JP6747516B2 - Ceiling carrier and control method for ceiling carrier - Google Patents

Description

The present invention relates to a ceiling guided vehicle and a method for controlling the ceiling guided vehicle.

In a manufacturing factory such as a semiconductor manufacturing factory, for example, a container (FOUP) for semiconductor wafers or a reticle Pod for transferring a reticle is used to transfer articles, so that it travels along a ceiling or a track (rail) laid near the ceiling. Ceiling carrier vehicles are used. The ceiling guided vehicle includes a traveling unit that travels along a track and a main body unit below the traveling unit. The main body includes an elevating and lowering drive unit that elevates and lowers an article holding unit such as a gripper that holds an article, and a sideways-out mechanism that causes the elevating and lowering drive unit to project laterally with respect to the main body unit.

The transfer destination of the article by the above-mentioned ceiling guided vehicle is a transfer position (load port) of the processing device, and the like, and it may be arranged below the track and laterally. After the ceiling carrier stops at the transfer position, the sideways mechanism causes the lifting drive unit to project laterally, and then the lifting drive unit lifts the article holding unit to move it to the transfer position. Transferring goods. In such a ceiling guided vehicle, it is required to reduce the time required for transferring articles. Patent Document 1 describes a stacker crane that stores pallets, which are articles, on shelves. This stacker crane has an extendable and retractable fork on the elevator, and by performing overlapping operations such as extending and retracting the fork while moving up and down, the pallet transfer time is shortened. There is.

JP 2002-114320 A

However, in the stacker crane of Patent Document 1, the lifting drive unit for driving the lifting platform does not project to the side of the track only by lifting the lifting platform. Moreover, the lift does not hold the article in a suspended state. In contrast to this stacker crane, the overhead carrier travels near the ceiling while holding the articles in a suspended state, and horizontally raises and lowers the elevating and lowering drive unit to the transfer position located below and laterally of the track. Then the goods are raised and lowered. Therefore, in the ceiling guided vehicle, in order to reduce the time required for transferring the articles, it is necessary to perform an overlapping operation different from that of the stacker crane.

The present invention relates to a ceiling transfer vehicle that travels on a ceiling or a track near the ceiling, and is capable of shortening the time required to transfer an article to a transfer position located below and laterally of the track. An object of the present invention is to provide a control method for a vehicle and a ceiling guided vehicle.

The ceiling guided vehicle according to the present invention includes a traveling unit that travels on a track laid on the ceiling or in the vicinity of the ceiling, a main body unit provided below the traveling unit, and an article holding unit that holds the article in a suspended state. An elevating and lowering drive unit for elevating and lowering the article holding unit, a side-out mechanism for moving the elevating and lowering drive unit between a storage position for storing the elevating and lowering drive unit in a main body, and a protruding position for laterally projecting from the main body, and a track Before the traveling unit stops at the transfer position of the article that is displaced laterally from below, the horizontal ejection mechanism causes the elevation drive unit to start moving toward the protruding position, or the lateral ejection mechanism. The controller for starting the traveling of the traveling unit stopped corresponding to the transfer position before the lifting drive unit returns to the storage position.

In addition, the controller may instruct to start driving the sideways mechanism while the traveling unit is traveling so that the elevating/lowering drive unit is arranged at the projecting position when the traveling unit stops corresponding to the transfer position. Good. In addition, the controller may instruct the start of driving of the sideways-out mechanism by directing the elevating/lowering drive unit at the protruding position toward the storage position at the time point when the traveling unit starts traveling from the position corresponding to the transfer position. In addition, when there is an obstacle that can contact at least one of the lifting/lowering drive unit, the article holding unit, and the article held by the article holding unit while the running unit is running, the controller of the running unit It is not necessary to drive the sideways-out mechanism during traveling.

Further, the controller, when there is an obstacle that can contact at least one of the ascending/descending drive unit, the article holding unit, and the article held by the article holding unit while the traveling unit is traveling, determines that the obstacle is an obstacle. The driving of the sideways-out mechanism may be instructed in a predetermined range where there is no contact. Further, the controller may instruct to start driving of the sideways-out mechanism from a position where the traveling unit has passed over the obstacle. In addition, when the controller has an obstacle that can be contacted by at least one of the elevating and lowering drive unit, the article holding unit, and the article held by the article holding unit while the running unit is running, the transfer position is set. The time required for the traveling unit that has stopped at the position corresponding to to reach the obstacle is subtracted from the time required for the elevator drive unit in the protruding position to move to the storage position, and the subtraction time is calculated. It is also possible to start driving of the sideways-out mechanism with the elevating/lowering drive unit at the position toward the storage position, and instruct to start traveling of the traveling unit at a timing when a subtraction time has elapsed from the start of driving the side-outside mechanism.

Further, the obstacle may be a hanging fitting for hanging a structure arranged below the track from the ceiling. Further, the structure may be a storage device on which an article can be placed, and the obstacle may be an article placed on the storage device. Further, the structure may be a storage device on which an article can be placed, and the obstacle may be an article placed on the storage device. In addition, the controller has a storage unit that stores information about a position at which the sideways-out mechanism starts projecting while the traveling unit is traveling, or information about a timing at which the traveling unit starts traveling during the storing operation of the sideways-out mechanism. Good.

A control method for a ceiling guided vehicle according to the present invention is a traveling unit that travels on a ceiling or a track installed near the ceiling, a main body unit provided below the traveling unit, and an article that holds an article in a suspended state. A holding unit, an elevating/lowering drive unit for elevating/lowering the article holding unit, and a side-out mechanism for moving the elevating/lowering drive unit between a storage position for storing the elevating/lowering drive unit in a main body unit and a protruding position for laterally projecting from the main body unit. A method of controlling a ceiling guided vehicle comprising: and a sideways mechanism for directing a projecting position before the traveling unit stops with respect to a transfer position of an article arranged laterally from below the track. To start the movement of the lifting drive unit, or to start the traveling of the traveling unit stopped corresponding to the transfer position before the lifting drive unit returns to the storage position by the sideways mechanism. ..

In the ceiling guided vehicle or the method for controlling a ceiling guided vehicle according to the present invention, the movement of the elevating and lowering drive unit by the sideways-out mechanism can overlap the traveling of the traveling unit. Due to this overlap, compared to the case where the elevating drive unit is laid out sideways after the ceiling guided vehicle is stopped, or the traveling of the traveling unit is started after the elevating drive unit is stored in the main body, The time required for loading can be shortened.

Further, in the configuration in which the controller instructs the start of driving of the sideways mechanism while the traveling unit is traveling such that the elevating and lowering drive unit is arranged at the projecting position when the traveling unit stops corresponding to the transfer position. , The driving of the laying mechanism is started without waiting for the traveling unit to stop, and when the traveling unit stops corresponding to the transfer position, the movement of the lifting drive unit to the protruding position is completed or almost completed, The time required for transferring the article can be shortened. Further, in the configuration in which the controller instructs the drive start of the side-out mechanism toward the retracted position by the controller when the traveling unit starts traveling from the position corresponding to the transfer position, The movement of the lifting drive unit to the storage position starts at the same time or almost at the same time as the start of running, so the time required for transferring the goods can be achieved by running the running unit without waiting for the lifting drive unit to be stored in the main body. Can be shortened.

