CN114604290A

CN114604290A - Wheel replacing device

Info

Publication number: CN114604290A
Application number: CN202111491721.3A
Authority: CN
Inventors: 荻须基成; 上田俊人; 矢嶋翼; 铃木彰; 田中芳孝; 西川直
Original assignee: Daifuku Co Ltd
Current assignee: Daifuku Co Ltd
Priority date: 2020-12-08
Filing date: 2021-12-08
Publication date: 2022-06-10
Also published as: TW202237457A; JP7248003B2; KR20220081274A; JP2022090932A

Abstract

The control unit causes the wheel handling robot (5) to perform the loading and unloading of the 1 st traveling wheel (81) in the 1 st wheel separated state, and causes the wheel handling robot (5) to perform the loading and unloading of the 2 nd traveling wheel (82) in the 2 nd wheel separated state, in which the 1 st support rail (10) is in the 1 st descending position and the 2 nd support rail (20) is in the 2 nd descending position, in the 1 st wheel separated state, and the 2 nd wheel separated state, in a state in which the 1 st support rail (10) is in the 1 st descending position and the 2 nd support rail (20) is in the 2 nd descending position.

Description

Wheel replacing device

Technical Field

The present invention relates to a wheel exchanging device for exchanging a 1 st traveling wheel and a 2 nd traveling wheel of a vehicle including a vehicle main body, the 1 st traveling wheel, the 2 nd traveling wheel, and a guide wheel, wherein the 1 st traveling wheel rolls on an upper surface of one of a pair of traveling rails disposed apart in a width direction, the 2 nd traveling wheel rolls on an upper surface of the other of the pair of traveling rails, the guide wheel rolls on a side surface of the guide rail, and the guide rail is disposed at a position in a vertical direction different from the pair of traveling rails.

Background

For example, japanese patent No. 6337528 (patent document 1) discloses a ceiling traveling vehicle that travels in a ceiling space of a clean room or the like. In the description of the background art, the reference numerals shown in parentheses are those of patent document 1.

The ceiling traveling vehicle (2) disclosed in patent document 1 includes traveling wheels (12, 20) and guide wheels (22, 24), the traveling wheels (12, 20) roll on a rail (4), and the guide wheels (22, 24) contact the rail (4) from the side when the ceiling traveling vehicle (2) travels in a branch junction section of a traveling path. The guide wheels (22, 24) are used when changing the direction of travel of the overhead traveling vehicle.

The technique disclosed in patent document 1 is for detecting the deterioration of a running wheel, but patent document 1 does not particularly mention the replacement of a running wheel that has deteriorated. In the technical field of vehicles provided with traveling wheels that roll on rails, such as the ceiling truck disclosed in patent document 1, it is often necessary to manually replace the traveling wheels. However, when the number of vehicles is large, the work for replacing the traveling wheels becomes too time-consuming.

Disclosure of Invention

In view of the above circumstances, it is desirable to realize a technique capable of automatically replacing a traveling wheel of a vehicle including a traveling wheel rolling on each of a pair of traveling rails and a guide wheel rolling on a side surface of the guide rail.

Techniques for solving the above problems are as follows.

A wheel replacing device for replacing a 1 st traveling wheel and a 2 nd traveling wheel of a vehicle having a vehicle body, the 1 st traveling wheel, the 2 nd traveling wheel, and a guide wheel, wherein the 1 st traveling wheel rolls on the upper surface of one of a pair of traveling rails disposed apart in a width direction, the 2 nd traveling wheel rolls on the upper surface of the other of the pair of traveling rails, the guide wheel rolls on the side surface of the guide rail, and the guide rail is disposed at a position different from the pair of traveling rails in the vertical direction, the device comprising a 1 st support rail, a 2 nd support rail, a 3 rd support rail, a 1 st lifting mechanism, a 2 nd lifting mechanism, a wheel mounting/demounting robot, and a control unit, wherein the 1 st support rail and the 2 nd support rail are disposed apart from each other in the width direction, the 3 rd support rail is disposed at a position different from the 1 st support rail and the 2 nd support rail in the up-down direction, the 1 st lifting mechanism lifts the 1 st support rail to a 1 st reference position and a 1 st lowered position below the 1 st reference position, the 2 nd lifting mechanism lifts the 2 nd support rail to a 2 nd reference position and a 2 nd lowered position below the 2 nd reference position, the wheel handling robot handles the 1 st traveling wheel and the 2 nd traveling wheel to the vehicle body, the control unit controls the 1 st lifting mechanism, the 2 nd lifting mechanism, and the wheel handling robot, and a virtual line extending in the extending direction of the 1 st support rail and the 2 nd support rail in the middle of the width direction of the 1 st support rail and the 2 nd support rail is set as a reference axis, a direction in which the vehicle rotates around the reference is a swing direction, a side in which the vehicle swings when the 1 st traveling wheel descends with respect to the 2 nd traveling wheel is a swing direction 1 st side, a side in which the vehicle swings when the 2 nd traveling wheel descends with respect to the 1 st traveling wheel is a swing direction 2 nd side, the 1 st support rail is at the 1 st reference position and the 2 nd support rail is at the 2 nd reference position, a two-wheel-placed state in which the 1 st traveling wheel is placed on the 1 st support rail and the 2 nd traveling wheel is placed on the 2 nd support rail is assumed, and the 1 st support rail is at the 1 st descending position and the 2 nd support rail is at the 2 nd reference position is assumed, the 1 st traveling wheel is separated from the 1 st support rail and the 2 nd traveling wheel is placed on the 2 nd support rail is assumed to be a swing direction 1 st side And a 1 st wheel separated state in which the guide wheel is in contact with a 2 nd side surface of the 3 rd support rail in the swing direction, the 1 st support rail is at the 1 st reference position, and the 2 nd support rail is at the 2 nd descending position, the 1 st traveling wheel is placed on the 1 st support rail, the 2 nd traveling wheel is separated from the 2 nd support rail, and the guide wheel is in contact with a 1 st side surface of the 3 rd support rail in the swing direction, the 2 nd wheel separated state, the control unit causes the wheel mounting and demounting robot to mount and demount the 1 st traveling wheel in the 1 st wheel separated state, and causes the wheel mounting and demounting robot to mount and demount the 2 nd traveling wheel in the 2 nd wheel separated state.

According to this configuration, the 1 st support rail is configured to be rollable by the 1 st traveling wheel, the 2 nd support rail is configured to be rollable by the 2 nd traveling wheel, and the 3 rd support rail is configured to be rollable by the 3 rd traveling wheel. Therefore, the vehicle can be arranged at the working site of the wheel loading and unloading robot while traveling along the 1 st support rail, the 2 nd support rail, and the 3 rd support rail. In the 1 st wheel separated state, the weight of the vehicle can be supported by the 2 nd traveling wheel and the guide wheel, and the 1 st traveling wheel can be separated from the 1 st support rail, so that the 1 st traveling wheel can be easily replaced by the wheel-mounting-and-demounting robot in a state where the vehicle is stably supported. Similarly, in the 2 nd wheel separated state, the wheel handling robot can easily replace the 2 nd traveling wheel. Therefore, according to the present configuration, the traveling wheels of the vehicle including the traveling wheels rolling on the pair of traveling rails and the guide wheels rolling on the side surfaces of the guide rails can be automatically replaced. In addition, as described above, in the present configuration, the guide wheel is used to support the vehicle, and thus, when the wheel is replaced, one of the 1 st traveling wheel and the 2 nd traveling wheel to be replaced can be floated. As described above, according to the present configuration, even when the wheel is replaced, the weight of the vehicle can be supported by the pair of traveling wheels and the guide wheel, as in the normal use state. Therefore, for example, a part that does not support the weight of the vehicle in a normal use state, such as the floor of the vehicle, is supported to lift and lower the vehicle, and therefore, there is no need to reinforce the part or the like, and simplification and weight reduction of the vehicle main body are easily achieved.

Further technical features and advantages of the present application will become more apparent from the following description of exemplary and non-limiting embodiments thereof, which is described with reference to the accompanying drawings.

Drawings

Fig. 1 is a diagram showing a case where a vehicle transfers an article.

Fig. 2 is a plan view showing a case where the vehicle travels in a branch/seed/confluence section.

Fig. 3 is a travel direction view showing a case where the vehicle travels at a bifurcation/confluence section.

Fig. 4 is a diagram showing a state in which the vehicle is directed to the maintenance device via the lifter.

Fig. 5 is a plan view of the maintenance device.

Fig. 6 is a cross-sectional view of the rail support portion as viewed in the extending direction.

Fig. 7 is a plan view of the rail support portion.

Fig. 8 is a diagram showing a two-wheel mounted state of the vehicle.

Fig. 9 is a diagram showing a state where the 1 st traveling wheel of the vehicle is separated.

Fig. 10 is a diagram showing a state where the 2 nd traveling wheel of the vehicle is separated.

Fig. 11 is a view showing the holding arm.

Fig. 12 is a view showing a state where the wheel is held by the holding arm.

Fig. 13 is a diagram showing a state in which the pad is held by the holding arm.

Fig. 14 is a view showing a fastening robot.

Fig. 15 is a view showing a fixed portion of the traveling wheel.

Fig. 16 is a control block diagram.

Fig. 17 is a flowchart showing a processing flow of the maintenance device.

Fig. 18 is a flowchart showing a procedure of the wheel replacement process.

Fig. 19 is a flowchart showing a process of replacing the 1 st traveling wheel.

Fig. 20 is a schematic view showing a part of the process of replacing the 1 st traveling wheel.

Fig. 21 is a schematic view showing a part of a process of replacing the 1 st traveling wheel.

Fig. 22 is a schematic view showing a part of the process of replacing the 1 st traveling wheel.

Fig. 23 is a schematic view showing a part of the process of replacing the 1 st traveling wheel.

Fig. 24 is a schematic view showing a part of a process of replacing the 1 st traveling wheel.

Fig. 25 is a flowchart showing a process of adjusting the wheel position.

Fig. 26 is a flowchart showing a processing procedure for adjusting the position of the 1 st traveling wheel.

Fig. 27 is a flowchart showing the procedure of the pad number/pad thickness determination process.

Fig. 28 is a flowchart showing a procedure of the wheel position adjustment process.

Fig. 29 is a schematic diagram illustrating a part of the step of adjusting the position of the 1 st traveling wheel.

Fig. 30 is a schematic diagram showing a part of the step of adjusting the position of the 1 st traveling wheel.

Fig. 31 is a schematic diagram showing a part of the step of adjusting the position of the 1 st traveling wheel.

Fig. 32 is a schematic diagram showing a part of the step of adjusting the position of the 1 st traveling wheel.

Fig. 33 is a schematic diagram showing a part of the step of adjusting the position of the 1 st traveling wheel.

Detailed Description

Hereinafter, a case will be described in which a maintenance device as a wheel exchanging device and a wheel position adjusting device is applied to an article transport facility including a vehicle that transports an article.

As shown in fig. 1, the vehicle 8 is configured as an article carrier for carrying an article G. The article transport facility F is provided with a plurality of transport target locations 98 as transport destinations or transport sources of the articles G. The vehicle 8 transports the article G with the transport target location 98 as a transport destination or a transport source. Here, a case where the article transfer facility F is installed in a semiconductor manufacturing plant is exemplified. In this case, the vehicle 8 transports a Front Opening Unified Pod (Front Opening Unified Pod) for accommodating the semiconductor substrate as an article G. For example, the conveyance target location 98 includes a mounting table 98a on which the article G is mounted, and a processing device 98b disposed adjacent to the mounting table 98 a. The processing apparatus 98b takes out a semiconductor substrate from an article G (front end opening type wafer boat) placed on the mounting table 98a, and performs various processes on the semiconductor substrate.

The vehicle 8 includes a storage unit 85 for storing the article G, and a transfer unit 86 for transferring the article G between the storage unit 85 and a mounting table 98a (conveyance target location 98). The transfer unit 86 is configured to be able to hold the article G. In this example, the transfer unit 86 is configured to move the article G up and down. The transfer unit 86 transfers the article G by raising and lowering the article G between the storage unit 85 and the mounting table 98a in a state where the storage unit 85 is positioned above the mounting table 98 a.

As shown in fig. 2, the travel path 99 of the vehicle 8 is constituted by a pair of travel rails 96 arranged apart in the width direction Y. On the travel path 99, there are a branch section where the path branches and a junction section where the path merges (hereinafter referred to as branch/seed/junction section BS). A guide rail 95 (see also fig. 3) disposed at a position different from the pair of travel rails 96 in the up-down direction is provided at the branch junction BS. In the bifurcation/seeding/merging section BS, one of the pair of travel rails 96 is missing. In this example, the pair of travel rails 96 and the guide rail 95 are provided near the ceiling of the facility. The vehicle 8 is a so-called ceiling transport vehicle that travels near the ceiling of the facility and transports the article G. In addition, in the case where the structure of the travel rail 96 shown in fig. 2 is a diverging section, the vehicle 8 travels upward from below in the drawing, and in the case of a converging section, the vehicle travels downward from above in the drawing.

As shown in fig. 2 and 3, the vehicle 8 includes a vehicle body 80, a 1 st traveling wheel 81 that rolls on one upper surface 96F of the pair of traveling rails 96, a 2 nd traveling wheel 82 that rolls on the other upper surface 96F of the pair of traveling rails 96, and a guide wheel 83 that rolls on a side surface 95F of the guide rail 95. The 1 st traveling wheel 81 and the 2 nd traveling wheel 82 are respectively configured to rotate around an axial center along the width direction Y. The guide wheel 83 is configured to rotate around an axis in the vertical direction. The vehicle 8 further includes a switching mechanism 84 that switches the position of the guide wheels 83 in the width direction Y. The guide wheels 83 are configured to be able to selectively abut against the side surface 95F of the guide rail 95 facing the 1 st side Y1 in the width direction and the side surface 95F of the guide rail 95 facing the 2 nd side Y2 in the width direction by switching the position in the width direction Y by the switching mechanism 84. The "width direction Y" is a direction in which the pair of travel rails 96 are arranged, and may vary depending on the arrangement of the travel path 99. Further, "the 1 st width direction side Y1" means one side in the width direction Y, and "the 2 nd width direction side Y2" means the other side in the width direction Y.

