Rail trolley system

Abstract

In a rail-guided trolley system, a working position is set for the processing device to perform operations on a rail-guided trolley that is stopped on the rail. The rail-guided trolley system has a retraction mechanism that retracts a portion of the rail opposite the work-object part of the rail-guided trolley at the working position.

Description

Technical Field

[0001] The present invention relates to a tracked trolley system. Prior Art

[0002] Systems in which a vehicle travels on a travel track are well known. The travel track comprises: a main body portion that accommodates the vehicle's travel section and extends along the travel path; and a power supply portion that is provided along the extension of the main body portion and supplies power to the travel section (for example, Patent Document 1). The system described in Patent Document 1 includes a work track for servicing the vehicle. The work track does not have a power supply portion or a top portion such as those provided on the travel track, but rather has an opening that exposes a portion of the travel section. Maintenance work (such as cleaning) on ​​the vehicle is performed through the opening. Since the vehicle cannot operate on its own on the work track, it is moved to the opening by a separately provided moving mechanism. [Prior Art Literature] [Patent Document]

[0003] [Patent Document 1] International Publication No. 2020 / 202856 Summary of the Invention

[0004] [Problems to be solved by the invention]

[0005] In the aforementioned system, the traveling vehicle (tracked trolley) is moved to the work rails by a moving mechanism, and work on the tracked trolley is performed in the open area. In this case, the lack of a power supply unit or a top surface may increase the time required to move the traveling vehicle to the work rails, and may also complicate maintenance work.

[0006] The present invention describes a tracked vehicle system that can easily perform operations on tracked vehicles. [Technical means to solve the problem]

[0007] In one aspect of the present invention, a tracked trolley system is provided, in which a working position for a processing device to perform an operation is set for a tracked trolley stopped on a track, and the tracked trolley system is characterized in that the tracked trolley system has a retraction mechanism that retracts a portion of the track opposite to the working object portion of the tracked trolley at the working position.

[0008] In this rail-mounted trolley system, a portion of the track is retracted by a retraction mechanism. Therefore, until the rail-mounted trolley reaches the work position, the track at the work position can also have the same structure as the travel track for the rail-mounted trolley to travel. For example, unlike Patent Document 1, the work track can be equipped with a power supply. Therefore, the rail-mounted trolley can move autonomously to the work position. Furthermore, after the retraction mechanism retracts a portion of the track, a processing device is used to perform work on the work target portion of the rail-mounted trolley that is stopped at the work position. In other words, the rail-mounted trolley is moved autonomously to the work position, and while the rail-mounted trolley is stopped at the work position, work can be performed simply by moving a portion of the track to the retracted position, making it easy to perform work on the rail-mounted trolley.

[0009] The retraction mechanism retracts at least a portion of the top surface of the track, and the processing device contacts the upper portion of the tracked vehicle from above to measure the position of the upper portion, or preferably captures an image of the upper portion of the tracked vehicle. In this case, the position measurement of the upper portion of the tracked vehicle or the image capture can be automated.

[0010] The top surface of the track has a plate-shaped portion extending in the direction of travel of the tracked vehicle. The tracked vehicle has a position-identifying touch roller that contacts the track's plate-shaped portion. In the operating position, the retraction mechanism retracts the movable portion of the plate-shaped portion facing the upper portion of the tracked vehicle, except for a specific portion that contacts the touch roller. In this state, the specific portion of the touch roller that contacts the touch roller does not move, maintaining contact with the touch roller. This maintains the tracked vehicle's ability to identify its position, allowing for smooth post-operation recovery. This contributes to reduced cycle time. Furthermore, since the portion of the moving track that does not contact the touch roller is retracted, this portion does not rub against the touch roller, thereby minimizing wear on the touch roller.

[0011] The plate-shaped portion is a magnetic plate, with the specific portion being a fixed magnetic plate that contacts the touch roller in the operating position. The movable portion is preferably a movable magnetic plate that abuts the fixed magnetic plate in the travel direction. In this case, a linear motor-driven tracked carriage facilitates operation. The retraction mechanism retracts only the movable magnetic plate, returning it to its normal position (in and out position) after operation. This allows for smooth operation recovery after operation.

[0012] The retraction mechanism slides a portion of the track from its normal position to a retracted position, exposing the work area. In this case, the slide movement of the track allows access to the work area from its normal position. This makes it easier to position the processing device in an area where it does not obstruct the movement of the tracked vehicle (outside the travel path of the running section), enabling faster work.

