JPH10203647A - Conveyer - Google Patents

Abstract

PROBLEM TO BE SOLVED: To eliminate the need for a switching device even when a rail route is complicated and a branch part is increased, so that an increase of failure and a cost increase in a conveyer total unit can be easily suppressed by adjusting a number of sets of conveying vehicle. SOLUTION: A conveying vehicle 1, by storing a conveyed object 29 and a transfer loading means in a storehouse 28, can independently branch by managing a steer in a branch part. In this way, a rail route is complicated, even whn the branch part is increased, a switching device is unnecessary, so that, by adjusting a number of sets of the conveying vehicle 1, an increase of failure and a cost increase in a conveyer total unit can be easily suppressed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transport apparatus for transporting a transport vehicle for loading and unloading articles to and from a lower station of a rail path on a rail path having a branch portion.

[0002]

2. Description of the Related Art Conventionally, as an apparatus for transporting a conveyed article on a ground side, a ceiling conveyer moves along a rail path like a rim liner or a monorail as shown in FIGS. 12 (a) and 12 (b). There are types of conveyors. Each of these transport devices includes rails 56 and 57 that constitute a rail path,
And transport vehicles 55 and 59 that move along the rails 56 and 57. Each of the transport vehicles 55 and 59 has a transfer mechanism 61 for loading and unloading a transport object on the ground side, and an elevating mechanism 60 for lifting and lowering the transfer mechanism 61. This allows
A conveyed article 29 on the ground side is carried in and out between the lower station of the rail route.

The transport vehicles 55 and 59 are connected to rails 56 and 59 by guide rollers and suspension devices 58 (not shown).
57 is pinched. In the transport device having such a configuration, since the transport vehicles 55 and 59 are structurally largely restrained from the rail path, it is difficult to change the traveling direction by autonomously steering the steer to the transport vehicles 55 and 59. Therefore, FIG.
The rails 56 and 57 shown in FIGS.
Change point 6 for changing the trajectory as shown in (a)
When the transport vehicles 55 and 59 arrive on the rail 63 of No. 5, the switching device 62 that moves the entire rail 63 and enters another rail 64, or as shown in FIG.
When the transport vehicles 55 and 59 arrive on the rail 67 of the branch portion 69, a switching device 66 that changes the direction of the rail 67 and gets on another rail 68 is provided. Further, this type of transport device has a central control device (not shown) for controlling the switching devices 62 and 66. Then, when the transport vehicles 55 and 59 reach the change point 65 and the branch portion 69, the switching device 6 switches to a central control device (not shown).
By controlling 2.66, the transport vehicles 55 and 59 are made to travel to the destination.

[0004]

FIG. 12 (a) and FIG. 12 (b)
As shown in FIGS. 13 (a) and 13 (b), in the transport device of the type that moves along the rail route, the transport vehicles 55 and 59 are restrained by the rails 56 and 57, and therefore, as shown in FIGS. When a complicated traveling route having a plurality of branch portions 65 and a plurality of branch portions 69 is required, a plurality of switching devices 62 and 66 are provided.
Is required. When a plurality of such switching devices 62 and 66 are provided, there is a problem that the number of signal lines between the switching devices 62 and 66 and the central control device increases, and the failure of the transport device increases. Also, the cost of the track path has increased,
There has been a problem that the cost of the entire transfer apparatus is increased.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems, and has as its object to eliminate the need for a replacement device, thereby suppressing an increase in failure of the entire transport device and an increase in cost. An apparatus is provided.

