JP5151276B2 - Transport system - Google Patents

Description

  The present invention relates to the technical field of a transfer system including a transfer vehicle for transferring various substrates for manufacturing semiconductor devices, for example.

  As this type of transport system, there is a system that transports an object to be transported by a suspended transport vehicle (OHT: Overhead Hoist Transfer) that travels on a track laid on a ceiling. In some transport systems as described above, there is one that enables transfer of a transported object installed other than directly below the track (hereinafter referred to as “lateral transfer” as appropriate).

  For example, Patent Document 1 discloses a technique that enables lateral transfer by providing transfer means that can move in a horizontal plane at the lower part of a transport vehicle. Japanese Patent Application Laid-Open No. H10-228561 discloses a technology that enables a horizontal transfer by providing a ceiling buffer on the side of the transport vehicle and moving the lifting platform to the ceiling buffer. Further, Patent Document 3 discloses a technique that enables lateral transfer by providing an article mounting table on the side of the track.

JP-A-11-180505 JP 2005-206371 A JP 2006-282303 A

  However, when performing the horizontal transfer as described above, the object to be transferred is transferred to the side of the transport vehicle, so that the center of gravity may move and the transport vehicle may tilt. If the transport vehicle is tilted, there is a technical problem that the transport vehicle cannot run normally, and the transported object may be damaged or broken due to an impact, for example. In addition, when the mounting unit can be moved up and down with respect to the main body, the position of the mounting unit greatly changes due to the inclination of the main body, and alignment when the transferred object is transferred to the transferred object table or the like. There is a technical problem that it becomes difficult.

  The present invention has been made in view of the above-described problems, for example, and an object of the present invention is to provide a transport system that can prevent the transport vehicle from being tilted during lateral transfer.

In order to solve the above problems, a transport system of the present invention has a track portion laid on the ceiling, a travel portion that travels on the track portion, a main body portion that is attached to the travel portion in a suspended manner, and the main body portion. The placement section on the surface of the main body portion facing the track section and the transport section having a placement section that can move to the side of the track section and can place the object to be transported sideways. When the center of gravity of the transport unit is moved to move toward the edge in the direction opposite to the moving direction, the outrigger unit movable toward the track unit, and the placement unit moves sideways. And an outrigger driving means for moving the outrigger portion so as to contact the track portion.

  According to the transport system of the present invention, during the operation, first, the travel unit travels on the track portion laid on the ceiling, so that the transported object is transported by the transport unit. The transport unit has a main body unit that is attached to the traveling unit so as to hang down and a mounting unit that extends to the side of the track unit and is capable of mounting an object to be transported. It is possible to place and transport the object to be transported installed on the machine. The term “extend laterally” as used herein is typically a horizontal direction, but does not mean a strict horizontal direction, and may be obliquely downward or obliquely upward as long as it deviates laterally from the track. It may be an extension of. That is, the placement unit may perform horizontal transfer that is typically extended horizontally, or may perform horizontal transfer that is an irregular extension. Further, it is possible to place the placement unit without extending.

  Here, in particular, in the case of performing the above-described lateral transfer, the center of gravity of the transport unit moves as the mounting unit extends sideways. For this reason, the conveyance part attached in the form suspended from the traveling part inclines in the direction in which the center of gravity has moved. Furthermore, the inclination is further increased by placing the transported object on the extended placement portion. Alternatively, even if the robot does not actually tilt, a force (in other words, moment or torque) acts in the direction of tilting, and the load balance is lost, which causes distortion and stagnation of the device.

  If the operation is performed with the transport section tilted, for example, the main body section and the track section may come into contact with each other, which may prevent normal travel or damage or failure of the transported object due to impact or the like. is there. In addition, it is also possible to travel with the lateral transfer being performed, in the initial setting (for example, teaching) or adjustment of the transfer system, in the case of positioning or position adjustment, angle adjustment or angle adjustment of the mounting portion. It is essential or desired.

