Track equipment and track-guided carriage system

Abstract

This track equipment (60) is configured by connecting a plurality of segment members (61). Each of the plurality of segment members (61) in the track equipment (60) is provided with a rolling surface (75A) on which a pair of travel rollers (51, 51) roll, a side surface (73A) that comes into contact with a side roller (52) from the outer side with respect to the width direction of the segment member (61), and a guide surface (77A) that comes into contact with the side roller (52) from the inner side with respect to the width direction of the segment member (61). The guide surface (77A) provided to one of mutually adjacent segment members (61) and the side surface (73A) provided to the other of the mutually adjacent segment members (61) are formed so as to face each other in the width direction.

Description

Track facilities and tracked vehicle systems

[0001] One aspect of the present invention relates to a track facility for a rail-guided vehicle and a rail-guided vehicle system.

[0002] Overhead traveling vehicles (carts) that travel on tracks to transport articles are known. The overhead traveling vehicles travel along the direction of the track by having traveling rollers that roll on the underside of the track and side rollers that are guided by the side of the track. Furthermore, the tracks on which such overhead traveling vehicles travel may be laid across multiple buildings. When the buildings shake or move in different ways due to an earthquake or the like, the tracks that span the buildings may become bent or damaged.

[0003] Patent Document 1 describes a traveling facility that allows for some degree of misalignment by arranging a track made up of multiple segment structures as a portion of the track spanning between buildings, and that has connecting sections that break the connection between the tracks when a stress above a predetermined value is applied, thereby avoiding interference with other tracks (or structures installed near the tracks) after a portion of the track breaks and reducing damage to the track.

[0004] Japanese Patent Application Laid-Open No. 2019-186428

[0005] However, in a track composed of the above-mentioned multiple segment structures, if the track is bent to a degree that does not cause damage, adjacent segments may move across the gaps between the segments, causing gaps to form in the gaps on the side surfaces where the side rollers roll. Furthermore, gaps may also form at the locations where the above-mentioned connecting parts are provided, which may similarly cause gaps in the gaps on the side surfaces where the side rollers roll. A running rail with such gaps on the side surfaces where the side rollers roll may not be able to run a bogie stably.

[0006] Therefore, an object of one aspect of the present invention is to provide track equipment and a track-guided vehicle system that allow the vehicle to run stably even if there is a gap on the side where the side rollers roll.

[0007] (1) A track system according to one aspect of the present invention is a track system on which a carriage runs. The track system has a pair of running rollers that are arranged opposite each other in a width direction perpendicular to the running direction and rotate about a horizontal axis, and a pair of side rollers that are arranged opposite each other in the width direction and rotate about a vertical axis. The track system is configured by connecting a plurality of segments. Each of the plurality of segments has a rolling surface on which the pair of running rollers rolls, a side surface that contacts the side rollers from the outside in the width direction of the segment, and a guide surface that contacts the side rollers from the inside in the width direction of the segment. The guide surface on one of the adjacent segments and the side surface on the other of the adjacent segments are formed to face each other in the width direction.

[0008] In this track system, the side rollers are always guided by at least one of the side surfaces and the guide surfaces between adjacent segments in the connecting direction of the segments. Furthermore, even if a gap occurs in the gap between the side surfaces along which the side rollers roll, there is no section where the side rollers are not guided, allowing the bogie to run stably.

[0009] (2) In the track system described in (1) above, the side surfaces may be a pair of side surfaces that contact the pair of side rollers from the outside in the width direction, the guide surfaces may be a pair of guide surfaces that contact the pair of side rollers from the inside in the width direction, and the pair of side surfaces and the pair of guide surfaces may be arranged so that the pair of guide surfaces of one adjacent segment and the pair of side surfaces of the other adjacent segment face each other in the width direction. With this configuration, there is no section where the pair of side rollers are not guided, allowing the bogie to run stably.

[0010] (3) In the track system described in (1) or (2) above, each of the plurality of segments may be formed symmetrically. This configuration makes it easy to form the segments.

[0011] (4) In the track system according to any one of (1) to (3), the guide surface may be positioned at a distance from the side surface that is greater than the diameter of the side roller. In this configuration, the side roller does not come into contact with the side surface and the guide surface at the same time, thereby reducing damage to the side roller.

[0012] (5) In the track system described in any one of (1) to (4) above, adjacent segments may be configured to be rotatable relative to each other in the horizontal direction. This configuration allows the segments to be curved to the left or right along the connecting direction. As a result, even if horizontal misalignment occurs in the track due to building swaying or the like, the adjacent segments can rotate relative to each other to absorb the misalignment. Even if such misalignment occurs, the bogie can travel stably.

[0013] (6) In the track system described in (5) above, one end of each segment in the running direction may be formed in a convex arc shape in plan view, and the other end may be formed in a concave arc shape that fits into the one end in plan view. With this configuration, when adjacent segments rotate relative to each other, the gap between the adjacent segments becomes smaller.

[0014] (7) In the track system described in any one of (1) to (6), the side surface may be formed to guide the side rollers in a direction in which they come into contact with the guide surface. In this configuration, when the guided portion of the side rollers changes from the side surface to the guide surface, the guided portion is smoothly guided to the guide surface. This allows the carriage to travel more stably.

