CN103481893A - Article transport facility - Google Patents
Article transport facility Download PDFInfo
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- CN103481893A CN103481893A CN201310225282.0A CN201310225282A CN103481893A CN 103481893 A CN103481893 A CN 103481893A CN 201310225282 A CN201310225282 A CN 201310225282A CN 103481893 A CN103481893 A CN 103481893A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B13/00—Other railway systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
- B61F13/00—Rail vehicles characterised by wheel arrangements, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/061—Lifting, gripping, or carrying means, for one or more sheets forming independent means of transport, e.g. suction cups, transport frames
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Platform Screen Doors And Railroad Systems (AREA)
- Warehouses Or Storage Devices (AREA)
- Intermediate Stations On Conveyors (AREA)
Abstract
The invention provides an article transport facility which can reduce the load applied to a guide part and a guided part. An article transport vehicle (1) comprises a transverse movement mechanism which enables an article holding part (8) to move in the direction of the transverse width of a vehicle body relative to a travel part (5). A control part (H) controlling the movement of the article transport vehicle (1) is configured to control the movement of the transverse movement mechanism to make the article holding part (8) be in a normal travel state of locating below the middle position between a pair of travel rails (2) when the article transport vehicle (1) travels on the outside of an intersecting part (C) and to make the article holding part (8) be in an intersecting part travel state of changing from the position below the middle position between the pair of travel rails (2) to the position located on one side far away from the intersecting side travel rail in the direction of the transverse width of the vehicle body when the article transport vehicle (1) moves in the intersecting part (C).
Description
Technical field
The present invention relates to the article carrying apparatus of ceiling conveying type.
Background technology
Following article carrying apparatus is arranged: set travel path with via a plurality of websites that carry out the handling of article, possess along this travel path to a plurality of websites be transported into transport article ceiling conveyor car (for example,, with reference to patent documentation 1: JP 2002-87250 communique).
In the article carrying apparatus of patent documentation 1, travel path intersects at cross part with the crossedpath as other travel paths.The intersection skidding of one side in a pair of track of advancing of travel path, that be positioned at as crossedpath advances track and is cut off on direct of travel, to form track, does not have interval.Track do not exist interval be at the ceiling conveyor car as the goods transport vehicle of advancing in travel path via cross part in the situation that advance in crossedpath, advance track through this intersections skidding and needs for the pars intermedia of ceiling conveyor car.
In cross part, in order to make ceiling conveyor car, along selected travel path, advance, what be provided with that the travel section that is connected to ceiling conveyor car possesses is guided on body and the guiding part of advancing of guiding this travel section.In the situation that ceiling conveyor car process cross part, this guiding part guide support is guided body.Thus, can suppress travel section non-intersection skidding from a pair of track of advancing of travel path, a side that be not positioned at as crossedpath advances track and comes off and advance.In addition, ceiling conveyor car is observed (observing from the direction along direct of travel) at the direct of travel of travel section, ceiling conveyor car is positioned on the horizontal cross direction of car body, the leaving interval of this travel section and morphosis below the midway location of paired travel wheel with the article maintaining part, so that can not become partial load on the horizontal cross direction of car body.
Here, consider the situation of the ceiling conveyor car process cross part of formation as described above.There is not interval state in the track that a side's of the paired travel wheel of travel section travel wheel (the 1st travel wheel) mounting is bearing on the running face of the track of advancing if, the opposing party's of paired travel wheel travel wheel (the 2nd travel wheel) is positioned at the track of advancing, produces the moment centered by the position of the 1st travel wheel and the track butt of advancing.Therefore, the side that goods transport vehicle will exist towards the 2nd travel wheel (state that the side existed with the 2nd travel wheel descends) tilts.
So, in the article carrying apparatus of patent documentation 1, be the structure that is connected to guiding part, is accepted the power of the lopsidedness that will exist towards the 2nd travel wheel as described above by guiding part by making to be guided the side that body exists from above-mentioned the 1st travel wheel.Thus, the posture that ceiling conveyor car can be observed its direct of travel remain and be bearing in both mountings that are provided with a pair of travel wheel leaving on septal direction of the track of advancing posture that situation on the track of advancing is identical and through cross part.
In the situation that such structure, when goods transport vehicle process cross part, is guided body pushing guiding part.Therefore, the load that needs guiding part supporting to produce along with the weight of goods transport vehicle, produced the intensity that makes guiding part and supporting construction thereof and become and firmly need, and likely the setup cost of equipment uprises.Particularly, in the situation that the weight of the article that goods transport vehicle is carried is heavier, the moment centered by the position of above-mentioned the 1st travel wheel and the track butt of advancing becomes large.Therefore, when goods transport vehicle process cross part, the power that is guided wheel pushing guide rail becomes large, and it is large that the load that guiding part should support also becomes.
Summary of the invention
In view of above-mentioned background, expectation provides a kind of and can alleviate the article carrying apparatus that is applied to guiding part and is guided the load on body.