[0013] The first direction of movement of the portion of the track retracted by the retraction mechanism is perpendicular to the second direction of movement of the processing device's working unit toward the tracked carriage for work. This allows for smooth exposure of the work target, making it easier for the processing device's working unit to access the work target. [Effects of the Invention]

[0014] According to the present invention, operations on a tracked vehicle can be performed simply by moving a portion of the track, making the operation easy. Simple diagram description

[0015] FIG1 is a schematic top view showing a tracked trolley system according to one embodiment. [Figure 2] is a front view of the tracked trolley as viewed from the traveling direction. FIG3 is a perspective view showing the traveling portion of a track-mounted trolley. [Figure 4] Figure 4(a) is a view of the top portion of the track in the working position as viewed from below, and Figure 4(b) is a view showing a state in which a portion of the track has moved (retreat) from the state of Figure 4(a) toward the retracted position. [Figure 5] Figure 5(a) is a side sectional view of the track and the track-mounted trolley in the state of Figure 4(a), and Figure 5(b) is a side sectional view of the track and the track-mounted trolley in the retreat state of Figure 4(b). [Fig. 6] Fig. 6(a) and Fig. 6(b) are side sectional views showing the operation of each part of a modification example of a simultaneous drive type of a retracting mechanism that also serves as a part of a track and a moving mechanism for operation. [Fig. 7] Fig. 7(a) and Fig. 7(b) are side sectional views showing the operation of each part of a modification of the simultaneous drive type following Fig. 6(a) and Fig. 6(b). Implementation Method

[0016] The following describes embodiments of the present invention with reference to the accompanying drawings. In the accompanying drawings, identical elements are denoted by identical reference numerals, and duplicate descriptions are omitted. In some drawings, directions such as "up," "down," "left," "right," "front," and "back" are defined for ease of explanation.

[0017] As shown in Figures 1 and 2, a tracked vehicle system 1 uses an overhead traveling vehicle (tracked vehicle) 6 that is movable along a travel track (railway) 4 to transport items 10 between loading areas 9. Items 10 include, for example, FOUPs (Front Opening Unified Pods) that store multiple semiconductor wafers, containers for storing glass substrates, containers such as grating cassettes, and general parts. In the following description, the overhead traveling vehicle 6 will be simply referred to as the traveling vehicle 6. The tracked vehicle system 1 includes the travel track 4, multiple traveling vehicles 6, multiple loading areas 9, and a work rail 41.

[0018] The travel track 4 is installed, for example, above the operator's headspace, i.e., near the ceiling. It is suspended from the ceiling, for example. The travel track 4 forms a predetermined path for the carriage 6 to travel. The travel track 4 is supported by pillars 40A, 40A. The travel track 4 of the rail-mounted trolley system 1 includes a main line section 4A that patrols a predetermined area in one direction, and an inlet section 4B that guides the carriage 6 into the work track 41, which includes an operating area 160 for maintaining the carriage 6. Furthermore, the carriage 6 also moves in the predetermined direction in the inlet section 4B.

[0019] The travel rail 4 comprises a cylindrical rail body 40, a power supply portion 40E, and a pair of lower surface portions 40B, 40B, a pair of side surface portions 40C, 40C, and a top surface portion 40D. The rail body 40 houses (encloses) the travel portion 50 of the carriage 6. The lower surface portion 40B extends in the travel direction of the carriage 6 and forms the lower surface of the rail body 40. The lower surface portion 40B is a plate-shaped member on which the travel rollers 51 of the carriage 6 rotate. The side surface portions 40C extend in the travel direction of the carriage 6 and form the side surfaces of the rail body 40. The top surface portion 40D extends in the travel direction of the carriage 6 and forms the upper surface of the rail body 40. The top surface portion 40D includes a magnetic plate 40F.

[0020] The power supply unit (power supply line) 40E supplies power to the power supply core 57 of the traveling vehicle 6 and transmits and receives signals to and from the power supply core 57. The power supply unit 40E is fixed to a pair of side surfaces 40C and 40C, respectively, and extends along the direction of travel. The power supply unit 40E supplies power in a non-contact state with the power supply core 57. The magnetic plate 40F causes the LDM (Linear DC Motor) 59 of the traveling vehicle 6 to generate a magnetic force for traveling or stopping. The magnetic plate 40F is fixed to the top plate 70 of the top surface 40D (see Figure 5) by a bracket (not shown) and extends along the direction of travel. The traveling vehicle 6 is a tracked vehicle driven by a linear motor.

[0021] The carriage 6 travels on the travel rails 4 to transport articles 10. Traveling on the travel rails 4 means that the travel rollers 51 of the carriage 6 rotate on the lower surface 40B of the travel rails 4. The carriage 6 is configured to transport articles 10. The carriage 6 is an elevated, unmanned carriage. The number of carriages 6 included in the rail-mounted trolley system 1 is not particularly limited and may be a plurality. The carriage 6 includes a main body 7, a travel unit 50, and a control unit 35. The main body 7 includes a main body frame 22, a transverse feed unit 24, a θ driver 26, a lift drive unit 28, a lift platform 30, and a cover 33.

