JP3019247B2 - Overhead traveling car - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an overhead traveling vehicle for transporting a work, and more particularly, to loading a work from a position distant from immediately below a traveling rail and unloading the work to a position distant from immediately below a traveling rail. Related to doing.

[0002]

2. Description of the Related Art An overhead traveling vehicle is used for transporting a work or a product (work) in a factory or the like. The overhead traveling vehicle travels along the rails laid along the ceiling of the building, hoisting or unwinding the hand with the hoisting unit provided on the main body, for example, loading and loading the work to be transferred from the ground station Unload the work to another ground station.

[0003] However, loading or unloading is limited to a position directly below the traveling rail, and there are restrictions on the arrangement of the traveling rail and the arrangement of ground stations and the like.

[0004]

The object of the present invention is to: 1) widen the permissible width of a work position with respect to a traveling rail;
The work can be loaded and unloaded even at a position other than immediately below the traveling rail (Claims 1 to 3). 2) Eliminate restrictions on the direction of the work (Claims 1 to 3).
3), 3) To provide a simple and reliable mechanism for loading or unloading a work located at a position off the traveling rail (claim 3).

[0005]

SUMMARY OF THE INVENTION The present invention relates to a ceiling provided with a main body which travels while being supported by a traveling rail laid along a ceiling of a building, a winding unit provided at a lower portion of the main body, and a hand which moves up and down by the winding unit. In the traveling vehicle, a horizontal moving rail is provided at a bottom portion of the main body substantially at right angles to a moving direction thereof, and a feed mechanism for moving the hoisting unit on the horizontal moving rail is provided. A hand body suspended by six suspending members, which is wound up / down by a hoisting drum, and a turning plate which is turned by a turning mechanism provided on the hand body and provided with an article gripping mechanism. Characterized in that a hand consisting of

Preferably, a pair of the lateral movement rails are provided near both ends in the front-rear direction of the bottom of the main body, and one of the pair of lateral movement rails is closer to an end in the front-rear direction of the bottom of the main body. A feed mechanism is provided (claim 2).

Preferably, the feed mechanism includes a lateral movement motor, a threaded shaft rotated by the motor,
And a female screw engaged with the threaded shaft (claim 3).

[0008]

According to the present invention, the hoisting unit is suspended by the horizontal moving rail at the bottom of the main body, and is laterally moved along the bottom surface of the main body by the feed mechanism. For this reason, the hoisting unit can also move in a direction perpendicular to the traveling rail, and can be loaded and unloaded at a position other than immediately below the traveling rail. Here, as the feed mechanism, for example, a threaded shaft and a female screw are used, and the shaft is rotated by a lateral movement motor, and the female screw is moved forward and backward to move the winding unit. As the female screw, a simple female screw or the like can be used in addition to the ball screw shown in the embodiment. In this way, the hoisting unit can be moved laterally by a simple and reliable mechanism of the screw, the shaft and the motor. In this specification, movement in a direction perpendicular to the moving direction of the overhead traveling vehicle, that is, movement in a direction perpendicular to the traveling rail is referred to as lateral movement.

Further, in the present invention, the hand is composed of a hand body and a rotating plate, and the hand body is suspended by a rope or the like from a winding unit, the rotating plate is rotated, and the gripping mechanism is used. Grasp the work. For this reason, the hand body can be stably hung without rotating with respect to the winding unit, and the rotating plate rotates in accordance with the work, and the work is gripped by the gripping mechanism. Therefore, the workpiece in any direction can be gripped by the hand, and the hand body does not rotate, so that the lifting and lowering by the hoisting unit becomes easy (claim 1).

[0010]

1 to 14 show an overhead traveling vehicle according to an embodiment.
First, the overall structure of the overhead traveling vehicle and the structure of the bogie will be described. FIG.
4 shows the overall structure of the overhead traveling vehicle 2, 01 is a rail laid along the ceiling of a building such as a clean room or a factory, 02 is a rail portion, and 03 is a communication cable between the overhead traveling vehicle 2 and the management center. is there. The overhead traveling vehicle 2 includes two trucks 4, 4, and each truck 4 includes a bumper 6. The main body 8 is connected to the carts 4 and 4 by pivot shafts shown in FIGS. 1 to 3, and a hoisting unit 10 is provided below the main body 8.
Then, the winding unit 10 raises and lowers the hand 12,
The hand 12 holds and transports a work 04 such as a SMIF pod containing a semiconductor substrate. Reference numerals 14 and 14 denote a pair of fall prevention members for preventing the work 04 from dropping when the hand 12 is lifted and the work 04 is transported.