  However, in the present invention, in particular, the outrigger portion is provided near the edge in the direction opposite to the direction in which the center of gravity moves on the surface of the main body facing the track portion. In addition, when the mounting part can be extended in a plurality of directions, there are a plurality of directions in which the center of gravity moves, and thus a plurality of outrigger parts may be provided. The outrigger portion is movable toward the track portion, and is moved so as to come into contact with the track portion by the outrigger driving means when the placement portion extends. Typically, the outrigger portion is brought into contact with the lower surface of the track portion by being moved upward in the vertical direction.

  When the outrigger portion comes into contact with the track portion, the outrigger portion supports the track portion and the main body portion, thereby preventing the track portion and the main body portion from contacting each other. It is possible to maintain a balance with the force (in other words, moment or torque) generated by the lateral movement of the center of gravity due to the drag or reaction force generated by the outrigger portion coming into contact with the track portion. Therefore, it is possible to prevent the conveyance unit from being inclined due to the movement of the center of gravity. The outrigger portion is preferably provided closer to the edge, but the above-described effect can be obtained if the outrigger portion is closer to the edge than the center of gravity moved by extension.

  As described above, according to the transport system according to the present invention, the outrigger unit is moved so as to come into contact with the track unit when the mounting unit extends, so that the transport vehicle is inclined during the lateral transfer. Can be prevented.

  In one aspect of the transport system of the present invention, the placement unit can be raised and lowered with respect to the main body.

  According to this aspect, for example, the placing portion is provided with the lifting belt and the like, and can be raised and lowered with respect to the main body portion. In other words, it is possible to grip a transferred object at a height different from that of the main body, or to transfer the transferred object to a transferred object table or the like at a height different from that of the main body.

  If the main body is tilted when the mounting portion is lowered from the main body, the position of the mounting portion also changes greatly, and the position of the mounting portion and the transported object, or the transported object. There is a risk that it will be extremely difficult to align the positions of the carrier and the transported object table.

  However, in this embodiment, in particular, the outrigger portion can prevent the main body portion from being inclined. Therefore, even when the placement unit is extended and lowered, the position of the placement unit does not change greatly. Therefore, it is possible to reliably hold the object to be conveyed or transfer it to the object table.

  In another aspect of the transport system of the present invention, the portion of the outrigger portion that contacts the track portion is a roller.

  According to this aspect, the portion where the outrigger portion moved by the outrigger drive portion contacts the track portion is a roller, and preferably by rotating on the track portion by being attached so as to be able to roll in the traveling direction, Even if it is in a contacted state, it does not hinder the traveling of the traveling unit. For this reason, when the mounting portion is extended, the outrigger portion can travel while preventing the tilt of the main body portion. Such an effect is remarkably exhibited, for example, when teaching (so-called teaching) such as a stop position of the traveling unit when placing an object to be conveyed.

  In another aspect of the transport system of the present invention, a portion of the outrigger portion that contacts the track portion includes an elastic body.

  According to this aspect, the portion where the outrigger portion moved by the outrigger driving portion contacts the track portion includes the elastic body, and prevents an impact and a scratch due to the contact between the track portion and the main body portion. The elastic body is, for example, urethane rubber or silicon rubber, and the above-described effects can be further enhanced by determining the material in consideration of flexibility, wear resistance, lubricity, and the like.

  In another aspect of the transport system of the present invention, the outrigger portion is connected to an eccentric shaft, and the outrigger driving means moves the outrigger portion by rotating the eccentric shaft.

  According to this aspect, the outrigger portion is connected to the eccentric shaft. And an outrigger part is moved because an eccentric shaft is rotated by an outrigger drive means. By comprising in this way, it becomes possible to move an outrigger part more easily. In addition, since the configuration of the outrigger portion and the outrigger driving means can be simplified, it is possible to reduce costs and downsize the apparatus.

  In another aspect of the transport system of the present invention, the outrigger portion is connected to a rack meshed with a pinion, and the outrigger driving means moves the outrigger portion by rotating the pinion.

  According to this aspect, the outrigger portion is connected to the rack meshed with the pinion. Then, the rack is driven by the pinion being rotated by the outrigger driving means, and the outrigger portion connected to the rack is moved. By comprising in this way, it becomes possible to move an outrigger part more easily. In addition, since the configuration of the outrigger portion and the outrigger driving means can be simplified, it is possible to reduce costs and downsize the apparatus.