[0022] The main frame 22 is connected to the traveling section 50 and supports the transverse feed section 24, theta drive 26, the lift drive section 28, the lift platform 30, and the cover 33. The transverse feed section 24 feeds the theta drive 26, the lift drive section 28, and the lift platform 30 together in a direction perpendicular to the travel direction of the traveling rail 4. The theta drive 26 rotates at least one of the lift drive section 28 and the lift platform 30 within a predetermined angular range within a horizontal plane. The lift drive section 28 raises and lowers the lift platform 30 by winding or continuously feeding a sling such as a wire, rope, or belt. The lift platform 30 is equipped with a clamp that can freely grasp and release an object 10. A pair of covers 33 are provided, for example, at the front and rear ends of the traveling direction of the traveling carriage 6. The covers 33 retract and deploy claws (not shown) to prevent the object 10 from falling during transport.

[0023] The traveling unit 50 is used to move the traveling vehicle 6 along the traveling rails 4. As shown in FIG3 , the traveling unit 50 includes traveling rollers 51, side rollers 52, diverging rollers 53, auxiliary rollers 54, touch rollers 55, a power supply core 57, and an LDM 59. In FIG2 , the diverging rollers 53, auxiliary rollers 54, and touch rollers 55 are not shown.

[0024] The travel roller 51 is a pair of rollers consisting of an outer wheel 51A serving as a travel wheel and an inner wheel 51B serving as a travel auxiliary wheel. The travel roller 51 is arranged at the left and right ends of the travel portion 50, front and rear. The travel roller 51 rolls on a pair of lower surface portions 40B, 40B of the travel rail 4. The side rollers 52 are arranged so as to clamp the outer wheels 51A of the travel roller 51 in the front-to-back direction. The side rollers 52 are configured to be in contact with the side portions 40C of the travel rail 4. The diverging rollers 53 are arranged so as to clamp the side rollers 52 in the upper and lower directions. The diverging rollers 53 are configured to be in contact with guides (not shown) arranged at the connecting portion or diverging portion of the travel rail 4.

[0025] The auxiliary rollers 54 are, for example, a group of three rollers located at the front and rear of the traveling section 50. The auxiliary rollers 54 are provided to prevent the LDM 59 and the power supply core 57 from contacting the magnetic plate 40F disposed on the upper surface of the traveling rail 4 when the traveling section 50 tilts forward or backward due to acceleration or deceleration. The gap between the auxiliary rollers 54 and the magnetic plate 40F is managed by the processing device 80 (details of which will be described later) so that it remains within a desired range. Furthermore, anti-tilt rollers are provided at the four corners of the LDM 59 to prevent tilting caused by centrifugal force when the traveling section 50 travels in a curved section. However, illustrations of the anti-tilt rollers are omitted in Figures 1 and 2.

[0026] The power supply core 57 is positioned in front and behind the traveling unit 50, sandwiching the LDM 59 in the left-right direction. It provides contactless power supply and transmits and receives various signals with the power supply unit 40E located on the traveling rail 4. The power supply core 57 processes and exchanges signals with the control unit 35. The LDM 59 is located in front and behind the traveling unit 50. The LDM 59 generates a magnetic force for traveling or stopping between the magnetic plates 40F located on the upper surface of the traveling rail 4 by electromagnets. The gaps between the LDM 59 and the magnetic plates 40F are managed by the processing device 80 to maintain values ​​within the desired range.

[0027] As shown in Figure 1, the loading section 9 is arranged along the travel rails 4 and is located at a position where articles 10 can be delivered to and from the carriage 6. The loading section 9 includes a buffer zone and a delivery port. The buffer zone is a loading section for temporarily loading articles 10. The buffer zone is a loading section for temporarily placing articles 10 when, for example, an article 10 being transported by the carriage 6 cannot be transferred to the intended delivery port due to other articles 10 being loaded at the port. The delivery port is a loading section for delivering articles 10 to semiconductor processing equipment (not shown), such as cleaning equipment, film forming equipment, lithography equipment, etching equipment, thermal processing equipment, and planarization equipment. The processing equipment is not particularly limited and can be a variety of equipment.

[0028] For example, the placement section 9 is positioned to the side of the travel rails 4. In this case, the traveler 6 uses the transverse feed unit 24 to transversely feed the lifting drive unit 28 and other components, slightly raising and lowering the lifting platform 30, thereby transferring the article 10 between the placement section 9 and the traveler 6. Furthermore, although not shown, the placement section 9 may also be positioned directly below the travel rails 4. In this case, the traveler 6 transfers the article 10 between the placement section 9 and the traveler 6 by raising and lowering the lifting platform 30.

