 supports one of the lower surfaces at the four corners of a plurality of (typically four) rail units 100. The lower connection member 142 abuts against the intersecting rail R3 in each rail unit 100.

[0028] A vertically extending rod-shaped suspension member H penetrates through the upper connection member 141 and the lower connection member 142. The upper connection member 141 and / or the lower connection member 142 is fixed to the rail unit 100 by a fastening member (not shown) or the like, whereby the rail units 100 are connected to each other. A space 100e extending in the Z direction is formed between the rail units 100, and a space R3e extending in the Z direction is formed between the four intersecting rails R3 adjacent to each other in the X direction and the Y direction (the central portion in plan view). The suspension member H is inserted through the space 100e and the space R3e, and the upper connection member 141 and / or the lower connection member 142 is fixed to the suspension member H.

[0029] The overhead traveling vehicle system 1 includes a communication system (not shown). The communication system is used for the communication between the traveling vehicle 2 and the system controller 5. The traveling vehicle 2 and the system controller 5 are communicably connected to each other via the communication system.

[0030] Next, with reference to FIGS. 1, 3, and 4, the configuration of the traveling vehicle 2 will be described. As shown in FIGS. 1 and 3, the traveling vehicle 2 is provided so as to be capable of traveling along the track R. The traveling vehicle 2 has a traveling bogie 20 that travels on the track R, and a main body portion 10 that is attached to the lower portion of the traveling bogie 20 and is rotatable with respect to the traveling bogie 20. The traveling bogie 20 includes, for example, a rectangular bogie unit 50 disposed below the track R, traveling portions 30 provided at the four corners of the bogie unit 50 in plan view and protruding upward from the bogie unit 50, and four wheel turning mechanisms 40 that turn each of the four traveling wheels 31 in the traveling portions 30 with respect to the bogie unit 50. Inside the bogie unit 50, a bogie controller (control unit) 8 is provided.

[0031] The main body portion 10 is disposed below the track R. As shown in FIGS. 3 and 4, the main body portion 10 has a main body frame 12 formed in a cylindrical shape, for example. The main body frame 12 includes a disk-shaped top plate portion 12a and a cylindrical frame 12b hanging down from the peripheral edge of the top plate portion 12a, and has a shape with an open bottom surface. The main body portion 10 is formed to have a size that fits within one grid in the track R in plan view. The traveling vehicle 2 can pass by other traveling vehicles 2 traveling on the adjacent first rail R1 or second rail R2. The main body portion 10 includes a transfer device 18 disposed inside the main body frame 12. The transfer device 18 is, for example, rectangular in plan view. The cylindrical frame 12b is open in a part of the circumferential direction. The range in which the opening portion (notch) is formed is large enough to allow the passage of the transfer device 18. The transfer device 18 passes through the opening portion of the cylindrical frame 12b when moving horizontally.

[0032] The main body part 10 is attached to the lower part of the carriage unit 50 and is rotatable around the rotation axis L10 in the Z direction with respect to the carriage unit 50. The traveling wheels 31 provided at the four corners of the carriage 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 carriage unit 50 is suspended from the track R via four traveling wheels 31 and four wheel turning mechanisms 40. The four traveling wheels 31 can stably suspend the carriage unit 50 and the main body part 10, and can stably run the main body part 10. 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.

[0033] The transfer device 18 moves horizontally with respect to the main body part 10 and transfers the article M to and from the load port (mounting table). The transfer device 18 is provided below the top plate part 12a of the main body frame 12. The main body part 10 including the transfer device 18 is rotatable around the rotation axis L10 by a rotation drive part such as an electric motor (not shown) provided on the top plate part 12a. The transfer device 18 has an article holding part 13 that holds the article M below the track R, a lifting drive part 14 that moves the article holding part 13 up and down in the vertical direction, and a slide mechanism 11 that slides the lifting drive part 14 horizontally. The slide mechanism 11 is held on the lower surface of the top plate part 12a. Between the slide mechanism 11 and the lifting drive part 14, a rotation drive part 16 is provided that rotationally drives the lifting drive part 14 around the rotation axis L14 with respect to the slide mechanism 11. The rotation drive part 16 is provided below the slide mechanism 11, and the lifting drive part 14 is provided below the rotation drive part 16. The article holding part 13 is provided below the lifting drive part 14 via a plurality of suspension members 13b. The load port is a transfer destination or a transfer source of the traveling vehicle 2 and is a point where the article M is transferred to and from the traveling vehicle 2.

[0034] The article holding part 13 suspends and holds the article M by gripping the flange part Ma of the article M. The article holding part 13 is, for example, a chuck having a claw part 13a movable in the horizontal direction. The article holding part 13 holds the article M by causing the claw part 13a to enter below the flange part Ma of the article M and raising the article holding part 13. The article holding part 13 is connected to a suspension member 13b such as a wire or a belt.

[0035] The lifting drive part 14 is, for example, a hoist, and lowers the article holding part 13 by paying out the suspension member 13b, and raises the article holding part 13 by winding up the suspension member 13b. The lifting drive part 14 is controlled by the carriage controller 8, and lowers or raises the article holding part 13 at a predetermined speed. Further, the lifting drive part 14 is controlled by the carriage controller 8, and holds the article holding part 13 at a target height.