By the feature structure of the relevant article carrying apparatus of the present invention that solves above-mentioned problem, be, possesses goods transport vehicle, described goods transport vehicle possess the travel section of advancing be provided in than the top side's in ground a pair of track of advancing along travel path on and with the lower end than the above-mentioned track of advancing downwards outstanding form be provided in above-mentioned travel section below and can keep the article maintaining part of article, with the middle part of above-below direction, in above-mentioned a pair of morphosis of advancing between track, can advance along the above line inbound path; The form that above-mentioned travel section is paired at the horizontal cross direction of car body, to leave interval and on direct of travel devices spaced apart arrange multipair form and possess the travel wheel of rolling on the running face upward at the above-mentioned a pair of track of advancing; In the above line inbound path, be set with the cross part intersected with crossedpath as other travel paths; The above-mentioned a pair of track of advancing comprises that the intersection skidding of the side be positioned at as above-mentioned crossedpath advances track and the non-intersection skidding of the side that is not positioned at as above-mentioned crossedpath advances track; Above-mentioned intersection skidding advances track and is cut off on direct of travel, to be formed on above-mentioned goods transport vehicle via above-mentioned cross part in the situation that there is not interval in the track that the above-mentioned pars intermedia of advancing in above-mentioned crossedpath advances track through this intersection skidding; Be provided with guiding part at above-mentioned cross part, described guiding part is connected to that above-mentioned travel section possesses is guided on body and guides advancing of above-mentioned travel section, so that above-mentioned goods transport vehicle is advanced along selected travel path; Be configured to, in the situation that above-mentioned goods transport vehicle is through above-mentioned cross part, by the above-mentioned body that is guided of above-mentioned guiding part guide support, to suppress above-mentioned travel section and advance from above-mentioned non-intersection skidding the form that track comes off and advance; The control part that possesses the action of controlling above-mentioned goods transport vehicle; Above-mentioned goods transport vehicle possesses the transverse moving mechanism with respect to above-mentioned travel section move operation on the horizontal cross direction of car body by above-mentioned article maintaining part; Above-mentioned control part is configured to, in the situation that make above-mentioned goods transport vehicle, beyond above-mentioned cross part, advance, control the action of above-mentioned transverse moving mechanism, so that above-mentioned article maintaining part becomes the common travel condition of the midway location below that is positioned at the above-mentioned a pair of track of advancing; In the situation that make above-mentioned goods transport vehicle, at above-mentioned cross part, advance, control the action of above-mentioned transverse moving mechanism, so that above-mentioned article maintaining part becomes from the above-mentioned midway location below of the above-mentioned a pair of track of advancing, at the horizontal cross direction of car body, be positioned at the cross part travel condition of advancing a side of track away from above-mentioned intersection skidding.
At the goods transport vehicle that makes to advance along travel path, in the situation that cross part is advanced, advancing the travel wheel of rolling on track at the intersection skidding must not exist interval through track.According to by the eigen structure, now, the article maintaining part is become from the midway location of a pair of track of advancing and be positioned at the cross part travel condition of advancing a side of track away from the intersection skidding at the horizontal cross direction of car body.Thereby the center of gravity of goods transport vehicle is to advance a side shifting of track away from the intersection skidding.Thus, the moment that the direct of travel centered by non-intersection skidding enters the position of the travel wheel of rotating on track and the track butt of advancing in a pair of travel wheel of leaving interval on the horizontal cross direction of car body is observed diminishes, so can make the power that is guided body pushing guiding part of travel section diminish.
If be illustrated, in the situation that goods transport vehicle through cross part, travel section becomes leaves interval and a side's of paired travel wheel travel wheel (the 1st travel wheel) is bearing on the running face that non-intersection skidding advances track by load, the opposing party's travel wheel (the 2nd travel wheel) is arranged in the state that there is not interval in track that the intersection skidding advances track on the horizontal cross direction of car body.In there is not interval in track, owing to not accepting the load of supports articles waggon by the 2nd travel wheel, so observe from the direction along direct of travel, by the 1st travel wheel and the non-skidding that intersects, advancing the direction generation moment that centered by the position of track butt, goods transport vehicle is swung downwards.Therefore, goods transport vehicle is observed and will do not existed the direction of the travel wheel displacement downwards in interval to tilt to being arranged in track at direct of travel.
According to the eigen structure, by the body that is guided that makes goods transport vehicle, be connected on guiding part, accept and will not exist the existence of interval travel wheel to roll oblique power towards being positioned at track by guiding part.Thereby goods transport vehicle can keep being bearing in both mountings of the travel wheel of paired setting posture that situation on the track of advancing is identical and through cross part.
According to the eigen structure, when goods transport vehicle process cross part, by making the article maintaining part be positioned at from the midway location of a pair of track of advancing a side of advancing track away from the intersection skidding at the horizontal cross direction of car body, the travel wheel that makes the side in paired travel wheel is advanced the moment that the direct of travel centered by the position of track butt observes and is diminished with the non-skidding that intersects, and can make the power that should be accepted by guiding part, the power that is guided body pushing guiding part diminish.
Thereby, can provide and can alleviate the article carrying apparatus that is applied to guiding part and is guided the load on body.
Below, the example preferred embodiment of relevant article carrying apparatus of the present invention is described.Relevant article carrying apparatus of the present invention preferably, be provided with the connecting portion through above-mentioned a pair of form of advancing between track, above-mentioned travel section is connected with above-mentioned article maintaining part, part or all of the above-below direction of above-mentioned connecting portion is equivalent to above-mentioned pars intermedia; Above-mentioned transverse moving mechanism is configured to, by above-mentioned article maintaining part with respect to above-mentioned connecting portion move operation on the horizontal cross direction of car body.
Lower end with the connecting portion through the form setting between track of advancing is positioned at than the lower end of the track of advancing on the lower.And, transverse moving mechanism due to the lower end side that is located at this connecting portion, be the lower end side of pars intermedia, so can not exist with ... the interval of the track of advancing, on the horizontal cross direction of car body, move.Thereby, transverse moving mechanism the article maintaining part can be subject to a pair of track of advancing interval constraint and on the horizontal cross direction of car body move operation.