[0006]

According to the first aspect of the present invention,
By moving the transport vehicle along the rail path having the branch portion, in the transport device that transports the transported article from the loading position to the unloading position by the transport vehicle, the transport device travels from the loading position to the unloading position. A transport information instructing means for determining a traveling direction in the branching section and instructing the traveling direction to the transport vehicle; and a traveling direction provided in the transport vehicle and changing a traveling direction to a traveling direction in accordance with an instruction from the transport information instruction means. Steering means, transfer means for loading and unloading the goods between the lower part station of the rail route provided in the carrier, and elevating means for raising and lowering the transfer means provided in the carrier. A storage provided in the transporting vehicle so as to store the transfer means together with the conveyed article, and a step of moving the transfer means up and down by the lifting means It is obtained by wherein said has an opening provided on the lower surface of the transport vehicle to allow al out. By providing a hangar on the transport vehicle,
The transported object and the transfer means can be stored in the hangar, and the transfer mechanism and the transported object are located on the rail route, so that the transported product on the ground side is transported while suspended below the rail route. At the branch, the transfer mechanism and the presence of the transport
It is possible to eliminate a state in which the transport vehicle cannot independently change the traveling direction. As described above, as a transport vehicle traveling on the rail route, the vehicle can be transported by the transport vehicle that can independently branch by steering the steer at the branch portion. That is, each carrier can change the traveling direction to a desired traveling direction without providing a switching device on the rail route. By this, conventionally, when the rail route was complicated, the number of branching parts and the number of switching devices were increased, which led to an increase in the cost of the entire transport device.However, in the case of the present transport device, the rail route was complicated. In addition, since the switching device is unnecessary even if the number of branches is increased, by adjusting the number of transport vehicles, it is possible to easily suppress an increase in failure of the entire transport device and an increase in cost.

According to a second aspect of the present invention, in addition to the configuration of the first aspect, the carrier has a fixing means for fixing the hangar and the transfer means. It was done. By fixing the transfer means to the transport vehicle by the fixing means, it is possible to prevent the transported object from dropping due to vibration during traveling of the transport vehicle.

According to a third aspect of the present invention, in addition to the configuration of the first or second aspect, a battery unit or a contact-type power supply unit is provided in the carrier and supplies power as a power source of the carrier. Or a non-contact type power supply means. Thus, the transport vehicle can travel using electric power as a power source, and can maintain a clean state when a transport device needs to be provided in a clean room.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS.

As shown in FIG. 1, the transport device according to the present embodiment includes a transport vehicle 1 traveling on a rail route, a transport information indicating device (transport information indicating means), and, for example, a rail route shown in FIG. And a rail 50 to be configured. In addition, the above-mentioned rail path is provided so as to be suspended from the ceiling by a suspension bolt (not shown) so that the transportation vehicle travels near the ceiling of a factory or the like mainly as a ceiling transportation device.

As shown in FIGS. 3 and 4, the carrier 1 has a truck 2, traveling mechanisms 13 and 13 (steering means) provided on the front and rear sides of the truck 2, Elevating mechanisms 22 (22) (elevating means) provided between the mechanisms 13, 13; a transfer mechanism 27 (transfer means) elevated by the elevating mechanisms 22 (22); and various sensors for detecting transport information. Transport information recognizing device (steering means / elevating means / transfer means), and a control device (steering means / elevating means / transfer means) for controlling each mechanism 13, 22, 27 based on a detection signal from the transport information recognizing device. Mounting means), a control device and each mechanism 13.
And a power storage battery 30 (battery means) such as a rechargeable storage battery that supplies power to the drive units 22 and 27 and the like.

Each of the running mechanisms 13 includes a pair of left and right tires 8.8, a steering mechanism 7 for changing the traveling angle of the tires 8.8, and a driving mechanism 12 for rotating and driving the tires 8.8. have. The steering mechanism 7 has a tire 8
8 has a pair of supports 3 rotatably supporting the support member 8. These supports 3 are rotatably supported at their center portions in a horizontal direction with respect to the paper surface, and one end portions thereof are connected by a connecting member 6. A steer motor 5 that can rotate forward and reverse is connected to the center of rotation of one support 3 via a belt 4. The steering mechanism 7 configured as described above rotates the other support 3 in the same direction via the connecting member 6 by rotating the one support 3 in the left-right direction by the rotation of the steering motor 5. And the rotation of the support members 3 causes the tires 8
The angle of travel is changed. On the other hand, the drive mechanism 12 has a pulley 11 fixed to the tire 8 on the other support 3 side, and a drive motor 9 connected to the pulley 11 via a belt 10. The drive mechanism 12 rotates the tires 8 forward and backward by the drive motor 9 to move the transport vehicle 1 forward and backward.