[0011]

[Dolly] FIG. 1 shows the structure of the trolleys 4, 4 viewed from a direction perpendicular to the traveling direction of the overhead traveling vehicle 2, FIG. 2 shows the structure of the trolleys 4, 4 viewed from the ceiling side, and FIG. The section of the carriage 4 in a direction perpendicular to 01 is shown. In these figures, the covers and the like of the carts 4 and 4 are removed. Referring to FIG. 3 to show the attachment of the trolleys 4 and 4 to the rail 01, 05
Is a support for the rail 01, which has a function of adjusting the height of the rail 01, and is covered with a cover 06. Reference numeral 08 denotes an overhead line for supplying power to the overhead traveling vehicle 2, and reference numeral 09 denotes a mark for transmitting a stop position and the like to the overhead traveling vehicle 2.

As shown in FIGS. 1 to 3, a traveling motor 16 is provided substantially horizontally along the longitudinal direction of each carriage 4 (a direction parallel to the rails 01), and its motor shaft 20 is substantially horizontal.
For example, it is in a range of ± 10 degrees with respect to a horizontal plane. The travel motor 16 is not provided with a brake, and a brake 18 such as an electromagnetic brake is provided separately. The motor shaft 20 and the brake shaft 22 of the brake 18 are connected to the hypoid gear 24, the rotation direction is changed by 90 degrees to rotate the traveling shaft 25, and the traveling wheel 2
6 is driven. Here, the running wheel 26 has a vertical rotating surface, but may be horizontal. Reference numeral 28 denotes a guide roller for preventing each carriage 4 from coming off the rail 01. For example, eight guide rollers are provided for each carriage 4 as shown in FIGS. Guide rollers 28 are also provided at the tip of the bumper 6,
The bumper 6 runs smoothly on the rail portion 02. Numeral 30 denotes a current collector rotatable about a vertical axis.
And feeds power to the traveling motor 16 and the like.

Reference numerals 32, 32 denote pivot shafts for connecting the carts 4, 4 to the main body 8. As a result, the pair of carts 4 and 4 act as bogies with respect to the main body 8. 34, 34
Is a pivot shaft connecting the bumpers 6, 6 to the carts 4, 4, and is connected to the covers 15, 15 of the carts 4, 4. The bumper 6 travels on the rail portion 02 by the guide roller 28, and can be turned with respect to the carriage 4 by the pivot shaft 34. Proximity sensor 3 at the tip of bumpers 6 and 6
6 is provided to detect a preceding traveling vehicle, an obstacle, and the like. Reference numeral 38 denotes a reading sensor provided to face the mark 09.
The stop position and the like are detected by assisting the control data built in the main body 8.

The features of the carts 4 and 4 will be described. It is important that the overhead traveling vehicle 2 used in a crane room or the like has a small volume. In the case of the truck 4, since the space along the longitudinal direction of the rail 01 is allocated to the overhead traveling vehicle 2, it is important to reduce the width and height of the truck 4, 4 with respect to the rail 01. In the embodiment, a traveling wheel 26 is provided near a central portion along the longitudinal direction of each bogie 4, a traveling motor 16 is provided on one side thereof, and a brake 18 is provided on the other side. The traveling motor 16 partially projects from the carriage 4. The motor shaft 20 and the brake shaft 22 are substantially horizontal, for example, in a range of ± 10 degrees with respect to a horizontal plane, and their directions are parallel to the traveling direction of the carriage 4. For this reason, the longitudinal direction of the motor 16 and the brake 18 becomes parallel to the longitudinal direction of the rail 01, and the height and width of the carts 4 and 4 decrease. The motor shaft 20 and the brake shaft 22 are connected to the hypoid gear 24, and drive the traveling wheels 26 by changing the direction of the rotating shaft to a right angle. In the hypoid gear 24, its axial direction does not intersect with the axial direction of the motor shaft 20 or the brake shaft 22, and for example, in FIG. 1, the directions of the motor shaft 20 and the brake shaft 22 are simply arranged in parallel without overlapping. And hypoid gear 24
With the use of a bevel gear, power can be transmitted more reliably with a thinner gear than a bevel gear.
4 can be made smaller.