[0029] The control unit 35 is an electronic control unit composed of a CPU (Central Processing Unit), ROM (Read Only Memory), and RAM (Random Access Memory). The control unit 35 controls various operations of the traveling vehicle 6. Specifically, the control unit 35 controls the traveling unit 50, the transverse feed unit 24, the θ drive 26, the lifting drive unit 28, and the lifting platform 30. The control unit 35 can be implemented as software, for example, by loading a program stored in ROM into RAM and executing it on the CPU. Alternatively, the control unit 35 can be implemented as hardware, such as electronic circuits. The control unit 35 communicates with the controller 90 using, for example, the power supply 40E (feeder) of the traveling rail 4.

[0030] The controller 90 is an electronic control unit composed of a CPU, ROM, and RAM. The controller 90 can be implemented as software, for example, by loading a program stored in the ROM into the RAM and executing it on the CPU. Alternatively, the controller 90 can be implemented as hardware, such as electronic circuits. The controller 90 transmits transport instructions to the traveling vehicle 6 for transporting the object 10.

[0031] As shown in FIG1 , the work area 160 is provided in a portion of the introduction section 4B and is an area for performing maintenance on the travel rollers 51 and LDM 59 of the travel section 50 included in the travel vehicle 6. The work area 160 includes a work rail 41 and a processing device 80.

[0032] The working rail 41 extends in one direction, with both ends connected to the traveling rails 4, 4. The working rail 41 is a portion of the traveling rail 4. In the rail-mounted vehicle system 1 of this embodiment, the processing device 80 can operate the traveling vehicle 6 while it is parked at a working position P80 (see Figure 5(a)) on the working rail 41. Specifically, the working rail 41 is provided with a working position P80 for performing maintenance (including inspection of various parts of the traveling rail 4).

[0033] Figure 4(a) shows the top surface 40D of the introduction section 4B (travel track 4) at the work position P80, as viewed from below. Figure 5(a) is a side cross-sectional view of the introduction section 4B and the carriage 6 in the state shown in Figure 4(a). As shown in Figures 4(a) and 5(a), the rail-mounted vehicle system 1 includes a handling device 80 for performing operations on the carriage 6 on the work track 41 in the work area 160, and a retraction mechanism 60 for retracting a portion of the track, i.e., the top surface 40D, to perform operations on the carriage 6. The operations performed by the handling device 80 are not particularly limited; however, for example, these operations include measuring the height of various parts of the carriage 6 or capturing images of various parts of the carriage 6. The following description will describe, as an example, a configuration in which the height (position) of the upper portion of the carriage 6 is measured at the work position P80.

[0034] First, referring to Figure 3 , the parts (target areas) measured by the processing device 80 will be described. The processing device 80 contacts the upper end 54T of the auxiliary roller 54, the upper surface 57T of the power supply core 57, and the upper surface 59T of the LDM 59 from above the carriage 6 to measure these positions. However, the target areas (target areas) for measurement (target areas for measurement) are not limited to these parts. As shown in Figure 5(a), the traveling section 50 of the carriage 6, which is stopped at the working position P80, is positioned between the magnetic plate 73, the movable magnetic plate 75, and the fixed magnetic plate 78, which are arranged at equal heights, and the lower surface portion 40B. The traveling roller 51 contacts the upper surface of the top surface portion 40D, and the touch roller 55 contacts the lower surface of the fixed magnetic plate 78. In this state, by measuring the positions of the auxiliary roller 54, the power supply core 57, and the LDM 59 in the traveling section 50, it is diagnosed whether these positions are appropriate. 3 , the detailed structure of the power supply core 57 and the LDM 59 is omitted, and the power supply core 57 and the LDM 59 are shown as simple blocks.

[0035] As shown in Figure 5(a), the traveling section 50 of the traveling vehicle 6 autonomously moves to the work area 160 according to a predetermined maintenance schedule and stops at the work position P80. The touch roller 55 provided on the traveling section 50 moves while contacting the magnetic plate 73, movable magnetic plate 75, and fixed magnetic plate 78 (each corresponding to the plate-shaped portion) that constitute the magnetic plate 40F with a predetermined pressure. The rotation of the touch roller 55 and the encoder unit 56 (see Figure 3) connected to the touch roller 55 allow the control unit 35 to recognize the position of the traveling vehicle 6. The traveling vehicle 6 autonomously operates over substantially the entire area of ​​the traveling track 4, including the work track 41. Specifically, in the work area 160, the power supply unit 40E and magnetic plate 40F are not omitted, and the same structure as that of the main line section 4A is provided over the entire area of ​​the introduction section 4B.

