Traveling vehicle system

Abstract

Provided is a traveling vehicle system in which a traveling vehicle comprising traveling rollers travels on rails. The traveling vehicle system is provided with a measurement device including an upper portion measurement plate which is in contact with the traveling roller from above, a lower portion measurement plate which is in contact with the traveling roller from below, and a detector which detects height positions of the upper portion measurement plate and the lower portion measurement plate.

Description

Technical Field

[0001] The present disclosure relates to a traveling vehicle system.

Background Art

[0002] Conventionally, in the field of article carriers, a wheel diameter measuring device for measuring the diameter of wheels that roll on the running surface of a rail has been known (see, for example, Patent Documents 1 and 2). The device described in Patent Document 1 includes an optical sensor having a light projecting unit and a light receiving unit, and measures the diameter of a wheel using two strip-shaped detection lights spaced apart in the extending direction of the rail. More specifically, the size in the extending direction of the first strip-shaped light portion blocked by the wheel is defined as a first value, the size in the extending direction of the second strip-shaped light portion blocked by the wheel is defined as a second value, and the diameter of the wheel is measured based on the separation distance between the first and second strip-shaped lights and the first and second values. The detection light passes through a through hole formed in the rail. The device described in Patent Document 2 has two pairs of transmissive sensors. Each pair of transmissive sensors includes an upper sensor and a lower sensor arranged spaced apart in the vertical direction.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above-described conventional technology, it is necessary to provide a plurality of light projecting units and light receiving units respectively, and the configuration of the measuring device tends to become complicated. Further, if there is an object (such as foreign matter) different from the wheel on the optical path of the detection light or dust adheres to the optical sensor, it may not be possible to accurately measure the diameter of the wheel (running roller).

[0005] The present disclosure describes a traveling vehicle system capable of simply and accurately measuring the diameter of a traveling roller.

Means for Solving the Problems

[0006] One aspect of the present disclosure is a traveling vehicle system in which a traveling vehicle having traveling rollers travels on a rail, the system including a measuring device having an upper measuring plate that contacts the traveling roller from above, a lower measuring plate that contacts the traveling roller from below, and a detector that detects the height positions of the upper measuring plate and the lower measuring plate.

[0007] According to this traveling vehicle system, above and below the traveling roller, the upper measuring plate and the lower measuring plate contact the traveling roller. By detecting the height positions of the upper measuring plate and the lower measuring plate by the detector, the diameter of the traveling roller is measured. In this way, since it is only necessary to bring the two plates into contact with the traveling roller, the diameter can be easily measured. Different from optical measurement, since the height position of the plate is detected using physical contact, the diameter can be accurately measured. Further, the upper and lower two plates can be easily arranged at positions avoiding the rolling area (passing area) of the traveling roller. Therefore, the configuration is further simplified compared to the case where two left and right plates are applied.

[0008] The lower measuring plate may be biased upward to a standby position where it can contact the traveling roller, and may be moved downward by the entry of the traveling roller. According to this configuration, an actuator for moving the lower measuring plate up and down is not required, and a simpler structure can be achieved.

[0009] The upper measuring plate may be biased upward to a retracted position where it is separated from the traveling roller. According to this configuration, collision between the upper measuring plate and the traveling roller can be prevented.

[0010] With the posture of the traveling vehicle maintained by a part other than the traveling roller of the traveling vehicle, the upper measurement plate and the lower measurement plate may be in contact with the traveling roller. According to this configuration, it is possible to prevent the traveling roller from being deformed by the load. Therefore, the diameter of the traveling roller can be measured more accurately.

[0011] The other part may be a traveling roller different from the traveling roller. By using the configuration provided for the traveling of the traveling vehicle to maintain the posture of the traveling vehicle, the diameter of the traveling roller can be measured easily and accurately.

[0012] The measuring device may be incorporated in the middle of the rail or provided on the extension of the rail. According to this configuration, after moving the traveling vehicle along the rail to the position of the measuring device, the diameter of the traveling roller may be measured. There is no need to move the traveling vehicle to a place outside the rail.

Advantages of the Invention

[0013] According to the traveling vehicle system of the present disclosure, the diameter of the traveling roller can be measured easily and accurately.

Brief Description of the Drawings

[0014]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, with reference to the drawings, a detailed description will be given of an embodiment. In the description of the drawings, the same or corresponding elements are denoted by the same reference numerals, and redundant descriptions are omitted. The terms “upper” and “lower” correspond to the vertical direction, the terms “front” and “rear” correspond to the traveling direction of the traveling vehicle, and the terms “left” and “right” correspond to the direction orthogonal to the vertical direction and the front-rear direction.