The traveling motor 16 and the brake 18 are separately provided and are disposed so as to be substantially opposed to each other with the traveling wheel 26 as a center. Since the motor 16 and the brake 18 are provided separately, the size of the motor can be reduced, and these loads are dispersed on both sides of the traveling wheel 26 to be stable. Assuming that the brake 18 is
6, the motor becomes large and the traveling wheels 2
6 must be placed almost in the center of the trolley 4,
The cart 4 becomes larger. Further, the load is concentrated on one side of the carriage 4 and becomes unstable.

Next, the two carts 4 and 4 are separated from the main body 8 and connected by pivot shafts 32 and 32. Since the motor 16 and the like are provided for each truck 4, the motor 16 and the brake 18
And the height and width of the carts 4 and 4 decrease. In addition, since the trolleys 4 and 4 are pivotally connected to the main body 8, as shown in FIG. 4, the overhead traveling vehicle 2 can smoothly turn a curve, and the work 04 is less shaken. Also, since the front and rear bumpers 6 and 6 are connected to the carts 4 and 4 by the pivot shaft 34, the bumpers 6 and 6 are connected to the carts 4 along the direction of the rail 01.
, The overhead sensor 36 can reliably detect the preceding overhead traveling vehicle, and even if the vehicle collides, the trolley 4 can be prevented from directly colliding. On the other hand, if the bumpers 6 and 6 are not pivotally connected to the trucks 4 and 4, the direction of the proximity sensor 36 is fixed to the direction of the truck 4 and the traveling vehicle 2 preceding the curve may not be detected.

[0017]

[Winding unit] FIGS. 5 to 7 show a winding unit 10 according to an embodiment. The hoisting unit 10 is supported by the lower portion of the main body 8, and a hoisting unit base 40 has three hoisting drums 42 disposed on the bottom surface thereof.
Each winding drum 42 is divided into two parts, and one rope 42 is used to wind two ropes, belts, tapes, or the like, and the hand 12 is wound using a total of six ropes 80. Further, the winding drum 42 is disposed, for example, along each side of the equilateral triangle, and a separation prevention roller 44 is provided outside the drum 42 as viewed from the center of the unit 10.
To prevent the rope 80 from coming off the drum 42.

Reference numerals 46, 46 denote two sets of hoisting motors, in which brakes 48 such as electromagnetic brakes are separately provided. Reference numeral 50 denotes a motor shaft, 52 denotes a brake shaft, which is arranged in a substantially horizontal axial direction, for example, within a range of ± 10 degrees from a horizontal plane. As a result, the motors 46, 46 and the brake 48 can be arranged substantially horizontally at the same height as the drum 42. A driving gear such as a hypoid gear 54 is provided at the center of the winding unit 10, that is, at the center of the triangle formed by the three drums 42, and a transmission spur gear 56 is provided on the common shaft 55.
The hypoid gear 54 converts the rotation of the motor 46 about the horizontal direction to the rotation about the height direction, and may use a bevel gear or the like, but the hypoid gear 54 is preferable because it can transmit power thinly and reliably. The spur gear 56 drives the drum 42 via a spur gear 58 on the drum 42 side. A bevel gear 60 is provided on the rotation shaft of the spur gear 58,
The bevel gear 62 of the drum 42 is rotated. Spur gear 5
Instead of 8, 58, a helical gear or the like may be used. 6
Reference numeral 4 denotes a guide pin for positioning with the hand 12.

Referring to FIG. 6, the operation of the hoisting unit 10 will be described.
From each point, the rope 80 is divided into two and extends upward, and the two drums 42, 42 arranged on two sides of the triangle
And take up. Here, when the hand 12 is at the lowest position, the rope 80 is inside the drum 42, and as the winding proceeds, the winding position moves to the outside of the drum 42. As a result, the rope 80 is on an isosceles triangle with each point P as the vertex, and the interval between the winding positions of the two drums 42, 42 decreases as the hand 12 rises. For this reason, at the position where the hand 12 is located below, the interval between the winding positions is large, and when the hand 12 is raised, the interval between the winding positions is reduced, and the angle formed by the two ropes 80 fixed to the same point is determined by the hand 12. It can be almost constant regardless of the rise and fall of. Therefore, the hand 12 can be stably held regardless of the height position,
In addition, the torque required for winding is substantially constant. That is, the larger the angle between the two ropes 80, 80, the more the hand 12
Can be maintained stably, but on the other hand, the torque required for winding up increases. In the embodiment, the angle formed by the two ropes is made constant regardless of the height, and the hand 12 is stably wound up or down with almost constant torque. In the embodiment, since the hand 12 is moved up and down using the six ropes 80, even if one rope is cut, the hand 12 does not tilt and the work 04 can be stably conveyed.