[0015] (8) A rail-guided vehicle system according to one aspect of the present invention may include any one of the track facilities described above in (1) to (7) and a vehicle running on the track facility. In this configuration, the vehicle can run stably even if a gap occurs on the side surface where the side rollers roll.

[0016] (9) In the rail-guided vehicle system described in (8) above, the vehicle may have two pairs of side rollers, a pair of upper side rollers and a pair of lower side rollers, arranged in the vertical direction, the upper side rollers contacting the side surface and the lower side rollers contacting the guide surface. In this configuration, the height of the guide surface can be lower than the position of the upper side rollers, thereby increasing the space in which the vehicle travels.

[0017] According to one aspect of the present invention, even if there is a gap on the side surface on which the side roller rolls, the cart can travel stably.

[0018] FIG. 1 is a schematic plan view showing a traveling vehicle system according to one embodiment. FIG. 2 is a schematic front view of the overhead traveling vehicle of FIG. 1, viewed from the traveling direction. FIG. 3 is a cross-sectional view showing the track of FIG. 1. FIG. 4 is a diagram for explaining the operation of the branch rollers, upper side rollers, and lower side rollers at the branch section and the junction section of FIG. 2. FIG. 5(A) is a plan view showing a connected track in which segments are arranged in a straight line. FIG. 5(B) is a plan view showing a connected track in which segments are arranged in a curved shape. FIG. 6(A) is a perspective view of segments constituting the connected track. FIG. 6(B) is a perspective view showing a portion of the segment of FIG. 6(A). FIG. 7 is a perspective view of a portion of the connected track, viewed obliquely from above. FIG. 8 is a perspective view of the connected track in FIG. 7, viewed obliquely from above, in which the connected track is arranged in a curved shape. FIG. 9 is a perspective view of a traveling section traveling on a traveling space forming section formed on the connected track of FIG. 7, viewed obliquely from above. FIGS. 10(A) and 10(B) are diagrams showing an example of state transitions in a traveling vehicle traveling on a connected track. 11(A) and 11(B) are diagrams showing an example of state transitions in a traveling vehicle traveling on a connected track. 12(A) and 12(B) are diagrams showing an example of state transitions in a traveling vehicle traveling on a connected track.

[0019] Hereinafter, a traveling vehicle system (rail-guided bogie system) including an articulated track (railway facility) 60 according to one embodiment will be described with reference to the drawings. In the description of the drawings, the same elements are given the same reference numerals, and duplicated explanations will be omitted. For the sake of convenience, directions such as "up," "down," "left," "right," "front," and "rear" are defined in Figures 2 and 3.

[0020] 1 and 2 , the traveling vehicle system 1 is a system for transporting articles 10 between mounting sections 9, 9 using overhead traveling vehicles (carriages) 6 (hereinafter referred to as traveling vehicles 6) that are movable along traveling tracks 4. The articles 10 include, for example, FOUPs (Front Opening Unified Pods) that store multiple semiconductor wafers, containers that store glass substrates, containers such as reticle pods, and general parts. The traveling vehicle system 1 includes the traveling tracks 4, multiple traveling vehicles 6, multiple mounting sections 9, and a connecting track 60.

[0021] The traveling track 4 is installed, for example, near the ceiling, which is the overhead space of the worker. The traveling track 4 is suspended, for example, from the ceiling of the building 2. The traveling track 4 is a predetermined traveling path for the traveling vehicle 6 to travel on. The traveling track 4 may be arranged across multiple buildings 2. In this embodiment, the traveling track 4 is arranged across two buildings 2A and 2B.

[0022] Buildings 2A and 2B may sway in different ways due to an earthquake or the like. Specifically, buildings 2A and 2B may sway in different directions in the X direction or in the Y direction. The travel track 4 is provided via a connecting track 60 across buildings 2A and 2B, which may sway in different ways. Note that, although the present embodiment has been described with reference to an example in which buildings 2A and 2B are disposed so that there is almost no distance between them, buildings 2A and 2B may also be disposed so that there is a certain distance between them, and the travel track 4 is provided by being suspended from an inter-building building or the like.

[0023] The traveling track 4 of the traveling vehicle system 1 has a first main line section 4A that travels in one direction in a predetermined area in building 2A, a second main line section 4B that travels in one direction in a predetermined area in building 2B, and a connecting section 4C that connects buildings 2A and 2B. Note that in connecting section 4C as well, the traveling vehicle 6 moves in one predetermined direction.

[0024] The running track 4 is supported by support posts 40A, 40A. The running track 4 has a cylindrical rail main body 40 consisting of a pair of lower surface portions 40B, 40B, a pair of side surface portions 40C, 40C, and a top surface portion 40D, a power supply line 40E, and a magnetic plate 40F. The rail main body 40 houses (encloses) the running part 50 of the running vehicle 6. The lower surface portion 40B extends in the running direction of the running vehicle 6 and constitutes the lower surface of the rail main body 40. The lower surface portion 40B is a plate-shaped member on which the running rollers 51 of the running vehicle 6 roll. The side surface portion 40C extends in the running direction of the running vehicle 6 and constitutes the side surface of the rail main body 40. The top surface portion 40D extends in the running direction of the running vehicle 6 and constitutes the upper surface of the rail main body 40.