In addition, when the controller has the above-mentioned obstacles while the traveling unit is traveling, in the configuration in which the sideways mechanism is not driven during traveling of the traveling unit, the lifting drive unit or the article interferes with the obstacles. Can be prevented. Further, when the controller is instructed to drive the sideways mechanism within a predetermined range where there is no contact with the obstacle when the obstacle is present during traveling of the traveling unit, the lifting drive unit or the article is obstructed. It is possible to reduce the time required to transfer the article while avoiding interference with the article. Further, in the configuration in which the controller instructs the start of the drive of the side-out mechanism from the position where the traveling unit has passed the obstacle, the drive of the side-out mechanism is efficiently started, so that the time required for transferring the article can be reduced. In addition, if the above-mentioned obstacle is present during the traveling of the traveling unit, the controller moves up and down at the protruding position from the time until the traveling unit stopped at the position corresponding to the transfer position reaches the obstacle. The subtraction time is calculated by subtracting the time required for the drive unit to move to the storage position, and while the traveling unit is stopped, the elevating drive unit at the protruding position is directed to the storage position to start the drive of the sideways mechanism and start the drive of the sideways mechanism. In the configuration that instructs the traveling section to start traveling at the timing when the subtraction time has elapsed, the traveling section starts traveling at the timing when the lifting drive section does not contact the obstacle, and waits for the lifting drive section to return to the storage position. Since the traveling unit is caused to travel without using the traveling unit, the time required to transfer the article can be shortened.

Further, in the example in which the obstacle is a storage device in which the article is placed in a state of being suspended from the ceiling and on which the article can be placed, or an article placed on the storage device, the lifting drive unit or the article is the storage device or It is possible to suppress the interference with the article placed on the storage device. Further, in an example in which the obstacle is a suspending metal for suspending a structure formed below the track from the ceiling, it is possible to suppress the lifting drive unit or the article from interfering with the suspending metal. In addition, the controller has a storage unit that stores information about a position at which the sideways-out mechanism starts projecting while the traveling unit is traveling, or information about timing at which the traveling unit starts traveling during the retracting operation of the sideways-out mechanism. Since the operation of the sideways-out mechanism or the traveling of the traveling unit is performed based on the information from the storage unit, it is possible to easily and reliably perform the protrusion of the elevating/lowering drive unit or the traveling start of the traveling unit.

It is a figure which shows an example of the ceiling guided vehicle system which concerns on embodiment. It is a figure which shows an example which transfers the article from a ceiling conveyance vehicle to a buffer part. It is a flow chart which shows an example of operation of a ceiling guided vehicle system. It is a figure which shows an example which carries out sideways driving|running|working while a ceiling guided vehicle is running. It is a figure which shows an example which does not carry out sideways while the ceiling guided vehicle is running. It is a flowchart which shows the other example of operation|movement of a ceiling guided vehicle system. It is a figure which shows the other example which carries out sideways driving|running|working while a ceiling conveyance vehicle is running. It is a flowchart which shows the other example of operation|movement of a ceiling guided vehicle system. It is a figure which shows an example which stores sideways at the time of a traveling start of a ceiling guided vehicle. It is a figure which shows an example which does not store sideways at the time of a traveling start of a ceiling guided vehicle. It is a figure which shows an example which stores sideways while a ceiling guided vehicle is running. It is a figure which shows the other example which stores sideways while the ceiling guided vehicle is running. It is a figure which shows an example of the ceiling guided vehicle system which concerns on other embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the present invention is not limited to the embodiments described below. Further, in the drawings, in order to describe the embodiment, a part of the drawing is enlarged or emphasized, and the scale is appropriately changed. In each of the following drawings, the directions in the drawings will be described using the XYZ coordinate system. In this XYZ coordinate system, the plane parallel to the horizontal plane is the XY plane. Further, the direction perpendicular to the XY plane is referred to as the Z direction. In each of the X direction, the Y direction, and the Z direction, the arrow direction in the drawing is the + direction, and the direction opposite to the arrow direction is the − direction. Further, in the present embodiment, the traveling direction of the ceiling guided vehicle 10 is described as the X direction.

FIG. 1 is a diagram illustrating an example of a ceiling guided vehicle system 100 according to the embodiment. FIG. 2 is a diagram showing a state in which the article 2 is delivered from the ceiling carrier 10 to the buffer unit 32 or from the buffer unit 32 to the ceiling carrier 10. The ceiling guided vehicle system 100 includes a track (traveling rail) 6, a ceiling guided vehicle 10, and a controller 20. The ceiling guided vehicle system 100 is installed in, for example, a semiconductor device manufacturing factory.

The article 2 contains an article such as a wafer or a reticle used for manufacturing a semiconductor element. The article 2 is, for example, a FOUP, a SMIF Pod, a reticle Pod, or the like capable of purging the inside. 1 and 2 show an example in which the article 2 is a FOUP. The article 2 includes a main body portion 2a, a lid 2c, and a flange 2g. Articles such as wafers are housed inside the main body 2a. The lid 2c is detachably provided on one of the side surfaces of the main body 2a. The main body portion 2a has a plurality of radial positioning grooves 2d formed on the bottom surface thereof.

As shown in FIG. 1, the ceiling guided vehicle 10 includes a traveling section 5 and a main body section 3. The traveling unit 5 travels along the track 6 by the driving force of a traveling driving unit (not shown). As the traveling drive unit, for example, a transmission motor or a linear motor is used and may be mounted on the traveling unit 5. The track 6 is laid, for example, from the ceiling 18 of the equipment in the clean room building via a hanging metal fitting, and extends in the X direction in FIG.

The traveling unit 5 has traveling wheels 7 arranged so as to contact the track 6. The running wheels 7 are connected to, for example, an encoder (not shown). The encoder detects the number of rotations of the traveling wheels 7 and outputs the detection result to the controller 20. The controller 20 controls a traveling drive unit (not shown) based on the detection result of the encoder, and controls the speed or the stop position of the ceiling guided vehicle 10. Further, as shown in FIG. 1, the ceiling guided vehicle 10 is provided with a support shaft 9 extending downward from the traveling unit 5. The main body 3 is attached to the lower portion of the support shaft 9.

The main body 3 includes an article holding section 13 that holds the article 2, an elevating drive section 14 that elevates and lowers the article retaining section 13 in the up-down direction (Z direction, vertical direction), and a lateral movement that moves the elevating drive section 14 to the side. The feeding mechanism 11 is provided. The article holding unit 13 suspends and holds the article 2 by gripping the flange 2g of the article 2. The article holding unit 13 is, for example, a chuck having a claw portion 13a that can move in the horizontal direction, and the claw portion 13a is advanced below the flange 2g of the article 2 to raise the article holding unit 13 to move the article 2 Hold in a suspended state. The article holding unit 13 is connected to a suspending member 13b such as a wire or a belt.