[0036] The slide mechanism 11 has, for example, a plurality of movable plates arranged one above the other in the Z direction. By turning the main body part 10, the slide mechanism 11 moves the rotation drive part 16, the lifting drive part 14, and the article holding part 13 attached to the lowermost movable plate in an arbitrary direction in the horizontal plane. The moving direction of the movable plate in the slide mechanism 11 is determined by the turning angle of the main body part 10 with respect to the carriage unit 50. In the main body part 10, the orientation of the transfer device 18 and the main body frame 12 is set so that the moving direction of the movable plate coincides with the position of the opening part of the cylindrical frame 12b.

[0037] The rotation drive unit 16 includes, for example, an electric motor or the like, and rotates the lifting drive unit 14 (and the article holding unit 13) within a predetermined angular 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 of 180 degrees or less, but the upper limit is not limited to 180 degrees. By the rotation drive unit 16, the laterally extended article holding unit 13 (or the article M held by the article holding unit 13) can be oriented in a desired direction. The slide mechanism 11 and the rotation drive unit 16 are controlled by the carriage controller 8. Note that even in a state where the movable plate of the slide mechanism 11 is not moved and is housed (the state shown by the solid line in FIG. 3), the rotation drive unit 16 can rotate the lifting drive unit 14. In that case, for example, the rotation axis L14 of the lifting drive unit 14 coincides with the rotation axis L10 of the main body unit 10.

[0038] The carriage unit 50 has, at its lower end, a cylindrical support member (cylindrical member) 52. On the lower surface side of the support member 52, the top plate portion 12a of the main body frame 12 is rotatably attached. For example, a rotation drive unit (not shown) such as an electric motor is provided on the top plate portion 12a. By transmitting the driving force of the rotation drive unit to the support member 52, the main body frame 12 rotates around a rotation axis L10 extending in the vertical direction with respect to the carriage unit 50. The angle by which the main body frame 12 can rotate is, for example, any angle of 360 degrees or more and 540 degrees or less, but the upper limit is not limited to 540 degrees and the lower limit is not limited to 360 degrees. The slide mechanism 11 is attached to the lower surface side of the top plate portion 12a, and the top plate portion 12a supports the slide mechanism 11. The main body frame 12 and the transfer device 18 are integrated, and the main body frame 12 and the transfer device 18 rotate together. By using the transfer device 18, the traveling vehicle 2 can transfer the article M to and from the load port.

[0039] Note that a cover (not shown) may be attached to the outer surface side of the cylindrical frame 12b. In that case, the cover surrounds the transfer device 18 and the article M held by the transfer device 18. The cover has a cylindrical shape with an open lower end and has a shape in which a portion (the above-described open portion) where the movable plate of the slide mechanism 11 protrudes is cut out.

[0040] The running gear 30 has four running wheels 31. Two auxiliary wheels 32 are provided on each running wheel 31. As shown in FIG. 4, the running wheels 31 are provided so as to protrude upward from the upper surface cover 51 at the four corners of the bogie unit 50. Each running wheel 31 is rotatable about an axle that is horizontal or substantially horizontal along the XY plane. A running drive motor 33 is provided on the rotation axis of each running wheel 31. Each running wheel 31 is rotationally driven by the driving force of the running drive motor 33. The running drive motor 33 is configured to be able to switch between forward rotation and reverse rotation, for example. Each of the running wheels 31 rolls on the track R. Each of the running wheels 31 rolls on the running surfaces R1a, R2a, and R3a of the first rail R1, the second rail R2, and the intersection rail R3 to run the running vehicle 2. Note that not all four running wheels 31 are limited to being rotationally driven by the driving force of the running drive motor 33, and a configuration in which a part of the four running wheels 31 is rotationally driven may be used.

[0041] Four wheel turning mechanisms 40 are fixed to a frame (not shown) inside the bogie unit 50, and a pedestal portion 34 is connected to each wheel turning mechanism 40 via the turning axis of the wheel turning mechanism 40. A running wheel 31, two auxiliary wheels 32, and one running drive motor 33 are attached to the pedestal portion 34 via a connecting portion 35 and a support member 36. For example, a square upper surface cover 51 is provided on the upper surface of the housing 53, and the pedestal portion 34 is disposed in the notches formed at the four corners of the upper surface cover 51. The connecting portion 35, the running wheel 31, the auxiliary wheel 32, and the running drive motor 33 are disposed above the upper surface cover 51.

[0042] As shown in FIGS. 3 and 4, the connecting portion 35 connects the bogie unit 50 (specifically, the wheel turning mechanism 40 fixed within the bogie unit 50) and the traveling wheels 31. With this connection structure, the bogie unit 50 and the main body portion 10 are arranged below the track R and are in a state of being suspended from the traveling portion 30. The connecting portion 35 is formed to have a thickness that can pass through the gaps G between the first rail R1 and the crossing portion rail R3 and between the second rail R2 and the crossing portion rail R3. The support member 36 is provided above the connecting portion 35 and rotatably supports the rotation axes of the traveling wheels 31 and the auxiliary wheels 32. The support member 36 maintains the relative positions of the traveling wheels 31 and the auxiliary wheels 32.