  In another aspect of the transport system of the present invention, the outrigger unit is connected to an actuator, and the outrigger driving unit moves the outrigger unit by controlling the actuator.

  According to this aspect, the outrigger portion is connected to an actuator such as an electric type, an electromagnetic type, a hydraulic type, a pneumatic type, and a mechanical type. And an outrigger part is moved because an actuator is controlled by an outrigger drive means. By comprising in this way, it becomes possible to move an outrigger part more easily. In addition, since the configuration of the outrigger portion and the outrigger driving means can be simplified, it is possible to reduce costs and downsize the apparatus.

In another aspect of the transport system of the present invention, the outrigger portion is meshed with a cam, and the outrigger driving means moves the outrigger portion by controlling the cam.

  According to this aspect, the outrigger portion is meshed with the cam. Then, the outrigger drive means rotates the cam, so that the outrigger portion is moved so as to contact the track portion. By comprising in this way, it becomes possible to move an outrigger part more easily. In addition, since the configuration of the outrigger portion and the outrigger driving means can be simplified, it is possible to reduce costs and downsize the apparatus.

  In another aspect of the transport system of the present invention, the transportation system further includes contact detection means for detecting that the outrigger portion has contacted the track portion.

  According to this aspect, when the outrigger portion is moved so as to contact the track portion, it is detected by the contact detection means that the outrigger portion has contacted the track portion. That is, it is possible to know whether or not the main body portion can be appropriately prevented from being tilted by the outrigger portion.

  The track portion that contacts the outrigger portion may be interrupted at a branch point or a merge point. At such a point, there is a possibility that the moved outrigger portion cannot contact the track portion. In such a case, in particular, in this aspect, since it is not detected that the outrigger portion has contacted the track portion, it can be known that the effect of preventing the tilting by the outrigger portion is not properly obtained. Therefore, some measures can be taken so that the outrigger portion contacts the track portion, such as moving the main body portion.

  As described above, according to the transport system according to this aspect, since it is possible to know whether or not the moved outrigger portion is in contact with the track portion, the transport vehicle is inclined during the lateral transfer. This can be prevented more suitably.

In the aspect further including the contact detection means described above, the contact detection means may be configured to detect that the outrigger portion is pressed by the track portion .

  If comprised in this way, the detection of a contact with an outrigger part and a track | orbit part will be performed by detecting that the outrigger part is pushed down from a track | orbit part.

  Since the outrigger portion is moved so as to come into contact with the track portion, when it comes into contact, the outrigger portion is pushed down by receiving a drag force from the track portion. Therefore, since it is pressed, it can be detected that the outrigger portion is in contact with the track portion.

  By configuring so as to detect that the button has been pressed, it is possible to detect that the outrigger portion has contacted the track portion by a simple configuration using, for example, an optical sensor or a contact sensor.

  In the aspect in which the contact detection means detects the pressing of the outrigger portion, when the outrigger portion is not moved, the outrigger portion is energized so as to approach the track portion within a range not contacting the track portion. You may comprise so that a biasing means may be further provided.

  If comprised in this way, when the outrigger part is not moved by the outrigger drive means, the outrigger part is urged so as to approach the track part in a range not contacting the track part. The urging means is typically a spring and urges the outrigger portion by its restoring force.

  If energized as described above, the outrigger portion that has come into contact with the track is pushed back from the track portion by the amount energized. Therefore, it is possible to more easily detect that the track has been pressed from the track portion. Therefore, it is possible to more suitably detect that the outrigger portion is in contact with the track.

  The operation and other advantages of the present invention will become apparent from the best mode for carrying out the invention described below.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<First Embodiment>
First, the configuration of the transport system according to the first embodiment will be described with reference to FIGS. 1 and 2. FIG. 1 is a side view showing the configuration of the transport system, and FIG. 2 is a side view showing the configuration of the transport system when performing horizontal transfer.