[0016] As shown in FIGS. 1 and 2, the traveling vehicle system 1 is a system that conveys an article 10 between mounting portions 9, 9 using a traveling vehicle 6 that is movable along a traveling rail 4. The article 10 includes, for example, containers such as a FOUP (Front Opening Unified Pod) that stores a plurality of semiconductor wafers and a reticle pod that stores a glass substrate, as well as general parts and the like. Here, for example, in a factory or the like, the traveling vehicle system 1 in which the traveling vehicle 6 travels along a one-way traveling rail 4 laid on a ceiling or the like will be described as an example. The traveling vehicle system 1 includes a traveling rail 4, a plurality of traveling vehicles 6, a plurality of mounting portions 9, and a measuring unit 110.

[0017] The traveling rail 4 is, for example, a track laid near the ceiling, which is the overhead space of an operator. The traveling rail 4 is suspended from the ceiling. The traveling rail 4 is a predetermined traveling path for causing the traveling vehicle 6 to travel. The traveling rail 4 is supported by columns 40A, 40A. The traveling rail 4 has a main line traveling rail (main line path) 4A that circulates a predetermined area in one direction and an introduction traveling rail (introduction path) 4B that introduces the traveling vehicle 6 onto the main line traveling rail 4A.

[0018] The traveling rail 4 includes a rail body 40 having a C-shaped cross section composed of a pair of lower surface portions 40B, a pair of side surface portions 40C, 40C, and an upper surface portion 40D, a power supply portion 40E, and a magnetic plate 40F. The lower surface portion 40B extends in the traveling direction of the traveling vehicle 6 and constitutes the lower surface of the rail body 40. The lower surface portion 40B is a plate-like member on which the outer wheels (traveling rollers) 51 of the traveling vehicle 6 roll and travel. The side surface portion 40C extends in the traveling direction of the traveling vehicle 6 and constitutes the side surface of the rail body 40. The upper surface portion 40D extends in the traveling direction of the traveling vehicle 6 and constitutes the upper surface of the rail body 40.

[0019] The power supply portion 40E supplies power to the power receiving core 57 of the traveling vehicle 6 and is a part that performs signal transmission and reception (superimposed communication) with the traveling vehicle 6. The power supply portion 40E is fixed to each of the pair of side surface portions 40C, 40C and extends along the traveling direction. The power supply portion 40E supplies power to the power receiving core 57 in a non-contact state. The magnetic plate 40F generates a magnetic force for traveling or stopping for the LDM (Linear DC Motor) 59 of the traveling vehicle 6. The magnetic plate 40F is fixed to the upper surface portion 40D and extends along the traveling direction.

[0020] The traveling vehicle 6 travels along the traveling rail 4 and transports the article 10. The traveling vehicle 6 is configured to be able to transfer the article 10. The traveling vehicle 6 is an overhead traveling type unmanned traveling vehicle. The number of traveling vehicles 6 provided in the traveling vehicle system 1 is not particularly limited and is plural. The traveling vehicle 6 is also referred to as, for example, a transport vehicle, an overhead traveling vehicle, an overhead transport vehicle, or a traveling carriage. The traveling vehicle 6 includes a main body portion 7, a traveling portion 50, and a traveling vehicle controller (not shown). The main body portion 7 includes a main body frame 22, a lateral feed portion 24, a θ drive 26, a lifting drive portion 28, a lifting table 30, and a front and rear frame 33.

[0021] The lateral feed unit 24 collectively includes the θ drive 26, the lifting drive unit 28, and the lifting table 30, and laterally feeds them in a direction perpendicular to the traveling direction of the traveling rail 4. The θ drive 26 rotates at least one of the lifting drive unit 28 and the lifting table 30 within a predetermined angle range in the horizontal plane. The lifting drive unit 28 raises and lowers the lifting table 30 by winding or unwinding a suspension member such as a belt, wire, or rope. The lifting table 30 is provided with a chuck, and can freely grip or release the article 10. A pair of front and rear frames 33 are provided, for example, in the front and rear in the traveling direction of the traveling vehicle 6. The front and rear frames 33 prevent the article 10 from falling during conveyance by projecting and retracting claws (not shown).

[0022] The traveling unit 50 causes the traveling vehicle 6 to travel along the traveling rail 4. That is, the traveling vehicle 6 travels on the lower surface portion 40B of the traveling rail 4. As shown in FIG. 3, the traveling unit 50 includes an outer ring 51, an inner ring 55, side rollers 52, branch rollers 53, a power receiving core 57, and an LDM 59. In FIG. 2, the illustration of the inner ring 55 and the branch roller 53 is omitted.