[0043] As shown in FIG. 4, the traveling wheels 31 are provided so as to be rotatable about a turning axis L30 extending in the vertical direction. The four turning axes L30 are arranged at the positions of the vertices of a square in plan view, and the rotation axis L10 is arranged at the center of the turning axis L30. In other words, the four turning axes L30 are arranged at positions that are rotationally symmetric four times with respect to the rotation axis L10 of the main body portion 10. In plan view, the positions of the traveling wheels 31 and the turning axis L30 are different (shifted). The traveling wheels 31 are turned by the wheel turning mechanism 40, and as a result, the traveling direction of the traveling vehicle 2 can be changed.

[0044] The auxiliary wheels 32 are respectively arranged one by one in front of and behind the traveling direction of the traveling wheels 31. Each of the auxiliary wheels 32 is rotatable about an axis of a horizontal or substantially horizontal axle along the XY plane. The lower end of the auxiliary wheel 32 is set to be higher than the lower end of the traveling wheel 31, for example. Therefore, when the traveling wheel 31 is traveling on the traveling surfaces R1a, R2a, R3a, the auxiliary wheel 32 does not contact the traveling surfaces R1a, R2a, R3a. Further, when the traveling wheel 31 passes through the gaps G between the first rail R1 and the intersection rail R3 and between the second rail R2 and the intersection rail R3, the auxiliary wheel 32 contacts an auxiliary member provided on the first rail R1 and the second rail R2 (specific details will be described later), suppressing the dropping of the traveling wheel 31. Note that the present invention is not limited to providing two auxiliary wheels 32 for one traveling wheel 31. For example, one auxiliary wheel 32 may be provided for one traveling wheel 31.

[0045] The four wheel turning mechanisms 40 are arranged, for example, at the four corners inside the housing 53 of the carriage unit 50. Each wheel turning mechanism 40 has a steering motor 43 and a driving force transmission part 42 provided between the steering motor 43 and the traveling wheel 31. The driving force transmission part 42 is fixed to a frame (not shown) inside the carriage unit 50. The driving force transmission part 42 and the pedestal part 34 are connected via a turning axis. Each wheel turning mechanism 40 integrally turns the pedestal part 34, the connecting part 35, the support member 36, the traveling wheel 31, the auxiliary wheel 32, and the traveling drive motor 33 around the turning axis line L30. With the traveling vehicle 2 positioned at the center of each rail unit 100, each traveling wheel 31 is turned 90 degrees around each turning axis line L30. As a result, the traveling wheel 31 turns on the intersection rail R3. Thereby, the traveling vehicle 2 can turn. Turning means that the traveling vehicle 2 switches from the first state of traveling in the first traveling direction D1 to the second state of traveling in the second traveling direction D2, or from the second state of traveling in the second traveling direction D2 to the first state of traveling in the first traveling direction D1. The turning of the traveling vehicle 2 is performed, for example, in a stopped state of the traveling vehicle 2. The turning of the traveling vehicle 2 may be performed in a state where the traveling vehicle 2 is stopped but the article M is moving (for example, turning). The drive of the wheel turning mechanism 40 is controlled by the carriage controller 8.

[0046] As described above, a gap G is formed in the track R. When the traveling vehicle 2 travels on the first rail R1 and crosses the second rail R2, or when the traveling vehicle 2 travels on the second rail R2 and crosses the first rail R1, a part of the traveling vehicle 2 (specifically, for example, the connecting part 35) passes through the gap G.

[0047] Note that a guide roller that abuts against the side surface of the intersection rail R3 may be provided between the traveling wheel 31 and the wheel turning mechanism 40 (for example, near the connecting part 35). The guide roller prevents the displacement of the traveling carriage 20 (traveling vehicle 2) with respect to the track R.

[0048] The traveling vehicle 2 is provided with a position detection unit (not shown) that detects position information. The position detection unit detects the current position of the traveling vehicle 2 by detecting, for example, a position marker indicating position information provided on the track R. The position detection unit detects the position marker in a non-contact manner.

[0049] The carriage controller 8 comprehensively controls the traveling vehicle 2. The carriage controller 8 is a computer composed of a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. The carriage controller 8 can be configured as software in which, for example, a program stored in the ROM is loaded onto the RAM and executed by the CPU. The carriage controller 8 may be configured as hardware such as an electronic circuit. The carriage controller 8 may be configured by a single device or by a plurality of devices. When configured by a plurality of devices, they are connected via a communication network such as the Internet or an intranet, thereby logically constructing a single carriage controller 8. The carriage controller 8 is provided, for example, in the carriage unit 50.

