JP7363752B2 - Wheel position adjustment device - Google Patents

Description

The present invention provides a vehicle body, a first running wheel that rolls on the upper surface of one of a pair of running rails arranged apart in the width direction, and a second running wheel that rolls on the other upper surface of the pair of running rails. The first running wheel and the second running wheel in a vehicle comprising a running wheel and a guide wheel that rolls on a side surface of a guide rail that is arranged at a vertically different position from a pair of the running rails. The present invention relates to a wheel position adjustment device that adjusts the positional relationship with the guide wheel.

For example, Japanese Patent No. 6337528 (Patent Document 1) discloses an overhead vehicle that travels in a ceiling space such as a clean room. Hereinafter, in the description of the background art, the symbols shown in parentheses are those of Patent Document 1.

The overhead traveling vehicle (2) disclosed in Patent Document 1 includes running wheels (12, 20) that roll on a rail (4), and a rail (4) when the overhead traveling vehicle travels at a branch point of a travel route. and guide wheels (22, 24) that contact from the side. The guide wheels (22, 24) are used when changing the traveling direction of the overhead vehicle.

Although not described in detail in Patent Document 1, in this technical field, it is common for vehicles to be configured to run on a pair of running rails that are spaced apart in the width direction. It is. In branch sections where travel routes diverge and in convergence sections where travel routes merge, guide rails are provided that the guide wheels can contact from the side, and one of the pair of travel rails is missing. . In these branching/merging sections, the traveling wheels corresponding to the traveling rails that do not exist in the pair of traveling rails are in a floating state. The vehicle is supported by traveling wheels that roll on the upper surface of the traveling rail existing in the section and guide wheels that roll on the side surface of the guide rail. That is, the rotational moment in the direction in which the floating traveling wheels tend to descend is supported by the guide wheels. In this way, the combination of rails that support the vehicle is different between the normal section where the vehicle is supported by a pair of running rails and the branch/merging section where the vehicle is supported by one running rail and the guide rail. Since the rails are different, the attitude of the vehicle supported by those rails will also change. However, if the attitude of the vehicle changes significantly during the transition between the normal section and the branch/merging section, this is not preferable because it may cause vibrations, wheel wear, etc.

Therefore, the positional relationship between the pair of running wheels and the guide wheels is adjusted so that the change in the posture of the vehicle does not become large during the transition between the normal section and the branch/merging section. Conventionally, the positional relationship between a pair of traveling wheels and a guide wheel has been adjusted by adjusting the position of the guide wheel with respect to the vehicle body using shims. This adjustment using shims was performed manually.

Patent No. 6337528

In view of the above-mentioned circumstances, in a vehicle equipped with a running wheel that rolls on each of a pair of running rails and a guide wheel that rolls on the side of a guide rail, the positional relationship between a pair of running wheels and a guide wheel is determined. It is desired to realize technology that allows automatic adjustment.