For example, also can consider, connecting portion and article maintaining part are formed integratedly, transverse moving mechanism is equipped on travel section, transverse moving mechanism by the article maintaining part together with connecting portion move operation on the horizontal cross direction of car body.But, if form like this, by the interval of a pair of track of advancing and the width that leaves the article maintaining part on septal direction of this pair of track of advancing, the capable of movable operating distance on the horizontal cross direction of the car body of restricted articles maintaining part.Therefore, can not make midway location on car body horizontal cross direction the significantly displacement of article maintaining part from a pair of track of advancing, though the center of gravity that makes goods transport vehicle to away from intersecting skidding, advancing a side shifting of track, it is smaller that its amount of movement also becomes.Thereby, can not make the moment towards guiding part that is guided the body installed position of travel section diminish.
With respect to this, if form as described above, can make transverse moving mechanism ratio displacement significantly on the horizontal cross direction of car body, easily make the moment towards guiding part that is guided the body installed position of travel section diminish.Thereby, can provide and can suitably reduce the article carrying apparatus that is applied to guiding part or is guided the load on body.
The accompanying drawing explanation
Fig. 1 is the front view that the direct of travel of the goods transport vehicle of the 1st embodiment is observed.
Fig. 2 a is the figure of the pattern of explanation cross part.
Fig. 2 b is the figure of the pattern of explanation cross part.
Fig. 3 a is the figure of the cross part travel condition of explanation the 1st embodiment.
Fig. 3 b is the figure of the cross part travel condition of explanation the 1st embodiment.
Fig. 4 a is the figure of the cross part travel condition of explanation the 1st embodiment.
Fig. 4 b is the figure of the cross part travel condition of explanation the 1st embodiment.
Fig. 5 is the figure that explanation is applied to the power on guide rail.
Fig. 6 is the comparison diagram that explanation is applied to the power on guide rail.
Fig. 7 is the front view that the direct of travel of the goods transport vehicle of the 2nd embodiment is observed.
Fig. 8 is the figure that explanation is applied to the power on guiding face.
Fig. 9 is the comparison diagram that explanation is applied to the power on guiding face.
Figure 10 is the figure of other forms of the pattern of explanation cross part.
The specific embodiment
(the 1st embodiment)
Based on accompanying drawing, explanation has adopted the 1st embodiment of the ceiling load transfer device of relevant article carrying apparatus of the present invention.The ceiling load transfer device of present embodiment is located in glass substrate manufacturing equipment or semiconductor device manufacturing equipment etc.In such manufacturing equipment, owing to being provided with on the ground article handling device and article storage device, so in order to ensure it, space is set, the track of advancing is set with the state hung from ceiling, by by this, being advanced railway guidance, the mobile ceiling conveyor car 1 of advancing forms goods transport vehicle.Fig. 1 usings that the direct of travel of ceiling conveyor car 1 observe to mean ceiling conveyor car 1 and as the cutaway view of a pair of advance track 2a, the 2b of its track 2 of advancing of advancing of guiding. Advance track 2a, 2b with the opening side that is bearing in support (yoke) 30 and the form of inwall side, along travel path, leave interval in the horizontal direction and be provided with a pair ofly, described support 30 cross sections are U font and the lower opening that corner angle are arranged.
Be provided with the link 6 as the connecting portion through a pair of form of advancing between track 2a, 2b, this travel section 5 is connected with article maintaining part 8 between travel section 5 and article maintaining part 8, in the lower end of link 6, be provided with the support 7 with transverse moving mechanism.
In the support 7 with transverse moving mechanism, by as can by article maintaining part 8 with respect to the rack pinion M2 of travel section 5 transverse moving mechanism of move operation on the horizontal cross direction of car body and slidably movably the load support unit of engaging and the load of supports articles maintaining part 8 (diagram is omitted) form.The tooth bar of rack pinion M2 is arranged on the upper end of article maintaining part 8.With the position by its horizontal direction, with respect to travel section 5, fixing state is located at link 6 sides to miniature gears.Be configured to, by made the miniature gears rotation by the miniature gears motor, tooth bar moved in the horizontal direction, article maintaining part 8 can be switched to common travel condition described later and cross part travel condition with respect to the position on the horizontal cross direction of the car body of travel section 5.Usually travel condition is that article maintaining part 8 is positioned at the state of the midway location below of a pair of advance track 2a, 2b as shown in Figure 1.The cross part travel condition is the state that article maintaining part 8 is positioned at the position after the either side displacement of a side of the horizontal cross direction of direction car body from the midway location of a pair of advance track 2a, 2b and opposite side as shown in Fig. 3 b or Fig. 4 b.
In the upper end of travel section 5 and the central portion of the horizontal cross direction of car body, be provided with as with guide rail 31 butts described later, guide ceiling conveyor car 1 advance be guided body be guided wheel 9.Be guided wheel 9 and be provided with each two corresponding to the equipping position of travel wheel 3 on the direct of travel of travel section 5.These two be guided that but wheel 9 one move and can be arranged on with rotating freely and can slide mobile slide mass 9S along the horizontal cross direction of car body along upper and lower axle center on.In addition, on travel section 5, possesses the slide mass drive motor M3 that slide mass is slided and drives.
On ceiling conveyor car 1, be provided with the control part H that controls its action.Control part H for example consists of microcomputer, lift-launch is on travel section 5, reception, from the conveying instruction of the upper management device of the action of controlling ceiling load transfer device integral body, is controlled the action of tooth bar and the slide mass drive motor M3 of advance CD-ROM drive motor M1, rack pinion M2.
In the present embodiment, ceiling conveyor car 1 is advanced towards a direction at travel path.Travel path with ceiling conveyor car 1 via the state that position is set that has a plurality of article handling devices or article storage device and using as cross part C, have bifurcation described later and the interflow position setting state.