[0050] Based on a conveyance command, the carriage controller 8 controls the traveling of the traveling vehicle 2. The carriage controller 8 controls the traveling of the traveling vehicle 2 by controlling the traveling drive motor 33, the steering motor 43, and the like. The carriage controller 8 controls, for example, the traveling speed, operations related to stopping, and operations related to changing direction. Based on a conveyance command, the carriage controller 8 controls the transfer operation of the traveling vehicle 2. The carriage controller 8 controls the transfer direction of the transfer device 18 by controlling the turning (rotation) of the main body 10 (main body frame 12 and transfer device 18). The carriage controller 8 controls the transfer operation of the traveling vehicle 2 by controlling the transfer device 18 and the like. The carriage controller 8 controls the operation of gripping the article M placed at a predetermined load port and the operation of unloading the held article M to a predetermined load port.

[0051] The system controller 5 is a computer composed of a CPU, ROM, RAM, etc. The system controller 5 can be configured as software in which, for example, a program stored in the ROM is loaded onto the RAM and executed by the CPU. The system controller 5 may be configured as hardware such as an electronic circuit. The system controller 5 may be composed of one device or a plurality of devices. When composed of 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 various controls of the system controller 5 may be executed by the carriage controller 8.

[0052] The system controller 5 selects any one of the plurality of traveling vehicles 2 capable of transporting the article M and assigns a transport command to the selected traveling vehicle 2. The transport command includes a traveling command for causing the traveling vehicle 2 to travel to the load port and a loading command for the article M disposed at the load port or an unloading command for the article M held at the load port.

[0053] Subsequently, with reference to FIGS. 7 to 12, the detailed configuration of the first rail R1, which is the traveling rail of the present embodiment, will be described. FIG. 7 is a perspective view showing the first rail R1. FIG. 8(a) is a side view showing a state in which the traveling wheel 31 travels in front of the gap G between the rails, and FIG. 8(b) is a plan view of FIG. 8(a). FIG. 9(a) is a side view showing a state in which the traveling wheel 31 attempts to cross the gap G between the rails, and FIG. 9(b) is a side view showing a state in which the traveling wheel 31 has finished crossing the gap G. As shown in FIG. 7, the first rail R1 is arranged such that its longitudinal direction is along the X direction. The short side direction, i.e., the width direction, of the first rail R1 is along the Y direction. The configuration of the second rail R2 is the same as that of the first rail R1. In the following description, only the configuration of the first rail R1 will be described, and the description of the configuration of the second rail R2 will be omitted.

[0054] The first rail R1 includes a first running surface R1a. The first rail R1 is made of, for example, metal. An auxiliary member 80 for forming an auxiliary running surface 81h that supports the auxiliary wheel 32 is attached to the first rail R1. Two auxiliary members 80 are attached to one first rail R1. Each auxiliary member 80 is detachably attached to attachment portions A, A disposed at both longitudinal ends of the rail body 70. Each auxiliary member 80 is separate from the rail body 70. In the present embodiment, the attachment portions A, A are, for example, a single groove portion 71 that extends straight in the longitudinal direction of the rail body 70. The groove portion 71 penetrates the rail body 70 in the X direction, for example. Both longitudinal ends (extending directions) of the groove portion 71 serve as a pair of attachment portions A, A. Thus, the first rail R1 includes a rail body 70 that includes the first running surface R1a on which the running wheel 31 runs, and an auxiliary member 80 that forms an auxiliary running surface 81h at a position higher than the first running surface R1a. The first running surface R1a is formed between a joining region 113a where the lower end of the first support wall 113 is joined in the width direction of the first rail R1 and one end portion in the width direction of the rail body 70 provided with the groove portion 71. The auxiliary member 80 protrudes from the first running surface R1a. Although not shown, the second rail R2 also includes a rail body 70 that includes a second running surface R2a on which the running wheel 31 runs, and an auxiliary member 80 that forms an auxiliary running surface 81h at a position higher than the second running surface R2a. The plurality of auxiliary members 80 used in the track R are, for example, all the same parts and are standardized.

[0055] The auxiliary member 80 has a main body 81 on which the auxiliary running surface 81h is formed on the upper surface. One main body 81 is installed, for example, inside the one end surface R1b of the first rail R1, that is, at a position separated from the one end surface R1b by a predetermined distance. The other main body 81 is also installed, for example, inside the other end surface R1c of the first rail R1, that is, at a position separated from the other end surface R1c by a predetermined distance. Neither of the auxiliary members 80 protrudes from the one end surface R1b and the other end surface R1c and is within the range of the rail body 70 in the X direction.

[0056] As shown in Fig. 8(a), the lower ends of the pair of auxiliary wheels 32 are arranged at a position higher than the lower ends of the traveling wheels 31. When the traveling wheels 31 travel on the first traveling surface R1a, the pair of auxiliary wheels 32 are positioned away from the first traveling surface R1a, and a gap is formed between the auxiliary wheels 32 and the first traveling surface R1a. That is, when the traveling wheels 31 are in contact with the first traveling surface R1a (the upper surface of the rail), the auxiliary wheels 32 are positioned above the first traveling surface R1a. The diameters of the pair of auxiliary wheels 32 are substantially equal. The diameter of each auxiliary wheel 32 is smaller than the diameter of the traveling wheels 31. The heights of the axles 32a of the pair of auxiliary wheels 32 are equal. The axle 32a of each auxiliary wheel 32 is arranged at a position lower than the axle 31a of the traveling wheels 31. By the above-described support member 36 (see Fig. 4), the relative positional relationship between the traveling wheels 31 (axle 31a) and the pair of auxiliary wheels 32 (axle 32a) is fixed with the axle 31a and the two axles 32a being parallel to each other.