[0025] The power feeder 40E supplies power to the power feed core 57 of the traveling vehicle 6 and transmits and receives signals to and from the power feed core 57. The power feeder 40E is fixed to each of the pair of side surface portions 40C, 40C and extends along the traveling direction. The power feeder 40E supplies power to the power feed core 57 in a non-contact state. The magnetic plate 40F generates a magnetic force in an LDM (Linear DC Motor) 59 of the traveling vehicle 6 to cause it to travel or stop. The magnetic plate 40F is fixed to the top surface portion 40D and extends along the traveling direction.

[0026] The traveling vehicle 6 travels on the traveling track 4 and transports the article 10. The traveling vehicle 6 traveling on the traveling track 4 means that the traveling rollers 51 of the traveling vehicle 6 roll on the underside 40B of the traveling track 4. The traveling vehicle 6 is configured to be able to transfer the article 10. The traveling vehicle 6 is an overhead traveling unmanned traveling vehicle. The number of traveling vehicles 6 included in the traveling vehicle system 1 is not particularly limited and may be more than one. The traveling vehicle 6 has a main body unit 7, a traveling unit 50, and a traveling vehicle controller 35. The main body unit 7 has a main body frame 22, a lateral feed unit 24, a θ drive 26, an elevation drive unit 28, an elevation platform 30, and a cover 33.

[0027] The main frame 22 is connected to the travel unit 50 and supports the lateral feed unit 24, the θ drive 26, the lift drive unit 28, the lift platform 30, and a cover 33. The lateral feed unit 24 collectively transports the θ drive 26, the lift drive unit 28, and the lift platform 30 laterally in a direction perpendicular to the travel direction of the travel track 4. The θ drive 26 rotates at least one of the lift drive unit 28 and the lift platform 30 within a predetermined angular range in a horizontal plane. The lift drive unit 28 raises and lowers the lift platform 30 by winding or unwinding a suspending material such as a wire, rope, or belt. The lift platform 30 is provided with a chuck that can freely grip or release the article 10. A pair of covers 33 are provided, for example, at the front and rear of the travel direction of the travel vehicle 6. The cover 33 has protruding and retracting claws (not shown) to prevent the article 10 from falling during transport.

[0028] The travel unit 50 causes the travel vehicle 6 to travel along the travel track 4. As shown in Fig. 4, the travel unit 50 has a first travel unit 50A and a second travel unit 50B, which are rotatably connected to each other. As shown in Fig. 3, each of the first travel unit 50A and the second travel unit 50B has travel rollers 51, side rollers 52, branch rollers 53, auxiliary rollers 54, inclined rollers 55, a power supply core 57, and an LDM 59. The branch rollers 53, auxiliary rollers 54, and inclined rollers 55 are not shown in Fig. 2.

[0029] The running rollers 51 are a pair of rollers each consisting of an outer wheel 51A as a running wheel and an inner wheel 51B as a running auxiliary wheel. The running rollers 51 are arranged at both the front, rear, left and right ends of the running section 50. The running rollers 51 roll on a pair of lower surface portions 40B, 40B of the running track 4.

[0030] The side rollers 52 are arranged to sandwich the outer rings 51A of the traveling rollers 51 in the front-rear direction. The side rollers 52 include two pairs of side rollers 52: a pair of upper side rollers 52A and a pair of lower side rollers 52B. The pair of upper side rollers 52A are arranged opposite each other in the width direction (left-right direction) and rotate around a vertical axis. Each of the pair of upper side rollers 52A is arranged to be able to contact (roll) with a pair of side surface portions 40C, 40C. Similar to the pair of upper side rollers 52A, 52A, each of the pair of lower side rollers 52B is arranged to be able to contact (roll) with a pair of guide surfaces 77A formed on each of a pair of guide members 77, which will be described in detail later.

[0031] The branching rollers 53 are provided to switch the traveling vehicle 6 (traveling section 50) between traveling straight ahead and traveling in a branching direction at the branching section of the traveling track 4. The branching rollers 53 are provided so as to be shiftable left and right (widthwise) by a switching mechanism (not shown). The branching rollers 53 selectively come into contact with (abut against) branching guides provided at the branching section and are guided to switch the traveling direction of the traveling vehicle 6. Four branching rollers 53 are provided for each of the first traveling section 50A and the second traveling section 50B (see FIG. 4). The switching of the position of the branching rollers 53 is controlled by the traveling vehicle controller 35 that receives commands from the area controller 90.

[0032] Here, for example, the operation of the pair of upper side rollers 52A, 52A, the pair of lower side rollers 52B, 52B, and the branching roller 53 at the branching or merging portion of the running track 4 in part A shown in Figure 1 will be described.

[0033] As shown in Figures 3 and 4, the traveling vehicle 6 traveling on the first main track portion 4A has a pair of upper side rollers 52A, 52A rolling on the inner surfaces of a pair of side surfaces 40C, 40C that constitute the first main track portion 4A. When the traveling vehicle 6 approaches a location where a branch guide 40G is provided, if the branch roller 53 has been shifted to the left by a switching mechanism (not shown), the branch roller 53 is guided by the branch guide 40G. Therefore, the traveling vehicle 6 is guided from the first main track portion 4A to the connecting track 4D. Note that if the traveling vehicle 6 is not guided to the connecting track 4D, the branch roller 53 is shifted to the right by a switching mechanism (not shown). In this case, the branch roller 53 is not guided by the branch guide 40G on the connecting track 4D side, but is guided by the branch guide 40H on the straight-travel side. As a result, the traveling vehicle 6 continues traveling on the first main track portion 4A.