[0023] In the traveling vehicle 6, for example, two pairs of left and right outer rings 51 are provided in the front and rear. The outer rings 51 are arranged at the left and right ends in the front and rear of the traveling unit 50. Also, two pairs of left and right inner rings 55 are provided in the front and rear. In each of the front and rear, the pair of left and right inner rings 55 are arranged between the pair of left and right outer rings 51. Note that three or more sets of the outer rings 51 and the inner rings 55 may be provided so as to be arranged in the front and rear direction, or only one set may be provided. The outer rings 51 and the inner rings 55 are made of a resin such as urethane, for example.

[0024] The outer rings 51 roll on the pair of lower surface portions 40B, 40B of the traveling rail 4. The side rollers 52 are arranged so as to sandwich the outer rings 51 in the front and rear direction. The side rollers 52 are provided so as to be able to contact the side surface portion 40C of the traveling rail 4 (or the side support portion 45 in FIG. 8 described later). The branch rollers 53 are arranged so as to sandwich the side rollers 52 in the vertical direction. The side rollers 52 are provided so as to be able to contact a guide (not shown) arranged at a connection portion or a branch portion of the traveling rail 4.

[0025] The power receiving core 57 is disposed so as to sandwich the LDM 59 in the left - right direction before and after the traveling section 50. The power receiving core 57 performs non - contact power reception with the power feeding section 40E disposed on the traveling rail 4 and non - contact transmission and reception of various signals with the traveling vehicle controller. The LDM 59 is provided before and after the traveling section 50. The LDM 59 generates a magnetic force for traveling or stopping between itself and the magnetic plate 40F disposed on the upper surface of the traveling rail 4 by an electromagnet.

[0026] As shown in FIG. 1, the placement section 9 is disposed along the traveling rail 4 and is provided at a position where the article 10 can be transferred by the traveling vehicle 6. The placement section 9 includes a buffer and a transfer port. The buffer is a placement section where the article 10 is temporarily placed. For example, when the traveling vehicle 6 cannot transfer the article 10 it is transporting to the target transfer port because another article 10 is placed on the target transfer port, etc., the buffer is a placement section where the article 10 is temporarily placed. The transfer port is a placement section for transferring the article 10 to, for example, a semiconductor processing apparatus (not shown) including a cleaning apparatus, a film forming apparatus, a lithography apparatus, an etching apparatus, a heat treatment apparatus, a planarization apparatus, etc. The processing apparatus is not particularly limited and may be various apparatuses.

[0027] For example, the placement section 9 serving as the buffer is disposed on the side of the traveling rail 4. In this case, the traveling vehicle 6 transfers the article 10 with the placement section 9 by laterally feeding the lifting drive section 28 etc. with the lateral feed section 24 and slightly lifting and lowering the lift table 30. Although not shown, the placement section 9 may be disposed directly below the traveling rail 4. In this case, the traveling vehicle 6 transfers the article 10 with the placement section 9 by lifting and lowering the lift table 30.

[0028] The traveling vehicle controller is an electronic control unit composed of a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc. The traveling vehicle controller controls various operations in the traveling vehicle 6. Specifically, the traveling vehicle controller controls the traveling unit 50, the cross-feed unit 24, the θ drive 26, the lifting drive unit 28, and the lifting platform 30. The traveling vehicle controller 35 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 traveling vehicle controller may be configured as hardware such as an electronic circuit. The traveling vehicle controller communicates with the system controller 90 (see FIG. 1) using the power supply unit 40E (power supply line) of the traveling rail 4, etc.

[0029] The system controller 90 is an electronic control unit composed of a CPU, a ROM, a RAM, etc. The system controller 90 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 90 may be configured as hardware such as an electronic circuit. The system controller 90 transmits a conveyance command to cause the traveling vehicle 6 to convey the article 10.

[0030] As shown in FIG. 1, the measurement unit 110 is disposed on the main line traveling rail 4A and the introduction traveling rail 4B, respectively. When the measurement unit 110 is disposed on the main line traveling rail 4A, the measurement unit 110 is incorporated in the middle of the traveling rail 4. When the measurement unit 110 is disposed on the introduction traveling rail 4B, it is provided on the extension of the traveling rail 4.