[0057] The lower ends of the pair of auxiliary wheels 32 are positioned at substantially the same height. As shown in Fig. 8(b), as an example, the traveling wheels 31 are arranged on the first traveling surface R1a at the outermost side in the Y direction (the plus (+) side in the Y direction in the figure), and the pair of auxiliary wheels 32 are arranged between the traveling wheels 31 and the inner end surface of the first rail R1. Here, the "outer side" means the positional relationship as seen from the traveling vehicle 2. Among the pair of auxiliary wheels 32, for example, the positions of one of the auxiliary wheels 32 and the auxiliary wheel 32 at the rear in the traveling direction (the other one) are shifted in the direction of the axle 32a (Y direction). Therefore, the traveling positions (traveling routes) of the traveling wheels 31, one of the auxiliary wheels 32, and the other auxiliary wheel 32 in the Y direction are different. The traveling wheels 31 always travel inside the width direction of the auxiliary member 80 and do not contact the auxiliary member 80.

[0058] With the intersection rail R3 as a reference, the upstream first rail R1 is arranged on the upstream side (front side) in the traveling direction, and the downstream first rail R1 is arranged on the downstream side (rear side) in the traveling direction. For example, the auxiliary member 80 provided at the end of the upstream first rail R1 is provided at a position and height corresponding to the rear auxiliary wheel 32. The auxiliary member 80 provided at the end of the downstream first rail R1 is provided at a position and height corresponding to the front auxiliary wheel 32.

[0059] Referring to FIG. 5 again, the track R will be described. In the track R, a plurality of gaps G through which the connecting portion 35 (see FIG. 3) provided below the traveling wheels 31 can pass are formed between the plurality of first rails R1, the plurality of second rails R2, and the intersection rail R3 arranged at the intersections of these first rails R1 and second rails R2. The connecting portion 35 connects the traveling wheels 31 and the carriage unit 50 of the traveling carriage 20.

[0060] As shown in FIG. 9(a), when the traveling wheel 31 approaches the gap G, the rear auxiliary wheel 32 rides on the auxiliary running surface 81h of the auxiliary member 80 and runs on the auxiliary member 80. As a result, the auxiliary wheel 32 is supported by the auxiliary running surface 81h, and the falling of the traveling wheel 31 into the gap G is suppressed. Therefore, the vibration of the traveling vehicle 2 when the traveling wheel 31 passes over the gap G is suppressed. As shown in FIG. 9(b), when the traveling wheel 31 rides on the intersection rail R3, the auxiliary wheel 32 may still be riding on the auxiliary running surface 81h. Also when the traveling wheel 31 passes over the gap G between the intersection rail R3 and the downstream first rail R1, the falling of the traveling wheel 31 into the gap G is suppressed by the front auxiliary wheel 32 and the auxiliary member 80, and the vibration of the traveling vehicle 2 when the traveling wheel 31 passes over the gap G is suppressed.

[0061] That is, the lower end of the traveling wheel 31 or the lower end of any of the auxiliary wheels 32 is always in contact with some support surface (the first traveling surface R1a or the auxiliary traveling surface 81h). Thereby, the traveling wheel 31 or any of the auxiliary wheels 32 is supported by some support surface. The position and length of the auxiliary member 80 are set based on the diameter of the traveling wheel 31, the diameter of the auxiliary wheel 32, and the positional relationship (the distance apart in the X direction) between the axle 32a of the auxiliary wheel 32 and the axle 31a of the traveling wheel 31.

[0062] Note that the crossing rail R3 on the track R is not simply for the traveling wheels 31 and the auxiliary wheels 32 to pass through linearly, but is also used for direction change. If the auxiliary member 80 is provided on the crossing rail R3, it will interfere with the traveling (or passing or direction change) of the traveling vehicle 2. Therefore, the auxiliary member 80 is not provided on the crossing rail R3. The crossing rail R3 includes only a flat and horizontal crossing traveling surface R3a on its upper surface. Regarding the position, height, and length of the auxiliary member 80 in the present embodiment, the same concept as the design of the position, height, and length of the auxiliary track described in Japanese Patent No. 7040636 (the above Patent Document 1) can be used. Also in the present embodiment, the diameter of the traveling wheel 31, the diameter of the auxiliary wheel 32, the positional relationship between the axle 32a of the auxiliary wheel 32 and the axle 31a of the traveling wheel 31, etc. can be changed as appropriate.