Further, the transport information recognizing device has node mark detectors 14, LED detectors 15, station ID guide detector 16, and transport information transmitting / receiving antennas 17, 17. Node mark detector 1
The reference numerals 4 and 14 are provided on the lower surface 31 of the carriage 2 in a pair on the left and right. The LED detectors 15 are provided in a pair on the side surfaces 33 of the carriage 2. Further, the transport information transmitting / receiving antennas 17 are provided so as to protrude from the upper surface of the carriage 2. When each of the detectors constituting the transport information recognition device recognizes a guide such as a node mark, it transmits a detection signal and the like to the control device.

The power storage battery 30 is provided on the side of the truck 2. Then, quick charging can be performed by an external power supply device (not shown) provided in a station or the like. The power supply device is not limited to the power storage battery 30 of the present embodiment.
Therefore, the present invention is also achieved by a contact type power supply device and a non-contact type power supply device.

Each of the lifting mechanisms 22 has a pair of left and right rollers 19, a belt 20 wound around the rollers 19, and a casing for the rollers 19, 19 and the belts 20, 20. Frame 18 and transfer mechanism 27
And a proximity sensor 21 for detecting the distance between the frame 25 and the upper surface of the cart 2. The proximity sensor 21 includes the frame 1
8, and is configured to transmit a detection signal and the like to the control device. The elevating mechanism 22 configured as described above rotates the rollers 19, moves up and down the transfer mechanism 27 provided at the tip of the belts 20, 20, and transfers the sheets based on a detected signal or the like. The mechanism 27 is positioned.

The transfer mechanism 27 has a handling mechanism 24 for holding the transported object 29, a proximity sensor 23 for detecting the distance between the transported article 29 and the handling mechanism 24, and the transfer mechanism 27 fixed to the storage wall 34. And a frame 25 for casing the fixing mechanism 26. On the lower surface 32 of the frame 25, a proximity sensor 23,
A pair of handling mechanisms 24 are provided. The proximity sensor 23 transmits a detected signal or the like to a control device. Then, the transfer mechanism 27 configured in this manner is transported by the handling mechanism 24.
9, and the positioning of the handling mechanism 24 is performed based on a detection signal or the like.

The above-described carriage 2 includes a transfer mechanism 27 for moving the transported object 2.
9 is stored together with the hangar 28. Hangar 28
Is provided at the center of the carriage 2 and is formed by a space partitioned by the storage wall 34. Elevating mechanism 2
An opening 2a is provided on the lower surface of the cart 2 so that the transfer mechanism 27 can be taken in and out of the storage case 28 when the transfer mechanism 27 is moved up and down by 2.22.

As shown in FIGS. 5A and 5B, the fixing mechanism 26 is provided at the center of the frame 25 of the transfer mechanism 27. The fixing mechanism 26 includes a rotator 35 whose center is rotatably supported at a center thereof, a fixing rod 36 provided to be able to move forward and backward with respect to the four storage walls 34, and the rotor 35 and the fixing rod 36. And a pin 37 for connecting In the storage wall 34, a fitting hole 34a is formed at a position corresponding to the direction in which the fixing rod 36 advances. And
The fixing mechanism 26 rotates the rotor 35 in a counterclockwise direction on the paper to simultaneously advance the fixing rod 36 into the fitting hole 34 a of the storage wall 34 of the carriage 2 via the pin 37. While being fixed to the storage wall 34, by rotating the rotor 35 clockwise,
The fixing bar 36 is retracted to release the fixing.

The rail route on which the transport vehicle 1 that has recognized the transport information travels is formed on a stitch as shown in FIG. The above-mentioned rail path includes an overtaking section 45 for passing a carrier stopped at the station 46, a station 46 serving as a loading / unloading position, branch sections 51 and 52 for enabling a plurality of traveling paths, and a branch section 51. And a rail 50 for connecting the same.