In the present embodiment, the 1 st traveling wheel 81 includes a plurality of wheels that are disposed apart from each other in the extending direction X of the pair of traveling rails 96 at the same position in the width direction Y. The 2 nd traveling wheel 82 includes a plurality of wheels arranged apart from each other in the extending direction X at the same position in the width direction Y. In other words, the 1 st traveling wheel 81 including a plurality of wheels is provided on the 1 st side Y1 in the width direction with respect to the vehicle main body 80, and the 2 nd traveling wheel 82 including a plurality of wheels is provided on the 2 nd side Y2 in the width direction with respect to the vehicle main body 80. In the present embodiment, the guide wheels 83 also include a plurality of wheels arranged in the extending direction X at the same position in the width direction Y.

The article transport facility F includes the power supply unit 7 that supplies power to the travel driving unit M8 (motor in the illustrated example) that is a driving force source for the 1 st travel wheel 81 and the 2 nd travel wheel 82. In the present embodiment, the electric power supply unit 7 is the electric power feed line 70 that feeds electric power to the vehicle 8 in a non-contact manner, and is disposed along the pair of travel rails 96. Thus, the vehicle 8 can receive the supply of electric power while traveling along the travel path 99 (the travel rail 96).

When the vehicle 8 travels in the branch/seed/confluence section BS of the travel path 99, the guide wheel 83 contacts the side surface 95F of the guide rail 95 from the width direction Y, and one of the 1 st travel wheel 81 and the 2 nd travel wheel 82 contacts the upper surface 96F of the travel rail 96. The other of the 1 st traveling wheel 81 and the 2 nd traveling wheel 82 is in a floating state. That is, when the vehicle 8 travels in the branch of the travel path 99 and the seeding/merging section BS, the vehicle 8 is supported by one of the pair of travel rails 96 and the guide rail 95. When the vehicle 8 travels in a section (normal section NS) other than the branch of the travel path 99, the seeding junction BS, the 1 st traveling wheel 81 and the 2 nd traveling wheel 82 each contact a corresponding one of the pair of traveling rails 96. That is, in this case, the vehicle 8 is supported by the pair of travel rails 96. In this example, the vehicle 8 includes the auxiliary wheel 87 that rotates about an axial center along the vertical direction and abuts from the inside in the width direction Y with respect to each of the pair of travel rails 96. This enables the vehicle 8 to appropriately travel along the travel path 99.

Here, as shown in fig. 3, in a state where the vehicle 8 is traveling in the branching/confluence section BS of the travel path 99, that is, in a state where either of the 1 st traveling wheel 81 and the 2 nd traveling wheel 82 is floating, a rotational moment in a direction in which the floating traveling wheel (referred to as a floating wheel) is going to descend is supported by the guide wheel 83. The posture of the vehicle 8 at this time is determined by the positional relationship between one of the 1 st traveling wheel 81 and the 2 nd traveling wheel 82 that contacts the traveling rail 96 (referred to as a contact wheel) and the guide wheel 83. Specifically, the posture of the vehicle 8 is determined based on the position of the guide wheel 83 in the width direction Y, and when the distance between the guide wheel 83 and the contact wheel in the width direction Y is too short, the vehicle 8 is inclined to the side where the floating wheel is lowered. Therefore, the position in the width direction Y of the guide wheel 83 is preferably set such that the distance between the guide wheel 83 and the contact wheel in the width direction Y is appropriate.

The position of the guide wheel 83 in the width direction Y is adjusted by the pad 9. Specifically, the vehicle body 80 is provided with a 1 st pad insertion portion 91 into which the pad 9 is inserted to adjust the positional relationship between the 1 st traveling wheel 81 and the guide wheel 83, and a 2 nd pad insertion portion 92 into which the pad 9 is inserted to adjust the positional relationship between the 2 nd traveling wheel 82 and the guide wheel 83. The 1 st pad insertion portion 91 is disposed on the opposite side of the 1 st traveling wheel 81 in the width direction Y via the guide wheel 83. By inserting the appropriate number and thickness of the pads 9 into the 1 st pad insertion portion 91, the position in the width direction Y of the guide wheel 83 and the position in the vertical direction of the 1 st traveling wheel 81 in a state where the vehicle 8 is supported by the guide wheel 83 can be adjusted, and the inclination of the vehicle 8 in this state can be adjusted. The 2 nd pad insertion portion 92 is disposed on the opposite side of the 2 nd running wheel 82 in the width direction Y via the guide wheel 83. By inserting the appropriate number and thickness of the pads 9 into the 2 nd pad insertion portion 92, the position in the width direction Y of the 2 nd traveling wheel 82 and the position in the vertical direction in a state where the vehicle 8 is supported by the guide wheel 83 can be adjusted, and the inclination of the vehicle 8 in this state can be adjusted. In the present embodiment, "inclination of the vehicle 8" means inclination of the vehicle 8 with respect to a virtual plane including the upper surface 96F of each of the pair of travel rails 96.

As described above, the vehicle 8 includes the switching mechanism 84 that switches the position of the guide wheel 83 in the width direction Y. In the present embodiment, the switching mechanism 84 includes a movement support 84a that moves in the width direction Y and supports the guide wheels 83, a drive unit 84m (see fig. 2) that drives the movement support 84a, and a pair of restricting bodies 84b that are disposed on both sides of the movement support 84a in the width direction Y and restrict the movement of the movement support 84 a. For example, in a state where the guide wheel 83 abuts against the side surface 95F of the guide rail 95 facing the 1 st side Y1 in the width direction (the state shown in fig. 3), the stopper 84b of the pair of stoppers 84b disposed on the 1 st side Y1 in the width direction abuts against the movement support body 84a supporting the guide wheel 83 from the 1 st side Y1 in the width direction (the outer side in the width direction Y). In the present embodiment, the position of the regulating body 84b in the width direction Y can be adjusted, and the pad insertion portion (the 1 st pad insertion portion 91 or the 2 nd pad insertion portion 92) described above is provided outside the regulating body 84b in the width direction Y. In this example, the 2 nd pad insertion portion 92 is disposed adjacent to the stopper 84b on the outer side in the width direction Y (the 1 st side in the width direction Y1), and the stopper 84b is provided on the 1 st side in the width direction Y1 with respect to the movement support body 84a (the guide wheel 83). By inserting the appropriate number and thickness of the pads 9 into the 2 nd pad insertion portion 92, the position in the width direction Y of the regulating body 84b can be finely adjusted, and the position in the width direction Y of the guide wheel 83 and the position in the up-down direction of the 2 nd traveling wheel 82 in the state of the 1 st side Y1 in the width direction can be adjusted. The 1 st pad insertion portion 91 is disposed adjacent to the regulating body 84b on the outer side in the width direction Y (the 2 nd side in the width direction Y2), and the regulating body 84b is provided on the 2 nd side in the width direction Y2 with respect to the guide wheel 83. By inserting the appropriate number and thickness of the pads 9 into the 1 st pad insertion portion 91, the position of the regulating body 84b in the width direction Y can be finely adjusted, and the position in the width direction Y of the guide wheel 83 and the position in the up-down direction of the 1 st travel wheel 81 in the state of the 2 nd side Y2 in the width direction can be adjusted.

In the present embodiment, the vehicle 8 is provided with a 1 st fastening portion 910 for fastening and fixing the pad 9 inserted into the 1 st pad insertion portion 91 to the vehicle body 80, and a 2 nd fastening portion 920 for fastening and fixing the pad 9 inserted into the 2 nd pad insertion portion 92 to the vehicle body 80. The 1 st fastening portion 910 includes a plurality of bolt holes (not shown) and a plurality of bolts 91B inserted into the bolt holes. Similarly, the 2 nd fastening portion 920 includes a plurality of bolt holes (not shown) and a plurality of bolts 92B inserted into the bolt holes.

As shown in fig. 4, the article transport facility F includes a maintenance device 100 for performing maintenance of the vehicle 8. In the illustrated example, the maintenance device 100 is provided on a floor surface of the facility. In this example, the article transport facility F includes an elevator 97 that raises and lowers the vehicle 8. Vehicle 8 can be moved down from the vicinity of the ceiling to the vicinity of the floor surface by elevator 97, and thereby can be moved toward maintenance device 100 provided on the floor surface. The vehicle 8 after maintenance is lifted from the vicinity of the floor surface to the vicinity of the ceiling by the lifter 97, and can thereby be directed to the travel path 99 for conveying the article G from the maintenance device 100.

In the present embodiment, the maintenance device 100 is configured as a wheel replacement device for replacing the 1 st traveling wheel 81 and the 2 nd traveling wheel 82 of the vehicle 8, and is configured as a wheel position adjustment device for adjusting the positional relationship between the 1 st traveling wheel 81, the 2 nd traveling wheel 82, and the guide wheel 83 of the vehicle 8. That is, in the present embodiment, the maintenance device 100 corresponds to a "wheel exchanging device" and a "wheel position adjusting device".

As shown in fig. 5 to 7, the maintenance device 100 includes a 1 st support rail 10 and a 2 nd support rail 20 that are disposed apart from each other in the width direction Y, and a 3 rd support rail 30 that is disposed at a position different from the 1 st support rail 10 and the 2 nd support rail 20 in the vertical direction. In the present embodiment, the 1 st support rail 10 is disposed on the 1 st side Y1 in the width direction with respect to the 2 nd support rail 20. The 2 nd support rail 20 is disposed on the 2 nd side Y2 in the width direction with respect to the 1 st support rail 10. The 3 rd support rail 30 is disposed between the 1 st support rail 10 and the 2 nd support rail 20 in the width direction Y. The upper surface 10F of the 1 st support rail 10 is configured such that the 1 st traveling wheel 81 can contact from above. The upper surface 20F of the 2 nd support rail 20 is configured such that the 2 nd traveling wheel 82 can contact from above. The 3 rd support rail 30 includes a side surface 31F facing the 1 st side Y1 in the width direction and a side surface 32F facing the 2 nd side Y2 in the width direction. The 3 rd support rail 30 is configured such that the guide wheel 83 can contact the side surface 31F facing the 1 st widthwise side Y1 from the 1 st widthwise side Y1. The 3 rd support rail 30 is configured such that the guide wheel 83 can contact the side surface 32F facing the 2 nd side Y2 in the width direction from the 2 nd side Y2.

The maintenance device 100 includes a 1 st elevation mechanism L1 (see fig. 16) for elevating the 1 st support rail 10 to a 1 st reference position Pu1 and a 1 st elevation position Pd1 located below the 1 st reference position Pu1, a 2 nd elevation mechanism L2 (see fig. 16) for elevating the 2 nd support rail 20 to a 2 nd reference position Pu2 and a 2 nd elevation position Pd2 located below the 2 nd reference position Pu2, and a rail support unit 1 for integrally supporting the 1 st support rail 10, the 2 nd support rail 20, and the 3 rd support rail 30. The 1 st support rail 10, the 2 nd support rail 20, and the 3 rd support rail 30 supported by the rail support portion 1 extend in the same direction. More specifically, the 1 st support rail 10, the 2 nd support rail 20, and the 3 rd support rail 30 are arranged parallel to each other.

The rail support portion 1 is configured to support the 1 st support rail 10, the 2 nd support rail 20, and the 3 rd support rail 30 such that the positional relationship of the 1 st support rail 10 at the 1 st reference position Pu1 and the 2 nd support rail 20 and the 3 rd support rail 30 at the 2 nd reference position Pu2 is the same as the positional relationship of the pair of travel rails 96 and the guide rail 95 (see fig. 3). The 1 st support rail 10 is disposed at a position corresponding to one of the pair of travel rails 96 in a state where it is at the 1 st reference position Pu 1. The 2 nd support rail 20 is disposed at a position corresponding to the other of the pair of travel rails 96 in a state where it is at the 2 nd reference position Pu 2. The 3 rd support rail 30 is disposed at a position corresponding to the guide rail 95. In the present embodiment, the 1 st support rail 10 is disposed on an extension line of one of the pair of travel rails 96, and the 2 nd support rail 20 is disposed on an extension line of the other of the pair of travel rails 96 (see fig. 5). The direction in which the 1 st support rail 10 and the 2 nd support rail 20 extend is the same as the extending direction X of the pair of travel rails 96. That is, the "extending direction X" in the present specification means a direction in which the 1 st support rail 10 and the 2 nd support rail 20 extend, and means a direction in which the pair of travel rails 96 extend. In the present embodiment, the 1 st support rail 10 and the 2 nd support rail 20 are disposed on the extension lines of the pair of travel rails 96 on the travel path 99 connecting the lifter 97 and the maintenance device 100.

The maintenance device 100 includes the electric power supply unit 7 that supplies electric power to the travel driving unit M8 that is a driving force source for the 1 st travel wheel 81 and the 2 nd travel wheel 82. The electric power supply unit 7 is an electric power supply line 70 that supplies electric power to the vehicle 8 in a non-contact manner. The power supply line 70 is the same as the above-described one disposed along the pair of travel rails 96 disposed outside the maintenance device 100. That is, in this example, the feeder line 70 is disposed along the pair of travel rails 96 and also disposed on the 1 st support rail 10 and the 2 nd support rail 20. However, the power supply line 70 may not be disposed on both the 1 st support rail 10 and the 2 nd support rail 20, or may be disposed on only one of the 1 st support rail 10 and the 2 nd support rail 20.

In the present embodiment, the maintenance device 100 includes the holding arm 5, and the holding arm 5 attaches and detaches the 1 st traveling wheel 81 and the 2 nd traveling wheel 82 to and from the vehicle body 80, and inserts the pad 9 into the 1 st pad insertion portion 91 and inserts the pad 9 into the 2 nd pad insertion portion 92. In the present embodiment, the holding arm 5 corresponds to a "wheel loading and unloading robot" and a "pad insertion robot". That is, in the present embodiment, the wheel mounting and demounting robot doubles as a pad inserting robot, and the pad inserting robot doubles as a wheel mounting and demounting robot.