[0063] The details of the auxiliary member 80 will be described with reference to FIGS. 10, 11(a), and 11(b). FIG. 10 is an exploded perspective view showing the auxiliary member 80. FIG. 11(a) is a side view of the auxiliary member 80 before assembly, and FIG. 11(b) is a side view of the auxiliary member 80 after assembly (when fixed). As shown in FIGS. 10 and 11(a), the auxiliary member 80 includes a main body 81 including a convex portion 81g that forms the auxiliary traveling surface 81h, a first pressing portion 82 including a first pressing slope 82a that contacts the main body 81 from one side in the longitudinal direction (X direction) of the first rail R1, a second pressing portion 83 including a second pressing slope 83a that contacts the main body 81 from the other side in the longitudinal direction (X direction) of the first rail R1, and nuts 84 and screws 85 that sandwich and fasten the main body 81, the first pressing slope 82a, and the second pressing portion 83.

[0064] The main body 81 is formed with a through hole 81e. The first pressing portion 82 is formed with a through hole 82e, and the second pressing portion 83 is formed with a through hole 83e. The nut 84 is formed with a hole portion 84e. The through hole 81e, the through hole 82e, the through hole 83e, and the hole portion 84e are arranged in a straight line. The screw shaft 85a of the screw 85 is inserted through the through hole 81e, the through hole 82e, the through hole 83e, and the hole portion 84e. An internal thread is formed on the inner surface of the hole portion 84e, and an external thread that engages with the internal thread of the nut 84 is formed at the tip of the screw shaft 85a.

[0065] As shown in FIG. 11(b), on one side of the main body 81, a first receiving slope 81b facing obliquely upward is formed, and on the other side of the main body 81, a second receiving slope 81c facing obliquely upward is formed. The inclination angle of the first receiving slope 81b and the inclination angle of the second receiving slope 81c are, for example, equal. The first pressing portion 82 is formed with a first pressing slope 82a facing obliquely downward and abutting against the first receiving slope 81b. The inclination angle of the first pressing slope 82a is equal to the inclination angle of the first receiving slope 81b. Also, the second pressing portion 83 is formed with a second pressing slope 83a facing obliquely downward and abutting against the second receiving slope 81c. The inclination angle of the second pressing slope 83a is equal to the inclination angle of the second receiving slope 81c.

[0066] FIG. 12 is a cross-sectional view taken along line XII-XII in FIG. 11(b). As shown in FIGS. 11(b) and 12, the through-hole 81e of the main body 81, the through-hole 82e of the first pressing portion 82, the through-hole 83e of the second pressing portion 83, and the hole portion 84e of the nut 84 are aligned in a straight line (on the X-direction line), and the main body 81, the first pressing portion 82, the second pressing portion 83, and the nut 84 are arranged in the groove portion 71 with the screw shaft 85a inserted therethrough. The bottoms of the first pressing portion 82 and the second pressing portion 83 rest on the bottom surface 72 of the groove portion 71, while the upper surface portions 81a (the convex portions 81g and the low wall portions 81f) protruding from both sides of the main body 81 in the Y direction rest on the first running surface R1a. By tightening the screw 85 in this state, the above-described inclined surfaces come into contact with each other, and the first pressing portion 82 and the second pressing portion 83 approach the main body 81. By further tightening the screw 85, the above-described inclined surfaces rub against each other, and the first pressing portion 82 and the second pressing portion 83 rise in the groove portion 71 (slightly away from the bottom surface 72). The stepped portion 82b of the first pressing portion 82 and the stepped portion 83b of the second pressing portion 83 are pressed against a pair of protruding portions 73 extending in the X direction formed near the opening of the groove portion 71. As a result, a pair of protruding portions 73 are sandwiched between the upper surface portion 81a of the main body 81 and the stepped portion 82b of the first pressing portion 82 and the stepped portion 83b of the second pressing portion 83, and the main body 81 is fixed. A fitting hole into which a rotating tool fits is formed in the head of the screw 85, and when tightening the screw 85, the rotating tool is rotated with it arranged in the groove portion 71. Also, for example, the diameters of the through-hole 82e and the through-hole 83e are larger than the diameter of the through-hole 81e so as to allow vertical sliding between the inclined surfaces.

[0067] As shown in FIG. 12, the convex portion 81g, that is, the auxiliary running surface 81h, is formed at a position offset from one side (one side or the other side) of the center line C of the groove portion 71 in the width direction of the rail main body 70 (the left-right direction in the drawing). The center line C coincides with, for example, the center line of the screw shaft 85a. For example, the width of the auxiliary running surface 81h and the width of the low wall portion 81f may be equal. In that case, the auxiliary running surface 81h is arranged in a region on only one side of the center line C of the groove portion 71 in the width direction of the rail main body 70 (the left-right direction in the drawing).

[0068] As shown in Fig. 7, the two auxiliary members 80 are provided in the direction opposite to the rail body 70. In one of the auxiliary members 80, the screw 85 is inserted from one end surface R1b side of the rail body 70. In the other auxiliary member 80, the screw 85 is inserted from the other end surface R1c side of the rail body 70. As a result, the two auxiliary running surfaces 81h formed at positions biased in the width direction as described above form two support surfaces with a positional difference in the direction of the axle 32a shown in Fig. 8(b).