a vehicle body; a first running wheel that rolls on the upper surface of one of a pair of running rails arranged apart in the width direction; and a second running wheel that rolls on the upper surface of the other of the pair of running rails; The first running wheel, the second running wheel, and the guide wheel in a vehicle that includes a pair of running rails and a guide wheel that rolls on a side surface of a guide rail that is arranged at a different position in the vertical direction. A wheel position adjustment device that adjusts the positional relationship of
In the vehicle body,
a first shim insertion portion into which a shim is inserted to adjust the positional relationship between the first traveling wheel and the guide wheel;
a second shim insertion portion into which the shim is inserted to adjust the positional relationship between the second traveling wheel and the guide wheel;
a first fastening part that fastens and fixes the shim inserted into the first shim insertion part to the vehicle body;
a second fastening part that fastens and fixes the shim inserted into the second shim insertion part to the vehicle body,
a first support rail and a second support rail that are spaced apart from each other in the width direction;
a third support rail disposed at different positions in the vertical direction from the first support rail and the second support rail;
a first lifting mechanism that raises and lowers the first support rail to a first reference position and a first lowered position below the first reference position;
a second lifting mechanism that raises and lowers the second support rail to a second reference position and a second lowered position below the second reference position;
The positional relationship between the first support rail at the first reference position, the second support rail and the third support rail at the second reference position is the positional relationship between the pair of traveling rails and the guide rail. a rail support part that supports the first support rail, the second support rail, and the third support rail so that they are the same;
a shim insertion robot that inserts the shim into the first shim insertion portion and inserts the shim into the second shim insertion portion;
a fastening robot that fastens and unfastens each of the first fastening part and the second fastening part;
a first detection unit that detects the position of the first running wheel;
a second detection unit that detects the position of the second running wheel;
A control unit that controls the first lifting mechanism, the second lifting mechanism, the shim insertion robot, and the fastening robot,
A virtual line extending between the first support rail and the second support rail in the width direction along the extending direction of the first support rail and the second support rail is set as a reference axis, and around the reference axis. The direction in which the vehicle rotates is defined as a swing direction, the side on which the vehicle swings when the first running wheel descends relative to the second running wheel is defined as a first swing direction side, and the second running wheel is defined as a swing direction. A side on which the vehicle swings when the wheels descend relative to the first running wheels is a second side in the swing direction,
With the first support rail in the first lowered position and the second support rail in the second reference position, the first running wheel moves away from the first support rail and the second running wheel is placed on the second support rail, and the first wheel is in a separated state in which the guide wheel is in contact with a side surface of the third support rail facing the second side in the swinging direction;
With the first support rail in the first reference position and the second support rail in the second lowered position, the first traveling wheel is placed on the first support rail and the second a second wheel-separated state in which the running wheels are separated from the second support rail and the guide wheels abut against a side surface of the third support rail facing the first side in the swing direction;
The control unit causes the first detection unit to perform a first detection operation of detecting the position of the first running wheel in the first wheel separated state, and causes the first detection unit to perform a first detection operation to detect the position of the first running wheel in the second wheel separated state. causing the second detection unit to perform a second detection operation of detecting the position of
Furthermore, the control unit inserts the shims of the number and thickness according to the detection result of the first detection operation into the first shim insertion part while the first fastening part is unfastened by the fastening robot. a first shim insertion operation, and with the second fastening portion unfastened by the fastening robot, the number and thickness of the shims are inserted into the second shim insertion portion according to the detection result of the second detection operation. The second shim insertion operation is caused to be performed by the shim insertion robot.

According to this configuration, the first support rail is configured so that the first running wheel can roll, the second support rail is configured so that the second running wheel can roll, and the guide wheel can roll. The third support rail is configured as follows. Therefore, the vehicle can be moved along the first support rail, the second support rail, and the third support rail and placed at the work location by the fastening robot and the shim insertion robot. Further, according to this configuration, the positional relationship between the first support rail at the first reference position and the second support rail and third support rail at the second reference position is the same as the position of the pair of running rails and the guide rail. The first support rail, the second support rail, and the third support rail are supported in the same relationship. Then, the position of the first running wheel is detected in the first wheel separated state, and the position of the second running wheel is detected in the second wheel separated state. Therefore, according to this configuration, the position of the running wheel can be detected by the first detection unit and the second detection unit under the same conditions as when the vehicle is running while being supported by one of the pair of running rails and the guide rail. can. Then, the control unit controls the shim insertion robot and the fastening robot to insert shims in the number and thickness of the shims into the first shim insertion part and the second shim insertion part according to the detection results by the first detection part and the second detection part. Insert it into the vehicle body and fasten it to the vehicle body. As described above, according to this configuration, the position of the guide wheel can be adjusted using the shim without manual intervention, and the positional relationship between the pair of running wheels and the guide wheel can be adjusted automatically. Become.

Further features and advantages of the technology according to the present disclosure will become clearer from the following description of illustrative and non-limiting embodiments, written with reference to the drawings.