[0034] The connecting track 4D is provided with a posture stabilizing guide 40I at the branching point and a posture stabilizing guide 40J at the merging point. When the traveling vehicle 6 transfers to the connecting track 4D and approaches the point where the posture stabilizing guide 40I is provided, the left lower side roller 52B is guided by the posture stabilizing guide 40I. At this time, the left upper side roller 52A rolls on the left side surface 40C that constitutes the connecting track 4D. By being guided by the posture stabilizing guide 40I, the lower side roller 52B can stabilize the posture of the traveling vehicle 6.

[0035] When the traveling vehicle 6 approaches a location where the posture stabilizing guide 40J is provided, the lower right side roller 52B (i.e., the roller on the opposite side from the roller that had been guiding it until then) is guided by the posture stabilizing guide 40J. At this time, the upper right side roller 52A rolls on the right side surface portion 40C that constitutes the connecting track 4D. By being guided by the posture stabilizing guide 40J, the lower side roller 52B can stabilize the posture of the traveling vehicle 6. Note that in this embodiment, the sections where the posture stabilizing guide 40I and the posture stabilizing guide 40J are provided do not overlap, but there may be a section where both the posture stabilizing guide 40I and the posture stabilizing guide 40J are provided.

[0036] In the section where the lower side roller 52B is guided by the posture stabilizing guide 40I and the posture stabilizing guide 40J, no branch guide is provided to guide the branch roller 53, so the branch roller 53 is in a shiftable state. The branch roller 53 is shifted to the right by a switching mechanism (not shown) in the section where the lower side roller 52B is guided. When the traveling vehicle 6 leaves the section where the posture stabilizing guide 40J is provided and approaches the location where the branch guide 40K is provided, the branch roller 53 has been shifted to the right by a switching mechanism (not shown), so the right branch roller 53 is guided by the branch guide 40K. Thus, the traveling vehicle 6 transfers from the connecting track 4D to the first main line portion 4A.

[0037] As described above, the traveling vehicle 6 having the pair of lower side rollers 52B and the branch roller 53 can easily transfer from the first main line portion 4A to the connecting track 4D and from the connecting track 4D to the first main line portion 4A by having the branch roller 53 and the lower side roller 52B guided by the branch guide 40G, posture stabilizing guide 40I, posture stabilizing guide 40J, and branch guide 40K, respectively. In this embodiment, in guideless sections where the branch guide 40G and the branch guide 40K are not provided, and in sections where at least one of the pair of upper side rollers 52A does not contact the inner surfaces of the pair of side portions 40C that constitute the connecting track 4D, the lower side roller 52B is guided by the posture stabilizing guide 40I and the posture stabilizing guide 40J. Therefore, the posture of the traveling vehicle 6 can be stabilized even in guideless sections.

[0038] The auxiliary rollers 54 are a group of three rollers provided at the front and rear of the running section 50. The auxiliary rollers 54 are provided to prevent the LDM 59, power supply core 57, etc. from contacting the magnetic plate 40F arranged on the upper surface of the running track 4 when the running section 50 tilts forward or backward due to acceleration or deceleration while running. The inclined rollers 55 are provided at the four corners of the LDM 59. The inclined rollers 55 are arranged in a state tilted from the front to rear direction. The inclined rollers 55 are provided to prevent the running section 50 from tilting due to centrifugal force when running on a curved section.

[0039] The power supply cores 57 are arranged at the front and rear of the traveling unit 50 so as to sandwich the LDM 59 in the left-right direction. They perform contactless power supply and contactless transmission and reception of various signals between them and the power supply line 40E arranged on the traveling track 4. The power supply core 57 exchanges signals with the traveling vehicle controller 35. The LDM 59 is provided at the front and rear of the traveling unit 50. The LDM 59 uses an electromagnet to generate magnetic force for traveling or stopping between it and a magnetic plate 40F arranged on the top surface of the traveling track 4.

[0040] As shown in FIG. 1 , the placement unit 9 is arranged along the travel track 4 and is provided at a position where the article 10 can be transferred to and from the travelling vehicle 6. The placement unit 9 includes a buffer and a delivery port. The buffer is a placement unit where the article 10 is temporarily placed. The buffer is a placement unit where the article 10 is temporarily placed when the article 10 being transported by the travelling vehicle 6 cannot be transferred to the intended delivery port, for example, because another article 10 is placed at the intended delivery port. The delivery port is a placement unit for transferring the article 10 to and from a semiconductor processing device (not shown), such as a cleaning device, a film forming device, a lithography device, an etching device, a heat treatment device, or a planarization device. The processing device is not particularly limited and may be various devices.

[0041] For example, the placement unit 9 is disposed to the side of the running track 4. In this case, the running vehicle 6 transfers the article 10 to and from the placement unit 9 by using the lateral feed unit 24 to laterally feed the lifting drive unit 28 and the like and slightly raising and lowering the lifting platform 30. Although not shown, the placement unit 9 may also be disposed directly below the running track 4. In this case, the running vehicle 6 transfers the article 10 to and from the placement unit 9 by raising and lowering the lifting platform 30.