In the present embodiment, the holding arm 5 includes the 1 st side cell 51 disposed on the outer side in the width direction Y (the 1 st side in the width direction Y1) than the 1 st support rail 10, and the 2 nd side cell 52 disposed on the outer side in the width direction Y (the 2 nd side in the width direction Y2) than the 2 nd support rail 20. In this example, the 1 st side unit 51 is configured to attach and detach the 1 st traveling wheel 81 to and from the vehicle body 80 and to insert the pad 9 into the 2 nd pad insertion portion 92. The 2 nd side unit 52 is configured to attach and detach the 2 nd traveling wheel 82 to and from the vehicle body 80 and to insert the pad 9 into the 1 st pad insertion portion 91. In the illustrated example, the 1 st side unit 51 and the 2 nd side unit 52 are also arranged at different positions in the extending direction X. In this example, the 1 st side unit 51 and the 2 nd side unit 52 are arranged in a diagonal positional relationship in a plan view. However, the arrangement of the 1 st side unit 51 and the 2 nd side unit 52 can be set as appropriate.

In the present embodiment, the 1 st side unit 51 corresponds to the "1 st detachable unit" and the "2 nd pad inserting unit". The 2 nd side unit 52 corresponds to a "2 nd attaching and detaching unit" and a "1 st pad inserting unit". That is, the holding arm 5 as the wheel mounting/demounting robot includes a 1 st mounting/demounting unit (1 st unit 51) disposed on the outer side in the width direction Y (1 st side in the width direction Y1) of the 1 st support rail 10 and configured to mount and demount the 1 st traveling wheel 81, and a 2 nd mounting/demounting unit (2 nd unit 52) disposed on the outer side in the width direction Y (2 nd side in the width direction Y2) of the 2 nd support rail 20 and configured to mount and demount the 2 nd traveling wheel 82. The holding arm 5 as the pad inserting robot includes a 2 nd inserting unit (1 st side unit 51) which is disposed on the outer side in the width direction Y (1 st side in the width direction Y1) than the 1 st support rail 10 and inserts the pad 9 into the 2 nd pad inserting portion 92, and a 1 st inserting unit (2 nd side unit 52) which is disposed on the outer side in the width direction Y (2 nd side in the width direction Y2) than the 2 nd support rail 20 and inserts the pad 9 into the 1 st pad inserting portion 91.

The maintenance device 100 includes a fastening robot 6 that performs fastening and releasing of the 1 st fastening portion 910 and the 2 nd fastening portion 920, respectively. In the present embodiment, the fastening robot 6 is constituted by an arm. The fastening robot 6 further includes a 2 nd fastening unit 62 disposed further outward in the width direction Y (the 1 st side Y1 in the width direction) than the 1 st support rail 10 and performing fastening and releasing of the 2 nd fastening unit 920, and a 1 st fastening unit 61 disposed further outward in the width direction Y (the 2 nd side Y2 in the width direction) than the 2 nd support rail 20 and performing fastening and releasing of the 1 st fastening unit 910. In the illustrated example, the 1 st fastening unit 61 and the 2 nd fastening unit 62 are also arranged at different positions in the extending direction X. In this example, the 1 st fastening unit 61 and the 2 nd fastening unit 62 are arranged in a diagonal positional relationship in a plan view. However, the arrangement of the 1 st fastening unit 61 and the 2 nd fastening unit 62 can be set as appropriate.

In the present embodiment, the maintenance device 100 includes a surrounding wall W surrounding the 1 st support rail 10, the 2 nd support rail 20, the 3 rd support rail 30, the 1 st elevating mechanism L1, the 2 nd elevating mechanism L2, the holding arm 5, and the fastening robot 6. That is, the surrounding wall W is configured to surround the rail support portion 1, the 1 st elevating mechanism L1, the 2 nd elevating mechanism L2, the wheel mounting and demounting robot, the pad inserting robot, and the fastening and connecting robot 6. In fig. 5, the inside of the enclosure wall W is shown in a plan view, but the enclosure wall W also encloses the various devices, various mechanisms, and the like described above from above. The operations for replacing the wheels and adjusting the positions of the wheels of the vehicle 8 are performed inside the surrounding wall W.

In the present embodiment, the maintenance device 100 includes an opening Wh that communicates the inside and the outside of the enclosure wall W, and an automatic door Wd that automatically opens and closes the opening Wh. The traveling path 99 of the vehicle 8, which is constituted by the pair of traveling rails 96, the 1 st support rail 10, and the 2 nd support rail 20, is provided so as to pass through the opening Wh. The automatic door Wd is configured such that the vehicle 8 automatically opens the opening Wh in front of the opening Wh and the vehicle 8 automatically closes the opening Wh after passing through the opening Wh. With this configuration, when the vehicle 8 passes through the opening Wh, the opening Wh can be opened to guide the vehicle 8 from the outside to the inside or from the inside to the outside of the surrounding wall W. In addition, in other cases, since the opening Wh can be closed, the inside of the surrounding wall W can be sealed, and the movement of dust to the outside and the like inside the surrounding wall W can be suppressed.

As shown in fig. 5, in the present embodiment, the maintenance device 100 includes a wheel placing location Sw and a pad placing location Ss. A plurality of wheels used at the time of wheel replacement are arranged at the wheel placing place Sw. After the holding arm 5 detaches the 1 st traveling wheel 81 or the 2 nd traveling wheel 82 from the vehicle 8, a new wheel is taken out from the wheel placing place Sw and attached to the vehicle 8. A plurality of pads 9 for inserting the 1 st pad insertion portion 91 and the 2 nd pad insertion portion 92 are arranged at the pad placement site Ss. In this example, a reference pad 9S formed to have a predetermined reference thickness, which will be described later, is also disposed at the pad placement site Ss. The holding arm 5 extracts the pad 9 from the 1 st pad insertion portion 91 or the 2 nd pad insertion portion 92 of the vehicle 8, then extracts a new pad 9 from the pad placement site Ss, and inserts the pad into the 1 st pad insertion portion 91 or the 2 nd pad insertion portion 92. The wheel placing position Sw and the pad placing position Ss are provided inside the surrounding wall W.

As described above, the 1 st support rail 10, the 2 nd support rail 20, and the 3 rd support rail 30 are integrally supported by the rail support portion 1. As shown in fig. 6 and 7, in the present embodiment, the rail support portion 1 includes a 1 st support base 11 and a 2 nd support base 12 which are disposed apart from each other in the width direction Y.

The 1 st support base 11 is disposed on the 1 st side Y1 in the width direction with respect to the 2 nd support base 12. The 1 st support base 11 supports the 1 st support rail 10 so as to be movable upward and downward on the inner side in the width direction Y (the 2 nd side in the width direction Y2). As described above, the 1 st support rail 10 is configured to be lifted and lowered by the 1 st lifting mechanism L1. The 1 st elevating mechanism L1 can be configured by, for example, an air cylinder operated by air pressure, or a ball screw mechanism or a cam mechanism that converts rotation of a motor into linear motion.

The 2 nd support base 12 is disposed on the 2 nd side Y2 in the width direction with respect to the 1 st support base 11. The 2 nd support base 12 supports the 2 nd support rail 20 so as to be vertically movable on the inner side in the width direction Y (the 1 st side in the width direction Y1). As described above, the 2 nd support rail 20 is configured to be lifted and lowered by the 2 nd lifting mechanism L2. The 2 nd elevating mechanism L2 can be configured by, for example, an air cylinder operated by air pressure, or a ball screw mechanism or a cam mechanism that converts rotation of a motor into linear motion.

The 1 st support rail 10 and the 2 nd support rail 20 are configured to be able to ascend and descend independently of each other. The 1 st support rail 10 located at the 1 st reference position Pu1 and the 2 nd support rail 20 located at the 2 nd reference position Pu2 are disposed at the same height. However, the 1 st support rail 10 in the 1 st lowered position Pd1 and the 2 nd support rail 20 in the 2 nd lowered position Pd2 may be disposed at the same height or at different heights. That is, the amount of lifting of the 1 st support rail 10 may be the same as or different from the amount of lifting of the 2 nd support rail 20.

The rail support portion 1 includes a frame 13 connecting the 1 st support base 11 and the 2 nd support base 12. The frame 13 supports the 3 rd support rail 30 between the 1 st support rail 10 and the 2 nd support rail 20 in the width direction Y, more specifically, at an intermediate position in the width direction Y and at a position in the vertical direction different from the 1 st support rail 10 and the 2 nd support rail 20. In the present embodiment, the frame 13 supports the 3 rd support rail 30 at an intermediate position in the width direction Y between the 1 st support rail 10 and the 2 nd support rail 20 and above the 1 st support rail 10 and the 2 nd support rail 20. That is, in this example, the 3 rd support rail 30 is disposed above the 1 st support rail 10 and the 2 nd support rail 20.

The maintenance device 100 includes a moving mechanism M that moves the rail support portion 1 relative to the holding arm 5 in the extending direction X. The moving mechanism M moves the rail support portion 1 in the extending direction X, thereby moving the 1 st support rail 10, the 2 nd support rail 20, and the 3 rd support rail 30 in the extending direction X. Thus, the moving mechanism M can move the vehicle 8 supported by at least two of the 1 st support rail 10, the 2 nd support rail 20, and the 3 rd support rail 30 in the extending direction X without depending on the rolling of the 1 st traveling wheel 81 and the 2 nd traveling wheel 82.

In the present embodiment, the moving mechanism M includes a linear motion orbit MR for guiding the 1 st support base 11 and the 2 nd support base 12 in the extending direction X, and a linear motion driving unit MM for integrally moving the 1 st support base 11 and the 2 nd support base 12 along the linear motion orbit MR. The linear motion driving unit MM is configured by, for example, a ball screw mechanism or a linear guide that converts rotation of a motor into linear motion.

In the present embodiment, the maintenance device 100 includes the regulating unit 4 that regulates the rolling of the 1 st traveling wheel 81 on the 1 st support rail 10 and the rolling of the 2 nd traveling wheel 82 on the 2 nd support rail 20. The restricting unit 4 can be changed in posture to a restricting posture Ar for restricting the rolling of the 1 st traveling wheel 81 and the 2 nd traveling wheel 82 and a permitting posture Aa for permitting the rolling of the 1 st traveling wheel 81 and the 2 nd traveling wheel 82.

For example, fig. 15 shows a state in which the restricting unit 4 assumes the restricting posture Ar for restricting the rolling movement of the 1 st traveling wheel 81. Although not shown in detail, the restricting unit 4 restricts the rolling of the 2 nd travel wheel 82 by assuming the restricting posture Ar, as in the example shown in fig. 15. In the present embodiment, the restricting unit 4 is disposed adjacent to the 1 st traveling wheel 81 and the 2 nd traveling wheel 82 in the extending direction X in the restricting posture Ar, and restricts rolling of the 1 st traveling wheel 81 and the 2 nd traveling wheel 82. As shown in fig. 6, the restricting unit 4 is disposed at a position that does not overlap with the 1 st traveling wheel 81 and the 2 nd traveling wheel 82 when viewed in the extending direction X in the permission posture Aa, and permits rolling of the 1 st traveling wheel 81 and the 2 nd traveling wheel 82. In this example, the restricting unit 4 is disposed on both the 1 st support base 11 and the 2 nd support base 12, and is configured to protrude and retract in the width direction Y by the restricting drive unit M4 (see also fig. 16). Thus, the restraining unit 4 can be changed in posture to the restraining posture Ar for restraining the rolling of both the 1 st traveling wheel 81 and the 2 nd traveling wheel 82 and the permitting posture Aa for permitting the rolling of both the 1 st traveling wheel 81 and the 2 nd traveling wheel 82.

As described above, the vehicle 8 includes the switching mechanism 84 that switches the position of the guide wheel 83 in the width direction Y. As shown in fig. 6, the switching mechanism 84 is configured to be able to switch the position in the width direction Y of the guide wheel 83 to a 1 st guide position Pg1 where the guide wheel 83 abuts against the side surface 32F of the 3 rd support rail 30 facing the 2 nd side Y2 in the width direction, and a 2 nd guide position Pg2 where the guide wheel 83 abuts against the side surface 31F of the 3 rd support rail 30 facing the 1 st side Y1 in the width direction.

As shown in fig. 7, in the present embodiment, a cutout portion 33 through which the guide wheel 83 can pass in the width direction Y is formed in a region of a part of the 3 rd support rail 30 in the extending direction X. Thus, the guide wheel 83 can be moved between the 1 st side Y1 in the width direction and the 2 nd side Y2 in the width direction with respect to the 3 rd support rail 30 by the notch 33, and the position of the guide wheel 83 in the width direction Y with respect to the 3 rd support rail 30 can be appropriately switched.

Here, as shown in fig. 8, a virtual line extending in the extending direction X of the 1 st support rail 10 and the 2 nd support rail 20 at the middle of the width direction Y of the 1 st support rail 10 and the 2 nd support rail 20 is set as a reference axis Ax, and a direction in which the vehicle 8 rotates around the reference axis Ax is set as a swing direction R. The side where the vehicle 8 swings when the 1 st traveling wheel 81 descends relative to the 2 nd traveling wheel 82 is the swing direction 1 st side R1, and the side where the vehicle 8 swings when the 2 nd traveling wheel 82 descends relative to the 1 st traveling wheel 81 is the swing direction 2 nd side R2. As described above, in the present embodiment, the 3 rd support rail 30 is disposed above the 1 st support rail 10 and the 2 nd support rail 20. Therefore, in the present embodiment, the 1 st width direction side Y1 corresponds to the 1 st swing direction side R1 and the 2 nd width direction side Y2 corresponds to the 2 nd swing direction side R2 of the 3 rd support rail 30. That is, the 3 rd support rail 30 has a side surface 32F facing the swing direction 2 nd side R2 (width direction 2 nd side Y2) and a side surface 31F facing the swing direction 1 st side R1 (width direction 1 st side Y1). The guide wheel 83 abuts against the side surface 32F of the 3 rd support rail 30 facing the 2 nd side R2 in the swing direction (see fig. 9 and 10) in the state of being at the 1 st guide position Pg1, and abuts against the side surface 31F of the 3 rd support rail 30 facing the 1 st side R1 in the swing direction (see fig. 8) in the state of being at the 2 nd guide position Pg 2.