The elevating and lowering drive unit 14 is, for example, a hoist, and lowers the article holding unit 13 by feeding the hanging member 13b, and raises the article holding unit 13 by winding the hanging member 13b. The lifting drive unit 14 is controlled by the controller 20 to lower or raise the article holding unit 13 at a predetermined speed. Further, the lifting drive unit 14 is controlled by the controller 20 to hold the article holding unit 13 at a target height.

The sideways-out mechanism 11 has, for example, a plurality of movable plates 12 that are arranged one above the other in the vertical direction (Z direction). The movable plate 12 can be moved in the Y direction by a Y direction guide (not shown). A lift drive unit 14 is attached to the lower movable plate 12. The sideways-out mechanism 11 has a Y-direction drive unit such as an electric motor (not shown). The movable plate 12 is slid by the driving force from the Y-direction drive unit so that the elevating and lowering drive unit 14 is moved to the projecting position 14P and the storage position 14R. It is possible to move between. The projecting position 14P is a position where the lifting drive unit 14 is projected from the main body 3 to the side of the track 6 (Y direction). The storage position R is a position below the track 6 and in which the lifting drive unit 14 is stored in the main body 3.

In addition, a rotation unit (not shown) may be provided between the sideways-out mechanism 11 and the elevation drive unit 14. The rotary unit has, for example, a rotary member and a rotary drive unit. By driving the rotary drive unit, the lift drive unit 14 can be rotated in the vertical direction (Z direction) around the axis. is there. It is possible to rotate the article holding unit 13 (article 2) suspended by the elevation drive unit 14 by rotating the elevation drive unit 14 by the rotating unit, and change the direction of the lid 2c of the article 2. You can The operation of such a rotating unit is controlled by the controller 20, for example. Further, it is optional whether or not the ceiling guided vehicle 10 includes the above-described rotating portion, and the rotating portion may not be provided.

The main body 3 including the sideways-out mechanism 11, the article holding unit 13, and the lifting drive unit 14 described above moves along the track 6 integrally with the traveling unit 5. A cover 16 is provided on each of the −X side and the +X side of the main body 3 (front side and rear side in the traveling direction). The covers 16 are respectively supported by the ceiling guided vehicle 10 via the support shafts 9 and move integrally with the traveling unit 5.

The ceiling carrier 10 can deliver the article 2 to a storage device such as a load port 31 (see FIG. 1) of the processing device 30 or a buffer unit 32 (see FIG. 2), for example. Further, the ceiling guided vehicle 10 can receive the article 2 from the load port 31, the buffer section 32, or the like. The load port 31 and the buffer unit 32 are arranged such that the portion on which the article 2 is placed is lower than the lower end of the article 2 held by the article holding unit 13 that has been raised to the uppermost position by the elevating drive unit 14. ing. Here, the processing apparatus 30 is, for example, a film forming apparatus, a coater/developer, an exposure apparatus, an etching apparatus, or the like, and performs various kinds of processing in the process of manufacturing a device (eg, semiconductor device). Further, the load port 31 is a place on which a container (article 2) containing an object to be processed by the processing device 30 is placed, as shown in FIG. 1.

Further, the buffer unit 32 is disposed below the track 6 (on the −Z side) and on the side on the +Y side as shown in FIG. The buffer section 32 may be arranged not only on the +Y side but also on the −Y side, or on both sides of the +Y side and the −Y side. The buffer section 32 is a side track buffer arranged below and laterally of the track 6. The buffer unit 32 causes the article holding unit 13 and the elevating and lowering driving unit 14 to project in the Y direction by the side-out mechanism 11 and arranges the elevating and lowering driving unit 14 at the projecting position 14P. By lowering, the article 2 held by the article holding unit 13 is placed at a position where it can be placed.

The buffer unit 32 has a frame 33. The frame 33 is held in a state of being suspended from the ceiling 18 by a plurality of suspension fittings 34, and is arranged near the ceiling 18. The frame 33 is arranged to extend in the X direction along the track 6. The buffer unit 32 can mount one article 2 or a plurality of articles 2. The number of articles 2 placed in one buffer unit 32 can be set arbitrarily. In addition, when the buffer part 32 can mount a plurality of articles 2, the plurality of articles 2 are placed side by side along the track 6 (in the X direction).

As shown in FIGS. 1 and 2, the load port 31 and the buffer section 32 are provided with a plurality of pins 25 for positioning the placed article 2. For example, three pins 25 are provided. The respective pins 25 are arranged corresponding to the positions of a plurality of radial grooves 2d provided on the bottom of the article 2, and can be fitted into the grooves 2d. When the article 2 is placed on the load port 31 and the buffer section 32, the pin 25 fits into the groove 2d of the article 2 to be positioned. The shapes and the numbers of the groove portions 2d and the pins 25 are not limited to the above-described forms, and any configuration capable of positioning the article 2 can be applied.

The controller 20 controls the operation of each part of the ceiling guided vehicle 10. For example, the controller 20 controls the sideways-out operation or the storage operation (that is, the movement of the elevating/lowering drive unit 14) by the side-out mechanism 11, the operation of the traveling unit 5, and the like. In addition, the controller 20 can overlap the operation of the traveling unit 5 and the operation of the side-out mechanism 11. Therefore, the controller 20 causes the ceiling transport vehicle 10 to transfer the article 2 to the load port 31 or the buffer section 32, which is the transfer position of the article 2, at the stop position (the lift drive unit 14 protruding to the protruding position 14P). Before the traveling unit 5 stops at the stop position where is above the load port 31 or the buffer unit 32), the side-to-side extension mechanism 11 can start the movement of the elevating drive unit 14 toward the protruding position 14P. Further, the controller 20 can start the traveling of the traveling unit 5 stopped corresponding to the transfer position before the raising/lowering drive unit 14 is returned from the projecting position 14P to the storage position 14R by the side-out mechanism 11. it can.

The controller 20 can arbitrarily set the control for overlapping the operation of the traveling unit 5 and the operation of the sideways mechanism 11. For example, the controller 20 causes the elevating/lowering drive unit 14 to be arranged at the projecting position 14P when the traveling unit 5 is stopped corresponding to the transfer position (for example, the load port 31 described above and the like below). During the traveling of the traveling unit 5, it is possible to instruct to start the driving of the laterally extending mechanism 11. Further, when the traveling unit 5 starts traveling from the position corresponding to the transfer position, the controller 20 directs the vertical drive unit 14 at the projecting position 14P toward the storage position 14R to start driving the sideways-out mechanism 11. be able to.