[0042] The traveling vehicle controller 35 is an electronic control unit including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. The traveling vehicle controller 35 controls various operations of the traveling vehicle 6. Specifically, the traveling vehicle controller 35 controls the traveling unit 50, the traverse 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 a program stored in a ROM is loaded into a RAM and executed by the CPU, for example. The traveling vehicle controller 35 may also be configured as hardware including an electronic circuit or the like. The traveling vehicle controller 35 communicates with the area controller 90 using a power supply line 40E, such as a feeder line, provided on the traveling track 4.

[0043] The area controller 90 is an electronic control unit including a CPU, a ROM, a RAM, etc. The area controller 90 can be configured as software in which a program stored in the ROM is loaded onto the RAM and executed by the CPU, for example. The area controller 90 may also be configured as hardware including electronic circuits, etc. The area controller 90 transmits a transport command to cause the traveling vehicle 6 to transport the article 10. An area controller 90 may be provided for each area in which the traveling track 4 is laid, for each of the buildings 2A and 2B.

[0044] A connecting track 60 is disposed in the connecting section 4C connecting the buildings 2A and 2B. In this embodiment, the connecting track 60 is disposed in the building 2A. As shown in FIGS. 5A and 5B , the connecting track 60 includes a plurality of segments 61. The connecting track 60 is configured by connecting adjacent segments 61 with a gap G between their side surfaces. In the connecting track 60, adjacent segments 61 are configured to be rotatable relative to each other in the horizontal direction. This configuration allows the connecting track 60 to be deformed so as to be linear in its extension direction (the traveling direction of the traveling vehicle 6) in a plan view (see FIGS. 5A and 7 ) or curved (see FIGS. 5B and 8 ). The configuration of the connecting track 60 will be described in detail below.

[0045] 6A, 7, and 8, each of the plurality of segments 61 includes a support portion 63, a rotating portion 65, a connecting portion 67, and a travel space forming portion 70. Each of the plurality of segments 61 is formed symmetrically.

[0046] The support portion 63 supports the rotating portion 65, the connecting portion 67, and the travel space forming portion 70. The support portion 63 is a flat plate-shaped member. The travel space forming portion 70 is attached to the underside of the support portion 63 via a pair of mounting portions 63A, 63A at both ends in the width direction (left-right direction). The rotating portion 65 is attached to the underside of the support portion 63 between the mounting portions 63A, 63A in the left-right direction. Note that the support portion 63 of one of the multiple segments 61 is fixed to the ceiling of the building 2A by a hanging member that suspends the connecting track 60 from the ceiling of the building 2A. In other words, the support portions 63 of the remaining multiple segments 61 are not fixed to the ceiling of the building 2A. In this embodiment, of the multiple segments 61, only the segment 61 on the most upstream (rearmost) side in the travel direction is fixed to the ceiling of the building 2A.

[0047] The rotating portion 65 is fixed to the lower surface of the support portion 63 and to the upper surface of the connecting portion 67. The rotating portion 65 is a member that rotates the connecting portion 67 relative to the support portion 63. The rotating portion 65 rotates the connecting portion 67 around a rotation axis that extends in the vertical direction. The rotating portion 65 is configured to include, for example, an outer ring portion 65A, an inner ring portion 65B, and a rolling portion 65C provided between the outer ring portion 65A and the inner ring portion 65B. The outer ring portion 65A is fixed to the support portion 63. The inner ring portion 65B is fixed to the connecting portion 67. The outer ring portion 65A and the inner ring portion 65B are provided to be relatively rotatable around the same rotation axis that extends in the vertical direction.

[0048] The connecting portion 67 is a member that connects adjacent segments 61, 61. One end of the connecting portion 67 in the running direction is fixed to the rotating portion 65. More specifically, a cylindrical mounting portion 67A is formed at one end of the connecting portion 67 in the running direction, and the mounting portion 67A is fixed to the rotating portion 65 while being inserted into the inner ring portion 65B. The other end of the connecting portion 67 in the running direction is fixed to the lower surface of the support portion 63 of the adjacent segment 61. More specifically, the other end of the connecting portion 67 in the running direction is fixed to the lower surface of the support portion 63 via an intermediate member 67B.

[0049] 8 and 9, such a configuration of the support portion 63, the rotating portion 65, and the connecting portion 67 allows adjacent rotating portions 65, 65, i.e., adjacent travel space forming portions 70, 70, to rotate relative to each other. The travel space forming portion 70 forms a travel space DA in which the travel portion 50 of the travel vehicle 6 travels. The travel space forming portion 70 has a top surface portion 71, a pair of side surfaces 73, 73, and a pair of bottom surfaces 75, 75.

[0050] The top surface portion 71 forms the upper surface of the running space DA. The top surface portion 71 corresponds to the top surface portion 40D of the running track 4. Although not shown in Figures 6(A) and 7, etc., a magnetic plate is attached to the top surface portion 71. One end of the top surface portion 71 in the running direction is formed in a convex arc shape in plan view, and the other end of the top surface portion 71 in the running direction is formed in a concave arc shape that fits into the one end in plan view.