As shown in FIG. 6, the overtaking section 45 includes a rail 50 and a station 4 which constitute one traveling path.
6 (the main route 47 a) and the overtaking route 47 that overtakes the carrier 1 stopped at the station 46.
and b. The overtaking route 47b is set so that the carrier 1
Is formed so as to be able to get into the main route 47a again by avoiding the above. On the other hand, this route 47a is
-It is formed by the flat-shaped running part 49 which connects between 45. The transfer mechanism 27 is provided on the flat traveling portion 49.
Further, an opening 49a for raising and lowering the transported article 29 is provided. Then, the vicinity is defined as a station 46. Note that the station 46 includes the ground side, and in particular, the ground side of the loading / unloading position of the conveyed article 29 is the lower station 46.

As shown in FIG. 7A, the branch portion 51 is formed by a flat plate portion 50b that connects a rail 50 that forms one travel route and a travel route that bidirectionally branches. As shown in FIG. 7B, the branch portion 52 is formed by a flat plate portion 50c that connects rails 50 that branch in a square shape. Further, as shown in FIG. 7 (c), the branch portion 53 is formed so as to connect the rail 50 forming one travel route and the travel route bidirectionally branched while maintaining the rail shape. ing.

The above-described transport information indicating device includes a central indicating device (not shown) and, as shown in FIGS.
52, and an LED lamp 42 indicating that the other carrier 1 is stopped at the station 46.
And an LED lamp 43 indicating that the station 46 has been reached, and a guide 44 indicating the ID of the station 46.

The node mark 41 is formed on the flat plate portion 50a.
It is provided at a position facing a node mark detector 14 provided on the carrier 1. The LED lamp 42 is
It is provided on the side of the flat plate portion 50a so as to be at the same height as the LED detector 15 provided on the carrier 1. The node mark 41 indicates that the transport vehicle 1 has reached the overtaking section 45 or the like. The LED lamp 42 indicates whether or not the other transport vehicle 1 is stopped at the station 46.

The LED lamp 43 is positioned at the same height as the LED detector 15 provided on the transport vehicle 1 so as to be at the same height.
Are provided in a pair on the left and right sides on the flat plate-like traveling portion 49 on the side of the side. The guide 44 indicating the ID of the station is provided on the flat traveling portion 49 on the side of the carrier 1 so as to be at the same height as the station ID guide detector 16 provided on the carrier 1. The LED lamp 43 indicates that the transport vehicle 1 has reached the station 46. The guide 44 indicating the ID of the station indicates the ID number of the station on the carrier 1.

The configuration described above is one embodiment,
It is not limited to this. Therefore, the above-described transport information indicating device (transport information indicating means) is achieved by a wired / wireless communication device, a magnetic / electromagnetic guide, an optical guide, or the like. Further, the above-mentioned transport information recognition device is a magnetic type.
This is achieved by electromagnetic / optical sensors and wired / wireless communication devices. Furthermore, the above-described transfer mechanism 24 is also achieved by a device that holds by an electromagnetic magnetic force in addition to the handling mechanism 24. Also, the branching unit 51 shown in FIG.
As shown in FIG. 7 (c), the branching portion 53 may be shaped along the tires 8.8. Note that the present embodiment is not limited to the transport device provided on the ceiling, and is achieved even when the transport device for transferring and moving the underground transported article 29 to the ground and transporting it is provided on the ground.

With reference to FIGS. 10 and 11, a description will be given of the operation of the above configuration from when the transport vehicle 1 travels from the traveling start point to when the transporting process is completed. In addition, as shown in FIG. 11, the traveling route of the transport vehicle 1 is from the traveling start point A to the seventh station St7, the import station serving as the import position is the second station St2, and the export station serving as the export position is the seventh station St7. Description will be given as a station St7.

Carrier 1 having battery 30 for power storage
Receives power from an external power supply device (not shown) when the amount of stored power is equal to or less than a certain value. As described above, the transport vehicle can run using electric power as a power source, and can maintain a clean state even when it is necessary to provide a transport device in a clean room.