In addition, the controller 20 can determine whether or not there is a problem in the above-described control for overlapping. For example, when there is an obstacle with which at least one of the elevating/lowering drive unit 14, the article holding unit 13, and the article 2 held by the article holding unit 13 can come into contact while the running unit 5 is running, the running It is possible to eliminate the driving of the laterally extending mechanism 11 while the portion 5 is traveling. Further, the controller 20 has an obstacle with which at least one of the ascending/descending drive unit 14, the article holding unit 13, and the article 2 held by the article holding unit 13 can come into contact while the traveling unit 5 is traveling. In this case, the driving of the laterally extending mechanism 11 may be instructed in a predetermined range where there is no contact with the obstacle.

In this case, the obstacle may be a storage device such as the buffer unit 32 as shown in FIG. 2 or an article 2 placed in such a storage device. In addition, examples of the obstacle include a hanging metal fitting 34 for hanging a structure such as the frame 33 forming the buffer portion 32 from the ceiling. The obstacles also include piping in the facility, columns and beams of the building, and the processing device 30 (see FIG. 1) arranged in the facility.

As shown in FIG. 1, the controller 20 may include a derivation unit 21 and be connected to the storage unit 22. The lead-out part 21 draws out the position where the raising/lowering drive part 14 starts the projecting operation by the side-out mechanism 11. In addition, the deriving unit 21 derives the timing to start the storing operation for storing the elevating and lowering drive unit 14 by the sideways-out mechanism 11. The storage unit 22 stores, for example, position information (map data) of the buffer unit 32 or the like that becomes an obstacle when the raising/lowering driving unit 14 is projected by the sideways mechanism 11 in the track 6 of the ceiling guided vehicle 10. ing. The position information of the obstacle stored in the storage unit 22 is managed by, for example, coordinate values.

The derivation unit 21 uses the coordinate values of the obstacles stored in the storage unit 22 and the like, based on the time required for the sideways-out mechanism 11 to move between the storage position 14R and the projecting position 14P, based on the traveling unit 5. The position at which the sideways-out mechanism 11 starts the protruding operation during traveling, or the timing at which the traveling unit 5 starts traveling during the retracting operation of the side-out mechanism 11 are derived. The derivation unit 21 may store the derived result in the storage unit 22. Therefore, the storage unit 22 stores information on the position where the projecting operation of the sideways mechanism starts while the traveling unit 5 is traveling, or information regarding the timing when the traveling unit 5 starts traveling while the sideways mechanism 11 is storing. There is. Further, the storage unit 22 may store information regarding the transfer position of the article 2 such as the load port 31 and the buffer unit 32. In addition to using the position information (map data) of the buffer unit 32 and the like, the controller 20 also detects a distance to an obstacle and the like by a sensor provided in the ceiling guided vehicle 10, and based on an output from this sensor. You may instruct driving of the side-out mechanism 11. Further, the transport instruction from the host controller (MCS, MES) to the controller 20 includes the coordinates relating to the obstacle, and the controller 20 drives the sideways mechanism 11 based on the coordinates of the obstacle acquired from the host controller. You may instruct.

In the present embodiment, the controller 20 has been described by taking an on-vehicle controller mounted on the traveling unit 5 or the main body unit 3 of the ceiling guided vehicle 10 as an example, but the controller 20 is not limited to this configuration. For example, the controller 20 may be a ground controller installed on the ground side. In the case of the ground controller, the controller 20 may integrally control the plurality of ceiling guided vehicles 10. The storage unit 22 may also be mounted on the traveling unit 5 or the main body unit 3 of the ceiling guided vehicle 10 or may be installed on the ground side together with the ground-side controller 20.

Next, the operation of the ceiling guided vehicle system 100 will be described. FIG. 3 is a flowchart showing an example of the operation of the ceiling guided vehicle system 100. In the following example, an operation in which the ceiling transport vehicle 10 travels toward the transfer position of the load port 31, the buffer unit 32, or the like and transfers the article 2 from the ceiling transport vehicle 10 to the transfer position will be described.

As shown in FIG. 3, the controller 20 first instructs the transfer position to the ceiling guided vehicle 10 (step S01). In step S01, the controller 20 extracts the information on the transfer position, which is the transfer destination of the article 2, from the information on the transfer position stored in the storage unit 22, for example. The controller 20 controls the operation of the traveling unit 5 based on the extracted information and causes the ceiling guided vehicle 10 to travel to the transfer position. Note that the information regarding the transfer position may be instructed by, for example, a host controller connected to the controller 20.

Next, the controller 20 determines whether or not the transfer position is below and to the side of the track 6 (step S02). For example, the controller 20 determines step S02 from the information on the transfer position extracted in the storage unit 22. When the transfer position is below and to the side of the track 6 (YES in step S20), the deriving unit 21 derives the position at which the lateral drive mechanism 11 starts the projecting operation of the elevating and lowering drive unit 14 (step S03).

In step S03, the deriving unit 21 determines the time required from the start of the projecting operation to the completion of the projecting operation based on, for example, the length of the projecting and descending driving unit 14 and the projecting speed of the lifting and lowering driving unit 14 by the side-by-side mechanism 11. calculate. Subsequently, the deriving unit 21 calculates the traveling distance traveled by the traveling unit 5 while the required time elapses, based on the calculated required time and the traveling speed of the traveling unit 5, for example. The deriving section 21 starts the projecting operation of the elevating/lowering drive section 14 based on the calculated traveling distance and the stop position P3 (see FIG. 4 described later) corresponding to the transfer position (described later). (See FIG. 4).

Subsequently, the controller 20 determines whether or not there is an obstacle in the traveling direction of the ceiling guided vehicle 10 from the calculated protruding operation start position P1 to the transfer position, for example (step S04). When the controller 20 determines that there is no obstacle (NO in step S04), the controller 20 causes the lifting drive unit 14 to start the projecting operation from the projecting operation start position P1 while the traveling unit 5 is traveling (step S05).

FIG. 4 is a diagram showing an example of the operation of step S05. As shown in FIG. 4, when the ceiling guided vehicle 10 arrives at or before the ceiling operation vehicle 10 reaches the projecting operation start position P1 derived by the deriving section 21, the controller 20 maintains the traveling of the traveling section 5 while maintaining the projecting operation. From the start position P1, the lateral movement mechanism 11 gives an instruction to start the projecting operation of the lifting drive unit 14. According to this instruction, when the ceiling guided vehicle 10 reaches the projecting operation start position P1, it performs the projecting operation of the lifting drive unit 14 while traveling in the traveling direction.

Therefore, as shown in FIG. 4, at the traveling position P2 between the projecting operation start position P1 and the stop position P3, the ceiling guided vehicle 10 is in the middle of projecting the elevation drive unit 14 toward the projecting position 14P while traveling. It becomes the state of. Then, when the ceiling guided vehicle 10 reaches the stop position P3, the controller 20 stops the operation of the traveling unit 5 to stop the ceiling guided vehicle 10 at the stop position P3. Further, at the timing when the ceiling guided vehicle 10 stops at the stop position P3, the elevating drive unit 14 reaches the projecting position 14P, and the projecting operation is completed.