  In FIG. 1, the transport system according to the first embodiment includes a travel unit 110 having a travel roller 115, a transport unit 120 having a main body unit 130, a moving unit 140, a gripping unit 150, a lifting belt 160, and a fall prevention unit 170. The outrigger unit 200 and the track unit 300 are provided.

  The track part 300 is laid on the ceiling and is made of a metal such as iron or stainless steel, for example.

  The traveling unit 110 travels in the track unit 300 by rotating the traveling roller 115 by, for example, a motor (not shown).

  The transport unit 120 is attached such that the main body 130 is suspended from the traveling unit 110, and a moving unit 140 is provided on the lower surface of the main body 130. Inside the moving unit 140, a gripping unit 150 is attached by a lifting belt 160. Further, below the moving unit 140, a fall prevention unit 170 that prevents the transported object 400 from falling is provided. The moving unit 140, the gripping unit 150, the elevating belt 160, and the fall prevention unit 170 are examples of the “mounting unit” in the present invention.

  In FIG. 2, the transport unit 120 can extend the moving unit 140 to the side of the main body unit 130 to perform the lateral transfer of the transported object 400. In addition, by performing unwinding and winding of the elevating belt 160, it is also possible to transfer the transported object 400 at a position different in height from the main body 130. When the transfer object 400 is transferred, the fall prevention unit 170 can be reduced so as not to hinder the transfer, or can be stored inside the moving unit 140.

  The outrigger unit 200 is provided on the surface of the main body unit 130 that faces the track unit 300, and can contact the track unit 300 by being moved. Moreover, the part which contacts the track part 300 in the outrigger part 200 is a roller.

  Next, the operation of the transport system according to the first embodiment will be described with reference to FIGS. Here, a case where the transport unit 120 performs horizontal transfer of the transported object 400 will be described as an example.

  In FIG. 1, during the operation of the transport system according to the first embodiment, first, the transport unit 120 to which the transported object 400 has not been transferred is moved to a position to transfer the transported object 400 by the traveling unit 110. At this time, the outrigger portion 200 is not in contact with the track portion 300. In addition, the center of gravity of the conveyance unit 120 is substantially the center position of the main body 130.

  In FIG. 2, the transport unit 120 first moves (that is, extends) the moving unit 140 to the side of the main body unit 130. Subsequently, the lifting belt 160 is unwound to lower the gripping part 150 to the position of the object to be conveyed 400 installed on the object to be conveyed, and transfer the object to be conveyed 400. At this time, the center of gravity of the transport unit 120 moves in the same direction as the extension (that is, in the right direction in the drawing) along with the extension of the moving unit 140. For this reason, the conveyance unit 120 suspended from the traveling unit 110 tends to tilt around the moved center of gravity.

  Here, particularly in the present embodiment, when the moving unit 140 is extended, the outrigger unit 200 is brought into contact with the track unit 300 by moving upward in the vertical direction. Since the transport unit 120 receives a drag force from the track unit 300 via the outrigger unit 200, the transport unit 120 can maintain the posture before extending the moving unit 140 without tilting. Accordingly, it is possible to prevent damage or failure of the transported object 400 due to the tilt of the transport unit 120.

  In addition, as shown in FIG. 2, the position of the gripper 150 attached to the tip of the elevating belt 160 is lowered particularly when the transport unit 120 is tilted when the gripper 150 is lowered to transfer an object to be transported. May greatly change and it may be difficult to grip the object 400 to be conveyed.

  Furthermore, after gripping the transported object, the weight of the transported object 400 is also added, so that the center of gravity moves further, and the inclination of the transport unit 120 increases. When the gripped object 400 is transferred to the object table or the like, it is better that the positions of the bottom surface of the object 400 and the placement surface of the object table are parallel to each other. Since the position of the gripping part 150 changes greatly by the inclination of the conveying part 120, such an alignment operation becomes extremely difficult.

  On the other hand, in this embodiment, as described above, the outrigger unit 200 can prevent the conveyance unit 120 from being inclined. For this reason, when the transported object 400 is gripped by the gripping unit 150, the transported object 400 and the gripping unit 150 can be more accurately aligned. Also, when the gripped object 400 is transferred to a object table or the like, the object 400 and the object table can be more accurately aligned. Therefore, it becomes possible to transfer the transferred object 400 more reliably.