As shown in fig. 8, in the state where the 1 st support rail 10 is at the 1 st reference position Pu1 and the 2 nd support rail 20 is at the 2 nd reference position Pu2, the vehicle 8 is in a two-wheel mounting state where the 1 st travel wheel 81 is mounted on the 1 st support rail 10 and the 2 nd travel wheel 82 is mounted on the 2 nd support rail 20. In the two-wheel mounted state, the vehicle 8 is supported by the 1 st support rail 10 and the 2 nd support rail 20.

As shown in fig. 9, in a state where the 1 st support rail 10 is at the 1 st lowered position Pd1 and the 2 nd support rail 20 is at the 2 nd reference position Pu2, the vehicle 8 is in a 1 st wheel separated state where the 1 st traveling wheel 81 is separated from the 1 st support rail 10 and the 2 nd traveling wheel 82 is placed on the 2 nd support rail 20, and the guide wheel 83 is in contact with the side surface 32F of the 3 rd support rail 30 facing the 2 nd side R2 in the swing direction. In the 1 st wheel-off state, the vehicle 8 is supported by the 2 nd support rail 20 and the 3 rd support rail 30.

In the present embodiment, the maintenance device 100 includes the 1 st detection unit Se1 that detects the position of the 1 st traveling wheel 81. As shown in fig. 9, the 1 st detecting unit Se1 is configured to be able to perform the 1 st detecting operation of detecting the position of the 1 st traveling wheel 81 in the 1 st wheel separated state of the vehicle 8. The 1 st detection unit Se1 is configured to detect the distance between the 1 st traveling wheel 81 and the 1 st support rail 10 in the 1 st wheel separated state of the vehicle 8. Thus, the 1 st detecting unit Se1 detects the inclination of the vehicle 8 with respect to a virtual plane including the upper surface 10F of the 1 st support rail 10 in the state of being located at the 1 st reference position Pu1 and the upper surface 20F of the 2 nd support rail 20 in the state of being located at the 2 nd reference position Pu 2. In the present embodiment, the 1 st detection unit Se1 is formed of a contact sensor that protrudes upward from the 1 st support rail 10 and comes into contact with the 1 st traveling wheel 81. The 1 st detecting portion Se1 detects the distance between the 1 st traveling wheel 81 and the 1 st support rail 10 based on the amount of protrusion when contacting the 1 st traveling wheel 81. A hole or a notch allowing the 1 st detection portion Se1 to pass in the vertical direction may be formed in the 1 st support rail 10. Further, not limited to the above configuration, the 1 st detecting unit Se1 may be configured to detect the amount of change in the portion of the vehicle 8 that changes in accordance with the distance, instead of detecting the distance between the 1 st traveling wheel 81 and the 1 st support rail 10 in the 1 st wheel separated state of the vehicle 8.

As shown in fig. 10, in a state where the 1 st support rail 10 is at the 1 st reference position Pu1 and the 2 nd support rail 20 is at the 2 nd lowered position Pd2, the vehicle 8 is in a 2 nd wheel separated state where the 1 st traveling wheel 81 is placed on the 1 st support rail 10, the 2 nd traveling wheel 82 is separated from the 2 nd support rail 20, and the guide wheel 83 abuts against the side surface 31F of the 3 rd support rail 30 facing the 1 st side R1 in the swing direction. In the 2 nd wheel separated state, the vehicle 8 is supported by the 1 st support rail 10 and the 3 rd support rail 30.

In the present embodiment, the maintenance device 100 includes the 2 nd detection unit Se2 that detects the position of the 2 nd traveling wheel 82. As shown in fig. 10, the 2 nd detecting unit Se2 is configured to be able to execute the 2 nd detecting operation of detecting the position of the 2 nd traveling wheel 82 of the vehicle 8 in the 2 nd wheel separated state. The 2 nd detection unit Se2 is configured to detect the distance between the 2 nd traveling wheel 82 and the 2 nd support rail 20 in the 2 nd wheel separated state of the vehicle 8. Thus, the 2 nd detecting unit Se2 detects the inclination of the vehicle 8 with respect to a virtual plane including the upper surface 10F of the 1 st support rail 10 in the state of being located at the 1 st reference position Pu1 and the upper surface 20F of the 2 nd support rail 20 in the state of being located at the 2 nd reference position Pu 2. In the present embodiment, the 2 nd detection unit Se2 is formed of a contact sensor that protrudes upward from the 2 nd support rail 20 and comes into contact with the 2 nd traveling wheel 82. The 2 nd detecting portion Se2 detects the distance between the 2 nd traveling wheel 82 and the 2 nd support rail 20 based on the amount of protrusion when contacting the 2 nd traveling wheel 82. A hole or a notch through which the 2 nd detection portion Se2 can pass in the vertical direction may be formed in the 2 nd support rail 20. Further, not limited to the above configuration, the 2 nd detecting unit Se2 may be configured to detect the amount of change in the portion of the vehicle 8 that changes in accordance with the distance, instead of detecting the distance between the 2 nd traveling wheel 82 and the 2 nd support rail 20 in the 2 nd wheel separated state of the vehicle 8.

As shown in fig. 11, in the present embodiment, the holding arm 5 is configured to be capable of changing a plurality of hands. The holding arm 5 functions according to the application by changing various hands. The maintenance device 100 includes a hand placing portion Sh (see also fig. 5) where various hands attached to the holding arm 5 are arranged.

In the present embodiment, the holding arm 5 is configured to automatically replace different types of hands when holding the wheel and when holding the pad 9. In this example, the holding arm 5 is configured to be able to replace the hand with a wheel hand Hw for holding the wheel and a pad hand Hs for holding the pad 9 (and the reference pad 9S). The wheel hand Hw and the pad hand Hs are disposed at the hand placement Sh.

As shown in fig. 12, when the holding arm 5 holds the 1 st traveling wheel 81, the 2 nd traveling wheel 82, or the wheel disposed at the wheel placing position Sw, the wheel hand Hw is autonomously mounted to hold these wheels. In this way, the wheel hand Hw is used for the holding arm 5 to hold the 1 st traveling wheel 81, the 2 nd traveling wheel 82, or the wheel arranged at the wheel placing position Sw. Fig. 12 shows an example in which the holding arm 5 holds the 1 st traveling wheel 81 or the 2 nd traveling wheel 82.

As shown in fig. 13, the holding arm 5 holds the pad 9 or the reference pad 9S inserted into the 1 st pad insertion portion 91, the pad 9 or the reference pad 9S inserted into the 2 nd pad insertion portion 92, and the pad 9 or the reference pad 9S arranged at the pad placement site Ss by autonomously attaching the pad hand Hs. Thus, the spacer hand Hs is used for the holding arm 5 to hold the spacer 9 or the reference spacer 9S. Fig. 13 shows an example in which the pad 9 is held by the holding arm 5.

As shown in fig. 14, in the present embodiment, the fastening robot 6 is configured to be able to replace a plurality of types of fastening hands Hc. The fastening robot 6 is configured to be able to perform fastening and releasing of fastening portions having different shapes and sizes by replacing a plurality of types of fastening hands Hc. The maintenance device 100 includes a fastening hand placement site Sc (see also fig. 5) where a plurality of types of fastening hands Hc attached to the fastening robot 6 are disposed.

In the present embodiment, the different types of fastening hand Hc are automatically replaced when fastening and releasing fastening of the 1 st fastening portion 910 or the 2 nd fastening portion 920 for fastening and fixing the pad 9 to the vehicle body 80 are performed and when fastening and releasing fastening of the fixing portion 810 for fixing the 1 st traveling wheel 81 to the vehicle body 80 and the fixing portion 820 for fixing the 2 nd traveling wheel 82 to the vehicle 8 are performed. In this example, the tightening hand Hc includes at least two types of tightening machines corresponding to the shapes of the bolt 91B of the 1 st tightening unit 910 and the bolt 92B of the 2 nd tightening unit 920, and the shapes of the

bolts

81B and 82B of the fixing

units

810 and 820. The plurality of types of tightening hands Hc, in this example, at least two types of tightening machines, are disposed at the tightening hand placement site Sc.

Fig. 15 shows the fixing

portions

810 and 820 of the 1 st traveling wheel 81 and the 2 nd traveling wheel 82. In the present embodiment, the fixing

portions

810 and 820 include a plurality of bolt holes (not shown) arranged in the circumferential direction with respect to the rotation axis of each of the 1 st traveling wheel 81 and the 2 nd traveling wheel 82, and

bolts

81B and 82B inserted into the bolt holes. When the fastening robot 6 performs fastening and releasing of the

fastening portions

810 and 820, the fastening hand Hc corresponding to the

fastening portions

810 and 820 is independently attached, and fastening and releasing of the plurality of

bolts

81B and 82B are performed.

Although not shown in detail, when the 1 st fastening portion 910 is fastened and released, the fastening robot 6 autonomously attaches the fastening hand Hc corresponding to the bolt 91B of the 1 st fastening portion 910 and fastens or releases the respective bolts 91B disposed in the vehicle body 80. The fastening robot 6 performs fastening and releasing of the 2 nd fastening part 920 in the same manner.

Here, as shown in fig. 5, in the present embodiment, the maintenance device 100 includes an imaging unit C that is disposed at different positions in the extending direction X with respect to the holding arm 5 and that images the fixing

portions

810 and 820 that fix the 1 st traveling wheel 81 and the 2 nd traveling wheel 82 to the vehicle body 80. In this example, the imaging unit C includes a 1 st camera C1 disposed on the outer side in the width direction Y (the 1 st side in the width direction Y1) of the 1 st support rail 10 to image the fixing portion 810 of the 1 st traveling wheel 81, and a 2 nd camera C2 disposed on the outer side in the width direction Y (the 2 nd side in the width direction Y2) of the 2 nd support rail 20 to image the fixing portion 820 of the 2 nd traveling wheel 82. In the illustrated example, the 1 st camera C1 is disposed between the 1 st side unit 51 and the 2 nd fastening unit 62 in the extending direction X at a position outside the 1 st support rail 10 in the width direction Y. The 2 nd camera C2 is disposed between the 2 nd side unit 52 and the 1 st fastening unit 61 in the extending direction X at a position outside the 2 nd support rail 20 in the width direction Y.

In the present embodiment, the state of the fixing

portions

810 and 820 of the 1 st traveling wheel 81 and the 2 nd traveling wheel 82 changes due to rolling of the wheels. Specifically, as described above, in the present example, the fixing

portions

810 and 820 include the bolt holes (not shown) arranged in plural in the circumferential direction and the

bolts

81B and 82B inserted into the bolt holes. Therefore, the 1 st traveling wheel 81 and the 2 nd traveling wheel 82 roll, and thereby the circumferential positions of the bolt holes and the

bolts

81B and 82B change.

In the present embodiment, the fixing portion 810 of the 1 st traveling wheel 81 is imaged by the imaging portion C while the rolling of the 1 st traveling wheel 81 is restricted by the restricting portion 4, and then the rail support portion 1 is moved in the extending direction X, whereby the fixing portion 810 of the 1 st traveling wheel 81 is moved to the working position where the robot 6 is fastened and connected. Since the 1 st traveling wheel 81 does not roll during the movement of the rail support portion 1, the circumferential positions of the fixing portions 810 of the 1 st traveling wheel 81, that is, the plurality of bolt holes and the bolts 81B are maintained in the state of being photographed by the photographing portion C. The fastening robot 6 can grasp the circumferential positions of the plurality of bolt holes and the bolts 81B based on the image captured by the imaging unit C. This enables the fastening and releasing of the fastening by the fixing unit 810 of the fastening robot 6 to be appropriately performed. Fastening and releasing of the fastening of the fixing portion 820 of the 2 nd traveling wheel 82 are also performed by the restriction of the rolling of the 2 nd traveling wheel 82 by the restricting portion 4, the imaging of the fixing portion 820 by the imaging portion C, and the movement of the 2 nd traveling wheel 82 by the rail supporting portion 1, in the same manner as described above.

Next, a control structure of the article transport facility F and the maintenance device 100 will be described.

As shown in fig. 16, the vehicle 8 includes a vehicle control device 8C that controls each part of the vehicle 8. In the present embodiment, the vehicle control device 8C controls the travel driving unit M8, the switching mechanism 84, and the transfer unit 86. The maintenance device 100 includes a maintenance control device 100C that controls each part of the maintenance device 100. The maintenance controller 100C controls the 1 st lifting mechanism L1, the 2 nd lifting mechanism L2, the holding arm 5, and the fastening robot. In the present embodiment, the maintenance control device 100C controls the limit drive unit M4, the movement mechanism M, the automatic door Wd, the 1 st detection unit Se1, and the 2 nd detection unit Se2, in addition to the above components. In the present embodiment, the maintenance control device 100C corresponds to a "control unit".

The vehicle control device 8C and the maintenance control device 100C are configured to be able to communicate with each other. The vehicle control device 8C and the maintenance control device 100C include a processor such as a microcomputer, a peripheral circuit such as a memory, and the like. Each function is realized by cooperation of the hardware and a program executed on a processor such as a computer.

The maintenance control device 100C causes the holding arm 5 to attach and detach the 1 st traveling wheel 81 in the 1 st wheel separated state (see fig. 9) of the vehicle 8, and causes the holding arm 5 to attach and detach the 2 nd traveling wheel 82 in the 2 nd wheel separated state (see fig. 10) of the vehicle 8. Thus, the maintenance device 100 as the wheel replacement device automatically performs the wheel replacement of the 1 st traveling wheel 81 and the wheel replacement of the 2 nd traveling wheel 82.