[0031] As shown in FIG. 4, the measurement unit 110 includes a dimension measuring device 80 that measures various dimensions of the traveling vehicle 6, and a diameter measuring device (measuring device) 100 that measures the diameter of the outer ring 51. The dimension measuring device 80 measures, for example, the height of the power receiving core 57, the height of the LDM 59, the distance between the left and right side rollers 52, and the inner position of the branch roller 53 in the left-right direction. For the measurement in the dimension measuring device 80, for example, a non-contact distance sensor such as an optical type or an ultrasonic type, or a transmissive sensor is used. The measurement of the dimensions in the dimension measuring device 80 can be performed according to the configuration and procedure disclosed in, for example, Japanese Patent Application Laid-Open No. 2021-046287 (the above-mentioned Patent Document 2). On the other hand, the diameter measuring device 100 is specifically installed to measure the diameter of the outer ring 51. The dimension measuring device 80 may be capable of measuring the diameter of the outer ring 51 and / or the diameter of the inner ring 55. In that case, the dimension measuring device 80 may measure the front-rear diameter or the up-down diameter of the outer ring 51 and / or the inner ring 55 by an optical distance sensor.

[0032] The dimension measuring device 80 and the diameter measuring device 100 are provided at positions that are paired in the left-right direction. Further, the dimension measuring device 80 and the diameter measuring device 100 are provided such that two sets are arranged at a predetermined interval in the front-rear direction. For example, when the dimension measuring device 80 is located on the right side of the front part of the traveling vehicle 6 and the diameter measuring device 100 is located on the left side of the front part, the diameter measuring device 100 is located on the right side of the rear part of the traveling vehicle 6, and the dimension measuring device 80 is located on the left side of the rear part. In other words, when assuming a rectangle with the positions of the front and rear two sets of outer rings 51 (a total of four outer rings 51) as vertices in a plan view, the two diameter measuring devices 100 are arranged on the diagonal lines of the rectangle.

[0033] Next, referring to FIGS. 4 to 6, the diameter measuring device 100 will be described in detail. As shown in FIG. 4, a pair of extension portions 40J are provided on the left and right outer sides of the lower surface portion 40B. The extension portion 40J may be a plate-like member similar to the lower surface portion 40B. The lower surface portion 40B and the extension portion 40J extend horizontally, for example. The extension portion 40J may be installed such that the surface of the extension portion 40J is flush with the flat running surface 41 of the lower surface portion 40B. However, the extension portion 40J is not limited to a configuration flush with the lower surface portion 40B, and the extension portion 40J may form a step with the lower surface portion 40B.

[0034] As shown in FIGS. 4 to 6, the diameter measuring device 100 is installed across the extension portion 40J and the lower surface portion 40B. The diameter measuring device 100 includes an upper measurement plate 61, a lower measurement plate 62, a plate position detector 60 that detects the height positions of the upper measurement plate 61 and the lower measurement plate 62, and an actuator 70 that moves the upper measurement plate 61 up and down.

[0035] As shown in FIGS. 5 and 6, the upper measurement plate 61 is a plate-like member that contacts the outer ring 51 from above. The lower measurement plate 62 is a plate-like member that contacts the outer ring 51 from below. The plate position detector 60 includes an upper detector 63 that detects the height position of the upper measurement plate 61 and a lower detector 64 that detects the height position of the lower measurement plate 62.

[0036] In the diameter measuring device 100, the upper measurement plate 61 and the lower measurement plate 62 are movable up and down along a linear guide 66 that is fixed to a base portion 65 and extends in the vertical direction, for example. The base portion 65 is erected on the extension portion 40J. The vertical height of the base portion 65 is higher than the height of the upper end surface 51a of the outer ring 51 that rolls on the running surface 41. The upper detector 63 is attached to the upper end portion of the base portion 65, for example. For example, the lower detector 64 is attached to the base portion 65 below the upper detector 63. The linear guide 66 is fixed to the side portion of the base portion 65 facing the lower surface portion 40B.

[0037] The configuration related to the upper measurement plate 61 will be described. The upper measurement plate 61 is biased upward by the spring 77 of the actuator 70. When the motor 71 is driven, the upper measurement plate 61 is moved downward. More specifically, the upper measurement plate 61 includes a vertical plate portion 61c attached to the base portion 65 via a linear guide 66 and slidable with respect to the base portion 65, a horizontal plate portion 61a horizontally extending upward from the vertical plate portion 61c above the lower surface portion 40B, and an operating piece 61e extending rearward and horizontally from the vertical plate portion 61c and abutting against the eccentric cam 75 of the actuator 70. The vertical plate portion 61c, the horizontal plate portion 61a, and the operating piece 61e slide vertically integrally.