Further, when the transfer position is not below and on the side of the track 6 in step S02 of FIG. 3 (NO in step S02), the controller 20 does not operate the sideways-out mechanism 11 while the ceiling guided vehicle 10 is traveling (step S02). S06). For example, when the transfer position is set below the track 6, the article 2 can be transferred without horizontally moving the elevating drive unit 14 and the like. Further, when it is determined in step S04 that there is an obstacle in the traveling direction (YES in step S04), the controller 20 does not operate the sideways-out mechanism 11 while the ceiling guided vehicle 10 is traveling (step S06). The controller 20 causes the ceiling guided vehicle 10 to travel without operating the sideways mechanism 11 while the ceiling guided vehicle 10 is traveling.

FIG. 5: is a figure which shows an example of operation|movement of step S06. When the controller 20 determines in step S04 that there is an obstacle such as the buffer portion 32, the frame 33, the hanging metal fitting 34, or the article 2 on the buffer portion 32, the ceiling guided vehicle 10 reaches the projecting operation start position P1. At the time of performing or before reaching (that is, before reaching), the ceiling transport vehicle 10 is instructed not to perform the projecting operation. The instruction not to perform the projecting operation may be given by the controller 20 or may be realized by not instructing the projecting operation by the controller 20.

By this instruction (or non-instruction), the ceiling guided vehicle 10 passes the projecting operation start position P1 without performing the projecting operation in a state where the elevating drive unit 14 is arranged at the storage position 14R. After that, the controller 20 stops the ceiling guided vehicle 10 at the transfer position at the stop position P3, and then causes the side-to-side extension mechanism 11 to cause the elevating drive unit 14 to protrude to the protruding position 14P.

Next, the controller 20 stops the operation of the traveling unit 5, and then drives the up-and-down drive unit 14 to lower the article holding unit 13 (step S07). In FIG. 4, when the ceiling guided vehicle 10 has stopped at the stop position P3, the elevator drive unit 14 has reached the projecting position 14P. Therefore, the controller 20 immediately after the ceiling guided vehicle 10 stops at the stop position P3. The lifting drive unit 14 is driven to lower the article holding unit 13. In addition, in FIG. 5, after the ceiling guided vehicle 10 stops at the stop position P3, the sideways mechanism 11 is driven, and after the elevating and lowering drive unit 14 reaches the projecting position 14P, the elevating and lowering drive unit 14 is driven to drive the article holding unit. Lower 13

The controller 20 stops the driving of the elevating/lowering drive unit 14 when the article 2 is lowered to the transfer position (the load port 31, etc.), and releases the grip of the article 2 by the article holding unit 13 to transfer the article 2. It is placed at the loading position (load port 31 in FIG. 4) (step S08). As described above, the transfer of the article 2 from the ceiling carrier 10 to the transfer position is completed. When the ceiling guided vehicle 10 receives the article 2 at the transfer position, the controller 20 drives the elevating and lowering drive unit 14 to lower the article holding unit 13 to the height of the flange 2g of the article 2, and the article holding unit 13 is moved. It is possible to receive the article 2 by driving and gripping the flange 2g. It should be noted that the controller 20 can similarly apply the drive control of the side-out mechanism 11 as shown in FIG. 3 to FIG. 5 when the ceiling guided vehicle 10 receives the article 2 at the transfer position.

As shown in FIG. 4, when there is no obstacle in the traveling direction, the projecting operation is performed while the ceiling guided vehicle 10 is running, and when the ceiling guided vehicle 10 stops at the stop position P3, the projecting operation is completed or almost completed. .. In this way, the traveling of the ceiling guided vehicle 10 and the projecting operation of the elevating/lowering drive unit 14 can be overlapped, so that the transfer of the article 2 can be performed as compared with the case where the projecting operation is performed after the ceiling guided vehicle 10 is stopped. The time required for loading can be shortened.

Further, as shown in FIG. 5, when there is an obstacle in the traveling direction, the raising/lowering drive unit 14 does not project until the ceiling guided vehicle 10 stops at the stop position P3. For this reason, the ceiling guided vehicle 10 passes the side of the obstacle in a state in which the lift drive unit 14 is arranged at the storage position 14R. By disposing the lifting drive unit 14 at the storage position 14R, it is possible to prevent the lifting drive unit 14 and the like from interfering with an obstacle.

Next, another operation of the ceiling guided vehicle system 100 will be described. FIG. 6 is a flowchart showing another example of the operation of the ceiling guided vehicle system 100. In FIG. 6, the operation after the determination of YES in step S04 is different from the flowchart shown in FIG. FIG. 7 shows an example of the operation in FIG. Hereinafter, differences from the operation example in FIG. 3 will be mainly described.

As shown in FIG. 6, when the controller 20 determines that there is an obstacle in the traveling direction in step S04 (YES in step S04), the deriving unit 21 derives a position beyond the obstacle as the protruding operation start position ( Step S11). In step S11, the deriving unit 21 is located between the projecting operation start position P1 and the stop position P3, as shown in FIG. 7, based on the coordinate values of the obstacles stored in the storage unit 22. The position P4 beyond the obstacle in the traveling direction is derived as the protruding operation start position. In this case, since the protruding operation is not started at the position P1 on the side of the obstacle, the ceiling guided vehicle 10 passes the side of the obstacle with the lifting drive unit 14 stored in the storage position 14R.

Further, there is no obstacle between the projecting operation start position P4 and the stop position P3. Therefore, when the ceiling guided vehicle 10 reaches the projecting operation start position P4 obtained in step S11 described above, the controller 20 starts the projecting operation of the lifting drive unit 14 while the traveling unit 5 is traveling (step S12). Therefore, as shown in FIG. 7, at the traveling position P5 between the projecting operation start position P4 and the stop position P3, the ceiling transport vehicle 10 is traveling and the lifting drive unit 14 is projected toward the projecting position 14P. Becomes

When the projecting operation is performed in step S12, the distance between the projecting operation start position P4 and the stop position P3 is shorter than the distance between the projecting operation start position P1 and the stop position P3 that is initially obtained. Therefore, the ceiling guided vehicle 10 reaches the stop position P3 before the lift drive unit 14 reaches the projecting position 14P. In this case, the controller 20 stops the ceiling guided vehicle 10 at the stop position P3, and then continues the projecting operation until the elevating drive unit 14 reaches the projecting position 14P (step S13). After the lifting drive unit 14 reaches the projecting position 14P, the controller 20 drives the lifting drive unit 14 to lower the article holding unit 13 (step S14). After this step S14, as in step S08 shown in FIG. 3, the article 2 is transferred to the transfer position or the article 2 is received.