The maintenance control device 100C causes the 1 st detecting unit Se1 to perform the 1 st detecting operation for detecting the position of the 1 st traveling wheel 81 of the vehicle 8 in the 1 st wheel separated state, and causes the 2 nd detecting unit Se2 to perform the 2 nd detecting operation for detecting the position of the 2 nd traveling wheel 82 of the vehicle 8 in the 2 nd wheel separated state. Then, the maintenance control device 100C causes the holding arm 5 to perform the 1 st pad inserting operation of inserting the 1 st pad inserting portion 91 with the number and thickness of pads 9 corresponding to the detection result of the 1 st detection operation in a state where the 1 st fastening portion 910 is released from fastening by the fastening robot 6, and performs the 2 nd pad inserting operation of inserting the 2 nd pad inserting portion 92 with the number and thickness of pads 9 corresponding to the detection result of the 2 nd detection operation in a state where the 2 nd fastening portion 920 is released from fastening by the fastening robot 6. Thus, the maintenance device 100 as the wheel position adjustment device automatically adjusts the positional relationship between the guide wheel 83 and the 1 st traveling wheel 81 and the positional relationship between the guide wheel 83 and the 2 nd traveling wheel 82 by adjusting the position of the guide wheel 83 in the width direction Y by the pad 9 and adjusting the position of the 1 st traveling wheel 81 and the position of the 2 nd traveling wheel 82 in the vertical direction.

Next, each process performed by the maintenance device 100 will be described.

As shown in fig. 17, when the vehicle 8 to be serviced moves to the front of the servicing apparatus 100, the automatic door Wd is opened (# 1). The vehicle 8 enters the inside (# 2) of the enclosure wall W through the opening Wh of the enclosure wall W, and stops on the 1 st support rail 10 and the 2 nd support rail 20. When the vehicle 8 enters, the automatic door Wd (# 3) is closed. The restricting unit 4 assumes the restricting posture Ar and restricts the rolling motion (# 4) of the 1 st traveling wheel 81 on the 1 st support rail 10 and the rolling motion (# 4) of the 2 nd traveling wheel 82 on the 2 nd support rail 20. After that, the maintenance device 100 performs wheel replacement (# 5) of the vehicle 8, and performs wheel position adjustment (# 6) of the vehicle 8.

Fig. 18 shows a process of replacing the wheel in step # 5 shown in fig. 17. In the present embodiment, the maintenance device 100 replaces (# 51) all the 1 st traveling wheels 81 to be replaced, and thereafter replaces (# 52) all the 2 nd traveling wheels 82 to be replaced. Thus, when all of the 1 st traveling wheel 81 and the 2 nd traveling wheel 82 provided on the vehicle main body 80 are replaced, the number of times of switching the position of the guide wheel 83 can be reduced by the switching mechanism 84.

Hereinafter, the respective steps for replacing the 1 st traveling wheel 81 in the above-described step # 51 will be described mainly with reference to fig. 19. The respective steps for replacing the 2 nd traveling wheel 82 are common to or correspond to the respective steps for replacing the 1 st traveling wheel 81, and therefore, detailed description thereof is omitted.

When the 1 st traveling wheel 81 is replaced, first, the guide wheel 83 is disposed at the 1 st guide position Pg1 (# 51-1) by the switching mechanism 84. Thereby, the guide wheel 83 is disposed on the 2 nd side Y2 in the width direction with respect to the 3 rd support rail 30. As shown in fig. 20, the guide wheel 83 at the 1 st guide position Pg1 is disposed on the opposite side of the 1 st travel wheel 81 in the width direction Y via the 3 rd support rail 30.

Then, the rail support portion 1 is moved (# 51-2) in the extending direction X by the moving mechanism M in a state where the rolling of the 1 st traveling wheel 81 is restricted by the restricting portion 4. Specifically, as shown in fig. 21, the rail support portion 1 is moved in the extending direction X to a position where the 1 st travel wheel 81 faces the 1 st camera C1. The fixed part 810 (# 51-3) of the 1 st traveling wheel 81 is imaged by the 1 st camera C1. Then, the rail support portion 1 is moved (# 51-4) in the extending direction X by the moving mechanism M in a state where the rolling of the 1 st traveling wheel 81 is restricted by the restricting portion 4. Specifically, as shown in fig. 22, the rail support portion 1 is moved in the extending direction X to a position where the 1 st travel wheel 81 faces the 1 st side unit 51. The 1 st traveling wheel 81 is held by the 1 st side unit 51, and the 2 nd traveling wheel 82 (# 51-5) disposed on the opposite side in the width direction Y from the 1 st traveling wheel 81 is held by the 2 nd side unit 52. Here, in this example, the 1 st traveling wheel 81 and the 2 nd traveling wheel 82 arranged in the width direction Y are configured to rotate integrally. As described above, by holding the 2 nd traveling wheel 82 disposed on the opposite side of the 1 st traveling wheel 81 as the object of the work in the width direction Y, the 1 st traveling wheel 81 can be prevented from rotating during the work, and the work can be easily performed.

Next, the fastening of the fastening portion 810 of the 1 st traveling wheel 81 is released (# 51-6) by the 2 nd fastening means 62 while the 1 st traveling wheel 81 and the 2 nd traveling wheel 82 are held. As shown in fig. 22, in this example, the fastening and the disconnection of the fixing portion 810 of the 1 st traveling wheel 81 are performed by the 2 nd fastening and the disconnection unit 62 in a state where the 1 st traveling wheel 81 is held by the 1 st side unit 51 and the 2 nd traveling wheel 82 is held by the 2 nd side unit 52.

Subsequently, the 1 st support rail 10 is lowered (# 51-7) by the 1 st elevating mechanism L1. Specifically, as shown in fig. 23, the 1 st support rail 10 is disposed at the 1 st lowering position Pd1 by being lowered. Thereby, the vehicle 8 is brought into the 1 st wheel separated state.

Next, the 1 st traveling wheel 81 is detached (# 51-8) from the vehicle main body 80, and thereafter, a new 1 st traveling wheel 81 is attached (# 51-9) to the vehicle main body 80. That is, the 1 st traveling wheel 81 is replaced in the 1 st wheel separated state of the vehicle 8. In detail, as shown in fig. 24, the 1 st traveling wheel 81 is detached from the vehicle body 80 by the 1 st side unit 51, and thereafter, a new 1 st traveling wheel 81 at the wheel placing position Sw is attached to the vehicle body 80 by the 1 st side unit 51. In this example, the 1 st traveling wheel 81 is replaced while the 2 nd traveling wheel 82 disposed on the opposite side in the width direction Y from the 1 st traveling wheel 81 to be replaced is held by the 2 nd side unit 52.

After the new 1 st traveling wheel 81 is attached to the vehicle body 80, the rail support portion 1 is moved (# 51-10) in the extending direction X by the moving mechanism M. Specifically, as shown in fig. 21, the rail support portion 1 is moved in the extending direction X to a position where the 1 st travel wheel 81 faces the 1 st camera C1. The fixed unit 810 (# 51-11) of the new 1 st travel wheel 81 attached in step # 51-9 is imaged by the 1 st camera C1. Then, the rail support portion 1 is moved (# 51-12) in the extending direction X by the moving mechanism M in a state where the rolling of the 1 st traveling wheel 81 is restricted by the restricting portion 4. Specifically, as shown in fig. 22, the rail support portion 1 is moved in the extending direction X to a position where the 1 st travel wheel 81 faces the 1 st side unit 51. Then, the 1 st traveling wheel 81 is held by the 1 st side unit 51, and the 2 nd traveling wheel 82 (# 51-13) disposed on the opposite side in the width direction Y from the 1 st traveling wheel 81 is held by the 2 nd side unit 52.

After the new 1

st traveling wheel

81 and 2 nd traveling wheel 82 are held, the fastening of the fastening part 810 of the 1 st traveling wheel 81 (# 51-14) is performed by the 2 nd fastening means 62. As shown in fig. 22, in this example, the fastening of the fixing portion 810 of the 1 st traveling wheel 81 is performed by the 2 nd fastening means 62 in a state where the 1 st traveling wheel 81 is held by the 1 st side unit 51 and the 2 nd traveling wheel 82 is held by the 2 nd side unit 52.

After the fixing portion 810 of the 1 st traveling wheel 81 is fastened and connected, the 1 st support rail 10 is raised (# 51-15) by the 1 st raising/lowering mechanism L1. Specifically, as shown in fig. 20, the 1 st support rail 10 is moved up to be disposed at the 1 st reference position Pu 1. This brings the vehicle 8 into a two-wheel mounted state.

As described above, the maintenance device 100 performs replacement of the 1 st traveling wheel 81. When the 2 nd traveling wheel 82 is replaced, the maintenance device 100 performs a step of bringing the vehicle 8 into the 2 nd wheel separated state, and removes the 2 nd traveling wheel 82 from the vehicle main body 80 via the 2 nd side unit 52, and attaches a new 2 nd traveling wheel 82 to the vehicle main body 80. When the 2 nd traveling wheel 82 is replaced, the guide wheel 83 is moved from the 1 st guide position Pg1 to the 2 nd guide position Pg2 by the switching mechanism 84. In the present embodiment, the vehicle 8 is moved in the extending direction X so that the guide wheel 83 is disposed at a position corresponding to the notch portion 33 of the 3 rd support rail 30, and the guide wheel 83 is moved from the 2 nd side Y2 in the width direction to the 1 st side Y1 in the width direction with respect to the 3 rd support rail 30 at this position. Thereafter, the vehicle 8 is moved again in the extending direction X so that the guide wheels 83 are disposed at positions where the cut-out portions 33 of the 3 rd support rail 30 do not exist. This enables the vehicle 8 to be in the No. 2 wheel separated state.

Fig. 25 shows a step of adjusting the wheel position in step # 6 shown in fig. 17. In the present embodiment, the maintenance device 100 performs position adjustment (# 61) of the 1 st traveling wheel 81, and thereafter performs position adjustment (# 62) of the 2 nd traveling wheel 82.

When the position of the 1 st traveling wheel 81 is adjusted, the maintenance control device 100C causes the 2 nd side unit 52 (pad insertion robot) to perform the 1 st pad removing operation of removing the pad 9 from the 1 st pad insertion portion 91, the 1 st pad inserting operation of inserting the pad 9 into the 1 st pad insertion portion 91, the 1 st reference pad inserting operation of inserting the reference pad 9S formed to the preset reference thickness into the 1 st pad insertion portion 91, and the 1 st reference pad removing operation of removing the reference pad 9S from the 1 st pad insertion portion 91. When the position of the 1 st traveling wheel 81 is adjusted, the maintenance control device 100C causes the 1 st detection unit Se1 to execute the 1 st detection operation for detecting the position of the 1 st traveling wheel 81 in the 1 st wheel separated state of the vehicle 8.

When the position adjustment of the 2 nd traveling wheel 82 is performed, the maintenance control device 100C causes the 1 st-side unit 51 (pad insertion robot) to perform the 2 nd pad removing operation of removing the pad 9 from the 2 nd pad insertion portion 92, the 2 nd pad inserting operation of inserting the pad 9 into the 2 nd pad insertion portion 92, the 2 nd reference pad inserting operation of inserting the reference pad 9S into the 2 nd pad insertion portion 92, and the 2 nd reference pad removing operation of removing the reference pad 9S from the 2 nd pad insertion portion 92. When the position of the 2 nd traveling wheel 82 is adjusted, the maintenance control device 100C causes the 2 nd detection unit Se2 to execute the 2 nd detection operation of detecting the position of the 2 nd traveling wheel 82 in the 2 nd wheel separated state of the vehicle 8.

Fig. 26 shows a step of adjusting the position of the 1 st traveling wheel 81 at step # 61 shown in fig. 25. In the present embodiment, the maintenance device 100 executes the number-of-pads/thickness-of-pads determination process (# 611) for determining the number and thickness of the pads 9 inserted into the 1 st pad insertion portion 91, and then executes the wheel position adjustment process (# 612) for adjusting the position of the 1 st traveling wheel 81. In addition, although not shown, the maintenance device 100 executes the number of pads/pad thickness determination process for determining the number and thickness of the pads 9 inserted into the 2 nd pad insertion portion 92, and then executes the wheel position adjustment process for adjusting the position of the 2 nd traveling wheel 82, similarly to the case where the position of the 2 nd traveling wheel 82 is adjusted.

Hereinafter, each step of executing the number-of-pads/pad thickness determination processing of step # 611 shown in fig. 26 will be described mainly with reference to fig. 27. The following pad number/pad thickness determination process is a process for adjusting the position of the 1 st traveling wheel 81. The number of pads/pad thickness determination process for performing the position adjustment of the 2 nd traveling wheel 82 is common to or corresponds to the process for performing the position adjustment of the 1 st traveling wheel 81, and therefore, a detailed description thereof will be omitted, and only the points will be appropriately described in the description of the 1 st traveling wheel 81.

As described above, in order to adjust the positional relationship between the 1 st traveling wheel 81 and the guide wheel 83, the 1 st pad insertion portion 91 into which the pad 9 is inserted, the 1 st fastening portion 910 that fastens and fixes the pad 9 inserted into the 1 st pad insertion portion 91 to the vehicle body 80, and the 1 st fastening unit 61 that performs fastening and fastening release of the 1 st fastening portion 910 are disposed on the side opposite to the 1 st traveling wheel 81 with the 3 rd support rail 30 interposed therebetween in the width direction Y (see fig. 29 and 31). In other words, the 1 st traveling wheel 81 is disposed on the 1 st side Y1 in the width direction with respect to the 3 rd support rail 30, and the 1 st pad inserting portion 91, the 1 st fastening portion 910, and the 1 st fastening unit 61 are disposed on the 2 nd side Y2 in the width direction with respect to the 3 rd support rail 30.