[0051] The pair of side surface portions 73, 73 form a pair of side surface portions of the travel space DA. The pair of side surface portions 73, 73 correspond to the pair of side surface portions 40C, 40C of the travel track 4. Each of the pair of side surface portions 73, 73 has a side surface 73A, 73A that contacts the pair of upper side rollers 52A, 52A from the outside in the width direction. Although not shown in Figures 6(A) and 9, etc., a power supply line is attached to each of the inner surfaces of the pair of side surface portions 73, 73. Each of the pair of side surface portions 73, 73 is formed in an arc shape in a plan view.

[0052] The pair of undersurface portions 75, 75 form a pair of undersurface portions of the traveling space DA. The pair of undersurface portions 75, 75 correspond to the pair of undersurface portions 40B, 40B of the traveling track 4. Each of the pair of undersurface portions 75, 75 has a rolling surface 75A, 75A on which the traveling rollers 51 (outer ring 51A and inner ring 51B) of the traveling vehicle 6 roll. One end of the undersurface portion 75 in the traveling direction is formed in a convex arc shape in plan view, and the other end of the undersurface portion 75 in the traveling direction is formed in a concave arc shape that fits into the one end in plan view.

[0053] Guide members 77 are provided on the pair of lower surface portions 75, respectively. Each guide member 77 is formed with a guide surface 77A that contacts the pair of lower side rollers 52B, respectively, from the inside in the width direction. The guide member 77 may be formed integrally with the lower surface portion 75 or may be attached as a separate member. The pair of side surfaces 73A, 73A and the pair of guide surfaces 77A, 77A are arranged such that the pair of guide surfaces 77A, 77A of one of the adjacent segments 61 and the pair of side surfaces 73A, 73A of the other of the adjacent segments 61 face each other in the width direction.

[0054] Guide surface 77A of guide member 77 is disposed at a position spaced apart from side surface 73A of side surface portion 73 by a distance greater than the diameter of lower side roller 52B. Side surface 73A of side surface portion 73 is formed to guide lower side roller 52B in a direction that contacts guide surface 77A of guide member 77.

[0055] An example of the operation of the traveling vehicle 6 traveling on the connecting track 60, more specifically, the operation of the upper side rollers 52A and the lower side rollers 52B of the traveling vehicle 6, will be described below. Here, as shown in Figures 10(A), 10(B), 11(A), 11(B), 12(A), and 12(B), an example of the traveling vehicle 6 traveling from right to left on the connecting track 60 will be described.

[0056] The traveling vehicle 6 that has entered the connecting track 60 advances with one of the pair of upper side rollers 52A in contact (rolling) with the side surface 73A of the side surface portion 73. When the traveling vehicle 6 reaches the front of the first segment 61, as shown in FIG. 10A , the pair of upper side rollers 52A, 52A on the front side in the traveling direction are guided inward in the width direction by the end of the side surface 73A of the side surface portion 73, and the pair of lower side rollers 52B, 52B on the rear side in the traveling direction are guided by the guide surface 77A of the guide member 77.

[0057] 10B , when the traveling vehicle 6 enters the second segment 61, one of the pair of upper side rollers 52A on the front side again moves forward while contacting (rolling on) the side surface 73A of the side surface portion 73. Meanwhile, like the pair of upper side rollers 52A on the front side, the pair of upper side rollers 52A on the rear side are also guided inward in the width direction by the ends of the side surfaces 73A of the side surface portion 73, and the pair of lower side rollers 52B on the rear side are guided by the guide surfaces 77A of the guide members 77.

[0058] Furthermore, as the traveling vehicle 6 travels along the second segment 61, as shown in Fig. 11(A), one of the pair of upper side rollers 52A on the front side is guided inward in the width direction by the end of the side surface 73A of the side surface portion 73, and as shown in Fig. 11(B), the pair of lower side rollers 52B on the front side is guided by the guide surface 77A of the guide member 77. At this time, one of the pair of upper side rollers 52A on the rear side goes through a free state (not contacting the side surface 73A of the side surface portion 73) and is then guided again by the side surface 73A of the side surface portion 73, as shown in Fig. 12(A).

[0059] 12(B), when the traveling vehicle 6 moves from the second segment 61 to the third segment 61, one of the pair of upper side rollers 52A on the front side is again guided in the traveling direction by the side surface 73A of the side surface portion 73. Similarly, one of the pair of upper side rollers 52A on the rear side is guided inward in the width direction by the end of the side surface 73A of the side surface portion 73, and the pair of lower side rollers 52B on the rear side is guided by the guide surface 77A of the guide member 77.

[0060] As described above, the running vehicle 6 runs on the connecting track 60 by alternately repeating a pattern in which the pair of upper side rollers 52A, 52A are guided along the side surface 73A of the side portion 73 and a pattern in which the pair of lower side rollers 52B, 52B are guided along the guide surface 77A of the guide member 77.

[0061] The effects of the connecting track 60 of the above embodiment will be described. In the connecting track 60 of the above embodiment, even when adjacent segments 61 are connected with a gap G in the connecting direction of the segments 61, the side rollers 52 (upper side rollers 52A and lower side rollers 52B) are guided by at least one of the side surface 73A and the guide surface 77A. As a result, there are no sections in the connecting direction of the segments 61 where the side rollers 52 are not guided, allowing the traveling vehicle 6 to travel stably.