Diagram showing how a vehicle is transferring goods A plan view showing how vehicles are traveling in branching and merging sections A view from the driving direction showing how a vehicle is traveling in a branching/merging section Diagram showing how the vehicle moves towards the maintenance equipment via the lifter Top view of maintenance equipment Cross-sectional view of the rail support section as seen in the extending direction Plan view of rail support part Diagram showing how both wheels are placed on the vehicle A diagram showing a state in which the first running wheels of the vehicle are separated. Diagram showing a state where the second running wheels of the vehicle are separated Diagram showing the retaining arm Diagram showing how the holding arm holds the wheel Diagram showing how the retaining arm holds the shim Diagram showing a fastening robot Diagram showing the fixed part of the running wheel Control block diagram Flowchart showing the processing procedure in the maintenance device Flowchart showing the process of wheel replacement Flowchart showing the processing steps for replacing the first traveling wheel Schematic diagram showing part of the process of replacing the first running wheel Schematic diagram showing part of the process of replacing the first running wheel Schematic diagram showing part of the process of replacing the first running wheel Schematic diagram showing part of the process of replacing the first running wheel Schematic diagram showing part of the process of replacing the first running wheel Flowchart showing the process of wheel position adjustment Flowchart showing the process of adjusting the position of the first running wheel Flowchart showing the process of determining the number of shims/shim thickness Flowchart showing the process of wheel position adjustment processing Schematic diagram showing part of the process of adjusting the position of the first running wheel Schematic diagram showing part of the process of adjusting the position of the first running wheel Schematic diagram showing part of the process of adjusting the position of the first running wheel Schematic diagram showing part of the process of adjusting the position of the first running wheel Schematic diagram showing part of the process of adjusting the position of the first running wheel

Hereinafter, a case in which a maintenance device as a wheel changing device and a wheel position adjusting device is applied to an article conveying facility equipped with a vehicle for conveying articles will be described as an example.

As shown in FIG. 1, the vehicle 8 is configured as an article transport vehicle that conveys articles G. As shown in FIG. The article conveyance facility F is provided with a plurality of conveyance target locations 98 where the article G is conveyed to or from. The vehicle 8 transports the article G with the transport target location 98 as the transport destination or transport source. Here, a case is illustrated in which the article transport facility F is provided in a semiconductor manufacturing factory. In this case, the vehicle 8 transports, as the article G, a FOUP (Front Opening Unified Pod) for accommodating the semiconductor substrate. For example, the transport target location 98 includes a mounting table 98a on which the article G is placed, and a processing device 98b arranged adjacent to the mounting table 98a. The processing device 98b takes out the semiconductor substrate from the article G (FOUP) placed on the mounting table 98a, and performs various processes on the semiconductor substrate.

The vehicle 8 includes a storage section 85 that stores the article G, and a transfer section 86 that transfers the article G between the storage section 85 and the mounting table 98a (transfer target location 98). The transfer section 86 is configured to be able to hold the article G. In this example, the transfer section 86 is configured to move the article G up and down. The transfer section 86 transfers the article G by raising and lowering the article G between the accommodating section 85 and the mounting table 98a with the accommodating section 85 positioned above the mounting table 98a.

As shown in FIG. 2, the travel path 99 of the vehicle 8 is configured by a pair of travel rails 96 spaced apart in the width direction Y. The travel route 99 includes branch sections where the routes diverge and merging sections where the routes merge (hereinafter referred to as a branch/merging section BS). This branching/merging section BS is provided with a guide rail 95 arranged at a different position in the vertical direction from the pair of running rails 96 (see also FIG. 3). Furthermore, in the branching/merging section BS, one of the pair of travel rails 96 is missing. In this example, the pair of running rails 96 and guide rails 95 are provided near the ceiling of the facility. The vehicle 8 is configured as a so-called ceiling transport vehicle that travels near the ceiling of the facility and transports the article G. Note that when the structure of the traveling rail 96 shown in FIG. 2 is a branching section, the vehicle 8 travels from the bottom to the top in the diagram, and when it is a merging section, the vehicle 8 travels from the top to the bottom in the diagram. drive.

As shown in FIGS. 2 and 3, the vehicle 8 includes a vehicle body 80, a first running wheel 81 that rolls on an upper surface 96F of one of the pair of running rails 96, and an upper surface 96F of the other of the pair of running rails 96. and a guide wheel 83 that rolls on a side surface 95F of the guide rail 95. Each of the first running wheels 81 and the second running wheels 82 is configured to rotate around an axis along the width direction Y. The guide wheel 83 is configured to rotate around an axis along the vertical direction. The vehicle 8 also includes a switching mechanism 84 that switches the position of the guide wheel 83 in the width direction Y. By switching the position in the width direction Y by the switching mechanism 84, the guide wheel 83 selectively rotates with respect to the side surface 95F facing the first width direction side Y1 and the side surface 95F facing the width direction second side Y2 of the guide rail 95. It is configured to be able to come into contact with each other. Note that the “width direction Y” is the direction in which the pair of running rails 96 are lined up, and may change depending on the layout of the running route 99. Moreover, "the first width direction side Y1" means one side in the width direction Y, and "the second width direction side Y2" means the other side in the width direction Y.