In the pad number/pad thickness determination process, first, the guide wheel 83 is disposed at the 2 nd guide position Pg2 (# 611-1) via the switching mechanism 84. Thereby, the guide wheel 83 is disposed on the 1 st side Y1 in the width direction with respect to the 3 rd support rail 30. That is, as shown in fig. 29(b), the guide wheel 83 is disposed on the opposite side of the 1 st pad insertion portion 91 in the width direction Y via the 3 rd support rail 30. In a state where the guide wheel 83 is disposed on the opposite side of the 1 st pad insertion portion 91 via the 3 rd support rail 30, the pad 9 or the reference pad 9S is not pressed inside the 1 st pad insertion portion 91, so that the pad 9 and the reference pad 9S can be smoothly removed from and inserted into the 1 st pad insertion portion 91.

Subsequently, the 1 st fastening unit 61 releases (# 611-2) the fastening of the 1 st fastening unit 910. Then, the existing pad 9 is removed from the 1 st pad insertion portion 91 by the 2 nd side unit 52 (# 611-3: 1 st pad removal operation). Thereafter, as shown in fig. 29(a) and (b), the reference pad 9S having a predetermined reference thickness is inserted into the 1 st pad insertion portion 91 by the 2 nd side unit 52 (# 611-4: 1 st reference pad insertion operation). In this way, the maintenance control device 100C causes the 2 nd side unit 52 (pad insertion robot) to execute the 1 st reference pad insertion operation in a state where the 1 st fastening unit 910 is released from fastening by the 1 st fastening unit 61 (fastening robot 6). Similarly, when the position of the 2 nd traveling wheel 82 is adjusted, the maintenance control device 100C causes the 1 st side unit 51 (pad insertion robot) to perform the 2 nd reference pad insertion operation in a state where the 2 nd fastening unit 920 is fastened and released by the 2 nd fastening unit 62 (fastening robot 6). In the present embodiment, as described above, the maintenance control device 100C causes the 2 nd side unit 52 (pad insertion robot) to perform the extraction and insertion of the pad 9 and the reference pad 9S with respect to the 1 st pad insertion portion 91 in a state where the guide wheel 83 is disposed on the opposite side of the 1 st pad insertion portion 91 with the 3 rd support rail 30 interposed therebetween in the width direction Y. Similarly, in the case of performing the position adjustment of the 2 nd traveling wheel 82, the maintenance control device 100C causes the 1 st side unit 51 (pad insertion robot) to perform the extraction/insertion of the pad 9 and the reference pad 9S with respect to the 2 nd pad insertion portion 92 in a state where the guide wheel 83 is disposed on the opposite side of the 2 nd pad insertion portion 92 with the 3 rd support rail 30 interposed therebetween in the width direction Y.

After the 1 st reference pad insertion action is performed (# 611-4), the guide wheel 83 is disposed at the 1 st guide position Pg1 (# 611-5) via the switching mechanism 84. Thereby, the guide wheel 83 is disposed on the 2 nd side Y2 in the width direction with respect to the 3 rd support rail 30. That is, the guide wheel 83 is disposed on the same side as the 1 st pad insertion portion 91 with respect to the 3 rd support rail 30 in the width direction Y and on the opposite side to the 1 st traveling wheel 81 with the 3 rd support rail 30 interposed therebetween. In the present embodiment, the vehicle 8 is moved in the extending direction X so that the guide wheel 83 is disposed at a position corresponding to the notch portion 33 of the 3 rd support rail 30, and at this position, the guide wheel 83 is moved with respect to the 3 rd support rail 30 from the 2 nd guide position Pg2 on the 1 st side Y1 in the width direction to the 1 st guide position Pg1 on the 2 nd side Y2 in the width direction. Thereafter, the vehicle 8 is moved again in the extending direction X so that the guide wheels 83 are disposed at positions where the cut-out portions 33 of the 3 rd support rail 30 do not exist. Hereinafter, the movement of the guide wheels 83 by the switching mechanism 84 is performed in the same manner.

Next, the vehicle 8 is caused to travel (# 611-6) on the track support unit 1 by the travel driving unit M8. Thus, the deflection and the clearance of the reference pad 9S inserted into the 1 st pad insertion portion 91 can be reduced by the vibration and the load generated by the travel of the vehicle 8. Before the vehicle 8 is caused to travel, the restricting unit 4 is brought into the permitting posture Aa to allow the 1 st traveling wheel 81 and the 2 nd traveling wheel 82 to roll. After the vehicle 8 is driven, the restricting unit 4 is set to the restricting posture Ar to bring the 1 st traveling wheel 81 and the 2 nd traveling wheel 82 into a state of restricting rolling.

Next, the 1 st support rail 10 is lowered (# 611-7) by the 1 st elevating mechanism L1. Specifically, the 1 st support rail 10 is disposed at the 1 st lowering position Pd1 by being lowered. Thereby, the vehicle 8 is set to the 1 st wheel separated state. As shown in fig. 30, the 1 st detection unit Se1 is caused to execute the 1 st detection operation (# 611-8) after the 1 st wheel of the vehicle 8 is set to the off state. Thereby, the distance between the 1 st traveling wheel 81 and the 1 st support rail 10 is detected. That is, in the present embodiment, the maintenance control device 100C causes the 1 st detecting unit Se1 to perform the detection of the position of the 1 st traveling wheel 81 in the 1 st wheel separated state of the vehicle 8 in the state where the reference pad 9S is inserted into the 1 st pad inserting portion 91 as the 1 st detecting operation. When the position of the 2 nd traveling wheel 82 is adjusted, the maintenance control device 100C causes the 2 nd detection unit Se2 to detect the position of the 2 nd traveling wheel 82 in the 2 nd wheel spaced-apart state of the vehicle 8 in a state where the reference pad 9S is inserted into the 2 nd pad insertion portion 92, as the 2 nd detection operation.

After the 1 st detection operation is performed (# 611-8), the number and thickness (# 611-9) of the pads 9 with which the vehicle 8 assumes an appropriate posture in the 1 st wheel-separated state when the pads 9 are inserted into the 1 st pad insertion unit 91 are calculated based on the detection result of the 1 st detection unit Se 1. In this example, the number and thickness of the pads 9 are calculated such that the 1 st traveling wheel 81 is positioned slightly above the 2 nd traveling wheel 82 supported by the 2 nd support rail 20 in the 1 st wheel separated state of the vehicle 8. Thus, when the vehicle 8, which has finished adjusting the wheel position, actually travels on the travel path 99 and transitions from the branch/seed/confluence section BS to the normal section NS, that is, when the 1 st travel wheel 81 transitions from a state in which it is not supported by the travel rail 96 to a state in which it is supported, the 1 st travel wheel 81 can be appropriately supported by the travel rail 96 and the vibration of the vehicle 8 during the transition can be suppressed to a small amount.

After the number and thickness of the pads 9 to be inserted into the 1 st pad insertion part 91 are calculated (# 611-9), the 1 st support rail 10 is raised (# 611-10) by the 1 st raising/lowering mechanism L1. Specifically, the 1 st support rail 10 is raised to be disposed at the 1 st reference position Pu1, whereby the vehicle 8 is placed on two wheels.

Next, the respective steps of executing the wheel position adjustment processing of step # 612 shown in fig. 26 will be described mainly with reference to fig. 28. The wheel position adjustment processing described below is processing for adjusting the position of the 1 st traveling wheel 81. The wheel position adjustment processing for adjusting the position of the 2 nd traveling wheel 82 is common to or corresponds to the processing for adjusting the position of the 1 st traveling wheel 81, and therefore, detailed description is omitted, and only the points will be appropriately described in the description of the 1 st traveling wheel 81.

In the wheel position adjustment process, the guide wheel 83 is first placed at the 2 nd guide position Pg2 (# 612-1) by the switching mechanism 84. As a result, as shown in fig. 29(b), the guide wheel 83 is disposed on the opposite side of the 1 st pad insertion portion 91 in the width direction Y via the 3 rd support rail 30. As shown in fig. 31(a) and (b), the existing pad 9 is removed from the 1 st pad insertion unit 91 by the 2 nd side unit 52 (# 612-2: existing pad removal operation). In the present embodiment, since the reference pad 9S is inserted into the 1 st pad insertion portion 91 in advance as described above, the current operation is the 1 st reference pad extracting operation for extracting the reference pad 9S. Thereafter, the number and thickness of the pads 9 calculated by the pad number/pad thickness determination process are inserted into the 1 st pad insertion section 91 by the 2 nd side unit 52 (# 612-3: 1 st pad insertion operation).

Next, the guide wheel 83 is disposed at the 1 st guide position Pg1 (# 612-4) by the switching mechanism 84. Thus, the guide wheel 83 is disposed on the opposite side of the 1 st traveling wheel 81 in the width direction Y via the 3 rd support rail 30. Thereafter, the 1 st support rail 10 is lowered (# 612-5) by the 1 st elevating mechanism L1 to bring the vehicle 8 into the 1 st wheel separated state. Then, as shown in fig. 32, after the vehicle 8 is set to the 1 st wheel-off state, the 1 st detection unit Se1 is caused to execute the 1 st detection operation (# 612-6). Thus, the distance (here, the presence or absence of an error) between the 1 st traveling wheel 81 and the 1 st support rail 10 in a state where the number and thickness of pads 9 calculated by the number of pads/pad thickness determination process are inserted into the 1 st pad insertion portion 91 is detected. After the 1 st detection operation is performed, the 1 st support rail 10 is raised (# 612-7) by the 1 st raising/lowering mechanism L1, and the vehicle 8 is placed on two wheels.

Next, as shown in fig. 33, the 1 st fastening unit 61 fastens the 1 st fastening unit 910 (# 612-8). Thereby, the pad 9 inserted into the 1 st pad insertion portion 91 is fastened, coupled, and fixed to the vehicle body 80. In this way, in the present embodiment, the maintenance control device 100C causes the 1 st fastening unit 61 (fastening robot) to perform fastening of the 1 st fastening unit 910 after the 1 st pad inserting operation performed by the 2 nd side unit 52 (pad inserting robot). In addition, when the position of the 2 nd traveling wheel 82 is adjusted, the maintenance control device 100C causes the 2 nd tightening unit 62 (tightening robot) to perform tightening of the 2 nd tightening joint 920 after the 2 nd pad inserting operation performed by the 1 st side unit 51 (pad inserting robot).

After the 1 st fastening unit 910 is fastened (# 612-8), the vehicle 8 is caused to travel (# 612-9) on the track support unit 1 by the travel driving unit M8. Thus, the pad 9 inserted into the 1 st pad insertion portion 91 can be deflected and the gap can be reduced by the vibration and load generated by the traveling of the vehicle 8. That is, the maintenance control device 100C executes the 1 st travel control for causing the vehicle 8 to travel in the extending direction X with respect to the rail support portion 1 after the 1 st pad inserting operation is executed. Similarly, in the case where the position of the 2 nd traveling wheel 82 is adjusted, the maintenance control device 100C executes the 2 nd traveling control for causing the vehicle 8 to travel in the extending direction X with respect to the rail support portion 1 after the 2 nd pad inserting operation is executed. Before the vehicle 8 is moved, the restricting unit 4 is set to the permission posture Aa, and the rolling of the 1 st traveling wheel 81 and the 2 nd traveling wheel 82 is permitted. After the vehicle 8 is driven, the restricting unit 4 is set to the restricting posture Ar, and the rolling of the 1 st traveling wheel 81 and the 2 nd traveling wheel 82 is restricted.

Next, the 1 st support rail 10 is lowered (# 612-10) by the 1 st elevating mechanism L1, and the 1 st wheel of the vehicle 8 is set in a state of being separated. After the vehicle 8 is set to the 1 st wheel-off state, as shown in fig. 32, the 1 st detection unit Se1 is caused to execute the 1 st detection operation (# 612-11: 1 st confirmation detection operation). That is, the maintenance control device 100C causes the 1 st detecting unit Se1 to execute the 1 st confirmation detecting operation of detecting the position of the 1 st traveling wheel 81 after the 1 st pad inserting operation is executed and after the 1 st fastening unit 910 is fastened. In addition, in the same manner as in the case of adjusting the position of the 2 nd traveling wheel 82, the maintenance control device 100C causes the 2 nd detection unit Se2 to execute the 2 nd confirmation detection operation of detecting the position of the 2 nd traveling wheel 82 after the 2 nd pad insertion operation is executed and after the 2 nd fastening connection unit 920 is fastened. Thus, after the wheel position adjustment, it is possible to confirm whether or not the position of the 1 st traveling wheel 81 or the 2 nd traveling wheel 82 is appropriate. As described above, the 1 st travel control for causing the vehicle 8 to travel on the track support portion 1 is performed before the 1 st confirmation detection operation is executed. That is, in the present embodiment, the maintenance control device 100C executes the 1 st travel control after the 1 st pad insertion operation is executed and before the 1 st confirmation detection operation is executed. Similarly, in the case where the position of the 2 nd traveling wheel 82 is adjusted, the maintenance control device 100C executes the 2 nd traveling control after the 2 nd pad insertion operation is executed and before the 2 nd confirmation detection operation is executed.

After the 1 st confirmation detection operation is executed (# 612-11), it is determined whether or not the position of the 1 st traveling wheel 81 is within a predetermined range (# 612-12). Here, it is detected whether or not the position of the 1 st traveling wheel 81 in the vertical direction is within a predetermined range, and if it is within the predetermined range, it can be determined that the inclination of the vehicle 8 in the 1 st wheel separated state is within the allowable range, and if it is outside the predetermined range, it is determined that the inclination of the vehicle 8 in the 1 st wheel separated state is outside the allowable range.