[0062] In the connecting track 60 of the above embodiment, the side surfaces 73A are a pair of side surfaces 73A that contact the pair of upper side rollers 52A from the outside in the width direction, and the guide surfaces 77A are a pair of guide surfaces 77A that contact the pair of lower side rollers 52B from the inside in the width direction, and the pair of side surfaces 73A and the pair of 77A are arranged such that the pair of guide surfaces 77A of one of the adjacent segments 61 and the pair of side surfaces 73A of the other of the adjacent segments 61 face each other in the width direction. This eliminates any section where at least one of the upper side rollers 52A and the lower side rollers 52B is not guided, allowing the traveling vehicle 6 to travel stably.

[0063] In the connecting track 60 of the above embodiment, each of the plurality of segments 61 is formed to be bilaterally symmetrical, which makes it easy to form the segments 61.

[0064] In the connecting track 60 of the above embodiment, the guide surfaces 77A, 77A are positioned at a distance from the side surfaces 73A, 73A that is greater than the diameter of the lower side roller 52B. This prevents the lower side roller 52B from contacting both the side surface 73A and the guide surface 77A, thereby reducing damage to the lower side roller 52B.

[0065] In the connecting track 60 of the above embodiment, adjacent segments 61 are configured to be rotatable relative to each other in the horizontal direction. This allows the segments 61 to be curved leftward or rightward along the connecting direction, for example, as shown in FIG. 5(B) . As a result, even if horizontal misalignment occurs in the running track 4 due to shaking of the building 2 or the like, the adjacent segments 61 can rotate relative to each other to absorb the misalignment. Even if such misalignment occurs, the running vehicle 6 can travel stably.

[0066] In the connecting track 60 of the above embodiment, one end of each segment 61 (the top surface 71 and the pair of bottom surface 75, 75) in the running direction is formed in a convex arc shape in a plan view, and the other end is formed in a concave arc shape that fits into the one end in a plan view. With this configuration, when adjacent segments 61, 61 rotate relative to each other, the gap G that occurs between the adjacent segments 61, 61 is reduced.

[0067] If the connecting track 60 is capable of deforming from the state shown in Fig. 5(A) to the state shown in Fig. 5(B), the connecting track 60 may be disposed in the connecting section 4C in a state between the state shown in Fig. 5(A) and the state shown in Fig. 5(B). In this case, even if the buildings 2A and 2B are misaligned with each other in the X and Y directions, the connecting track 60 can accommodate the misalignment. That is, even if one end and the other end of the connecting track 60 in the extension direction are misaligned with each other in the X direction, the connecting track 60 can accommodate the misalignment by deforming in such a way that it expands or contracts in the X direction by changing the level of curvature. Also, even if the connecting track 60 is misaligned with each other in the Y direction, the connecting track 60 can accommodate the misalignment by deforming in such a way that it extends obliquely in the Y direction.

[0068] In the connecting track 60 of the above embodiment, the side surface 73A is formed to guide the lower side roller 52B in the direction of contact with the guide surface 77A. With this configuration, when the portion of the lower side roller 52B that is guided switches from the side surface 73A to the guide surface 77A, the lower side roller 52B is smoothly guided to the guide surface 77A. This allows the traveling vehicle 6 to travel more stably.

[0069] In the traveling vehicle system 1 of the above embodiment, the upper side roller 52A contacts the side surface 73A, and the lower side roller 52B contacts the guide surface 77A. This allows the height of the guide surface 77A to be lower than the position where the upper side roller 52A is disposed, thereby increasing the space of the traveling space DA in which the traveling vehicle 6 travels.

[0070] Although one embodiment has been described above, one aspect of the present invention is not limited to the above embodiment, and various modifications are possible without departing from the spirit of the invention.

[0071] (Variation 1) In the above embodiment, the connecting track 60 has been described with an example in which one of the multiple segments 61 is fixed to the ceiling or the like of the building 2, and the remaining segments 61 are not directly fixed to the ceiling or the like but are connected to the fixed segment 61 so as to be rotatable. However, this is not limiting. For example, one or more of the remaining segments 61 may be fixed via a stage that is slidable in at least one of the X and Y directions relative to the ceiling or the like of the building 2. Furthermore, one or more of the remaining segments 61 may be fixed via a stage that is rotatable in addition to being slidable in the X and Y directions.

[0072] (Variation 2) Instead of the rotating portion 65 of the segment 61 in the above embodiment, a sliding portion that is slidable in the connecting direction may be provided. In this configuration, the distance between adjacent segments 61 can be changed. Furthermore, when one or more of the remaining segments 61 are fixed to the ceiling of the building 2 or the like via a stage that is slidable in the X direction, the adjacent segments 61 do not need to be rotatable relative to each other. In other words, the rotating portion 65 may be removed from the segment 61.

[0073] In the configuration according to Modification 2, one end of the segment 61 (the top surface portion 71 and the pair of bottom surface portions 75, 75) in the traveling direction is formed in a convex arc shape in a plan view, and the other end does not have to be formed in a concave arc shape that fits into the one end in a plan view. For example, any shape is acceptable as long as one end has a shape that allows it to fit into the other end, in other words, as long as there is a portion that overlaps with the other end in the traveling direction of the traveling vehicle 6.