[0038] The actuator 70 includes a linear guide 70A fixed on the extension portion 40J and extending in the front-rear direction, and a slide portion 70B slidable in the front-rear direction along the linear guide 70A. A rack gear 74 extending in the front-rear direction is fixed on the slide portion 70B. As shown in FIG. 6, a spring 77 that biases the slide portion 70B in a direction approaching the linear guide 70A is provided between the linear guide 70A and the slide portion 70B. The spring 77 is, for example, a tension coil spring. For example, the fixed end 77a of the spring 77 is locked to a locking pin 70Aa erected on the linear guide 70A, and the moving end 77b of the spring 77 is locked to a locking pin 70Bb erected on the slide portion 70B. The slide portion 70B and the rack gear 74 slide integrally in the front-rear direction.

[0039] The actuator 70 includes a motor 71 fixed on the extension part 40J and having an output shaft 71a extending in the left - right direction, a rotary shaft 76 connected to the output shaft 71a via a coupling 73, an eccentric cam 75 fixed to the tip of the rotary shaft 76, and a gear 72 fixed to the rotary shaft 76 at an intermediate position between the motor 71 and the eccentric cam 75. The eccentric cam 75 and the gear 72 rotate together with the rotation of the rotary shaft 76 extending in the left - right direction. The gear 72 meshes with a rack gear 74. When the rotary shaft 76 and the gear 72 rotate due to the drive of the motor 71, the rack gear 74 and the slide part 70B move in a direction away from the locking pin 70Aa of the linear guide 70A against the biasing force of the spring 77. Note that the actuator 70 may include a bearing part 78 erected on the extension part 40J to support the rotary shaft 76. The actuator 70 may include an auxiliary receiving part 79 erected on the extension part 40J through which the rotary shaft 76 passes.

[0040] As shown in FIGS. 7(a) to 7(c), the disk - shaped eccentric cam 75 is eccentrically attached to the rotary shaft 76. In the initial state, that is, when the power of the motor 71 is cut off, the upper measurement plate 61 is biased to the retracted position P1 by the biasing force of the spring 77 as shown in FIG. 7(a). At this time, the contact surface 61k of the actuating piece 61e contacts the peripheral surface of the eccentric cam 75 and is pushed up by the eccentric cam 75. The actuating piece 61e is located at the position farthest from the rotary shaft 76. When the upper measurement plate 61 is located at the retracted position P1, the height of the horizontal plate part 61a is higher than the height of the upper end surface 51a of the outer ring 51 on the running surface 41. That is, the upper measurement plate 61 is located at the retracted position P1 separated from the outer ring 51.

[0041] When the drive of the motor 71 causes the rotary shaft 76 to rotate, as shown in Fig. 7(b), the upper measurement plate 61 descends while being in contact with the circumferential surface of the eccentric cam 75 due to its own weight. The upper measurement plate 61 is located at the intermediate position P2 during the descent. At the intermediate position P2, the contact surface 61k of the actuating piece 61e is in contact with the circumferential surface of the eccentric cam 75, but the height of the horizontal plate portion 61a is higher than the height of the upper end surface 51a of the outer ring 51 on the running surface 41. Note that Figs. 7(b) and 7(c) are diagrams for schematically explaining the relationship between the height position of the upper end surface 51a of the outer ring 51 and the state of the eccentric cam 75. The outer ring 51 is shown by a virtual line and is illustrated so as to overlap the position of the eccentric cam 75. Actually, when viewed from the axial direction (left - right direction) of the outer ring 51 and the eccentric cam 75, the outer ring 51 is arranged at a position different from that of the eccentric cam 75 (for example, in front of and inside the eccentric cam 75 in the left - right direction). Therefore, the horizontal plate portion 61a that contacts the upper end surface 51a of the outer ring 51 is also arranged at a position different from that of the actuating piece 61e (for example, in front of and inside the actuating piece 61e in the left - right direction). The height of the lower surface (the surface that contacts the outer ring 51) of the horizontal plate portion 61a may be equal to or different from the height of the contact surface 61k of the actuating piece 61e.

[0042] When the drive of the motor 71 causes the rotary shaft 76 to rotate further, as shown in Fig. 7(c), the upper measurement plate 61 is located at the contact position P3 where the horizontal plate portion 61a contacts the upper end surface 51a of the outer ring 51. At the contact position P3, the contact surface 61k of the actuating piece 61e is separated from the circumferential surface of the eccentric cam 75, and the height of the horizontal plate portion 61a becomes equal to the height of the upper end surface 51a of the outer ring 51. For example, in order to move the upper measurement plate 61 from the retracted position P1 to the contact position P3, the rotary shaft 76 rotates 180 degrees. Note that the eccentric cam 75 is not limited to being disc - shaped and may have other shapes (non - circular shapes, etc.) that can be adopted by known eccentric cams.