When it is determined that the position of the 1 st traveling wheel 81 is within the predetermined range (# 612-12: yes), the wheel position adjustment process is ended. On the other hand, when it is determined that the position of the 1 st traveling wheel 81 is out of the predetermined range (# 612-12: No), the number and thickness of the pads 9 (# 612-13) are calculated again such that the position of the 1 st traveling wheel 81 is within the predetermined range, based on the detection result of the 1 st confirmation detection operation. Thereafter, the 1 st support rail 10 is raised (# 612-14) by the 1 st raising/lowering mechanism L1, and the vehicle 8 is placed on two wheels. The guide wheel 83 is disposed at the 2 nd guide position Pg2 (# 612-15) by the switching mechanism 84. Thereafter, the process returns to step # 612-3. In addition, even in the case where the number of the pads 9 inserted into the 1 st pad insertion portion 91 is large, or in the case where the thickness of the pads 9 is thicker than the appropriate thickness, the above-described operation of removing the improper pads 9 is performed in the step # 612-3 in which the number and the thickness of the pads 9 are calculated again.

[ other embodiments ]

Next, another embodiment of the wheel exchanging apparatus will be described.

(1) In the above-described embodiment, an example will be described in which the maintenance device 100 replaces all the 1 st traveling wheels 81 to be replaced and then replaces all the 2 nd traveling wheels 82 to be replaced. However, the present invention is not limited to this example, and the replacement may be performed in the reverse order. That is, the maintenance device 100 may replace all the 1 st traveling wheels 81 to be replaced after replacing all the 2 nd traveling wheels 82 to be replaced. When there are a plurality of the 1 st traveling wheel 81 and the 2 nd traveling wheel 82, the 1 st traveling wheel 81 and the 2 nd traveling wheel 82 may be replaced alternately.

(2) In the above-described embodiment, an example in which the maintenance device 100 performs the position adjustment of the 1 st traveling wheel 81 and then performs the position adjustment of the 2 nd traveling wheel 82 is described. However, the present invention is not limited to this example, and the order of position adjustment may be reversed. That is, the maintenance device 100 may adjust the position of the 1 st traveling wheel 81 after adjusting the position of the 2 nd traveling wheel 82. When there are a plurality of the 1 st traveling wheel 81 and the 2 nd traveling wheel 82, the 1 st traveling wheel 81 and the 2 nd traveling wheel 82 may be alternately adjusted in position.

(3) In the above-described embodiment, an example in which the 1 st traveling wheel 81 and the 2 nd traveling wheel 82 each include a plurality of wheels is described. However, the vehicle 8 is not limited to this example, and may be configured to include one 1 st traveling wheel 81 and one 2 nd traveling wheel 82.

(4) In the above-described embodiment, an example in which the electric power supply unit 7 is the electric power feeding line 70 that supplies electric power to the vehicle 8 in a non-contact manner is described. However, the present invention is not limited to this example, and the power supply unit 7 may be, for example, a battery mounted on the vehicle 8.

(5) In the above-described embodiment, the maintenance device 100 has been described as including the surrounding wall W surrounding the 1 st support rail 10, the 2 nd support rail 20, the 3 rd support rail 30, the 1 st elevating mechanism L1, the 2 nd elevating mechanism L2, the holding arm 5, and the fastening robot 6. However, the maintenance device 100 may not include such a surrounding wall W.

(6) In the above-described embodiment, an example in which the 3 rd support rail 30 is disposed above the 1 st support rail 10 and the 2 nd support rail 20 is described. However, the present invention is not limited to this example, and the 3 rd support rail 30 may be disposed below the 1 st support rail 10 and the 2 nd support rail 20, for example. In this case, the 3 rd support rail 30 has the swing direction 1 st side R1 corresponding to the width direction 2 nd side Y2, and the swing direction 2 nd side R2 corresponding to the width direction 1 st side Y1.

(7) In the above-described embodiment, an example in which both of the 1 st detection unit Se1 and the 2 nd detection unit Se2 are configured by a contact sensor is described. However, the present invention is not limited to this example, and the 1 st and 2 nd detecting units Se1 and Se2 may be configured by a sensor having a structure different from that of a touch sensor, such as an optical sensor.

(8) In the above-described embodiment, an example in which the maintenance device 100 includes the restricting unit 4 that restricts the rolling of the 1 st traveling wheel 81 and the rolling of the 2 nd traveling wheel 82 has been described. However, the maintenance device 100 is not limited to this example, and may not include the regulating unit 4 described above. In this case, for example, the rolling of the 1 st traveling wheel 81 and the 2 nd traveling wheel 82 may be restricted by a brake mechanism or the like provided in the vehicle 8.

(9) In the above-described embodiment, an example in which the notch 33 through which the guide wheel 83 can pass in the width direction Y is formed in a region of a part of the 3 rd support rail 30 in the extending direction X has been described. However, the notch 33 may not be formed in the 3 rd support rail 30 as described above, and the 3 rd support rail 30 may be continuously formed in the extending direction X. When the 3 rd support rail 30 is configured in this way, when the position of the guide wheel 83 in the width direction Y is switched by the switching mechanism 84, the vehicle 8 is moved in the extending direction X so that the guide wheel 83 is disposed further outward in the extending direction X than the end portion of the 3 rd support rail 30, and control can be performed to move the guide wheel 83 in the width direction Y with respect to the 3 rd support rail 30 at this position.

(10) In the above-described embodiment, the example in which the maintenance device 100 includes the imaging unit C that is disposed at different positions in the extending direction X with respect to the holding arm 5 and the fastening robot 6 and that images the fixing

portions

810 and 820 that fix the 1 st traveling wheel 81 and the 2 nd traveling wheel 82 to the vehicle body 80 has been described. However, the imaging unit C is not limited to this example, and may be configured not to image the fixed

units

810 and 820 but to image the 1 st traveling wheel 81 and the 2 nd traveling wheel 82. In this case, for example, a mark made of a symbol, a figure, a character, a color, or a combination thereof may be provided at a position corresponding to the fixing portion 810 of the 1 st traveling wheel 81, and the imaging portion C may be configured to image the mark. Thereby, the position of the fixing portion 810 can be grasped via the mark. The fixing portion 820 of the 2 nd traveling wheel 82 can be configured similarly. The arrangement position of the imaging unit C is not limited to the above example and can be set as appropriate. For example, the imaging unit C may be disposed at the same position in the extending direction X with respect to the holding arm 5. Alternatively, the imaging unit C may be attached to the fastening robot 6. With this arrangement, the fastening and releasing by the fastening robot 6 can be performed while referring to the image captured by the imaging unit C. The maintenance device 100 may not include the imaging unit C itself.

(11) In the above-described embodiment, an example in which the number and thickness of the pads 9 are calculated using the reference pads 9S so that the vehicle 8 assumes an appropriate posture in the 1 st wheel separated state or the 2 nd wheel separated state has been described. However, the reference pad 9S may not be used. In this case, the operations of the reference pad 9S described above can be omitted.

(12) In the above-described embodiment, the example of executing the 1 st travel control, the 2 nd travel control, the 1 st confirmation detection operation, and the 2 nd confirmation detection operation has been described, but these operations are not necessarily required. Accordingly, some or all of these actions may not be performed.

(13) In the above-described embodiment, an example of the wheel position adjusting device in which the maintenance device 100 is configured as a wheel replacing device that performs replacement of the 1 st traveling wheel 81 and the 2 nd traveling wheel 82 of the vehicle 8 and is configured to adjust the positional relationship of the 1 st traveling wheel 81, the 2 nd traveling wheel 82, and the guide wheel 83 of the vehicle 8 has been described. However, the maintenance device 100 may be configured as a wheel replacement device, or may not be configured as a wheel position adjustment device. In this case, the maintenance device 100 may not include various devices and functions for adjusting the positional relationship of the 1 st traveling wheel 81, the 2 nd traveling wheel 82, and the guide wheel 83 of the vehicle 8.

(14) The structure disclosed in the above embodiment can be combined with the structure disclosed in another embodiment without any contradiction. The embodiments disclosed in the present specification are merely examples in all aspects, regarding other configurations. Therefore, various changes can be made as appropriate without departing from the spirit and scope of the present application.

[ brief summary of the embodiments ] described above

The wheel exchanging apparatus described above will be described below.

A wheel replacing device for replacing a 1 st traveling wheel and a 2 nd traveling wheel of a vehicle having a vehicle body, the 1 st traveling wheel, the 2 nd traveling wheel, and a guide wheel, wherein the 1 st traveling wheel rolls on the upper surface of one of a pair of traveling rails disposed apart in a width direction, the 2 nd traveling wheel rolls on the upper surface of the other of the pair of traveling rails, the guide wheel rolls on the side surface of the guide rail, and the guide rail is disposed at a position different from the pair of traveling rails in the vertical direction, the device comprising a 1 st support rail, a 2 nd support rail, a 3 rd support rail, a 1 st lifting mechanism, a 2 nd lifting mechanism, a wheel mounting/demounting robot, and a control unit, wherein the 1 st support rail and the 2 nd support rail are disposed apart from each other in the width direction, the 3 rd support rail is disposed at a position different from the 1 st support rail and the 2 nd support rail in the up-down direction, the 1 st lifting mechanism lifts the 1 st support rail to a 1 st reference position and a 1 st lowered position below the 1 st reference position, the 2 nd lifting mechanism lifts the 2 nd support rail to a 2 nd reference position and a 2 nd lowered position below the 2 nd reference position, the wheel handling robot handles the 1 st traveling wheel and the 2 nd traveling wheel to the vehicle body, the control unit controls the 1 st lifting mechanism, the 2 nd lifting mechanism, and the wheel handling robot, and a virtual line extending in the extending direction of the 1 st support rail and the 2 nd support rail in the middle of the width direction of the 1 st support rail and the 2 nd support rail is set as a reference axis, a direction in which the vehicle rotates around the reference is a swing direction, a side in which the vehicle swings when the 1 st traveling wheel descends with respect to the 2 nd traveling wheel is a swing direction 1 st side, a side in which the vehicle swings when the 2 nd traveling wheel descends with respect to the 1 st traveling wheel is a swing direction 2 nd side, the 1 st support rail is in the 1 st reference position and the 2 nd support rail is in the 2 nd reference position, a two-wheel-mounted state in which the 1 st traveling wheel is mounted on the 1 st support rail and the 2 nd traveling wheel is mounted on the 2 nd support rail is assumed, and the 1 st support rail is in the 1 st descending position and the 2 nd support rail is in the 2 nd reference position is assumed such that the 1 st traveling wheel is separated from the 1 st support rail and the 2 nd traveling wheel is mounted on the 2 nd support rail And a 1 st wheel separated state in which the guide wheel is in contact with a 2 nd side surface of the 3 rd support rail in the swing direction, the 1 st support rail is at the 1 st reference position, and the 2 nd support rail is at the 2 nd descending position, the 1 st traveling wheel is placed on the 1 st support rail, the 2 nd traveling wheel is separated from the 2 nd support rail, and the guide wheel is in contact with a 1 st side surface of the 3 rd support rail in the swing direction, the 2 nd wheel separated state, the control unit causes the wheel mounting and demounting robot to mount and demount the 1 st traveling wheel in the 1 st wheel separated state, and causes the wheel mounting and demounting robot to mount and demount the 2 nd traveling wheel in the 2 nd wheel separated state.

According to this configuration, the 1 st support rail is configured to be rollable by the 1 st traveling wheel, the 2 nd support rail is configured to be rollable by the 2 nd traveling wheel, and the 3 rd support rail is configured to be rollable by the 3 rd traveling wheel. Therefore, the vehicle can be arranged at the working site of the wheel loading and unloading robot while traveling along the 1 st support rail, the 2 nd support rail, and the 3 rd support rail. In the 1 st wheel separated state, the weight of the vehicle can be supported by the 2 nd traveling wheel and the guide wheel, and the 1 st traveling wheel can be separated from the 1 st support rail, so that the 1 st traveling wheel can be easily replaced by the wheel handling robot in a state where the vehicle is stably supported. Similarly, in the 2 nd wheel separated state, the 2 nd traveling wheel can be easily replaced by the wheel handling robot. Therefore, according to the present configuration, the traveling wheels of the vehicle including the traveling wheels rolling on the pair of traveling rails and the guide wheels rolling on the side surfaces of the guide rails can be automatically replaced. In addition, as described above, in the present configuration, the guide wheel is used to support the vehicle, and thus, when the wheel is replaced, one of the 1 st traveling wheel and the 2 nd traveling wheel to be replaced can be floated. As described above, according to the present configuration, even when the wheel is replaced, the weight of the vehicle can be supported by the pair of traveling wheels and the guide wheel, as in the normal use state. Therefore, for example, a part that does not support the weight of the vehicle in a normal use state, such as the floor of the vehicle, is supported to lift and lower the vehicle, and therefore, there is no need to reinforce the part or the like, and simplification and weight reduction of the vehicle main body are easily achieved.

Here, it is preferable that the vehicle further includes an imaging unit that is disposed at a different position in the extension direction with respect to the wheel handling robot and that images the 1 st traveling wheel and the 2 nd traveling wheel, a rail support unit that integrally supports the 1 st support rail, the 2 nd support rail, and the 3 rd support rail, and a moving mechanism that moves the rail support unit in the extension direction with respect to the wheel handling robot.

According to this configuration, the imaging unit can be disposed so as not to overlap the disposition space of the wheel loading and unloading robot. Further, the fixed state of the 1 st traveling wheel and the 2 nd traveling wheel to the vehicle body can be grasped based on the images of the 1 st traveling wheel and the 2 nd traveling wheel captured by the imaging unit. This makes it easy for the wheel mounting/demounting robot to mount/demount the 1 st traveling wheel and the 2 nd traveling wheel. Here, for example, the direction of the fixed portion of the traveling wheel may change in the rotational direction due to rolling of the traveling wheel, but according to the present configuration, after the image is captured by the fixed portion of the image capturing portion, the vehicle can be moved relative to the wheel mounting and demounting robot in the extending direction by the movement of the rail supporting portion without rolling of the traveling wheel. Therefore, in this case, the orientation of the fixed portion of the traveling wheel can be maintained in a state immediately after the image pickup, and the vehicle can be moved to a position where the attachment and detachment of the traveling wheel by the wheel attachment/detachment robot are easy to perform in this state.