[0069] According to the first rail R1 and the second rail R2 of the present embodiment, when the running wheel 31 passes over the gap G formed between each of the first rail R1 and the second rail R2 and the intersection rail R3, the auxiliary wheel 32 is supported on the auxiliary running surface 81h of the auxiliary member 80. Further, the first running surface R1a and the second running surface R2a are separate from the auxiliary member 80, and the auxiliary member 80 is detachably attached to the attachment portion A. Therefore, since the rail body 70 including the first running surface R1a and the second running surface R2a and the auxiliary member 80 including the auxiliary running surface 81h can be produced separately (by using separate molds, etc.), cost reduction is possible. In a conventional integral type running rail, special processing (such as cutting) of the rail member is required, which has been a factor increasing the cost. In the first rail R1 and the second rail R2 of the present embodiment, the problems in terms of cost have been greatly improved. Further, since the auxiliary member 80 is detachably attached to the attachment portion A, adjustment of the position of the auxiliary running surface 81h and change of the height by replacement are also easy.

[0070] The attachment portion A is a groove portion 71 formed at the longitudinal end portion and extending in the longitudinal direction. This facilitates the attachment of the auxiliary member 80. If the groove portion 71 is longer than the auxiliary member 80, the auxiliary member 80 can also be moved along the groove portion 71, and adjustment of the position of the auxiliary member 80 including the auxiliary running surface 81h is easy.

[0071] The main body 81, the first pressing part 82, the second pressing part 83, and the nut 84 are arranged in the groove part, and by tightening the screw 85, the main body 81 is attached and fixed. By using the wedge-shaped first pressing part 82 and the second pressing part 83, the main body 81 (auxiliary member 80) can be attached only by tightening the screw 85. Also, by simply loosening the screw 85, the auxiliary member 80 can be removed. The attachment and detachment of the auxiliary member 80 to and from the rail main body 70 are easy. Also, by replacing only the main body 81 constituting the auxiliary member 80, the length or height of the auxiliary running surface 81h can be changed more easily and at low cost.

[0072] The auxiliary running surface 81h is formed at a position offset to one side or the other side of the center line C of the groove part 71 in the width direction orthogonal to the longitudinal direction and along the first running surface R1a and the second running surface R2a. This configuration is advantageous when shifting the running position of the pair of auxiliary wheels 32 in the direction of the axle 32a of the auxiliary wheels 32 as in the above embodiment. That is, by fitting the common main body 81 into the groove part 71 in the reverse direction, two types of auxiliary running surfaces 81h with different positions in the direction of the axle 32a can be formed. Also, when the running position of the auxiliary wheels 32 is shifted, the auxiliary wheels 32 come into contact with the auxiliary running surface 81h only when the running wheels 31 deviate from the first running surface R1a or the second running surface R2a. Therefore, when the driving force is generated by the running wheels 31, the running wheels 31 are not separated from the first running surface R1a or the second running surface R2a by the auxiliary wheels 32 and the auxiliary running surface 81h.

[0073] According to the ceiling traveling vehicle system 1 of the present embodiment, when the auxiliary wheels 32 travel on the auxiliary member 80, it is possible to suppress the running wheels 31 from falling into the gap G when the running wheels 31 pass over the gap G, and it is possible to suppress the vibration of the traveling vehicle 2. At least one of the height, length, and position of the auxiliary member 80 for contacting (supporting) the auxiliary wheels 32 can be easily changed.

[0074] As described above, the embodiments of the present disclosure have been explained, but the present invention is not limited to the above embodiments. For example, it is not limited to the case where the lower ends of the pair of auxiliary wheels 32 are arranged at a position higher than the lower ends of the traveling wheels 31. For example, the lower ends of the auxiliary wheels 32 may be arranged at a position lower than the lower ends of the traveling wheels 31. In that case, a lower step surface (another rail upper surface) lower than the first running surface R1a or the second running surface R2a is formed on the rail body 70, and when the traveling wheels 31 are in contact with the first running surface R1a or the second running surface R2a, the auxiliary wheels 32 are located above the lower step surface. The auxiliary member is provided so as to protrude from the lower step surface. Also, the lower ends of the pair of auxiliary wheels 32 may be located at somewhat different heights.

[0075] The groove portion 71 may not penetrate the rail body 70 in the X direction and may be formed by a predetermined length from each of the one end surface R1b and the other end surface R1c. In that case, the length of the groove portion 71 is larger than the length of the auxiliary member 80.

[0076] The attachment portion A is not limited to the aspect where it is the groove portion 71. A configuration may be adopted in which a concave portion or a recessed portion or the like is provided on the first running surface R1a and / or the second running surface R2a, and the auxiliary member 80 is fitted into the concave portion or the recessed portion. Alternatively, a separate auxiliary member 80 may be simply fixed on the first running surface R1a and / or the second running surface R2a. In that case, as the fixing means, means such as screwing or adhesion may be used.