  Furthermore, since the portion of the outrigger portion 200 that contacts the track portion 300 is a roller, the traveling portion 110 can travel even when the outrigger portion 200 is in contact with the track portion 300. Therefore, it is possible to run the transport unit 120 without tilting even in a state where the lateral transfer is performed. In this way, it is convenient for teaching to be able to travel smoothly in the state where the lateral transfer is performed.

  Next, a detailed configuration and operation of the outrigger unit 200 will be described with reference to FIGS. 3 and 4. FIG. 3 is a top view showing the entire configuration of the outrigger portion, and FIG. 4 is a side view showing driving of the outrigger portion by the eccentric shaft.

  In FIG. 3, the outrigger unit 200 includes a roller 210, a shaft 220, a bevel gear 230, and an eccentric shaft 240. The shaft 220 is connected to a motor that is an example of the “outrigger drive” according to the present invention. Further, the surface of the roller 210 (that is, the surface in contact with the track portion 300) is made of urethane rubber.

  When the outrigger unit 200 is driven, the rotation of the motor is first transmitted to the shaft 220. Subsequently, the rotational direction of the shaft 220 is converted by the bevel gear 230 connected to the shaft 220 and transmitted to the eccentric shaft 240. Then, when the eccentric shaft 240 is rotated, the roller 210 connected to the eccentric shaft 240 is moved and contacts the track portion 300.

  In FIG. 4, the roller 210 before driving is not in contact with the track portion 300. When the eccentric shaft 240 is rotated by driving, the entire roller 210 rotates and moves upward in the vertical direction, thereby coming into contact with the track portion 300. The roller 210 in contact with the track part 300 can rotate on the track part 300 around the bearing 215. At this time, the rotation axis and the eccentric shaft of the roller 210 are aligned vertically (that is, as shown in the figure, the straight line connecting the rotation axis and the eccentric shaft and the contact surface of the track portion 300 are perpendicular to each other). ) Or close to it, the rotational torque of the roller 210 can be reduced, and smoother rotation can be realized.

  Next, a modified example of the outrigger unit 200 will be described with reference to FIGS. 5 and 6. 5 and 6 are side views showing modifications of the outrigger portion. In FIGS. 5 and 6, some members such as a motor are omitted.

  In FIG. 5, the roller 210 is connected to a rack 260 meshed with the pinion 250. In such a configuration, by rotating the pinion 250, the rack 260 and the roller 210 connected to the rack 260 are driven in the vertical direction in the drawing.

  In FIG. 6, a roller 210 is connected to a linear actuator, which is an example of the “actuator” of the present invention, and the roller 210 is driven in the vertical direction in the figure by controlling the linear actuator.

  As described above, the configuration of the outrigger unit 200 can take various modes as long as it can be driven in a direction in which the roller 210 is brought into contact with the track unit 300.

  As described above, according to the transport system according to the first embodiment, it is possible to prevent the transport vehicle 100 from tilting due to a shift in the center of gravity of the transport vehicle 100 when performing horizontal transfer. . Therefore, for example, a substrate such as a semiconductor that is vulnerable to impact can be transferred and transported more suitably.

Second Embodiment
Next, a transport system according to the second embodiment will be described with reference to FIGS. FIG. 7 is a side view showing a configuration of the outrigger portion at the time of non-contact in the transport system according to the second embodiment, and FIG. 8 is an outrigger portion at the time of contact in the transport system according to the second embodiment. It is a side view which shows the structure of. FIG. 9 is a side view illustrating the configuration of the sensor unit, and FIGS. 10 and 11 are side views illustrating the configuration of a modified example of the transport system according to the second embodiment. 7, 9, and 10, the configuration for driving the roller 210 as shown in FIGS. 3 to 6 is omitted, and in FIG. 11, a partition plate and a sensor are illustrated. The parts are not shown in the figure. The second embodiment differs from the first embodiment described above in that it includes a sensor unit that detects contact of the outrigger unit, and the other configurations and operations are generally the same. For this reason, in 2nd Embodiment, the structure and operation | movement of a sensor part are demonstrated in detail, and description is abbreviate | omitted suitably about another structure and operation | movement.