As shown in Figure 2 a, there are (ii) these two paths of path (i) and path in the direct of travel the place ahead of the path of advancing at ceiling conveyor car 1 (o) in the bifurcation of the form that the conduct of cross part C intersects.In addition, as shown in Figure 2 b, the path that ceiling conveyor car 1 is advanced (i) and path are (ii) 1 path (o) at the interflow, direct of travel the place ahead of ceiling conveyor car 1 at the position, interflow of the form that the conduct of cross part C intersects.To be present in bifurcation in Liang Ge path, direct of travel the place ahead, an advance path of a side of ceiling conveyor car 1 is called the trunk path, another path that will be other travel paths with respect to the trunk path is called crossedpath (bifurcated path).Equally, a path in the position, interflow is present in Liang Ge path, direct of travel rear, a side that ceiling conveyor car 1 is advanced is called to the trunk path, and another path that will be other travel paths with respect to the trunk path is called crossedpath (path, interflow).
At the cross part C of the crossedpath as other travel paths and trunk paths intersect, the track of advancing of the side that crossedpath is positioned at is called the intersection skidding and advances track.In addition, at this cross part C, the track of advancing of the side that crossedpath is not positioned at is called non-intersection skidding and advances track.In the situation that ceiling conveyor car advances in crossedpath via this cross part C, the link 6 that will be connected with travel section 5 in a pair of article maintaining part 8 of advancing between track 2a, 2b below being positioned at need to stride across and intersect skidding and advance track.That is, intersecting skidding advances track and is cut off in direct of travel the place ahead.
For example, in the form shown in Fig. 3 a, in the front and back of cross part C, the trunk path from advance track 2a and 2b to being changed to the right of track 2d and 2b of advancing.Crossedpath is the right of track 2a and 2c of advancing.Thereby, in Fig. 3 a, it is " 2a " in the front (rear) of cross part C that the intersection skidding in the track 2 of advancing in formation trunk path advances track, after the warp of cross part C, (the place ahead) is " 2d ", and it is " 2b " that non-intersection skidding advances track.In addition, in the form shown in Fig. 4 a, in the front and back of cross part C, the trunk path from advance track 2a and 2b to being changed to the right of track 2a and 2c of advancing.Crossedpath is the right of track 2d and 2b of advancing.Thereby, in Fig. 4 a, it is " 2b " in the front (rear) of cross part C that the intersection skidding in the track 2 of advancing in formation trunk path advances track, after the warp of cross part C, (the place ahead) is " 2c ", and it is " 2a " that non-intersection skidding advances track.
Between two tracks of advancing " 2b " and " 2c " in formation trunk path, exist track not have interval between two tracks of advancing " 2a " that form the trunk path in Fig. 3 a and " 2d " and in Fig. 4 a.That is,, at cross part C, advance formation track on track at the intersection skidding and do not have interval.
In addition, at cross part C, as a pair of position of advancing between track 2 and leaving upward interval than the running face 2u of the track 2 of advancing, be provided with guide rail 31.Guide rail 31 is as being guided on wheel 9 and the guiding part setting of advancing of guiding travel section 5 of being connected to that travel section 5 possesses, so that ceiling conveyor car 1 is advanced along selected travel path.Here, so-called " selected travel path ", be for the conveying instruction according to from the upper management device, article B to be transported to the travel path of carrying the position, destination and determining from the delivery source position.In bifurcation or the position, interflow, not that other travel paths of the travel path that determines as described above are crossedpath.For example, in Fig. 2 a, in the situation that be selected from path (o) to path the travel path of (i), path is (ii) crossedpath, in the situation that be selected from path (o) to path travel path (ii), path (i) is crossedpath.In addition, in Fig. 2 b, in the situation that be selected from path (i) to path the travel path of (o), path is (ii) crossedpath, in the situation that be to have selected from path the (ii) travel path of (o) to path, path (i) is crossedpath.
At cross part C, collaborate the trunk path of travel path in the situation that the travel path bifurcated is trunk path and bifurcated path or path, interflow, the control part H that controls the action of ceiling conveyor car 1 makes slide mass drive motor M3 action, makes to be guided wheel 9 and moves on the horizontal cross direction of car body as shown in Fig. 3 a, Fig. 3 b, Fig. 4 a, Fig. 4 b.
Below, ceiling conveyor car 1 is described in the situation that be not the position of cross part C and the control of passing through control part H of advancing as the bifurcation of the example of cross part C.Control part H, making ceiling conveyor car 1 with in the situation that the state on the horizontal cross direction of car body, both mountings of a pair of travel wheel 3 are bearing on the track 2 of advancing is advanced, controls the tooth bar of rack pinion M2, to become the common travel condition shown in Fig. 1.
In addition, as shown in Figure 3 a, in the situation that make ceiling conveyor car 1 through cross part C (ii) to advance along path, control part H makes to be guided the right side (the 2nd guiding face 31b side) that wheel 9 moves to be positioned at the vertical component effect of guide rail 31.Thus, travel section 5 is by (ii) being guided towards path under the 2nd guiding face 31b at guide rail 31 and the state that is guided wheel 9 butts and guide rail 31 9 is accepted load guide support via being guided wheel, can using to suppress the form that travel section 5 comes off from the track 2b that advances that advances track as non-intersection skidding and advance.