[0036] The magnetic plate 40F includes a magnetic plate 73, a movable magnetic plate 75, and a fixed magnetic plate 78. The magnetic plate 73 is located at the center of the width (left-right direction) of the top surface 40D and extends horizontally in the direction of travel of the vehicle 6. As shown in Figure 4(a), the magnetic plate 73 includes, for example, a horizontally disposed bottom plate 71 fixed to the top plate 70, and a plurality of magnet pieces 72 fixed to the lower surface of the bottom plate 71. The magnet pieces 72 are arranged so as to align with the direction of travel.

[0037] When the carriage 6 is stopped at the operating position P80, a pair of movable magnetic plates 75, 75, and a fixed magnetic plate 78, which contacts the touch roller 55, are arranged to be continuous with the magnetic plate 73, sandwiching the touch roller 55 in the travel direction. The movable magnetic plates 75, 75, and the fixed magnetic plate 78 are located at the center of the width (left-right) of the top surface 40D, horizontally with respect to the travel direction of the carriage 6. Each movable magnetic plate 75 includes, for example, a horizontally disposed bottom plate 71A fixed to the top plate 70, and a plurality of magnet pieces 72A fixed to the lower surface of the bottom plate 71A. Similar to the magnet pieces 72, the magnet pieces 72A are arranged in an array in the travel direction. The length of each movable magnetic plate 75 in the travel direction is, for example, sufficient to cover the LDM 59 and auxiliary roller 54 of the carriage 6 (longer than the length of the LDM 59 and auxiliary roller 54) (see Figure 5(a)).

[0038] Fixed magnetic plate 78 includes, for example, a horizontally positioned bottom plate 76 fixed to top plate 70, and a single magnet piece 74 fixed to the lower surface of bottom plate 76. Fixed magnetic plate 78 has a minimum size sufficient to support touch roller 55 in the travel direction. Alternatively, multiple magnet pieces 74 may be provided on fixed magnetic plate 78. Preferably, the shape and size of a single magnet piece 74 are the same as those of magnet piece 72 of magnetic plate 73 and magnet piece 72A of movable magnetic plate 75.

[0039] As shown in Figure 5(a), the top surface portion 40D includes a pair of movable magnetic plates 75 and a fixed magnetic plate 78 extending in the direction of travel of the carriage 6. When the carriage 6 is in the working position P80, it includes a position identification touch roller 55 that contacts the fixed magnetic plate 78. The touch roller 55 contacts the magnetic plates 73 and the movable magnetic plate 75 during the self-propelled section of the carriage 6 until it reaches the working position P80.

[0040] As shown in Figures 4(a) and 5(a), in the operating position P80, the retraction mechanism 60 retracts only the movable magnetic plates 75 (movable portions) of the pair of movable magnetic plates 75 and fixed magnetic plates 78, which are located above the vehicle 6 and face the auxiliary roller 54, power supply core 57, and LDM 59, and are not in contact with the touch roller 55. Specifically, the retraction mechanism 60 retracts only the specific portions of the movable magnetic plates 75 and fixed magnetic plates 78 that are in contact with the touch roller 55, namely, the movable portions other than the fixed magnetic plates 78. The pair of movable magnetic plates 75, located adjacent to the front and rear of the fixed magnetic plates 78 in the travel direction, are moved laterally (in the first movement direction D1) by the retraction mechanism 60. At this point, only the fixed magnetic plates 78 remain at the center of the width of the top surface portion 40D (the position of the fixed magnetic plates 78 is maintained).

[0041] Referring to Figures 4(a) and 4(b), an example of the configuration of the retraction mechanism 60 will be described. The retraction mechanism 60 includes a drive motor 61 and a screw shaft 62 fixed to the top plate 70 of the top portion 40D; and a movable nut 63 engaged with the screw shaft 62 and moving in response to the rotation of the screw shaft 62. These drive motor 61, screw shaft 62, and movable nut 63 constitute a ball screw mechanism. A pair of bottom plates 71A (movable magnetic plates 75) are fixed to the front and rear ends of the lifting platform 30. The pair of bottom plates 71A can move left and right along four guides 64 fixed to the top plate 70. When viewed from below, the screw shaft 62 and movable nut 63 overlap the fixed magnetic plate 78. However, to avoid spatial interference with the fixed magnetic plate 78, they are positioned, for example, above the fixed magnetic plate 78.