  In FIG. 7, the outrigger unit 200 in the transport system according to the second embodiment includes a roller 210, a drive plate 510, a reference plate 520, a drive shaft 530, and a spring that is an example of the “biasing means” of the present invention. 540, a partition plate 550, and a sensor unit 560 which is an example of the “contact detection means” of the present invention.

  The drive plate 510 is connected to a reference plate 520 fixed to the main body 130 (see FIG. 1) via a drive shaft 530, and can be driven to rotate as a drive shaft 530 rotation shaft. The roller 210 and the partition plate 550 are fixed to the drive plate 510, and the sensor unit 560 is fixed to the reference plate 520.

  The spring 540 is connected to the drive plate 510 and the reference plate 520 and urges the drive plate 510 to be attracted to the reference plate 520 (that is, in the direction of the arrow in the drawing).

  The partition plate 550 is a metal plate or the like, and is disposed so as to be detected by the sensor unit 560 in a biased state.

  The sensor unit 560 is, for example, a pair of light emitting elements disposed opposite to each other with the edge portion of the partition plate 550 when the roller 210 is not in contact (portion in the vicinity of the lower edge in FIGS. 7 to 9). Part 561 and light receiving part 562. The sensor unit 560 may be composed of a contact sensor or the like.

  In FIG. 8, when the roller 210 is moved and contacts the track portion 300, the roller 210 is pushed down by the track portion 300. Since the roller 210 is fixed to the driving plate 510, the driving plate 510 is also pressed as the roller 210 is pressed.

  Here, the position of the partition plate 550 fixed to the drive plate 510 also changes (that is, the right end of the partition plate 550 in the drawing moves upward), and the partition plate 550 is moved by the sensor unit 560. It will not be detected. Below, the detection by the sensor part 560 is demonstrated in detail.

  In FIG. 9, when the roller 210 is not in contact with the track part 300 (see FIG. 7), the partition plate 550 is located between the light emitting part 561 and the light receiving part 562 of the sensor part 560. For this reason, the light emitted from the light emitting unit 561 does not reach the light receiving unit 562, whereby the sensor unit 560 detects the partition plate 550.

  On the other hand, when the roller 210 is in contact with the track portion 300 (see FIG. 8), the partition plate 550 moves upward in the drawing as described above. For this reason, the light emitted from the light emitting unit 561 reaches the light receiving unit 562, and the partition plate 550 is not detected by the sensor unit 560.

  As described above, the partition plate 550 is detected when the roller 210 is not in contact with the track portion 300, and is not detected when the roller 210 is in contact with the sensor plate 560. It can be detected that the roller 210 has contacted the track portion 300.

  In FIG. 10, the outrigger unit 200 may be configured to push up the partition plate 550 connected to the roller 210 from the reference plate 520 side to the track unit 300 side by a spring 540. In such a case, the partition plate 550 is not detected by the sensor unit 560 when the roller 210 is not in contact with the track unit 300, but is detected when the roller 210 is in contact.

  In FIG. 11, the outrigger unit 200 may be configured such that the roller 210 is pushed down by a spring 540. For example, as shown in the drawing, a spring 540 is provided between a support plate 610 fixed to the main body 130 (see FIG. 1) and the meshing portion 620 meshed with the cam 630, and the roller 210 is connected to the track portion 300. It is comprised so that it may be urged | biased to the side away from (that is, lower side of a figure).

  When the outrigger unit 200 is driven, the cam 630 is rotated about the rotation shaft 640 by the drive motor 650. As a result, the roller 210 is pushed up as shown in the figure, and the outrigger portion 200 is moved so as to come into contact with the track portion 300.

  As described above, the configuration of the outrigger unit 200 can take various forms as long as the sensor unit 560 can detect that the roller 210 has contacted the track unit 300.