Now, control part H makes the tooth bar action of rack pinion M2, control the tooth bar of rack pinion M2, so that the midway location (position during so-called advancing) that article maintaining part 8 becomes from a pair of track 2 of advancing is positioned at the cross part travel condition (with reference to Fig. 3 b) away from the side of advance track 2a or the 2d that advance track as the intersection skidding at the horizontal cross direction of car body.In addition, control part H is detecting a plurality of time points that are guided 1 state of being guided by guide rail 31 in taking turns 9, start the action to addendum modification increase direction of rack pinion M2, control rack pinion M2, so that the addendum modification when ceiling conveyor car 1 is advanced in there is not interval in track, on the horizontal cross direction of car body of position when usually advancing of article maintaining part 8 is for maximum.And then control part H is detecting a plurality of time points that are guided the whole states of not guided by guide rail 31 in taking turns 9, control rack pinion M2 to start the action to addendum modification minimizing direction of rack pinion M2.
In addition, as shown in Fig. 4 a, in the situation that make ceiling conveyor car 1 through cross part C so that along path, (i) advances, control part H makes to be guided the left side (the 1st guiding face 31a side) that wheel 9 moves to be positioned at the vertical component effect of guide rail 31.Thus, travel section 5 by under the 1st guiding face 31a at guide rail 31 and the state that is guided wheel 9 butts by towards path (i) guiding and guide rail 31 9 accept load and guide support via being guided wheel, can using and suppress the form that travel section 5 comes off from the track 2a that advances that advances track as non-intersection skidding and advance.
Now, control part H makes the tooth bar action of rack pinion M2, control the tooth bar of rack pinion M2, so that article maintaining part 8 becomes from the midway location of a pair of track 2 of advancing, at the horizontal cross direction of car body, be positioned at the cross part travel condition (with reference to Fig. 4 b) away from advance track 2b or 2c mono-side of advancing track as non-intersection skidding.
As shown in Figure 5, in the situation that cross part C makes article maintaining part 8 become the cross part travel condition, the center of gravity W that becomes ceiling conveyor car 1 be positioned at travel wheel 3a under state.Now, the power that is guided wheel 9 pushing guide rails 31 is meaned with " F1 ".In addition, in Fig. 6, although be there is no in the present embodiment the state occurred, be illustrated in as a comparative example cross part C and do not make article maintaining part 8 become the situation of cross part travel condition.In the case, the center of gravity W that becomes ceiling conveyor car 1 observes near the state central authorities that are positioned at the horizontal cross direction of car body at direct of travel.The power that now is guided wheel 9 pushing guide rails 31 is meaned with " F2 ".
From Fig. 5 and Fig. 6, in the situation that the power F1 that cross part C makes article maintaining part 8 be guided wheel 9 pushing guide rails 31 for the cross part travel condition with in the situation that the power F2 that cross part C makes article maintaining part 8 for the cross part travel condition, not be guided wheel 9 pushing guide rails 31 do not compare little a lot.; by make article maintaining part 8 for the cross part travel condition at cross part C, the power that can make the moment centered by the position of travel wheel 3a and the track 2a butt of advancing in the direct of travel observation diminish, make to be guided the 1st guiding face 31a that takes turns 9 pushing guide rails 31 diminish.
(the 2nd embodiment)
Then, the 2nd embodiment of the ceiling load transfer device that has adopted relevant article carrying apparatus of the present invention is described, but the 2nd embodiment is just different with the structure that is guided body from the guiding part in the same ceiling load transfer device of the 1st embodiment, so its difference is illustrated, to the part that repeats, description thereof is omitted.
Fig. 7 is using the ceiling conveyor car of the goods transport vehicle as the 2nd embodiment 1 with as a pair of advance track 2a, the 2b figure that observes to mean with the direct of travel of ceiling conveyor car 1 of its track 2 of advancing of advancing of guiding. Advance track 2a, 2b be take and be bearing in the form of cross section on the open side end of the support 40 of the U font with corner angle and lower opening, along travel path, leaves interval in the horizontal direction and is provided with a pair of.In addition, on track 2a, the 2b lateral surface separately of advancing, be formed with a pair of 40a of the guiding face as guiding part, the 40b that is guided wheel 9a, 9b butt that is guided body with conduct described later.
In the 2nd embodiment, form as shown in Figure 7, be located at the both ends that the direct of travel of ceiling conveyor car 1 of the support with transverse moving mechanism 7 of the lower end of link 6 observes and be bearing under the state on advance track 2a, 2b and be positioned at than guiding face 40a, 40b in the outer part in travel wheel 3a, 3b mounting.On the horizontal cross direction of the car body both ends of the support 7 with transverse moving mechanism, be respectively equipped with and can take turns the solenoid mechanism M4 that 9a, 9b operate hoisting position and lowering position by being guided.Operate hoisting position if will be guided wheel 9a or 9b with solenoid mechanism M4, be guided wheel 9a or 9b and become the state with guiding face 40a or 40b butt, operate lowering position if will be guided wheel 9a or 9b, be guided wheel 9a or 9b and leave interval from guiding face 40a or 40b, become the lower end state on the lower be positioned at than advance track 2a, 2b and support 40.
In addition, in the 2nd embodiment, control part H receives the command information from the upper management device of the action of controlling ceiling load transfer device integral body, controls the action of tooth bar and the solenoid mechanism M4 of advance CD-ROM drive motor M1, rack pinion M2.
Below, ceiling conveyor car 1 is described in the situation that be not the position of cross part C and the control of being undertaken by control part H of advancing as the bifurcation of the example of cross part C.Control part H make ceiling conveyor car 1 with in the situation that the state that on the horizontal cross direction of car body, both mountings of a pair of travel wheel 3 are bearing on advance track 2a, 2b advance, as shown in Figure 7, so that be guided wheel 9a or 9b, both become hoisting position to the M4 of operate solenoid mechanism, and control the tooth bar of rack pinion M2, so that article maintaining part 8 becomes common travel condition.