In this embodiment, the first running wheels 81 include a plurality of wheels arranged at the same position in the width direction Y and spaced apart in the extending direction X of the pair of running rails 96. Further, the second traveling wheels 82 include a plurality of wheels arranged at the same position in the width direction Y and spaced apart in the extension direction X. In other words, a first running wheel 81 including a plurality of wheels is provided on a first side Y1 in the width direction with respect to the vehicle body 80, and a plurality of wheels is provided on a second side Y2 in the width direction with respect to the vehicle body 80. A second running wheel 82 is provided. In this embodiment, the guide wheels 83 also include a plurality of wheels lined up in the extending direction X at the same position in the width direction Y.

The article conveyance facility F includes a power supply section 7 that supplies power to a traveling drive section M8 (a motor in the illustrated example) which is a driving force source for the first traveling wheels 81 and the second traveling wheels 82. In the present embodiment, the power supply unit 7 is a power supply line 70 that supplies power to the vehicle 8 in a non-contact manner, and is arranged along a pair of running rails 96 . This allows the vehicle 8 to receive power while traveling along the traveling route 99 (traveling rail 96).

When the vehicle 8 travels on the branching/merging section BS on the traveling route 99, the guide wheels 83 abut against the side surface 95F of the guide rail 95 from the width direction Y, and the first traveling wheels 81 and the second traveling wheels 82 One of them contacts the upper surface 96F of the traveling rail 96. The other of the first running wheel 81 and the second running wheel 82 is in a floating state. That is, when the vehicle 8 travels on the branch/merging section BS on the travel route 99, the vehicle 8 is supported by one of the pair of travel rails 96 and the guide rail 95. When the vehicle 8 travels in a section other than the branching/merging section BS on the traveling route 99 (normal section NS), each of the first traveling wheels 81 and the second traveling wheels 82 is connected to the corresponding one of the pair of traveling rails 96. contact with the running rail 96. That is, in this case, the vehicle 8 is supported by the pair of running rails 96. In this example, the vehicle 8 includes auxiliary wheels 87 that rotate about an axis along the vertical direction and that abut each of the pair of running rails 96 from inside in the width direction Y. This allows the vehicle 8 to travel appropriately along the travel route 99.

Here, as shown in FIG. 3, the vehicle 8 is traveling in the branching/merging section BS on the traveling route 99, that is, the state in which either the first traveling wheel 81 or the second traveling wheel 82 is floating. In this case, the rotational moment in the direction in which the floating traveling wheels (referred to as floating wheels) tend to descend is supported by the guide wheels 83. The attitude of the vehicle 8 at this time depends on the positional relationship between the guide wheel 83 and the one of the first running wheels 81 and the second running wheels 82 that is in contact with the running rail 96 (referred to as the contact wheel). Determined. Specifically, the attitude of the vehicle 8 is determined by the position of the guide wheel 83 in the width direction Y, and if the distance in the width direction Y between the guide wheel 83 and the contact wheel is too short, the vehicle 8 will have low floating wheels. Tilt to the side. Therefore, the position of the guide wheel 83 in the width direction Y is preferably set such that the distance in the width direction Y between the guide wheel 83 and the contact wheel is appropriate.

The position of the guide wheel 83 in the width direction Y is adjusted using the shim 9. Specifically, the vehicle body 80 includes a first shim insertion portion 91 into which a shim 9 is inserted in order to adjust the positional relationship between the first running wheel 81 and the guide wheel 83, and the second running wheel 82 and the guide wheel 83. A second shim insertion portion 92 into which the shim 9 is inserted is provided to adjust the positional relationship with the second shim insertion portion 92. The first shim insertion portion 91 is disposed on the opposite side of the first running wheel 81 with the guide wheel 83 in between in the width direction Y. By inserting an appropriate number and thickness of shims 9 into the first shim insertion portion 91, the position of the guide wheel 83 in the width direction Y and the position of the guide wheel 83 when the vehicle 8 is supported by the guide wheel 83 can be adjusted. The vertical position of one running wheel 81 can be adjusted, and in turn, the inclination of the vehicle 8 in this state can be adjusted. The second shim insertion portion 92 is disposed on the opposite side of the second traveling wheel 82 with the guide wheel 83 in between in the width direction Y. By inserting an appropriate number and thickness of shims 9 into the second shim insertion portion 92, the position of the second traveling wheels 82 in the width direction Y and the state in which the vehicle 8 is supported by the guide wheels 83 can be adjusted. The vertical position of the vehicle 8 can be adjusted, and in turn, the inclination of the vehicle 8 in this state can be adjusted. In addition, in this embodiment, "the inclination of the vehicle 8" means the inclination of the vehicle 8 with respect to the virtual plane containing the upper surface 96F of each of a pair of running rails 96.