[0042] The retraction mechanism 60 slides the pair of movable magnetic plates 75 horizontally from a normal position P1, which is continuous with the magnetic plate 73, to a retracted position P2, which allows measurement by the processing device 80. A rectangular opening 29, for example, is formed in the top plate 70 of the top surface portion 40D, and the processing device 80 is disposed within the opening 29. Alternatively, the processing device 80 may be positioned above the top plate 70 before operation and lowered through the opening 29 during operation. The drive motor 61, screw shaft 62, and guide portion 64 of the retraction mechanism 60 are located outside the space of an imaginary quadrilateral extending in the vertical direction defined by the opening 29, so as not to interfere with measurement operations performed by the processing device 80.

[0043] As shown in FIG4(b), the pair of movable magnetic plates 75 are slid by the retraction mechanism 60, exposing the mounting plate 81 of the processing device 80 and the plurality of sensor contacts 83 mounted on the mounting plate 81 within the opening 29. This means that when viewed from above, opposite to FIG4(b), the working area of ​​the traveling vehicle 6 is exposed at the normal position P1 (opening 29) of the pair of movable magnetic plates 75.

[0044] The processing device 80 includes a mounting plate 81; a lifting motor (not shown) that raises and lowers the mounting plate 81; and a plurality of cylinders 82 and sensor contacts 83 mounted on the mounting plate 81. After the pair of movable magnetic plates 75 are retracted (moved) by the retraction mechanism 60, the mounting plate 81, cylinders 82, and sensor contacts 83 are lowered, as shown in FIG5(b). As the mounting plate 81 descends, the sensor contacts 83 contact the upper portion of the carriage 6 and retract into the cylinders 82. Based on the amount of movement of the sensor contacts 83 when the mounting plate 81 stops at a predetermined position, the processing device 80 can measure the positions of the upper end 54T of the auxiliary roller 54, the upper surface 57T of the power supply core 57, and the upper surface 59T of the LDM 59 in the carriage 6. After the measurement by the processing device 80 is completed, the processing device 80 raises the mounting plate 81 in the reverse order, and then the pair of movable magnetic plates 75 return to the normal position P1. By returning the pair of movable magnetic plates 75 to the normal position P1, the traveling vehicle 6 can move independently and resume normal operation.

[0045] In this embodiment, the first movement direction D1 of the pair of movable magnetic plates 75 retracted by the retraction mechanism 60 is horizontal, while the second movement direction D2 of the sensor contact 83 (working portion) of the retraction mechanism 60, which moves toward the vehicle 6 for measurement, is vertical. Therefore, the first movement direction D1 and the second movement direction D2 are orthogonal.

[0046] In the rail-mounted trolley system 1 of this embodiment, a portion of the working rail 41 is retracted by the retraction mechanism 60. Therefore, even in the introduction section 4B at the working position P80, the necessary structure for the travel of the vehicle 6 can be provided, similar to the travel rail 4. For example, unlike the aforementioned Patent Document 1, a configuration can also be employed in which the introduction section 4B includes a power supply unit 40E. Therefore, the vehicle 6 can move autonomously to the working position P80. Furthermore, after the retraction mechanism 60 partially retracts the rail, the processing device 80 performs work on the work target portion of the vehicle 6, which is stopped at the working position P80. Therefore, the vehicle 6 can be autonomously moved to the working position P80, and with the vehicle 6 stopped at the working position P80, work can be performed simply by moving a portion of the rail to the retracted position P2, making it easier to perform work on the vehicle 6. Furthermore, space saving can be achieved.

[0047] For example, in the system described in Patent Document 1, an external mechanism moves the trolley to the opening portion of the upper surface, and then performs measurements with sensors or captures images with cameras. This requires preparatory steps, such as clamping the trolley with the external mechanism and inserting the towed member from the trolley side, potentially complicating the sequence. However, the tracked trolley system 1 of this embodiment eliminates the need for preparatory steps, simplifying the sequence.

[0048] The retraction mechanism 60 retracts at least a portion of the top surface 40D, and the processing device 80 contacts the upper portion of the carriage 6 from above to measure the position of the upper portion. This allows automated position measurement of the upper portion of the carriage 6. Furthermore, the processing device 80 can also capture an image of the upper portion of the carriage 6. This allows automated image capture of the upper portion of the carriage 6.

[0049] As the movable magnetic plate 75 retracts, the fixed magnetic plate 78 with which the touch roller 55 contacts does not move, maintaining contact with the touch roller 55. This maintains the ability of the vehicle 6 to identify its position, allowing for smooth recovery after work. This contributes to reduced cycle time. Recovery after work can also be automated. Furthermore, since the movable magnetic plate 75 is not in contact with the touch roller 55, there is no friction between the movable magnetic plate 75 and the touch roller 55 due to its retraction, thus minimizing wear on the touch roller 55. In the system described in Patent Document 1, work is performed in an open area, causing the touch roller 55 to detach from the magnetic plate surface, allowing it to rotate freely. Consequently, the vehicle itself becomes unstable due to the operation of the external mechanism, requiring repeated origin alignment when re-entering the line. The tracked vehicle system 1 of this embodiment can reduce cycle time, as described above.