In addition, in the situation that make ceiling conveyor car 1 through cross part C advance (situation that Fig. 4 a of the 1st embodiment of take advances like that in path (i) describe for example), as shown in Figure 8, the control part H operate solenoid M4 of mechanism so that be guided the wheel 9a be hoisting position, make to be guided the wheel 9b be lowering position.Thus, the track 2a that advances that ceiling conveyor car 1 advances track along the non-intersection skidding of conduct in a pair of track of advancing advances.Travel wheel 3b in addition, owing to being guided, takes turns the below that 9b is positioned at the track 2b that advances, so can leave from the track 2b that advances that advances track as the intersection skidding.Like this, only travel wheel 3a is bearing in as non-intersection skidding to advance on the track 2a that advances of track by mounting, travel wheel 3b becomes does not have mounting to be bearing in the state on the track 2 of advancing, so, on ceiling conveyor car 1, occur in direct of travel and observe the moment centered by the position of travel wheel 3a and the track 2a butt of advancing.And, the moment of generation is supported by the power that is guided wheel 9a pushing guiding face 40a.That is, be configured to, in the situation that ceiling conveyor car 1, through cross part C, is usingd, by guiding face 40a guide support, be guided wheel 9a, suppress the form that travel section 5 comes off from the track 2a that advances that advances track as non-intersection skidding and advance.
Now, control part H makes the tooth bar action of rack pinion M2, control the tooth bar of rack pinion M2, so that article maintaining part 8 becomes from the midway location of a pair of track 2 of advancing, at the horizontal cross direction of car body, be positioned at the cross part travel condition away from the side of advance track 2b or the 2c that advance track as the intersection skidding.
In addition, although diagram is omitted, at Fig. 3 a of the 1st embodiment and Fig. 3 b, like that in the situation that advance in (ii) in path, the control part H operate solenoid M4 of mechanism, become hoisting position, make to be guided wheel 9a and become lowering position so that be guided wheel 9b.Thus, the track 2b that advances that ceiling conveyor car 1 advances track along the non-intersection skidding of conduct in a pair of track of advancing advances.In addition, take turns owing to being guided the below that 9a is positioned at the track 2a that advances, so travel wheel 3a can leave from the track 2a that advances.Like this, only travel wheel 3b is bearing in as non-intersection skidding to advance on the track 2b that advances of track by mounting, travel wheel 3a becomes does not have mounting to be bearing in the state on the track 2 of advancing, so, on ceiling conveyor car 1, occur in direct of travel and observe the moment centered by the position of travel wheel 3b and the track 2b butt of advancing.And, become the moment of generation by being guided the power supporting of wheel 9b pushing guiding face 40b.That is, be configured to, in the situation that ceiling conveyor car 1, through cross part C, is usingd, by guiding face 40b guide support, be guided wheel 9b, suppress the form that travel section 5 comes off from the track 2b that advances that advances track as non-intersection skidding and advance.
Now, control part H makes the tooth bar action of rack pinion M2, control the tooth bar of rack pinion M2, so that article maintaining part 8 becomes from the midway location of a pair of track 2 of advancing, at the horizontal cross direction of car body, be positioned at the cross part travel condition away from the side of advance track 2a or the 2d that advance track as the intersection skidding.
As shown in Figure 8, in the situation that cross part C makes article maintaining part 8 become the cross part travel condition, the center of gravity W that becomes ceiling conveyor car 1 be positioned at travel wheel 3a under state.Now, the power that is guided wheel 9a pushing guiding face 40a is meaned with " F1 ".In addition, in Fig. 9, although be there is no in the present embodiment the state occurred, be illustrated in as a comparative example cross part C and do not make article maintaining part 8 become the situation of cross part travel condition.In the case, the center of gravity W that becomes ceiling conveyor car 1 observes near the state central authorities that are positioned at the horizontal cross direction of car body at direct of travel.The power that now is guided wheel 9a pushing guiding face 40a is meaned with " F2 ".
From Fig. 8 and Fig. 9, in the situation that cross part C make article maintaining part 8 become power F1 that the cross part travel condition is guided wheel 9a pushing guiding face 40a with in the situation that cross part C does not make article maintaining part 8 become the power F2 that the cross part travel condition is guided wheel 9a pushing guiding face 40a compares little a lot.That is, by cross part C, making article maintaining part 8 become the cross part travel condition, can make the moment centered by the position of travel wheel 3a and the track 2a butt of advancing diminish, the power that is guided wheel 9a pushing guiding face 40a is diminished.
(other embodiments)
(1) in the above-mentioned the 1st and the 2nd embodiment, be illustrated as example article carrying apparatus of the present invention is applied to possess in the structure of take in the ceiling load transfer device of the ceiling conveyor car that the track of advancing that the state that hangs from ceiling sets advances, but also can make the rail support that makes to advance, vertical, be located on ground supporting mass or be bearing in the structure the outstanding supporting mass arranged from wall.In addition, in the above-mentioned the 1st and the 2nd embodiment, the example that article carrying apparatus of the present invention is used in glass substrate manufacturing equipment or semiconductor device manufacturing equipment has been described, but article carrying apparatus of the present invention also can use in illustrative manufacturing equipment beyond above-mentioned or storage facility etc.
(2) in the above-mentioned the 1st and the 2nd embodiment, exemplified with when at cross part C, making article maintaining part 8 become the cross part travel condition, by rack pinion M2 move operation so that the center of gravity W of ceiling conveyor car 1 be positioned at travel wheel 3a under the structure of state, but the center of gravity W of ceiling conveyor car 1 also can be viewed as than the central authorities of the horizontal cross direction of car body and more by non-intersection skidding, enter the position of track at direct of travel.In addition, in the above-mentioned the 1st and the 2nd embodiment, made the rack pinion M2 that possesses as transverse moving mechanism on the support with transverse moving mechanism 7 of the lower end that is located at link 6, by the structure of the position move operation on the horizontal cross direction of the car body with respect to link 6 of article maintaining part 8, but being not limited to such structure, can be also the structure with respect to the position move operation on the horizontal cross direction of the car body of travel section 5 by link 6.