  As described above, according to the transport system according to the second embodiment, since the sensor unit 560 that detects the contact of the outrigger unit 200 is provided, the effect of preventing the tilt of the transport unit 120 by the outrigger unit 200 is achieved. It is possible to detect whether or not is appropriately obtained. Therefore, it is possible to prevent the conveyance unit 120 from tilting more suitably.

  The present invention is not limited to the above-described embodiment, and can be appropriately changed without departing from the gist or concept of the invention that can be read from the claims and the entire specification. It is included in the technical scope of the present invention.

It is a side view which shows the structure of a conveyance system. It is a side view which shows the structure of the conveyance system at the time of performing horizontal transfer. It is a top view which shows the whole structure of an outrigger part. It is a side view which shows the drive of the outrigger part by an eccentric shaft. It is a side view (the 1) which shows the modification of an outrigger part. It is a side view (the 2) which shows the modification of an outrigger part. It is a side view which shows the structure of the outrigger part at the time of non-contact in the conveyance system which concerns on 2nd Embodiment. It is a side view which shows the structure of the outrigger part at the time of the contact in the conveyance system which concerns on 2nd Embodiment. It is a side view which shows the structure of a sensor part. It is a side view (the 1) which shows the composition of the modification of the conveyance system concerning a 2nd embodiment. It is a side view (the 2) which shows the composition of the modification of the conveyance system concerning a 2nd embodiment.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 110 ... Traveling part, 115 ... Traveling roller, 120 ... Conveying part, 130 ... Main part, 140 ... Moving part, 150 ... Gripping part, 160 ... Lifting belt, 170 ... Fall prevention part, 200 ... Outrigger part, 210 ... Roller, 215 ... Bearing, 220 ... Shaft, 230 ... Bevel gear, 240 ... Eccentric shaft, 250 ... Pinion, 260 ... Rack, 270 ... Linear actuator, 300 ... Track part, 400 ... Object to be conveyed, 510 ... Drive plate, 520 ... Reference plate 530 ... drive shaft, 540 ... spring, 550 ... partition plate, 560 ... sensor unit, 610 ... support plate, 620 ... meshing portion, 630 ... cam, 640 ... rotary shaft, 650 ... drive motor

Claims (11)

A track section laid on the ceiling,
A traveling unit traveling on the track unit;
A conveying section having a mounting portion can be placed a transported object to move to the side of the track portion from the body portion mounted in the hanging drop form to the traveling portion and the body portion,
On the surface of the main body portion facing the track portion, the track portion is provided near the edge in the direction opposite to the direction in which the center of gravity of the transport portion moves due to the lateral movement of the placement portion, An outrigger portion movable toward
Transport system the mounting section is when moving laterally, characterized in that it comprises a outriggers driving means for moving the outrigger portion so as to abut the track section.   The transport system according to claim 1, wherein the placement unit can be moved up and down with respect to the main body.   The conveyance system according to claim 1, wherein a portion of the outrigger portion that contacts the track portion is a roller.   The part which contacts the said track part in the said outrigger part contains the elastic body, The conveyance system as described in any one of Claim 1 to 3 characterized by the above-mentioned. The outrigger portion is connected to an eccentric shaft;
5. The transport system according to claim 1, wherein the outrigger driving unit moves the outrigger portion by rotating the eccentric shaft. 6. The outrigger portion is connected to a rack meshed with a pinion,
5. The transport system according to claim 1, wherein the outrigger driving unit moves the outrigger portion by rotating the pinion. 6. The outrigger portion is connected to an actuator;
5. The transport system according to claim 1, wherein the outrigger driving unit moves the outrigger portion by controlling the actuator. 6. The outrigger portion is meshed with a cam,
5. The transport system according to claim 1, wherein the outrigger driving unit moves the outrigger portion by controlling the cam. 6.   The transport system according to any one of claims 1 to 8, further comprising contact detection means for detecting that the outrigger portion is in contact with the track portion. The transport system according to claim 9, wherein the contact detection unit detects that the outrigger portion is pressed by the track portion .   The urging means for urging the outrigger portion to approach the track portion within a range not contacting the track portion when the outrigger portion is not moved. Conveying system.

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