Preferably, the vehicle further includes a power supply unit configured to supply power to the driving force source of the 1 st traveling wheel and the 2 nd traveling wheel, the vehicle further includes a switching mechanism configured to switch a position of the guide wheel in the width direction to a 1 st guide position where the guide wheel abuts a side surface of the 3 rd support rail facing the 2 nd side in the swing direction, and a 2 nd guide position where the guide wheel abuts a side surface of the 3 rd support rail facing the 1 st side in the swing direction, and a cutout portion through which the guide wheel can pass in the width direction is formed in a region of a part of the 3 rd support rail in the extension direction.

According to this configuration, by switching the position of the guide wheel in the width direction by the switching mechanism, the posture of the guide wheel can be easily switched between the posture suitable for the 1 st wheel separated state and the posture suitable for the 2 nd wheel separated state. In addition, the position of the guide wheel in the width direction can be switched by moving the guide wheel so that the cutout portion passes through the width direction in a state where the vehicle is disposed in a region where the cutout portion is formed in the extension direction of the 3 rd support rail. Therefore, the position of the guide wheel in the width direction with respect to the 3 rd support rail can be switched appropriately.

In the above configuration, it is preferable that the 1 st traveling wheel includes a plurality of wheels arranged at the same position in the width direction and separated from each other in the extending direction, and the 2 nd traveling wheel includes a plurality of wheels arranged at the same position in the width direction and separated from each other in the extending direction, and that all of the 1 st traveling wheels to be replaced are replaced, and then all of the 2 nd traveling wheels to be replaced are replaced, or all of the 2 nd traveling wheels to be replaced are replaced, and then all of the 1 st traveling wheels to be replaced are replaced.

According to this configuration, when all of the 1 st traveling wheel and the 2 nd traveling wheel provided in the vehicle main body are replaced, the number of times of switching the position of the guide wheel by the switching mechanism can be reduced.

Further, it is preferable that the vehicle further includes a restricting unit that restricts rolling of the 1 st traveling wheel on the 1 st support rail and rolling of the 2 nd traveling wheel on the 2 nd support rail, and the restricting unit changes its posture to a restricting posture that restricts rolling of the 1 st traveling wheel and the 2 nd traveling wheel and a permitting posture that permits rolling of the 1 st traveling wheel and the 2 nd traveling wheel.

According to this configuration, the position in the extending direction of the 1 st traveling wheel and the 2 nd traveling wheel can be fixed by setting the restricting portion to the restricting posture. Therefore, the traveling wheels of the vehicle loading/unloading robot can be easily loaded/unloaded. Further, by setting the restricting portion to the allowable posture, the vehicle can be set to a movable state in the extending direction as necessary.

Preferably, the 1 st support rail is disposed on an extension of one of the pair of travel rails, and the 2 nd support rail is disposed on an extension of the other of the pair of travel rails.

According to this configuration, the vehicle can be guided to the 1 st support rail and the 2 nd support rail while traveling along the pair of travel rails. Therefore, the vehicle traveling on the pair of travel rails can be automatically moved to the working site of the wheel loading and unloading robot without depending on human hands.

In the above configuration, it is preferable that the vehicle further includes a power supply unit configured to supply power to the driving force source of the 1 st traveling wheel and the 2 nd traveling wheel, the power supply unit is a power supply line configured to supply power to the vehicle in a non-contact manner, and the power supply line is disposed along the pair of traveling rails and is also disposed on at least one of the 1 st support rail and the 2 nd support rail.

According to this configuration, power can be supplied from the power supply line both when the vehicle travels along the pair of travel rails and when the vehicle travels along the 1 st support rail and the 2 nd support rail. Therefore, it is easy to realize a vehicle that automatically travels from the pair of travel rails to the 1 st support rail and the 2 nd support rail.

In the above configuration, it is preferable that the vehicle further includes a surrounding wall that surrounds the 1 st support rail, the 2 nd support rail, the 3 rd support rail, the 1 st elevating mechanism, the 2 nd elevating mechanism, and the wheel mounting/demounting robot, the opening portion communicates between the inside and the outside of the surrounding wall, and the automatic door automatically opens and closes the opening portion, and the vehicle travel path including the pair of travel rails, the 1 st support rail, and the 2 nd elevating mechanism is provided so as to pass through the opening portion, and the automatic door automatically opens the opening portion before the vehicle passes through the opening portion and automatically closes the opening portion after the vehicle passes through the opening portion.

According to this configuration, the portion where the traveling wheel is replaced can be surrounded by the surrounding wall and the automatic door, and dust and the like generated when the traveling wheel is replaced can be prevented from being discharged to the outside of the surrounding wall. This structure is particularly suitable for use in a clean room or the like.

Further, it is preferable that the wheel mounting robot includes a 1 st mounting/demounting unit and a 2 nd mounting/demounting unit, the 1 st mounting/demounting unit is disposed further outward in the width direction than the 1 st support rail and performs mounting/demounting of the 1 st traveling wheel, and the 2 nd mounting/demounting unit is disposed further outward in the width direction than the 2 nd support rail and performs mounting/demounting of the 2 nd traveling wheel.

According to this configuration, the 1 st traveling wheel and the 2 nd traveling wheel provided on the opposite sides in the width direction from each other with respect to the vehicle body can be replaced without changing the orientation of the vehicle.

Industrial applicability

The technology of the present application can be used for a wheel exchanging device for exchanging the 1 st traveling wheel and the 2 nd traveling wheel of a vehicle including a vehicle body, the 1 st traveling wheel, the 2 nd traveling wheel, and a guide wheel, wherein the 1 st traveling wheel rolls on the upper surface of one of a pair of traveling rails disposed apart in a width direction, the 2 nd traveling wheel rolls on the upper surface of the other of the pair of traveling rails, the guide wheel rolls on the side surface of the guide rail, and the guide rail is disposed at a position in a vertical direction different from the pair of traveling rails.

Description of the reference numerals

100: maintenance device (wheel replacing device)

100C: maintenance control device (control part)

1: rail support

4: restricting part

5: retaining arm (wheel loading and unloading robot)

7: power supply unit

8: vehicle with a steering wheel

10: no. 1 support rail

10F: 1 st support rail upper surface

20: no. 2 support rail

20F: upper surface of No. 2 support rail

30: no. 3 support rail

31F: side surface of No. 3 support rail

32F: side surface of No. 3 support rail

33: cut-out part

51: side unit 1 (the 1 st loading and unloading unit)

52: side 2 unit (2 nd detachable unit)

70: power supply line

80: vehicle body

81: 1 st traveling wheel

82: no. 2 traveling wheel

83: guide wheel

84: switching mechanism

95: guide rail

95F: side of guide rail

96: traveling rail

96F: upper surface of the running rail

99: travel path

810: fixing part

820: fixing part

Aa: allowing gestures

Ar: posture restriction

Ax: reference shaft

C: image pickup unit

L1: 1 st lifting mechanism

L2: 2 nd lifting mechanism

M: moving mechanism

Pd 1: 1 st lowered position

Pd 2: 2 nd lowered position

Pg 1: 1 st guide position

Pg 2: 2 nd guide position

Pu 1: 1 st reference position

Pu 2: 2 nd reference position

R: direction of oscillation

R1: swing direction 1 st side

R2: swing direction 2 nd side

W: enclosing wall

And Wd: automatic door

Wh: opening part

X: direction of extension

Y: the width direction.

Claims

1. A wheel exchanging device for exchanging a 1 st traveling wheel and a 2 nd traveling wheel of a vehicle including a vehicle body, the 1 st traveling wheel, the 2 nd traveling wheel, and a guide wheel, wherein the 1 st traveling wheel rolls on an upper surface of one of a pair of traveling rails disposed apart in a width direction, the 2 nd traveling wheel rolls on an upper surface of the other of the pair of traveling rails, the guide wheel rolls on a side surface of the guide rail, and the guide rail is disposed at a position in a vertical direction different from the pair of traveling rails,

comprises a 1 st and a 2 nd support rails, a 3 rd support rail, a 1 st lifting mechanism, a 2 nd lifting mechanism, a wheel loading and unloading robot and a control part,

the 1 st support rail and the 2 nd support rail are arranged to be separated from each other in the width direction,

the 3 rd support rail is disposed at a position in the vertical direction different from the 1 st support rail and the 2 nd support rail,

the 1 st lifting mechanism lifts the 1 st support rail to a 1 st reference position and a 1 st lowered position below the 1 st reference position,

the 2 nd lifting mechanism lifts the 2 nd support rail to a 2 nd reference position and a 2 nd lowered position below the 2 nd reference position,

the wheel mounting/demounting robot mounts/demounts the 1 st traveling wheel and the 2 nd traveling wheel to/from the vehicle body,

the control part controls the 1 st lifting mechanism, the 2 nd lifting mechanism and the wheel loading and unloading robot,

a virtual line extending along the extending direction of the 1 st support rail and the 2 nd support rail at the middle of the 1 st support rail and the 2 nd support rail in the width direction is set as a reference axis, the direction in which the vehicle rotates around the reference is set as a swing direction, the side in which the vehicle swings when the 1 st traveling wheel descends relative to the 2 nd traveling wheel is set as a swing direction 1 st side, and the side in which the vehicle swings when the 2 nd traveling wheel descends relative to the 1 st traveling wheel is set as a swing direction 2 nd side,

in a state where the 1 st support rail is at the 1 st reference position and the 2 nd support rail is at the 2 nd reference position, a two-wheel-mounted state is assumed in which the 1 st traveling wheel is mounted on the 1 st support rail and the 2 nd traveling wheel is mounted on the 2 nd support rail,

in a state where the 1 st support rail is at the 1 st lowered position and the 2 nd support rail is at the 2 nd reference position, a 1 st wheel separated state where the 1 st traveling wheel is separated from the 1 st support rail, the 2 nd traveling wheel is placed on the 2 nd support rail, and the guide wheel is in contact with a side surface of the 3 rd support rail facing the 2 nd side in the swing direction,

in a state where the 1 st support rail is at the 1 st reference position and the 2 nd support rail is at the 2 nd lowered position, a 2 nd wheel separated state is assumed in which the 1 st traveling wheel is placed on the 1 st support rail, the 2 nd traveling wheel is separated from the 2 nd support rail, and the guide wheel is in contact with a side surface of the 3 rd support rail facing the 1 st side in the swing direction,

the control unit causes the wheel handling robot to handle the 1 st traveling wheel in the 1 st wheel separated state, and causes the wheel handling robot to handle the 2 nd traveling wheel in the 2 nd wheel separated state.

2. The wheel exchanging apparatus according to claim 1,

comprises an imaging unit, a rail support unit, and a moving mechanism,

the imaging unit is disposed at a different position in the extending direction from the wheel mounting/demounting robot and images the 1 st traveling wheel and the 2 nd traveling wheel,

the rail support portion integrally supports the 1 st support rail, the 2 nd support rail, and the 3 rd support rail,

the moving mechanism moves the rail support portion relative to the wheel handling robot in the extending direction.

3. The wheel exchanging apparatus according to claim 1 or 2,

a power supply unit for supplying power to the driving force sources of the 1 st traveling wheel and the 2 nd traveling wheel,

the vehicle includes a switching mechanism that switches a position of the guide wheel in the width direction to a 1 st guide position where the guide wheel abuts a side surface of the 3 rd support rail facing a 2 nd side in the swing direction, and a 2 nd guide position where the guide wheel abuts a side surface of the 3 rd support rail facing the 1 st side in the swing direction,

a cutout portion through which the guide wheel can pass in the width direction is formed in a region of a part of the 3 rd support rail in the extending direction.

4. The wheel exchanging apparatus according to claim 3,

the 1 st traveling wheel includes a plurality of wheels arranged apart in the extending direction at the same position in the width direction,

the 2 nd traveling wheel includes a plurality of wheels arranged apart in the extending direction at the same position in the width direction,

after replacing all the 1 st traveling wheels to be replaced, all the 2 nd traveling wheels to be replaced are replaced, or after replacing all the 2 nd traveling wheels to be replaced, all the 1 st traveling wheels to be replaced are replaced.

5. Wheel changing apparatus according to any one of claims 1 to 4,

a restricting unit for restricting rolling of the 1 st traveling wheel on the 1 st support rail and rolling of the 2 nd traveling wheel on the 2 nd support rail,

the posture of the restricting portion is changed to a restricting posture for restricting the rolling of the 1 st traveling wheel and the 2 nd traveling wheel and an allowing posture for allowing the rolling of the 1 st traveling wheel and the 2 nd traveling wheel.

6. Wheel changing apparatus according to any one of claims 1 to 5,

the 1 st support rail is arranged on an extension line of one of the pair of travel rails,

the 2 nd support rail is disposed on an extension line of the other of the pair of travel rails.

7. The wheel exchanging apparatus according to claim 6,

the power supply unit is a power supply line for supplying power to the vehicle in a non-contact manner,

the feeder line is disposed along a pair of the travel rails and is also disposed on at least one of the 1 st support rail and the 2 nd support rail.

8. The wheel exchanging apparatus according to claim 6 or 7,

comprises a surrounding wall, an opening part and an automatic door,

the surrounding wall surrounds the 1 st support rail, the 2 nd support rail, the 3 rd support rail, the 1 st elevating mechanism, the 2 nd elevating mechanism and the wheel mounting/demounting robot,

the opening portion communicates the inside and outside of the surrounding wall,

the automatic door automatically opens and closes the opening,

a running path of the vehicle, which is composed of the pair of running rails, the 1 st supporting rail and the 2 nd supporting rail, is provided so as to pass through the opening,

the automatic door automatically opens the opening before the vehicle passes through the opening, and automatically closes the opening after the vehicle passes through the opening.

9. Wheel changing apparatus according to any one of claims 1 to 8,

the wheel mounting robot includes a 1 st mounting/demounting unit and a 2 nd mounting/demounting unit, the 1 st mounting/demounting unit is disposed further outward in the width direction than the 1 st support rail and performs mounting/demounting of the 1 st traveling wheel, and the 2 nd mounting/demounting unit is disposed further outward in the width direction than the 2 nd support rail and performs mounting/demounting of the 2 nd traveling wheel.