[0043] With the above configuration, the upper measurement plate 61 moves in conjunction with the rotational drive of the actuator 70 via the eccentric cam 75. The upper measurement plate 61 rises to the retracted position P1 by the biasing force of the spring 77 when the power is cut off, and descends to the contact position P3 by the drive of the motor 71. Note that the upper measurement plate 61 may be lowered from the retracted position to the contact position by directly pushing down the upper measurement plate 61 with an actuator such as a solenoid. Also, the upper measurement plate 61 may be biased upward so as to rise from the contact position to the retracted position by directly attaching the lower end of a spring or the like to the upper measurement plate 61.

[0044] As shown in FIG. 4, on the lower surface portion 40B, at the position where the plate position detection portion 60 is provided, a rectangular inner ring support portion 40G that projects toward the other lower surface portion 40B is provided. On the upper measurement plate 61, in a plan view, a pair of bevel portions 61b (see FIG. 6) are formed such that the width in the front-rear direction becomes smaller as it approaches the inner ring support portion 40G. The function of the bevel portion 61b will be described later.

[0045] Subsequently, the configuration related to the lower measurement plate 62 will be described. An actuator is not provided on the lower measurement plate 62. The lower measurement plate 62 is biased upward by a spring 67 (see FIG. 8) attached to the base portion 65. The spring 67 is, for example, a tension coil spring. The lower measurement plate 62 is moved downward by the entry of the outer ring 51 (traveling wheel 6). More specifically, as shown in FIG. 5, on the lower surface portion 40B, a rectangular opening 42 is formed corresponding to the position where the base portion 65 is attached. The lower measurement plate 62 is attached to the base portion 65 via a linear guide 66, and includes a vertical plate portion 62c that is slidable with respect to the base portion 65 and a contact plate portion 62a that projects horizontally from the vertical plate portion 62c and is disposed within the opening 42. The vertical plate portion 62c and the contact plate portion 62a slide integrally in the vertical direction.

[0046] In addition, in FIGS. 8 and 9, a diameter measuring device 100 (the other one located diagonally) different from the diameter measuring device 100 shown in FIGS. 5 and 6 is shown. One diameter measuring device 100 and the other diameter measuring device 100 have a symmetrical structure with respect to a virtual plane orthogonal to the left-right direction, for example.

[0047] As shown in FIG. 5, the lower measuring plate 62 is biased upward to a standby position where it can contact the outer ring 51 in the initial state. In this state, the upper surface of the contact plate portion 62a protrudes slightly above the running surface 41 of the lower surface portion 40B and is slightly higher than the running surface 41. Inclined surfaces 62b are formed at the front and rear portions of the rectangular contact plate portion 62a. Due to the inclined surfaces 62b, the heights of the front end and the rear end of the contact plate portion 62a in the initial state are slightly lower than the running surface 41. With this configuration, when the outer ring 51 rolling on the running surface 41 enters the area of the diameter measuring device 100, it can smoothly rest on the contact plate portion 62a.

[0048] The lower measuring plate 62 is moved downward by the entry of the outer ring 51. The contact plate portion 62a moves downward against the biasing force of the spring 67 while being in contact with the lower end surface of the outer ring 51.

[0049] The upper detector 63 and the lower detector 64 are distance measuring sensors. For example, as the upper detector 63 and the lower detector 64, a contact linear sensor can be adopted, for example. The upper detector 63 can detect the height position of the upper measuring plate 61 (for example, the horizontal plate portion 61a). The lower detector 64 can detect the height position of the lower measuring plate 62 (for example, the contact plate portion 62a). When the upper detector 63 and the lower detector 64 detect the height positions of the upper measuring plate 61 and the lower measuring plate 62, they transmit a detection signal indicating the height position to, for example, the traveling vehicle controller of the traveling vehicle 6, the system controller 90, or another control device (not shown) provided in the traveling vehicle system 1. The traveling vehicle controller, the system controller 90, or the control device acquires the height positions of the upper measuring plate 61 and the lower measuring plate 62 and calculates the diameter of the outer ring 51.

[0050] Next, with reference to FIG. 8, a method for measuring the diameter of the outer ring 51 in the diameter measuring device 100 will be described. First, the control device of the diameter measuring device 100 detects the arrival of the traveling vehicle 6 by means of a sensor (not shown). As shown in FIG. 8, the inner ring 55 (a part different from the traveling roller, another traveling roller) of the traveling vehicle 6 is placed on the inner ring support portion 40G and supported by the inner ring support portion 40G. Thereby, the posture of the traveling vehicle 6 in the vertical direction is maintained. The outer ring 51 has entered onto the contact plate portion 62a of the lower measurement plate 62. The contact plate portion 62a is slightly moved downward, and the upper surface of the contact plate portion 62a is substantially aligned with the height of the traveling surface 41. Since the inner ring support portion 40G receives the own weight (load) of the traveling vehicle 6 via the inner ring 55, a large load is not applied to the contact plate portion 62a.