[0074] (Variation 3) In the above embodiment and variation, an example has been described in which both ends of the connecting track 60 are connected to the running tracks 4, 4, but the present invention is not limited to this. For example, the connecting track 60 of the above embodiment and variation may be applied to the first connecting member (50) or the second connecting member (60) described as an embodiment in JP 2019-186428 A.

[0075] (Modification 4) In the above embodiment and modification, the connecting track 60 has been described for the case where the traveling vehicle 6 runs on which both the pair of upper side rollers 52A, 52A and the pair of lower side rollers 52B, 52B are provided as side rollers, but the present invention is not limited to this. For example, even in the case where the traveling vehicle 6 runs on which only the pair of side rollers 52, 52 are provided, it is sufficient to provide a guide member 77 having a guide surface 77A that comes into contact with the side rollers 52, 52.

[0076] (Other Modifications) In the above embodiment and modification, an example has been described in which the connecting track 60 is arranged in building 2A, but it may also be arranged in building 2B, or at a position straddling buildings 2A and 2B. Furthermore, if there is an inter-building building between buildings 2A and 2B, the connecting track 60 is arranged between building 2A and the inter-building building. The connecting track 60 may be arranged in building 2A, in the inter-building building, or straddling building 2A and the inter-building building. Similarly, the connecting track 60 is arranged between building 2B and the inter-building building. The connecting track 60 may be arranged in building 2B, in the inter-building building, or straddling building 2B and the inter-building building.

[0077] In the above embodiment and modified example, an example has been described in which the connecting track 60 is disposed in the connecting section 4C, but it may also be disposed in the first main line section 4A, the second main line section 4B, etc. The curved section in the first main line section 4A or the second main line section 4B is configured by the running track 4 having a standardized curvature. Therefore, while it is necessary to make the running track 4 have a shape other than the standardized curvature by, for example, custom-making the running track 4, applying the connecting track 60 according to the above embodiment and modified example to this section makes it easy to make the running track 4 have a shape other than the standardized curvature.

[0078] In the above embodiment and modified example, the description has been given of an example of the connecting track 60 in which the adjacent segments 61, 61 are connected with a gap G between them when the segments 61, 61 are not rotating relative to each other, that is, when the segments 61, 61 are aligned in a straight line as shown in FIG. 5A . However, the connecting track may be configured such that the adjacent segments 61, 61 are connected with no gap G between them.

[0079] 1...Traveling vehicle system, 2 (2A, 2B)...Building, 4...Traveling track, 4A...First main line section, 4B...Second main line section, 4C...Connecting section, 4D...Connecting track, 6...Overhead traveling vehicle (traveling vehicle), 50...Traveling section, 50A...First traveling section, 50B...Second traveling section, 51...Traveling rollers, 52...Side rollers, 52A...Upper side rollers, 52B...Lower side rollers, 53...Branching rollers, 60...Connecting track (track equipment), 61...Segment member, 63...Support section, 65...Pivoting section, 67...Connecting section, 70...Traveling space forming section, 71...Ceiling surface, 73...Side section, 73A...Side section, 75...Lower surface, 75A...Rolling surface, 77...Guide member, 77A...Guide surface, 90...Area controller, DA...Traveling space.

Claims

1. A track system on which a carriage travels, the track system having a pair of running rollers arranged opposite to each other in a width direction perpendicular to the direction of travel and rotating about a horizontal axis, and a pair of side rollers arranged opposite to each other in the width direction and rotating about a vertical axis, wherein the track system is configured by connecting a plurality of segments, each of which has: a rolling surface on which the pair of running rollers roll; a side surface that contacts the side rollers from the outside of the segment in the width direction; and a guide surface that contacts the side rollers from the inside of the segment in the width direction, wherein the guide surface on one of the adjacent segments and the side surface on the other of the adjacent segments are formed so as to face each other in the width direction.

2. The track equipment according to claim 1, wherein the side surfaces are a pair of side surfaces that contact the pair of side rollers from the outside in the width direction, the guide surfaces are a pair of guide surfaces that contact the pair of side rollers from the inside in the width direction, and the pair of side surfaces and the pair of guide surfaces are arranged such that the pair of guide surfaces of one of the adjacent segments and the pair of side surfaces of the other of the adjacent segments face each other in the width direction.

3. A track installation according to claim 1 or 2, wherein each of said plurality of segment members is formed symmetrically.

4. A track system according to claim 1 or 2, wherein the guide surface is positioned at a distance from the side surface that is greater than the diameter of the side roller.

5. A track installation according to claim 1 or 2, wherein adjacent segment members are configured to be rotatable relative to each other in the horizontal direction.

6. A track facility as described in claim 5, wherein one end of the segment member in the running direction is formed in a convex arc shape in plan view, and the other end is formed in a concave arc shape that fits into the one end in plan view.

7. A track system according to claim 1 or 2, wherein the side surface is formed so as to guide the side roller in a direction in which it contacts the guide surface.

8. A rail-guided vehicle system comprising: the track facility according to claim 1 or 2; and a vehicle that travels on the track facility.

9. A rail-guided vehicle system according to claim 8, wherein the vehicle has two pairs of side rollers, a pair of upper side rollers and a pair of lower side rollers, arranged in the vertical direction, the upper side rollers contacting the side surface, and the lower side rollers contacting the guide surface.

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