As described above, the transportable vehicle 1 in the travel-enabled state is, as shown in FIGS.
Then, a request for a route instruction is made to a central pointing device (not shown) by the carrier information transmitting / receiving antenna 17 (S1). The control device (not shown) determines whether or not the transport information transmitted by the central pointing device (not shown) has been received (S2).
If it is determined that the transport information has not been received (S
2, NO), the process of requesting the route instruction in S1 is continued.

Next, when it is determined in S2 that the transport information has been received (S2, YES), the control device (not shown) refers to the transport information and starts traveling (S3). After starting traveling from the traveling start point A, the node mark detector 14 determines whether or not the vehicle has reached the node mark 41a of the overtaking section 45a before the first station St1 (S4). If it is determined that the vehicle has not reached the node mark 41a (S4, NO), the process proceeds to S4, and travel is continued until the vehicle reaches the node mark 41a.

Next, in S4, if the node mark detector 14 determines that the node mark 41a of the overtaking section 45a in front of the first station St1 has been reached (S4, YES), the LED lamp 42a is turned on. It is determined whether or not another carrier 1 is stopped at the first station St1 by detecting whether or not the transportation is performed by the LED detector 15 (S5). LED lamp 42a
Is not lit, and it is determined that the other transport vehicle 1 is not stopped at the first station St1 (S5, N
O) The node mark detector 14 detects the node mark 4 of the overtaking section 45a in front of the first station St1.
1a is recognized (S7). Then, the traveling direction is recognized by a control device (not shown) with reference to the transport information (S8). When the traveling direction is recognized, a control device (not shown) controls the steering motor 5 as shown in FIG. 3, and performs a steering process through the steering mechanism 7 (S9). In the overtaking section 45a before the first station St1, the carrier 1 travels straight, and the steering mechanism 7 does not change.

Then, as shown in FIGS. 9 and 10, it is determined whether or not the first station St1 has been reached (S1).
0). If it is determined that the vehicle has not reached the first station St1 (S10, NO), the process proceeds to S4, and the vehicle travels on the route 47a until the vehicle reaches the first station St1.

Next, in S10, when it is determined that the first station St1 has been reached (S10, YE
S), the LED detector 15 detects that the LED lamp 43 provided in the first station St1 is turned on, and recognizes that the first station St1 has been reached (S11). Then, it is determined whether or not the ID number of the first station St1 read by the station ID guide detector 16 and the ID number of the second station St2 match (processing for determining a loading station) (S12).
If the ID number of the first station St1 does not match the ID number of the second station St2 (S12, N
O) Further, it is determined whether or not the ID number of the first station St1 read by the station ID guide detector 16 matches the ID number of the unloading station St7 (the unloading station determination process) (S15). And
If the ID number of the first station St1 does not match the ID number of the seventh station St7 of the transport information (S
(15, NO), the process proceeds to S4, continues traveling, and passes the first station St1. Then, the node mark 41b of the overtaking section 45b in front of the second station St2.
Continue running until you reach.

After reaching the first station St1 and following the same procedure as when recognizing the second station S1,
Recognize t2 (S11). Then, a determination process of the loading station is performed (S12).

Next, in S12, the station ID
The second station St2 read by the guide detector 16
ID number of the second station St2 of the transport information
If it is determined that the numbers match (S12, YE
S), and stops at the second station St2 (S13).
Then, the fixing of the fixing mechanism 26 is released, and as shown in FIGS. 1 and 9, the transfer mechanism 27 is taken out from the opening 2 a of the carriage 2, and is passed through the opening 49 a provided in the traveling section 49. It is lowered to a position where the lower station St2 is located, and the transported object 29 is held by the handling mechanism 24. Then, the transfer mechanism 27 is stored in the carriage 2 again. As a result, the transfer mechanism 27 and the article 29 are located on the rail path, so that when the transfer mechanism 27 and the article 29 suspended by the elevating mechanism 22 branch off, they become obstacles, and It is possible to eliminate a state in which the vehicle 1 cannot independently change the traveling direction. Further, the space for disposing the transfer device in a space such as a factory can be minimized, and a large working space can be secured. Then, the transfer mechanism 27 and the storage wall 34 are fixed again. Thereby, the transport vehicle 1
Can prevent the load from dropping due to vibration during traveling.
Safety can be improved. The carry-in process is performed as described above (S14), and as shown in FIGS. 10 and 11, the process again shifts to the traveling start state in S3, and continues traveling until the vehicle reaches the node mark 41c of the branch portion 52a.