Next, the size of the winding unit 10 will be considered. As apparent from FIGS. 5 and 6, the motor 4
8 and the position of the drum 42 in the height direction are aligned and arranged substantially horizontally. For this reason, the height of the hoisting unit 10 is reduced, and the area occupied by the hypoid gear 54 and the spur gear 56 is reduced by vertically overlapping the hypoid gear 54 and the spur gear 56. Considering the transmission of the rotation from the motor 46, the rotation of the motor 46 having a rotation axis in a substantially horizontal direction is converted to a substantially right angle by the hypoid gear 54, transmitted to the spur gears 56, 58, and re-directed by the bevel gears 60, 62 to the horizontal direction. Of drum 4
2

The three drums 42 are on three sides of an equilateral triangle, and a space is formed on a line connecting the positions of the vertices and the hypoid gear 54 at the center. The motors 46, 46 and the brake 48 are arranged on this line, so that the plane dimensions of the unit 10 can be minimized. In addition, since the brake 48 is separated from the motors 46, 46, the size of each motor 46, 46 can be reduced, and the drum 42, the motor 46, and the brake 48 are arranged substantially uniformly around the hypoid gear 54, so that the winding unit The load on 10 is evenly distributed. As a result, the horizontal movement of the hoisting unit 10 using the later-described lateral movement rail 78 is facilitated.

[0022]

[Lateral movement of the hoisting unit] Lateral movement of the hoisting unit 10 will be described. 5, 6 and 8, 70 is a lateral movement motor for moving the hoisting unit 10 laterally with respect to the main body 8, 72 is its brake, and 74 is a pulley, which is driven by the rotation of the motor 70. A belt 90 is attached to the pulley 74, and a threaded shaft 92 is rotated. 94 and 96 are bearings, and 76 is a female ball screw. Of these members, the female ball screw 76 is attached to the hoisting unit 10, and the other members are attached to the main body 8. Conversely, the female ball screw 76 may be attached to the main body 8 and another member may be attached to the winding unit 10 side, but this is not preferable because the weight of the winding unit 10 increases. These are collectively referred to as a feed mechanism of a winding mechanism. Note that a simple cylindrical female screw may be used instead of the female ball screw 76. At the bottom of the main body 8, there are provided lateral movement rails 78, 78 shown in FIGS.
The forward and backward movement of the female ball screw 76 allows the hoisting unit 10 to move on the rail 78.

With this configuration, the female ball screw 76 moves forward and backward with respect to the threaded shaft 92 by the rotation of the motor 70, and the hoisting unit 10 moves on the horizontal moving rail 78. For this reason, the work 04 located in a place other than immediately below the traveling rail 01 can be loaded and unloaded, and restrictions on the position of the work 04 are greatly eased. This means that restrictions on the arrangement of ground stations (not shown) are relaxed, and the ground stations can be arranged at desired positions. In addition, the degree of freedom in the arrangement of the traveling rail 01 is increased, and the installation of the rail 01 is facilitated.

The hoisting unit 10 with respect to the rail 01
The range in which the traverse can be
Is determined within a range in which the carriage 4 does not incline, and if the mounting of the carriage 4 on the rail 01 is stabilized, the range in which the carriage 4 can move laterally increases accordingly. Further, in the embodiment, the main body 8 is provided separately from the carriage 4, so that the lateral movement rail 78 is provided on the main body 8. However, if the main body 8 is integrated with the carriage 4, the lateral movement rail 78 is provided on the bottom of the carriage 4.
Will be provided.

[0025]

[Hand] The hand 12 will be described with reference to FIGS. 9 and 10, reference numeral 100 denotes a hand body, which is suspended from the hoisting unit 10 by a rope 80. 1
Reference numeral 02 denotes a rotating plate which is driven by a motor
To rotate. Reference numeral 106 denotes a brake, reference numeral 108 denotes a shaft, reference numeral 110 denotes a bevel gear connected to the shaft 108, which drives a toothed belt 112 by rotating a belt drive gear (not shown) to rotate the hand main body 102. Reference numeral 114 denotes an attachment portion of the rope 80 (the above-mentioned point P).
Is a positioning hole of the guide bin 64.