[0051] Therefore, a large load is not applied to the outer ring 51 either, and it is prevented that the outer ring 51 is changed by the load. In this state, the motor 71 is driven and the upper measurement plate 61 is moved downward. Then, with the contact plate portion 62a in contact with the lower end surface of the outer ring 51 and the horizontal plate portion 61a in contact with the upper end surface 51a of the outer ring 51, the height position is detected by the upper detector 63 and the lower detector 64, and the diameter is calculated by the control device or the like. The timing for performing the diameter calculation may be after a predetermined time has elapsed after the arrival of the traveling vehicle 6, or when the detection values by the upper detector 63 and the lower detector 64 are stabilized.

[0052] When the traveling vehicle 6 enters the position of the diameter measuring device 100, the branch roller 53 (see FIG. 3) of the traveling vehicle 6 may not be located at a predetermined position and may protrude leftward (or rightward; in the direction approaching the upper measuring plate 61). With the outer ring 51 rolling on the lower surface portion 40B, the height of the branch roller 53 may interfere with the horizontal plate portion 61a of the upper measuring plate 61. That is, the branch roller 53 is located within the vertical movement range (range from the retracted position P1 to the contact position P3) of the horizontal plate portion 61a. In the example shown in FIG. 9, the branch roller 53 is located at a predetermined position and does not protrude. In the unlikely event that the branch roller 53 protrudes, as the traveling vehicle 6 moves while the branch roller 53 contacts the inclined side portion 61b of the horizontal plate portion 61a, the branch roller 53 can be retracted rightward (or leftward). The inclined side portion 61b formed on the horizontal plate portion 61a enables the interference state to be resolved even if interference with the branch roller 53 occurs, allowing the diameter of the outer ring 51 to be measured without hindrance.

[0053] According to the traveling vehicle system 1 of the present embodiment, above and below the outer ring 51, the upper measuring plate 61 and the lower measuring plate 62 contact the outer ring 51. By detecting the height positions of the upper measuring plate 61 and the lower measuring plate 62 by the upper detector 63 and the lower detector 64, the diameter of the outer ring 51 is measured. In this way, since it is only necessary to bring the two plates into contact with the outer ring 51, the diameter of the outer ring 51 can be easily measured. Different from the conventional optical measurement, since the height position of the plate is detected using physical contact, the diameter can be accurately measured. Also, the upper and lower two plates are arranged at positions avoiding the rolling region (passing region) of the outer ring 51. Therefore, the configuration is further simplified compared to the case of applying two left and right plates.

[0054] The lower measuring plate 62 is biased upward to a standby position where it can contact the outer ring 51 and is moved downward by the entry of the outer ring 51. Therefore, an actuator for moving the lower measuring plate 62 up and down is not required, and the diameter measuring device 100 has a simpler structure.

[0055] In the initial state, the upper measurement plate 61 is biased upward to a contact position P3 that is separated from the outer ring 51. Therefore, even if the actuator 70 that moves the upper measurement plate 61 up and down malfunctions, a collision between the upper measurement plate 61 and the outer ring 51 can be prevented.

[0056] With the posture of the traveling vehicle 6 maintained by the inner ring 55, the upper measurement plate 61 and the lower measurement plate 62 come into contact with the outer ring 51. Therefore, deformation of the outer ring 51 can be prevented by a load such as the own weight of the traveling vehicle 6. Thus, the diameter of the outer ring 51 can be measured more accurately.

[0057] The posture of the traveling vehicle 6 is maintained by utilizing the inner ring 55 which is a configuration originally provided for the traveling of the traveling vehicle 6. Therefore, the diameter of the outer ring 51 can be measured easily and accurately.

[0058] The diameter measuring device 100 is incorporated in the middle of the traveling rail 4 or provided on an extension of the traveling rail 4. Therefore, after moving the traveling vehicle 6 along the traveling rail 4 to the position of the diameter measuring device 100, the diameter of the outer ring 51 may be measured. It is not necessary to move the traveling vehicle 6 to a place outside the traveling rail 4.