The node mark 41 of the branch 52c
When the vehicle reaches "c", the overtaking section 45a performs the steering process (S9).
The steering process is performed in the branching section 52c in the same procedure as in the case of (S9). The traveling mechanism is steered by the steering mechanism 7 while changing the traveling direction to the direction in which the third station St3 exists. As a result, the present transport device is
Since the switching devices 62 and 66 shown in (a) and (b) are unnecessary, it is possible to easily suppress an increase in failure of the entire transport device and an increase in cost by adjusting the number of the transport vehicles 1. Then, the vehicle continues traveling until it reaches the node mark 41d of the overtaking section 45d just before the third station St3 (S10, NO), and shifts to S4.

Next, as shown in FIGS. 10 and 11, S5
In the case where it is determined that the LED lamp 42d is lit and the other transport vehicle 1 is stopped at the third station St3 (S5, YES), the control device (not shown) that has recognized the transport information, The carrier 1 is steered by the same procedure as the above-described steering process (S9), and the third station St is set.
Step 3 is avoided (S6). Then, the vehicle travels on the overtaking route 47b (S10, NO), and proceeds to S4. As a result, the switching devices 62.6 shown in FIGS.
As compared with the transfer device having the transfer device 6, the waiting time generated during the switching operation can be reduced, and the time loss from the traveling start point to the destination can be reduced, so that the transfer capability can be improved.

Thereafter, the vehicle passes through the branching section 52e and the branching section 51 in the same procedure as when the vehicle has passed through the branching section 52c. Then, the vehicle continues to travel, arrives at the seventh station St7 in the same procedure as when it arrives at the first station St1 (S10), and recognizes it (S11). After performing the loading station determination processing (S12, NO), the loading station determination processing is performed (S15).

Next, at S15, the station ID
The seventh station St7 read by the guide detector 16
If the ID number of the unloading station matches the ID number of the unloading station (S15, YES), the operation stops at the seventh station St7 (S16). Similarly to the loading process (S14) in the second station St2, the fixing of the fixing mechanism 26 is released, and the transfer mechanism 27 is lowered. Then, after the transported article 29 is lowered, the transfer mechanism 27 is stored in the carriage 2 again. The unloading process is performed as described above (S17).

[0039]

According to a first aspect of the present invention, there is provided a transport apparatus for transporting an article from a loading position to an unloading position by causing the transport vehicle to travel along a rail path having a branch portion. Determining a traveling direction in the branching section so as to travel from the loading position to the unloading position, and providing transport information indicating means for instructing the transport direction to the transport vehicle; Steering means for changing a traveling direction to a traveling direction in accordance with an instruction from the vehicle, transfer means provided on the carrier, for carrying the article in and out of a lower station on a rail route, Lifting means for raising and lowering the transfer means, a storage provided in the carrier so as to store the transfer means together with the conveyed object, and raising and lowering the transfer means by the lifting means When causing, it is configured that wherein the said transfer means and an opening provided in the lower surface of the transport vehicle so as to be out of the hangar. By providing a hangar in the transport vehicle, the transported goods and the transfer means can be stored in the hangar, and since the transfer mechanism and the transported goods are located on the rail path, the transported goods on the ground side are suspended below the rail path. The effect of eliminating the situation where the transfer mechanism and the presence of the conveyed object become obstacles at the diverging point, as in the case where the conveyed product is lowered, and the carrier cannot independently change the traveling direction. To play. From the above,
As a transport vehicle that travels on the rail route, it can be transported by a transport vehicle that can independently branch by steering a steer at a branch portion. That is, each carrier can change the traveling direction to a desired traveling direction without providing a switching device on the rail route. By this, conventionally, when the rail route was complicated, the number of branching parts and the number of switching devices were increased, which led to an increase in the cost of the entire transport device.However, in the case of the present transport device, the rail route was complicated. Since the switching device is unnecessary even if the number of branching parts increases,
By adjusting the number of transport vehicles, it is possible to easily suppress an increase in failure of the entire transport device and an increase in cost.