As shown in FIG. 10, the rotating plate 102 is provided with a substantially hemispherical centering member 120 and a spring 122 for pressing the centering member 120 downward.
4 is centered by engaging with a hole provided at the center of the holding plate 010. Also, for example, 3
A set of claws 126 is provided, rotated about the claw shaft 124, and fitted into a recess or hole provided in the holding plate 010.

FIGS. 11 and 12 show the members related to the pawl 126. A cam plate 128 is provided inside the rotary plate 102, a motor 130 with a brake, for example, and a 132 is provided at the center of the cam plate 128. Bevel gear, 13
4 is a cam groove. The cam plate 128 is rotated by a bevel gear 132 by rotation of a built-in motor 130. A roller 136 is arranged in the cam groove 134 and is driven by the rotation of the cam plate 128. The rotation of the roller 136 is transmitted to the gear 138, and meshes with a gear provided on the claw shaft 124 to rotate the claw 126. 140 is the cam plate 12
8 is a guide roller for rotating the roller 8 smoothly.

In order to detect the position of the holding plate 010, a light emitting part 142 and a light receiving part 143 constitute a position sensor, and the optical axis is arranged slightly above the fitting projection of the claw 126. That is, the holding plate 010 is at a slightly raised position until the projection at the tip of the claw 126 fits into the recess of the holding plate 010, and blocks the optical axis between the light emitting unit 142 and the light receiving unit 143. On the other hand, the holding plate 010
When the protrusion at the tip of the claw 126 is fitted into the concave portion, the position of the holding plate 010 is relatively lowered, and the light from the light projecting portion 142 can be received by the light receiving portion 143. In this way, it is detected whether or not the grip of the claw 126 on the holding plate 010 has been completed. Note that here, the light emitting unit 142 is connected to the light receiving unit 1
Although the light transmitted through 43 is used, reflected light from the holding plate 010 may be detected by the light receiving unit 143, or the position of the holding plate 010 may be detected by a distance sensor such as an ultrasonic sensor.

FIG. 13 shows a landing detection mechanism of the hand 12. In FIG. 14, when the hand 12 descends and touches the work 04, the drum 42 is stopped by the brake 48 and the rope 80 is stopped.
It is necessary to prevent slack. So hand 12
In the rope attachment portion 114, the rope 80 is fixed to the holding piece 82, housed in the case 84, and pressed downward by the spring 86. Here, when the hand 12 descends and touches the work 04 arranged on the ground station, an upward force is applied to the hand 12 from the work 04, and the rope holding piece 82 moves downward by the force of the spring 86. The position of the rope holding piece 82 is monitored by a limit switch 88, and when the holding piece 82 moves downward, the limit switch 88 is released and the hand 12 is moved.
Detects that the vehicle has landed. When this is detected, the main body 8 is communicated via a line (not shown), the brake 48 is operated by the control circuit, the hypoid gear 84 is fixed, and the drum 42 is fixed. The limit switch 88
Alternatively, the position of the holding piece 82 may be monitored using a proximity sensor or the like.

When the operation of the hand 12 is shown, the turning plate 102 is turned in advance before loading, and is turned in the correct direction with respect to the work 04. When the hand 12 is lowered, the centering member 120 engages with a hole provided in the holding flute 010, and the centering member 120 finely corrects the position of the hand 12 with respect to the work 04, thereby performing centering. Although the hemispherical centering member 120 is used here, the shape is not limited to a hemispherical shape, but may be a convex shape and a smooth tip. Also, a centering projection is provided on the holding plate 010,
The hand 12 may be provided with a hole or a recess that engages with the projection.

When the centering is completed, the motor 130
As a result, the cam plate 128 is rotated, and the roller 136 is driven along the cam groove 134. This rotation is performed by the gear 13
8 and the pawl shaft 124 is rotated to rotate the pawl 126
Is rotated from the outside to the inside of the work 04, and is fitted and held in the recess provided in the holding plate 010. Here, the holding plate 0 is held until the projection at the tip of the claw 126 is fitted into the recess.
Reference numeral 10 is at a position slightly pushed up with respect to the hand 12, and the optical path between the light projecting unit 142 and the light receiving unit 143 is interrupted, so that it is possible to detect that gripping is not completed. Similarly, if the holding plate 010 and the claw 126 are disengaged during the transfer of the workpiece 04, the light emitting unit 142 and the light receiving unit 1
Since the optical axis between 43 is blocked, it can be detected.