In addition, in the above-mentioned the 1st and the 2nd embodiment, made the structure that possesses rack pinion M2 as transverse moving mechanism, but for example in article maintaining part 8, possess article B in the situation that the transfer mechanism of transfer on the horizontal cross direction of car body also can be made the structure of the position displacement of the horizontal cross direction of car body that uses this transfer mechanism to make article B.
And then, also can make following structure: control part H detects and manages the weight of ceiling conveyor car 1 or article maintaining part 8, and control the move operation amount (miles of relative movement of article maintaining part 8) of rack pinion M2 so that the weight of the article B that its weight at ceiling conveyor car 1 or article maintaining part 8 keep hour be less move operation amount, the weight of the article B that keeps in weight or the article maintaining part 8 of ceiling conveyor car 1 is larger move operation amount when larger.And then, also can make gait of march that control part H detects ceiling conveyor car 1, controlled so that the move operation amount of rack pinion M2 (miles of relative movement of article maintaining part 8) according to the gait of march of ceiling conveyor car 1 and different structures.
(3) in the above-mentioned the 1st or the 2nd embodiment, illustrated control part H is equipped in travel section 5, the structure of the action of ceiling conveyor car 1 is controlled in reception from the command information of upper management device, but be not limited to such structure, for example also can be configured to, control part H is equipped in to (for example upside) beyond travel section 5, only possesses the acceptance division received from the command information of control part H in travel section 5, according to the command information received, the driving CD-ROM drive motor M1 that advances, the tooth bar of rack pinion M2, and slide mass drive motor M3 or solenoid mechanism M4.In addition, also can be configured to, by the self-discipline that is located at the control part H in travel section 5, judge to drive advance tooth bar and slide mass drive motor M3 or the solenoid mechanism M4 of CD-ROM drive motor M1, rack pinion M2.
(4) in above-mentioned the 1st embodiment, illustrated that making to be guided wheel 9 is bearing in that slide mass 9S is upper, the structure of the position by slide mass 9S slide being changed to the horizontal cross direction of car body that is guided wheel 9, but be not limited to such structure, for example also can make and replace being guided wheel 9 and less butt body is arranged on the structure that slide mass 9S is upper, make guide rail 31 and this butt body butt by friction drag.In addition, also can be configured to, be arranged on rotatably on the arm that can swing in horizontal surface in axle center up and down being guided wheel 9, the swing by arm comes alter operation to be guided the position of the horizontal cross direction of car body of taking turns 9.
In addition, in the above-mentioned the 1st or the 2nd embodiment, made and will be guided wheel and 9 on the horizontal cross direction of car body, corresponding to a pair of travel wheel 3, the structure of two is set, but also can make the structure that is guided wheel 9 arranged corresponding to a pair of travel wheel 3 more than 1 or 3, in addition, can not be also corresponding to a pair of travel wheel 3, to arrange on the horizontal cross direction of car body being guided wheel 9, but being guided of number arbitrarily arranged more than 1 corresponding to travel section 5 take turns 9.
(5) in the above-mentioned the 1st or the 2nd embodiment, be configured to single body section, will on the direct of travel of ceiling conveyor car 1, possess whole structures that are provided in this single body section of multipair travel wheel 3 exemplified with the travel section 5 by ceiling conveyor car 1, but be not limited to such structure, for example also can make by the body section that possesses one group of a pair of travel wheel 3 and can rotate around upper and lower axle center on the horizontal cross direction of car body on the direct of travel of ceiling conveyor car 1, equip a plurality of, by they interconnective structures.In the case, a plurality of body section is travel section 5.
(6) in the above-mentioned the 1st or the 2nd embodiment, the bifurcated path that can change between a plurality of paths exemplified with ceiling conveyor car 1 or path, interflow are as cross part C, but, as cross part C, also comprise that ceiling conveyor car 1 can not be the cross roads of changing between a plurality of paths (in being not limited to overlook with decussate structure).This information slip is shown in Figure 10.In the situation that take path (o) and path (i), advance as travel path ceiling conveyor car 1, ceiling conveyor car can not be changed to path (x) or path (ii).In the case, between path (o) and path (i), advance in both of track 2 and do not exist the track of the track 2 of advancing not have interval owing to being created in pair of right and left, so both of paired travel wheel 3 on the horizontal cross direction of car body of travel section occur, there is no to load the state on the track 2 of advancing that is bearing in.So be configured to, between the path of the travel path as ceiling conveyor car 1 (o) and path (i), in pair of right and left is advanced a side of track 2, the track 2r that advances for cross part occur.In addition, be configured to, with this cross part, by the track 2r parallel mode in overlooking of advancing, cross part guide rail 31r to occur.Thus, ceiling conveyor car 1 can also remain with both mountings of the travel wheel 3 of paired setting and be bearing in the posture that situation on the track 2 of advancing is identical in cross roads, and through cross part.
(7) in the above-mentioned the 1st or the 2nd embodiment, made the structure of using rack pinion M2 as transverse moving mechanism, but be not limited to such structure, such as also can use ball-screw or joint arm (SCARA arm) etc., can be by article maintaining part 8 the various mechanisms with respect to travel section 5 move operation on the horizontal cross direction of car body.