According to a second aspect of the present invention, in addition to the configuration of the first aspect of the present invention, the carrier has fixing means for fixing the hangar and the transfer means. This is the configuration. By fixing the transfer means to the carrier by the fixing means, it is possible to prevent a fall of the conveyed object due to vibration during the traveling of the carrier.

According to a third aspect of the present invention, in addition to the configuration of the first or second aspect, a battery means or a contact-type power supply means provided on the carrier and supplying power as a power source of the carrier. Or a non-contact type power supply means. Accordingly, the transport vehicle can travel using electric power as a power source, and has an effect that a clean state can be ensured when a transport device needs to be provided in a clean room.

[Brief description of the drawings]

FIG. 1 is a diagram for explaining a carry-in / out process of a carrier according to the present invention.

FIG. 2 is a diagram illustrating a traveling state of the carrier according to the present invention.

FIG. 3 is a diagram illustrating a transport vehicle according to the present invention in plan view.

FIG. 4 is a diagram illustrating a transport vehicle according to the present invention as viewed from the side.

FIG. 5 is a diagram illustrating a fixing mechanism provided in the carrier according to the present invention, as viewed in a plan view and a side view.

FIG. 6 is an explanatory diagram of a track path overtaking section and a station according to the present invention.

FIG. 7 is an explanatory view of a branch portion of a rail route according to the present invention.

FIG. 8 is a diagram illustrating a relationship between a node mark, an LED lamp, and a detector in an overtaking portion of a rail route according to the present invention.

FIG. 9 shows an LE in a rail route station according to the present invention.
FIG. 4 is a diagram illustrating a relationship between a D lamp, a guide indicating an ID, and a detector.

FIG. 10 is a flowchart showing an operation from the start of traveling of the carrier according to the present invention to the end of the unloading process.

FIG. 11 is a schematic view of a rail path of the present invention.

FIG. 12 is a diagram illustrating a conventional transport device.

FIG. 13 is a diagram illustrating a conventional rail route switching point and a branch portion.

[Explanation of symbols]

1 carrier (2 vehicles) 7 steering mechanism (3 supports, 4 belts, 6 connecting members,
8 Tire 12 Drive mechanism (9 drive motor, 10 belts, 11 pulleys) 13 Travel mechanism (7 steer mechanism, 12 drive mechanism) 14 Node mark detector 15 LED detector 16 Station ID detector 17 Transfer information transmission / reception Antenna 22 Elevating mechanism (18 frames, 19 rollers, 20 belts, 21 proximity sensor) 27 Transfer mechanism (23 proximity sensor, 24 handling mechanism, 25 frame, 26 fixing mechanism) 28 Hangar 29 Conveyed object 30 Battery for power storage

Claims (3)

[Claims] 1. A transport device for transporting an article from a carry-in position to a carry-out position by causing the carrier to travel along a rail path having a branch portion, wherein the carry-in vehicle moves from the carry-in position to the carry-out position. A transport information instructing means for determining a traveling direction at the branching section so as to travel, and instructing the transport vehicle to the traveling direction; and a traveling direction provided in the transport vehicle and according to an instruction from the transport information instruction means. Steering means for changing the traveling direction; transfer means provided on the carrier, for carrying the article in and out of a lower station of the rail route; and transfer means provided on the carrier. Lifting means for raising and lowering, a hangar provided in the transporting vehicle so as to store the transfer means together with the conveyed article, and when the transfer means is raised and lowered by the lifting means, the transfer is performed. An opening provided in a lower surface of the carrier so that the means can be put in and out of the storage. 2. The transport apparatus according to claim 1, wherein the transport vehicle has a fixing means for fixing the storage and the transfer means. 3. The vehicle according to claim 1, further comprising: a battery unit, a contact type power supply unit, or a non-contact type power supply unit for supplying power as a power source of the vehicle. Item 3. The transfer device according to Item 1 or 2.