As shown in FIG. 7, when the ceiling guided vehicle 10 passes a position on the side of an obstacle, the raising/lowering drive unit 14 does not project, so that the raising/lowering drive unit 14 may interfere with the obstacle. It can be avoided. In addition, since the traveling of the ceiling transport vehicle 10 and the projecting operation of the elevating drive unit 14 can be overlapped at a position where the ceiling transport vehicle 10 has passed over the obstacle, the projecting operation can be performed after the ceiling transport vehicle 10 stops. The time required to transfer the article 2 can be shortened as compared with the case where the transfer is performed.

Next, another operation of the ceiling guided vehicle system 100 will be described. FIG. 8 is a flowchart showing another example of the operation of the ceiling guided vehicle system 100. In the following example, the operation of restarting traveling after the ceiling carrier 10 holds the article 2 placed at the transfer position such as the load port 31 or the buffer section 32 in the article holder 13 or the ceiling carrier 10 The operation of restarting the traveling after the article 2 is transferred to the transfer position will be described.

As shown in FIG. 8, the controller 20 drives the elevating/lowering drive unit 14 to raise the article holding unit 13 (step S21). The controller 20 receives the information about the next destination (transfer destination) of the ceiling guided vehicle 10 before or after performing step S21. Subsequently, the controller 20 determines whether or not there is an obstacle in the traveling direction (step S22). The controller 20 may determine the step S22 to be any one of when the article holding unit 13 starts rising, before rising, or after starting rising. Therefore, step S21 and step S22 may be simultaneous, or step S22 may precede step S21.

The controller 20 calculates, for example, the distance traveled by the traveling unit 5 in the storage time until the sideways-out mechanism 11 returns from the protruding position 14P to the storage position 14R, and determines whether or not there is an obstacle at this traveling distance. The determination is made from the coordinate values of the obstacle stored in the storage unit 22. When the controller 20 determines that there is no obstacle in the traveling direction (NO in step S22), the deriving unit 21 derives the timing to start the storing operation for storing the elevating and lowering drive unit 14 by the sideways-out mechanism 11 (step S22). S23).

In step S23, the deriving unit 21 derives the timing so as to start the storage operation of the elevating/lowering drive unit 14 when the traveling unit 5 starts traveling, for example. The controller 20 starts the traveling of the traveling unit 5 and also starts the storing operation of the up-and-down drive unit 14 at the timing derived by the deriving unit 21 (step S24). It should be noted that step S24 may be executed after the lifting of the article holding unit 13 by the elevating/lowering drive unit 14 is completed, or may be executed during the lifting of the article holding unit 13.

FIG. 9 is a diagram showing an example of the operation of step S24. As shown in FIG. 9, the controller 20 instructs to start the storing operation at the timing derived by the deriving unit 21 in step S23 (when the traveling unit 5 starts traveling in FIG. 9). According to this instruction, when the ceiling guided vehicle 10 starts traveling in the traveling direction (+X direction) from the stop position P3, the storage operation of the elevating drive unit 14 is started at the same time or almost at the same time. Therefore, as shown in FIG. 9, at the position P6 advanced in the traveling direction from the stop position P3, while the traveling unit 5 is traveling, the retracting drive unit 14 is being retracted by the side-out mechanism 11.

Thereafter, the elevating/lowering drive unit 14 reaches the storage position 14R during traveling by the traveling unit 5, and the storage operation is completed (step S25). After the storage operation is completed, the controller 20 causes the ceiling guided vehicle 10 to travel toward the next stop position, for example.

When it is determined that there is an obstacle in the traveling direction in step S22 (YES in step S22), the controller 20 starts the storing operation while the ceiling guided vehicle 10 is stopped (step S26). FIG. 10 is a diagram showing an example of the operation of step S26. As shown in FIG. 10, the controller 20 moves the elevating/lowering drive unit 14 from the projecting position 14P to the storage position 14R by the sideways mechanism 11 while the ceiling guided vehicle 10 is stopped at the stop position P3. After the storage operation is completed, the controller 20 causes the traveling unit 5 to start the traveling operation (step S27). The ceiling guided vehicle 10 starts traveling in a state where the lifting drive unit 14 is arranged at the storage position 14R.

As shown in FIG. 9, when there is no obstacle in the traveling direction of the ceiling guided vehicle 10, the storing operation is performed when the traveling of the ceiling guided vehicle 10 is started, and the storing operation is completed while the ceiling guided vehicle 10 is traveling. As in the example shown in FIG. 9, the traveling of the ceiling guided vehicle 10 and the storing operation of the elevating/lowering drive unit 14 can be overlapped, so that the traveling is performed after the storing operation is performed while the ceiling guided vehicle 10 is stopped. The traveling start time of the ceiling guided vehicle 10 can be shortened and the time required for transferring the articles 2 can be shortened as compared with the case of starting.

Further, as shown in FIG. 10, when there is an obstacle in the traveling direction of the ceiling guided vehicle 10, the ceiling guided vehicle 10 starts traveling after the storage operation is completed. It passes the side of the obstacle while being arranged at the storage position 14R. By disposing the lifting drive unit 14 at the storage position 14R, it is possible to prevent the lifting drive unit 14 from interfering with an obstacle.

In the operation shown in FIG. 10, when it is determined in step S22 that there is an obstacle in the traveling direction, the controller 20 completes the storing operation while the ceiling guided vehicle 10 is stopped, but the present invention is not limited to this example. .. For example, in step S22, when it is determined that there is an obstacle in the traveling direction, the deriving unit 21 sets the timing for starting the storing operation of storing the elevating drive unit 14 by the side-out mechanism 11 so as not to interfere with the obstacle. It may be derived.

FIG. 11 is a diagram showing another operation of the ceiling guided vehicle system 100. As shown in FIG. 11, the derivation unit 21 calculates the distance between the stop position P3 and the position P9 reaching the obstacle, and calculates the time (traveling time) required for the ceiling guided vehicle 10 to travel this distance. .. In addition, the deriving unit 21 starts the storage operation based on, for example, the distance from the protruding position 14P to the storage position 14R when the lift drive unit 14 is stored and the storage speed of the lift drive unit 14 by the side-out mechanism 11. Calculate the time (storage time) required to complete the storage operation.

For example, the deriving unit 21 compares the calculated storage time with the traveling time, and when the storage time is shorter, causes the elevating drive unit 14 to perform the storage operation when the traveling of the ceiling guided vehicle 10 is started. Further, for example, when the storage time is longer, the derivation unit 21 obtains a time (subtraction time) obtained by subtracting the traveling time from the storage time, and subtracts the subtraction time from the timing T0 at which the storage operation of the sideways mechanism 11 is started. The timing T1 at which is passed is derived. The controller 20 starts the storage operation with the ceiling guided vehicle 10 stopped at the stop position P3, and gives an instruction to start traveling at the timing T1 when the above-described subtraction time has elapsed from the timing T0 at the start of the storage operation.