(8) in the above-mentioned the 1st or the 2nd embodiment, exemplified with by a pair of advance track 2 with mutually leave in the horizontal direction the state at interval and be bearing in support 30 or support 40 on the structure that sets of state, but be not limited to such structure, for example, also can make the form of using to analyse and observe コ word shape and forming the pair of tracks part of the track 2 that is equivalent to advance in lower end, the structure that forms the track material of strip by suitable formation methods such as extruding form.In addition, in the above-mentioned the 1st or the 2nd embodiment, supporting form as a pair of track 2 of advancing, made the structure that supports respectively a pair of track 2 of advancing in the bottom of support 30 or 40, but so long as can be with the structure of the state support at the interval that suitably keeps a pair of track 2 of advancing, be not limited to be bearing in as described above the form on support, can adopt various supporting forms.
(9) in above-mentioned the 2nd embodiment, exemplified with use the structure of solenoid mechanism M4 in order to be guided wheel 9a, 9b rising or step-down operation, but can replace such structure and use various traveling priority operating mechanisms such as rack pinion or ball-screw.
Description of reference numerals
1 ceiling conveyor car (goods transport vehicle)
2 tracks of advancing
The 2u running face
3 travel wheel
5 travel section
6 links (connecting portion)
8 article maintaining parts
9 are guided wheel (being guided body)
31 guide rails (guiding part)
The B article
M2 rack pinion (transverse moving mechanism)
The H control part.
Claims (2)
1. an article carrying apparatus, be the article carrying apparatus of ceiling conveying type,
Possesses goods transport vehicle, described goods transport vehicle possess the travel section of advancing be provided in than the top side's in ground a pair of track of advancing along travel path on and with the lower end than the above-mentioned track of advancing downwards outstanding form be provided in above-mentioned travel section below and can keep the article maintaining part of article, with the middle part of above-below direction, in above-mentioned a pair of morphosis of advancing between track, can advance along the above line inbound path;
The form that above-mentioned travel section is paired at the horizontal cross direction of car body, to leave interval and on direct of travel devices spaced apart arrange multipair form and possess the travel wheel of rolling on the running face upward at the above-mentioned a pair of track of advancing;
In the above line inbound path, be set with the cross part intersected with crossedpath as other travel paths;
The above-mentioned a pair of track of advancing comprises that the intersection skidding of the side be positioned at as above-mentioned crossedpath advances track and the non-intersection skidding of the side that is not positioned at as above-mentioned crossedpath advances track;
Above-mentioned intersection skidding advances track and is cut off on direct of travel, to be formed on above-mentioned goods transport vehicle via above-mentioned cross part in the situation that there is not interval in the track that the above-mentioned pars intermedia of advancing in above-mentioned crossedpath advances track through this intersection skidding;
This article carrying apparatus is characterised in that,
Be provided with guiding part at above-mentioned cross part, described guiding part is connected to that above-mentioned travel section possesses is guided on body and guides advancing of above-mentioned travel section, so that above-mentioned goods transport vehicle is advanced along selected travel path;
Be configured to, in the situation that above-mentioned goods transport vehicle is through above-mentioned cross part, by the above-mentioned body that is guided of above-mentioned guiding part guide support, to suppress above-mentioned travel section and advance from above-mentioned non-intersection skidding the form that track comes off and advance;
The control part that possesses the action of controlling above-mentioned goods transport vehicle;
Above-mentioned goods transport vehicle possesses the transverse moving mechanism with respect to above-mentioned travel section move operation on the horizontal cross direction of car body by above-mentioned article maintaining part;
Above-mentioned control part is configured to,
In the situation that above-mentioned goods transport vehicle is advanced beyond above-mentioned cross part, control the action of above-mentioned transverse moving mechanism, so that above-mentioned article maintaining part becomes the common travel condition of the midway location below that is positioned at the above-mentioned a pair of track of advancing;
In the situation that make above-mentioned goods transport vehicle, at above-mentioned cross part, advance, control the action of above-mentioned transverse moving mechanism, so that above-mentioned article maintaining part becomes from the above-mentioned midway location below of the above-mentioned a pair of track of advancing, at the horizontal cross direction of car body, be positioned at the cross part travel condition of advancing a side of track away from above-mentioned intersection skidding.
2. article carrying apparatus as claimed in claim 1, is characterized in that,
Be provided with the connecting portion through above-mentioned a pair of form of advancing between track, above-mentioned travel section is connected with above-mentioned article maintaining part, part or all of the above-below direction of above-mentioned connecting portion is equivalent to above-mentioned pars intermedia;
Above-mentioned transverse moving mechanism is configured to, by above-mentioned article maintaining part with respect to above-mentioned connecting portion move operation on the horizontal cross direction of car body.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012134197A JP5590422B2 (en) | 2012-06-13 | 2012-06-13 | Goods transport equipment |
| JP2012-134197 | 2012-06-13 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103481893A true CN103481893A (en) | 2014-01-01 |
| CN103481893B CN103481893B (en) | 2017-04-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310225282.0A Active CN103481893B (en) | 2012-06-13 | 2013-06-07 | Article transport facility |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP5590422B2 (en) |
| KR (1) | KR102023519B1 (en) |
| CN (1) | CN103481893B (en) |
| TW (1) | TWI564196B (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| TW201400389A (en) | 2014-01-01 |
| KR102023519B1 (en) | 2019-09-20 |
| JP5590422B2 (en) | 2014-09-17 |
| TWI564196B (en) | 2017-01-01 |
| JP2013256235A (en) | 2013-12-26 |
| CN103481893B (en) | 2017-04-12 |
| KR20130139767A (en) | 2013-12-23 |
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