[0077] The specific configuration of the auxiliary member 80 may be changed from the above embodiment. For example, either one of the first pressing portion 82 and the second pressing portion 83 may be omitted. Also, the nut 84 may be omitted, and instead, a female screw may be formed in the through hole 83e or the like of the second pressing portion 83. It is not limited to the tightening of the screw 85. For example, a configuration in which the auxiliary member is fixed in one touch by the engagement of members may be adopted.

[0078] The center position in the width direction of the auxiliary traveling surface 81h may be arranged on a vertical plane including the center line C of the groove portion 71. In that case, two groove portions (two mounting portions) with different positions in the direction of the axle 32a may be formed between one auxiliary wheel 32 and the other auxiliary wheel 32.

[0079] The positions of the axles 32a of the pair of auxiliary wheels 32 in the direction may be the same. In that case, the above two groove portions are not necessary, and one groove portion is sufficient. Only one auxiliary wheel 32 may be provided for one traveling wheel 31.

[0080] In the above embodiment, the case where the four turning axes L30 in the traveling unit 30 and the wheel turning mechanism 40 are arranged at the positions of the vertices of a square in plan view has been described. However, the arrangement of the turning axes L30 does not have to be square. In plan view, the position of the traveling wheel 31 and the position of the turning axis L30 may coincide.

[0081] In the above embodiment, the case where the traveling wheel 31 rotates on the intersection rail R3 has been described. However, when turning by each wheel turning mechanism 40, each traveling wheel 31 may move from the first traveling surface R1a to the second traveling surface R2a, or from the second traveling surface R2a to the first traveling surface R1a.

[0082] In the above embodiment, the case where the traveling vehicle is a ceiling transfer vehicle has been described. However, the traveling vehicle may be a rail-mounted carriage that travels on a rail (track) provided on the ground.

[0083] In the above embodiment, a grid system is adopted as the transport system SYS. However, the transport system SYS is not limited to the grid system. For example, as the transport system, an AGV (Automated Guided Vehicle) may be adopted, or various known systems that travel on a grid-shaped traveling path may be adopted. In the above embodiment, the carriage V holds the article M below the track R. However, the main body 10 may be arranged above the track R and hold the article M above the track R.

Description of Reference Numerals

[0084] 1... Ceiling traveling vehicle system (traveling vehicle system), 2... Ceiling traveling vehicle, 5... System controller, 8... Trolley controller (control unit), 10... Main body, 18... Transfer device, 20... Traveling trolley, 30... Traveling section, 31... Traveling wheels, 31a... Axle, 32... Auxiliary wheels, 32a... Axle, 33... Traveling drive motor, 35... Connecting part, 40... Wheel turning mechanism, 43... Steering motor, 50... Trolley unit, 70... Rail main body, 71... Groove part, 80... Auxiliary member, 81... Main body, 81g... Protrusion, 81h... Auxiliary traveling surface, 82... First pressing part, 82a... First pressing slope, 83... Second pressing part, 83a... Second pressing slope, 84... Nut, 85... Screw, 100... Rail unit, 110... First rail member, 113... First support wall, 120... Second rail member, 123... Second support wall, 130... Crossing rail member, 140... Connecting member, 200... Rail assembly, A... Mounting part, C... (Center line of the groove part), D1... First traveling direction, D2... Second traveling direction, G... Gap, H... Suspension member, M... Article, R... Track (lattice-shaped track), R1... First rail (traveling rail), R2... Second rail (traveling rail), R3... Crossing rail, R1a... First traveling surface, R2a... Second traveling surface, R3a... Crossing traveling surface.

Claims

1. A traveling vehicle having a running wheel in contact with the upper surface of a rail and an auxiliary wheel positioned above the upper surface of the rail when the running wheel is in contact with the upper surface of the rail travels on a running rail arranged in a grid pattern in a first direction and a second direction orthogonal to the first direction, wherein the running rail is arranged such that a gap through which a connecting portion provided below the running wheel can pass is formed between the running rail and an intersection rail arranged at a grid intersection, and a running rail detachably attached to an attachment portion provided at a longitudinal end, protruding from the upper surface of the rail, and including an auxiliary member in contact with the auxiliary wheel.

2. The running rail according to claim 1, wherein the attachment portion is a groove portion formed at the longitudinal end and extending in the longitudinal direction.

3. The auxiliary member includes a main body, a pressing portion including a pressing slope contacting the main body from at least one of the longitudinal directions, and a screw passing through and sandwiching the main body and the pressing portion together, and the main body is attached to the attachment portion by tightening the screw with the main body, the pressing portion, and the screw arranged in the groove portion.

4. The auxiliary running surface of the auxiliary member in contact with the auxiliary wheel is formed at a position offset to one side or the other side of the center line of the groove portion in a width direction orthogonal to the longitudinal direction and along the upper surface of the rail.

5. A traveling vehicle system including the running rail according to any one of claims 1 to 3, and the traveling vehicle traveling along the running rail.

6. A traveling vehicle system including the running rail according to claim 4, and the traveling vehicle traveling along the running rail, wherein the auxiliary wheels are arranged at positions offset to one side and the other side of the center line of the groove portion in the width direction.

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