In the embodiment, the structures of the trolleys 4, 4 and the hoisting unit 10 have been described in detail, but these structures are optional.
Although the horizontal movement of the winding unit 10 and the rotation of the rotating plate 102 have been described, the lateral movement and the rotation need not be performed.

[Brief description of the drawings]

FIG. 1 is a front view of a main part of a bogie section of an overhead traveling vehicle according to an embodiment.

FIG. 2 is a plan view of a main part of a bogie section of the overhead traveling vehicle according to the embodiment.

FIG. 3 is a sectional view of a main part of the bogie of the overhead traveling vehicle according to the embodiment in a vertical plane.

FIG. 4 is a diagram showing a traveling state of the overhead traveling vehicle on the curve of the bogie section according to the embodiment.

FIG. 5 is a front view of a main part of the winding unit according to the embodiment.

FIG. 6 is a bottom view of the winding unit according to the embodiment.

FIG. 7 is a diagram showing connection of a motor, a brake, and a hypoid gear in the hoisting unit according to the embodiment.

FIG. 8 is a diagram showing a disassembled state of the hoisting unit in the height direction in the embodiment.

FIG. 9 is a diagram showing a disassembled state of the hand along the rotating plate in the embodiment.

FIG. 10 is a diagram showing a disassembled state of the hand in the height direction in the embodiment.

FIG. 11 is a diagram showing a disassembled state of the hand along the cam plate in the embodiment.

FIG. 12 is a sectional view in the height direction of a main part of the hand in the embodiment.

FIG. 13 is a diagram illustrating a hand landing detection mechanism according to the embodiment;

FIG. 14 is a perspective view of an overhead traveling vehicle according to the embodiment.

[Explanation of symbols]

01 rail 72 brake 02 rail part 74 pulley 03 communication cable 76 female ball screw 04 work 78 lateral movement rail 05 support body 80 rope 06 cover 82 rope holding piece 07 ceiling 84 case 08 overhead wire 86 spring 09 mark 88 limit switch 010 holding plate 90 belt 2 overhead traveling vehicle 92 threaded shaft 4 carriage 94 bearing 6 bumper 94 bearing 8 body 100 hand body 10 hoisting unit 102 rotating plate 12 hand 104 hand rotating motor 14 fall prevention member 106 brake 15 cover 108 shaft 16 running motor 110 bevel gear Reference Signs List 18 brake 112 toothed belt 20 motor shaft 114 rope attachment part 22 brake shaft 116 positioning hole 24 hypoid gear 120 centering member 5 Running shaft 122 Spring 26 Running wheel 124 Claw shaft 28 Guide roller 126 Claw 30 Current collector 128 Cam plate 32 Pivot shaft 130 Motor 32 Pivot shaft 132 Bevel gear 36 Proximity sensor 134 Cam groove 38 Read sensor 136 Roller 40 Hoisting unit base 138 Gear 42 Hoisting drum 140 Guide roller 44 Detachment preventing roller 142 Light emitting unit 46 Hoisting motor 143 Light receiving unit 48 Brake 50 Motor shaft 52 Brake shaft 54 Hypoid gear 55 Common shaft 56 Spur gear 58 Spur gear 60 Bevel gear 62 Bevel gear 64 Guide pin 70 Lateral movement motor

Claims (3)

(57) [Claims] 1. An overhead traveling vehicle comprising: a main body that runs while being supported by a traveling rail laid along a ceiling of a building; a hoisting unit provided at a lower portion of the main body; and a hand that moves up and down by the hoisting unit. A horizontal moving rail is provided on the bottom of the main body substantially at right angles to the moving direction, and a feed mechanism for moving the winding unit on the horizontal moving rail is provided. With three winding drums provided on the winding unit, A hand composed of a hand body suspended by six suspending members to be hoisted / unwound, and a rotating plate which is rotated by a rotating mechanism provided on the hand body and has a gripping mechanism for articles. An overhead traveling vehicle provided. 2. A pair of lateral movement rails are provided near both ends in the front-rear direction of the bottom of the main body, and the feed rail is moved from one end of the bottom of the main body to one of the pair of lateral movement rails. The overhead traveling vehicle according to claim 1, wherein a mechanism is arranged. 3. The feed mechanism comprises a lateral movement motor, a threaded shaft rotated by the motor, and a female screw engaged with the threaded shaft.
The overhead traveling vehicle according to claim 1 or 2.