As shown in FIG. 11, the ceiling guided vehicle 10 starts the storage operation of the elevating drive unit 14 by the sideways-out mechanism 11 while stopped at the stop position P3, and the traveling unit 5 travels while continuing the storage operation at the timing T1. To start. Note that, as shown in FIG. 11, at the traveling position P8, which is an intermediate position between the stop position P3 and the position P9, the horizontal drive mechanism 11 performs the retracting operation of the elevating drive unit 14. Further, at the stage when the ceiling guided vehicle 10 reaches the position P9 where it reaches the obstacle, the storage operation of the elevating drive unit 14 is completed. Therefore, even when there is an obstacle in the traveling direction, the traveling of the ceiling guided vehicle 10 and the storing operation of the elevating/lowering drive unit 14 can partially overlap each other. According to this example, the traveling start time of the ceiling guided vehicle 10 can be shortened and the time required for transferring the articles 2 can be shortened while avoiding the interference of the lifting drive unit 14 with the obstacle.

FIG. 12 is a diagram showing another operation of the ceiling guided vehicle system 100. The buffer unit (storage device) 32 shown in FIG. 12 can place a plurality of articles 2 side by side between the +X side and −X side hanging metal fittings 34 along the traveling direction of the ceiling guided vehicle 10. .. As illustrated in FIG. 12, the ceiling guided vehicle 10 stops at the stop position P10 and transfers the article 2 to the buffer unit 32 on the front side (−X side) in the traveling direction of the ceiling guided vehicle 10. .. At this time, the controller 20 determines whether the article 2 is placed on the front side (+X side) of the buffer section 32 in the traveling direction of the ceiling guided vehicle 10, and when the article 2 is placed, Assuming that the article 2 is an obstacle, as in the case of FIG. 10, assuming that there is an obstacle (article 2) in the traveling direction of the ceiling guided vehicle 10, the traveling of the ceiling guided vehicle 10 is started after the storage operation is completed.

When the controller 20 determines that the article 2 is not placed on the downstream side (+X side) of the buffer section 32, the deriving section 21 reaches the stop position P10 and the suspending metal fitting 34 that is an obstacle. The distance from P11 is calculated, and the time (traveling time) required for the ceiling guided vehicle 10 to travel this distance is calculated. Further, similarly to FIG. 11, the derivation unit 21 calculates the time (storage time) required from the start of the storage operation of the lift drive unit 14 to the completion of the storage operation.

The deriving unit 21 obtains a time (subtraction time) obtained by subtracting the traveling time from the storage time, and derives a timing T2 at which the subtraction time has elapsed from the timing T0 when the storage operation of the sideways mechanism 11 is started. The controller 20 starts the storage operation with the ceiling guided vehicle 10 stopped at the stop position P10, and gives an instruction to start traveling at the timing T2 when the above-described subtraction time has elapsed from the timing T0 at the start of the storage operation.

As shown in FIG. 12, the ceiling guided vehicle 10 starts the storing operation of the elevating and lowering drive unit 14 by the sideways-out mechanism 11 while stopped at the stop position P3, and the traveling unit 5 travels at timing T2 while continuing the storing operation. To start. Note that, as shown in FIG. 12, at the intermediate position between the stop position P10 and the position P11, the horizontal movement mechanism 11 performs the retracting operation of the up-and-down drive unit 14. Further, at the stage when the ceiling guided vehicle 10 reaches the position P11 where it reaches the hanging metal fitting 34, the storing operation of the lifting drive unit 14 is completed. Therefore, even after the transfer of the article 2 to the buffer unit 32, the traveling of the ceiling guided vehicle 10 and the storing operation of the elevating/lowering drive unit 14 can partially overlap each other. According to this example, the traveling start time of the ceiling guided vehicle 10 can be shortened and the time required for transferring the articles 2 can be shortened while avoiding the interference of the lifting drive unit 14 with the hanging metal fitting 34. Although FIG. 12 shows a mode in which two articles 2 are placed on the buffer section 32, the same applies to the case where three or more articles 2 are placed side by side as the buffer section 32. ..

FIG. 13 is a diagram showing another example of the ceiling guided vehicle system 200. Note that, in FIG. 13, the same members as those in the above-described embodiment are denoted by the same reference numerals, and the description thereof will be omitted or simplified. As shown in FIG. 13, in the overhead guided vehicle system 200, the tracks 6 and 6A are provided in two upper and lower stages, and are arranged in two rows (side by side in the Y direction). The ceiling guided vehicle 10 can travel on each track 6, 6A.

The upper two rows of tracks 6 and 6A are attached to the ceiling 18, respectively. The lower track 6</b>A is attached to the frame 132 suspended from the ceiling 18 by suspending metal fittings 134. The frame 132 is a structure arranged below the track 6. Further, the buffer section 32 is provided by suspending the frame 33, which is a structure, from the frame 132 via the suspending metal fitting 34. The frame 33 is suspended from the ceiling by the hanging metal fittings 134, the frame 132, and the hanging metal fittings 34.

Further, the ceiling guided vehicle system 200 includes a controller 120 that centrally controls each unit. The controller 120 may be installed on the ground or may be mounted on each ceiling guided vehicle 10. Similar to the controller 20 described above, the controller 120 determines whether or not the raising/lowering drive unit 14 is caused to project or retract while the ceiling guided vehicle 10 is traveling. Further, the controller 120 acquires information about obstacles as in the controller 20 described above. However, in the ceiling guided vehicle system 200, the hanging metal fittings are obstacles in the ceiling guided vehicle 10 traveling on the upper track 6. There are 134. Note that, in the ceiling guided vehicle 10 traveling on the lower and left (-Y side) track 6A, the hanging metal fitting 34 of the buffer section 32 serves as an obstacle, which is the same as the ceiling guided vehicle system 100.

The controller 120 can determine whether the hanging metal fitting 34, the article 2 on the buffer section 32, and the hanging metal fitting 134 are obstacles. Therefore, with respect to the ceiling guided vehicle 10 traveling on the tracks 6 in the upper two rows, at a position where the suspending metal fittings 134 are provided, the controller 120, for example, causes the lifting drive unit 14 to project or retract while the ceiling guided vehicle 10 is traveling. Control so that they do not overlap.

Further, regarding the ceiling guided vehicle 10 traveling on the lower and right side (+Y side) track 6A, the controller 120 has no obstacles such as the hanging metal fittings 34 and 134, so that the lifting drive unit 14 is running during traveling of the ceiling guided vehicle 10. It is possible to overlap the projecting or retracting operations of the. Further, with respect to the ceiling guided vehicle 10 traveling on the lower and left (-Y side) track 6A, at a position where the hanging metal fitting 34 is provided, the controller 120 may, for example, drive the lifting drive unit 14 while the ceiling guided vehicle 10 is traveling. The protrusion or the storage operation is controlled so as not to overlap. Note that, in the configuration as shown in FIG. 13, for the ceiling guided vehicle 10 traveling on the upper track 6, the hanging metal fittings 134 are obstacles, and therefore the above overlapping control may not be uniformly executed. Further, regarding the ceiling guided vehicle 10A traveling on the lower track 6A (+Y side track 6A), since there is no obstacle such as the hanging metal fittings 34, 134 on the side (+Y side) where the load port 31 is provided, Regarding the operation of projecting or retracting the elevating/lowering drive unit 14 to the side where the load port 31 is provided, the controller 20 determines whether or not there is an obstacle (for example, step S04 in FIG. 3 or step S22 in FIG. 8). The above control for overlapping may be uniformly executed without performing the above).