[0059] As described above, the embodiments of the present disclosure have been described, but the present invention is not limited to the above embodiments. For example, in the above embodiment, an example of measuring the diameter of the outer ring 51 has been described, but the diameter measuring device 100 may measure the diameter of the inner ring 55. In the traveling vehicle 6, either the outer ring 51 or the inner ring 55 may be omitted. In that case, the other of the outer ring 51 and the inner ring 55 corresponds to the traveling roller to be measured. In that case, a posture of the traveling vehicle 6 may be maintained by supporting a part of the traveling vehicle 6 other than the traveling roller (outer ring 51 or inner ring 55) on a part of the rail body 40 (traveling rail 4). With the posture of the traveling vehicle 6 maintained and the own weight (load) of the traveling vehicle 6 applied to the above-mentioned other part, deformation of the traveling roller (outer ring 51 or inner ring 55) is prevented. Thus, the diameter of the traveling roller can be measured accurately.

[0060] In the above-described embodiment, an example has been described in which when the power is cut off, the upper measurement plate 61 is urged to the retracted position P1 by the urging force of the spring 77 (see Fig. 7(a)). However, another means (urging means) for urging the upper measurement plate 61 upward may be provided. For example, without using the spring 77, a pulley, a weight, or the like may be used to urge the upper measurement plate 61 upward. Other known urging means may be applied to the upper measurement plate 61. The configuration for urging the lower measurement plate 62 upward is not limited to the spring 67. Without using the spring 67, a pulley, a weight, or the like may be used to urge the lower measurement plate 62 upward. Other known urging means may be applied to the lower measurement plate 62.

[0061] In the above-described embodiment, an example has been described in which the attitude of the traveling vehicle 6 is maintained by the inner ring 55 which is another traveling roller. However, the attitude of the traveling vehicle 6 may be maintained by another part of the traveling vehicle 6 different from the traveling roller.

[0062] An example has been described in which the upper detector 63 and the lower detector 64 are separately provided as detectors. However, one detector may detect the height positions of the upper measurement plate 61 and the lower measurement plate 62.

[0063] The shapes of the upper measurement plate 61 and the lower measurement plate 62 can be changed as appropriate. The actuator 70 for the upper measurement plate 61 may be omitted. The upper measurement plate 61 may be in a state of being urged downward and waiting, similar to the lower measurement plate 62 of the above-described embodiment, and may be pushed up (moved upward) by the entry of the outer ring 51 (traveling roller).

[0064] The diameter measuring device 100 may be provided at a location separated from the traveling rail 4.

[0065] In the above-described embodiment, an example applied to the traveling rail 4 for suspending and traveling the traveling vehicle 6 has been described. However, the present invention can also be applied to a traveling vehicle system in which the traveling vehicle travels inside a traveling rail arranged on the ground. In the above-described embodiment, when measuring by the measuring unit 110, the traveling vehicle 6 was traveled by driving the traveling unit 50. Instead of or in addition to this, the traveling vehicle 6 may be traveled (moved) by another device or the like.

Explanation of Signs

[0066] 1... traveling vehicle system, 4... traveling rail (rail), 6... traveling vehicle, 40B... lower surface portion, 41... traveling surface, 42... opening, 51... outer wheel (traveling roller), 55... inner wheel (another traveling roller), 61... upper measurement plate, 62... lower measurement plate, 63... upper detector, 64... lower detector, 67... spring, 70... actuator, 71... motor, 72... gear, 73... coupling, 74... rack gear, 75... eccentric cam, 76... rotating shaft, 100... diameter measuring device (measuring device), 110... measuring unit, P1... retracted position, P3... contact position.

Claims

1. A vehicle running system in which a vehicle having running rollers runs on a rail, an upper measurement plate that contacts the running rollers from above, a lower measurement plate that contacts the running rollers from below, and a measuring device having a detector that detects the height positions of the upper measurement plate and the lower measurement plate are provided, wherein the lower measurement plate is biased upward to a standby position where it can contact the running rollers, and is moved downward by the entry of the running rollers. A vehicle running system.

2. A vehicle running system in which a vehicle having running rollers runs on a rail, an upper measurement plate that contacts the running rollers from above, a lower measurement plate that contacts the running rollers from below, and a measuring device having a detector that detects the height positions of the upper measurement plate and the lower measurement plate are provided, wherein the upper measurement plate is biased upward to a retracted position where it is separated from the running rollers. A vehicle running system.

3. A vehicle running system in which a vehicle having running rollers runs on a rail, an upper measurement plate that contacts the running rollers from above, a lower measurement plate that contacts the running rollers from below, and a measuring device having a detector that detects the height positions of the upper measurement plate and the lower measurement plate are provided, wherein the upper measurement plate and the lower measurement plate contact the running rollers while the attitude of the vehicle is maintained by a part of the vehicle other than the running rollers. A vehicle running system.

4. The vehicle running system according to claim 3, wherein the other part is a running roller different from the running roller.

5. The vehicle running system according to any one of claims 1 to 4, wherein the measuring device is incorporated in the middle of the rail or provided on an extension of the rail.

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