[0050] Furthermore, because the fixed magnetic plate 78 is the specific portion and the movable magnetic plate 75 is the movable portion, operations can be easily performed on the linear motor-driven carriage 6. The retraction mechanism 60 retracts only the movable magnetic plate 75, and after the operation, only the movable magnetic plate 75 needs to be returned to its normal position P1. This allows for smooth recovery after the operation.

[0051] By sliding the movable magnetic plate 75, access to the upper portion of the carriage 6 is possible from the portion where the movable magnetic plate 75 is normally located (P1). Therefore, the processing device 80 can be easily positioned in an area that does not interfere with the movement of the carriage 6 (outside the travel path of the travel unit 50), enabling faster operation.

[0052] The first movement direction D1 of the pair of movable magnetic plates 75 retracted by the retraction mechanism 60 is perpendicular to the second movement direction D2 of the sensor contact 83 (operating unit) of the retraction mechanism 60, which moves toward the carriage 6 for measurement. This facilitates the smooth exposure of the upper portion of the carriage 6, facilitating access to the upper portion of the carriage 6 through the sensor contact 83 of the processing device 80.

[0053] While the above describes embodiments of the present invention, the present invention is not limited to the aforementioned embodiments. For example, in the modified examples shown in Figures 6 and 7 , the mounting plate 81 of the processing device 80A can be moved vertically by a cam mechanism in conjunction with the movement of the movable magnetic plate 75. Figures 6(a), 6(b), 7(a), and 7(b) are side cross-sectional views illustrating the operation of the various components of a modified example in which a retraction mechanism serving as a portion of a track and a moving mechanism for operation are simultaneously driven. As shown in Figure 6(a), the processing device 80A includes a mounting plate 81, a cylinder 82, and a sensor contact 83, as well as a cam portion 85 fixed to the mounting plate 81. A guide hole 85a is formed in the cam portion 85. The retraction mechanism 60A includes a movable magnetic plate 75 and a pin 65 disposed in the guide hole 85a. The movable magnetic plate 75 and the pin 65 are connected via a connecting portion 66. The mounting plate 81 is pushed downward by a spring mechanism or its own weight. As shown in FIG. 6( b ), when the movable magnetic plate 75 is moved sideways (by a drive motor (not shown) or the like), the pin 65 moves within the guide hole 85 a and the mounting plate 81 begins to descend.

[0054] Next, as shown in Figure 7(a), if the movable magnetic plate 75 is further moved sideways, the pin 65 moves within the guide hole 85a, and the mounting plate 81 further descends. Then, as shown in Figure 7(b), when the movable magnetic plate 75 has completed its retraction and is at the retracted position P2, the mounting plate 81 is supported and stopped by the stopper 87, and the sensor contact 83 contacts the working area of ​​the traveling vehicle 6. This linkage between the retraction mechanism 60A and the processing device 80A reduces the number of motors, achieves cost reduction, and simplifies the control sequence.

[0055] Furthermore, the target area of ​​the tracked vehicle is not limited to the top; it may also be a side (either the left or right side, or both), the bottom, or the lower surface. The target area may also be a combination of multiple areas. A non-contact sensor that measures the position of the target area in a non-contact manner may also be used as a processing device. The processing device is not limited to measuring or imaging the vehicle 6 (tracked vehicle); devices that perform other processing on the vehicle 6 may also be used. The target area may also be set to any part of the vehicle 6.

[0056] The present invention is not limited to the aforementioned embodiment (retraction of the movable magnetic plate), and may also be applied to a self-propelled track in which "a portion of the track" facing the work target is retracted in addition to the movable magnetic plate. If a wall portion other than the wall portion required for self-propelled operation (a portion of the side wall or a portion of the upper wall) is used, it may be used as the "portion of the track" for retraction. For example, in the working position, only a specific portion of the side wall (side portion 40C) that the side rollers of the trolley contact is used as a fixed portion, and the portion other than the specific portion of the side wall is used as a movable portion. In addition, the present invention is not limited to tracked trolleys driven by linear motors, and may also be applied to self-propelled tracked trolleys in which the drive rollers contact the upper wall (top portion 40D). In this case, in the working position, only the specific portion of the upper wall that the drive rollers of the trolley contact is used as a fixed portion, and the portion other than the specific portion of the upper wall is used as a movable portion.

[0057] In all variations, the movable portion of the side wall and / or the movable portion of the upper wall can move (or retract) in a direction perpendicular to the normal to the wall (i.e., along the plane of the wall). In this case, the movable portion can slide linearly or in an arcuate manner by rotating about the normal. The movable portion can also move in a direction perpendicular to the normal to the wall. The operating portion of the sensor contact 83, etc., can also move in a direction other than the second movement direction D2 described above.