As described above, according to the method of controlling the ceiling guided vehicle systems 100 and 200 or the ceiling guided vehicle 10 according to the present embodiment, the movement of the lifting drive unit 14 by the sideways mechanism 11 overlaps the traveling of the traveling unit 5. be able to. According to this example, compared with the case where the elevating drive unit 14 is laterally extended after the ceiling guided vehicle 10 is stopped, or the traveling of the traveling unit 5 is started after the elevating drive unit 14 is stored in the main body unit 3. Therefore, the time required to transfer the article 2 can be shortened.

Although the embodiments have been described above, the present invention is not limited to the above description, and various modifications can be made without departing from the gist of the present invention. For example, in the above-described embodiment, the configuration of the ceiling transport vehicle 10 is an example, and the article 2 can be transported by traveling in the vicinity of the ceiling 18, and the elevating drive unit 14 that raises and lowers the article 2 is laterally extended. Any possible configuration is applicable. In addition, the contents of Japanese Patent Application No. 2016-217839 and all documents cited in this specification are incorporated by reference as a part of the text, as long as it is permitted by law.

P1, P4... Protrusion operation start position P3... Stop position 2... Article 3... Main body 5... Traveling part 6... Track 10... Ceiling carrier 11... Sideways Draw-out mechanism 13... Article holding unit 14... Elevating drive unit 14P... Projection position 14R... Storage position 18... Ceiling 20, 120... Controller 21... Derivation unit 22... Storage unit 30...Processing device 31...Load port (transfer position)
32... Buffer unit (storage device)
33, 132... Frame (structure)
34,134... Hanging metal fittings 100, 200... Ceiling carrier system

Claims (9)

A traveling unit that travels on a ceiling or a track laid near the ceiling,
A main body portion provided on the lower side of the traveling portion,
An article holding unit that holds the article in a suspended state,
An elevating and lowering drive unit for elevating and lowering the article holding unit,
A sideways-out mechanism for moving the elevating and lowering drive unit between a storage position for storing the elevation drive unit in the main body unit and a projecting position for laterally projecting from the main body unit;
The traveling unit is suspended from a ceiling by a suspending metal and arranged laterally from the lower side of the track, and the traveling unit is stopped with respect to a storage device in which a plurality of articles can be placed side by side along the traveling direction of the traveling unit. Before starting, the sideways-out mechanism starts the movement of the elevating and lowering drive section toward the protruding position, or the sideward-outing mechanism corresponds to the storage device before the elevating and lowering drive section returns to the storage position. And a controller for starting the traveling of the traveling unit that is stopped,
When the article is transferred to the storage device and the article is not placed on the storage device, the controller drives the lifting drive unit, the article holding unit, or the article holding unit in a protruding state. A ceiling guided vehicle that drives the sideways mechanism within a range in which the article held by the section does not come into contact with the hanging fitting. The controller starts the driving of the sideways mechanism while the traveling unit is traveling so that the elevating/lowering drive unit is arranged at the projecting position when the traveling unit stops corresponding to the storage device. The ceiling guided vehicle according to claim 1, which gives an instruction. The controller directs the drive start of the side-out mechanism toward the storage position with the elevating drive unit at the projecting position at the time when the traveling unit starts traveling from a position corresponding to the storage device. The ceiling guided vehicle according to Item 1. The ceiling guided vehicle according to claim 1, wherein the controller gives an instruction to start driving of the side-out mechanism from a position where the traveling unit has passed over the hanging fitting. A traveling unit that travels on a ceiling or a track laid near the ceiling,
A main body portion provided on the lower side of the traveling portion,
An article holding unit that holds the article in a suspended state,
An elevating drive unit for elevating the article holding unit,
A sideways-out mechanism for moving the elevating and lowering drive unit between a storage position for storing the elevation drive unit in the main body unit and a projecting position for laterally projecting from the main body unit;
Before the traveling unit stops at the transfer position of the article that is displaced laterally from the lower side of the track, the sideways mechanism causes the elevation drive unit to start moving toward the protruding position. Or a controller that starts traveling of the traveling unit that is stopped in correspondence with the transfer position before the lifting drive unit returns to the storage position by the side-out mechanism.
When the controller has an obstacle with which at least one of the up-and-down drive unit in a protruding state, the article holding unit, and the article held by the article holding unit is in contact while the running unit is running, A subtraction time obtained by subtracting the time required for the elevating drive unit in the projecting position to move to the storage position from the time until the traveling unit stopped at the position corresponding to the transfer position reaches the obstacle. Obtained, at the timing when the subtraction time has elapsed from the start of driving of the side-discharging mechanism, the driving of the side-discharging mechanism is started with the elevating/lowering drive unit at the protruding position toward the storage position while the traveling unit is stopped. A ceiling carrier for instructing to start traveling of the traveling unit. The ceiling guided vehicle according to claim 7, wherein the obstacle is a hanging metal fitting for hanging a structure arranged below the track from a ceiling. The structure is a storage device on which articles can be placed,
The ceiling guided vehicle according to claim 8, wherein the obstacle is an article placed on the storage device. The controller is a storage unit that stores information about a position at which the projecting operation of the sideways mechanism is started during traveling of the traveling unit, or information about a timing at which the traveling unit is started during storage of the sideways mechanism. The ceiling guided vehicle according to any one of claims 1 to 9, further comprising: A traveling unit that travels on a ceiling or a track laid near the ceiling,
A main body portion provided on the lower side of the traveling portion,
An article holding unit that holds the article in a suspended state,
An elevating and lowering drive unit for elevating and lowering the article holding unit,
A control method for a ceiling guided vehicle, comprising: a lifting mechanism that moves the lifting drive unit between a storage position for storing the lifting drive unit in the main body unit and a protruding position that projects laterally of the track from the main body unit. There
Before the traveling unit stops with respect to the storage device that is suspended from the ceiling by the suspending metal and shifts from the lower side of the track to the lateral side, and a plurality of articles can be placed side by side along the traveling direction of the traveling unit. , Starting the movement of the elevating and lowering drive unit toward the protruding position by the side-out mechanism, or corresponding to the storage device before the elevating and lowering drive unit returns to the storage position by the side-out mechanism. Including starting the traveling of the traveling unit that is stopped,
When the article is transferred to the storage device, if the article is not placed on the storage device, it is held by the lifting drive unit, the article holding unit, or the article holding unit in a protruding state. A method for controlling a ceiling guided vehicle, which comprises driving the side-out mechanism within a range in which there is no contact between the article and the hanging fitting.

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