[0058] When a portion of the side wall is movable, the power supply components (such as cables) can be installed with a margin in length, etc., so as to follow the movable range as needed.

[0059] In the above embodiment, the traveling rail 4 for hanging the traveling vehicle 6 for traveling is described as an example. However, one form of the present invention can also be applied to a tracked trolley system in which the traveling vehicle travels on a track arranged on the ground.

[0060] The constituent elements of the present invention can be described as follows. [1] A tracked trolley system is provided for setting an operating position of a processing device for a tracked trolley stopped on a track, and comprises: A retraction mechanism is provided for retracting a portion of the track facing the working target portion of the track-mounted trolley at the working position. [2] As in the track trolley system of [1], wherein the retraction mechanism retracts at least a portion of the top surface of the track. The processing device contacts the upper part of the tracked trolley from above to measure the position of the upper part, or takes an image of the upper part of the tracked trolley. [3] As in the track trolley system of [2], wherein the top surface of the track has a plate-like portion extending in the direction of travel of the track trolley, The tracked trolley has a position recognition touch roller that contacts the plate-shaped portion of the track. The retraction mechanism retracts only the movable portion of the plate-shaped portion facing the upper portion of the tracked vehicle, except for the specific portion contacted by the touch roller, in the operating position. [4] As in the track trolley system of [3], wherein the plate-like portion is a magnetic plate, The specific portion is a fixed magnetic plate that is contacted by the touch roller at the operating position, and the movable portion is a movable magnetic plate that is adjacent to the front and rear of the fixed magnetic plate in the traveling direction. [5] A track trolley system as in any one of [1] to [4], wherein a portion of the track is slid from a normal position to a retracted position by the retracting mechanism, exposing the work object portion. [6] A tracked trolley system as described in any one of [1] to [5], wherein the first moving direction of the portion of the track that is retreated by the retreat mechanism is orthogonal to the second moving direction in which the working portion of the processing device moves toward the tracked trolley in order to perform the operation.

[0061] 1: With rail trolley system 4: Walking track 6: Traveling vehicle (with track trolley) 40D: top face 40F: Magnetic plate 41: Operation track 54: Auxiliary roller 54T: Top (upper part) 57: Power supply core 57T: Upper surface (upper part) 59:LDM 59T: Upper surface (upper part) 60,60A: Retreat mechanism 73:Magnetic board 75: Movable magnetic plate 78:Fixed magnetic plate 80,80A: Processing device 83:Sensor contact (operating part) D1: 1st moving direction D2: Second moving direction P1: Normal position P2: Retreat position

Claims

1. A rail-mounted trolley system, which sets a working position for a processing device to perform operations on a rail-mounted trolley stopped on a rail, and includes: a retraction mechanism that retracts a portion of the rail opposite to the work target part of the rail-mounted trolley at the aforementioned working position.

2. If request item 1 includes a railcar system, wherein, The aforementioned retraction mechanism retracts at least a portion of the top surface of the aforementioned track, and the aforementioned processing device contacts the upper part of the aforementioned tracked trolley from above to determine the position of the aforementioned upper part, or to capture an image of the upper part of the aforementioned tracked trolley.

3. If request item 2 includes a railcar system, wherein, The aforementioned top surface of the aforementioned track has a plate-shaped portion extending in the direction of travel of the aforementioned tracked trolley. The aforementioned tracked trolley has a position identification touch roller that contacts the aforementioned plate-shaped portion of the aforementioned track. In the aforementioned working position, the aforementioned retraction mechanism retracts only the movable portion of the aforementioned plate-shaped portion facing the upper part of the aforementioned tracked trolley, excluding the specific portion that is contacted by the aforementioned touch roller.

4. If request item 3 includes a railcar system, wherein, The aforementioned plate-shaped portion is a magnetic plate, the aforementioned specific portion is a fixed magnetic plate that is contacted by the aforementioned touch roller at the aforementioned working position, and the aforementioned movable portion is a movable magnetic plate that is adjacent to the aforementioned fixed magnetic plate in the aforementioned traveling direction.

5. If any of the requests in items 1 to 4 includes a railcar system, wherein, The aforementioned retraction mechanism causes a portion of the aforementioned track to slide from its normal position to a retraction position, exposing the aforementioned work object.

6. If any of the requests in items 1 to 4 include a railcar system, wherein, The first direction of movement of the portion of the aforementioned track that is retreated by the aforementioned retraction mechanism is orthogonal to the second direction of movement of the working part of the aforementioned processing device toward the aforementioned tracked trolley in order to perform the aforementioned operation.

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