As described above, the vehicle 8 includes the switching mechanism 84 that switches the position of the guide wheel 83 in the width direction Y. In this embodiment, the switching mechanism 84 includes a movable support 84a that moves along the width direction Y and supports the guide wheel 83, a drive section 84m (see FIG. 2) that drives the movable support 84a, and a movable support A pair of regulating bodies 84b are provided on both sides of the body 84a in the width direction Y to regulate the movement of the movable support 84a. For example, when the guide wheel 83 is in contact with the side surface 95F of the guide rail 95 facing the first side Y1 in the width direction (the state shown in FIG. 3), one of the pair of regulating bodies 84b is disposed on the first side Y1 in the width direction The regulating body 84b contacts the movable support body 84a that supports the guide wheel 83 from the first width direction side Y1 (outside in the width direction Y). In this embodiment, the position of the regulating body 84b in the width direction Y is adjustable, and the above-mentioned shim insertion portion (the first shim insertion portion 91 or the second shim insertion portion An insertion section 92) is provided. In this example, adjacent to the outside in the width direction Y (first width direction Y1) with respect to the regulating body 84b provided on the first width direction Y1 with respect to the movable support 84a (guide wheel 83), A second shim insertion portion 92 is arranged. By inserting an appropriate number and thickness of shims 9 into the second shim insertion portion 92, the position of the regulating body 84b in the width direction Y can be finely adjusted, and as a result, the state on the first side Y1 in the width direction can be adjusted. The position of the guide wheel 83 in the width direction Y and the position of the second traveling wheel 82 in the vertical direction can be adjusted. The first shim insertion portion 91 is arranged adjacent to the outside in the width direction Y (second width direction Y2) with respect to the regulating body 84b provided on the second width direction side Y2 with respect to the guide wheel 83. has been done. By inserting an appropriate number and thickness of shims 9 into the first shim insertion portion 91, the position of the regulating body 84b in the width direction Y can be finely adjusted, and the state on the second width direction Y2 can be adjusted. The position of the guide wheel 83 in the width direction Y and the position of the first traveling wheel 81 in the vertical direction can be adjusted.

In this embodiment, the vehicle 8 includes a first fastening part 910 that fastens and fixes the shim 9 inserted into the first shim insertion part 91 to the vehicle body 80, and a shim inserted into the second shim insertion part 92. A second fastening portion 920 that fastens and fixes the second fastening portion 9 to the vehicle body 80 is provided. The first fastening section 910 includes a plurality of bolt holes (not shown) and a plurality of bolts 91B inserted into them. Similarly, the second fastening section 920 includes a plurality of bolt holes (not shown) and a plurality of bolts 92B inserted into them.

As shown in FIG. 4, the article transport facility F includes a maintenance device 100 for maintaining the vehicle 8. As shown in FIG. In the illustrated example, the maintenance device 100 is installed on the floor of the facility. In this example, the article transport facility F includes a lifter 97 that raises and lowers the vehicle 8. The vehicle 8 is lowered from near the ceiling to near the floor using a lifter 97, thereby being able to move towards the maintenance device 100 installed on the floor. Further, the vehicle 8 that has undergone maintenance is raised from near the floor to near the ceiling by the lifter 97, so that it can head toward the travel route 99 for transporting the article G from the maintenance device 100.

In this embodiment, the maintenance device 100 is configured as a wheel replacement device that replaces the first running wheel 81 and the second running wheel 82 of the vehicle 8, and also replaces the first running wheel 81 and the second running wheel 82 of the vehicle 8. It is configured as a wheel position adjustment device that adjusts the positional relationship between the wheels 82 and the guide wheels 83. That is, in this embodiment, the maintenance device 100 corresponds to a "wheel replacement device" and a "wheel position adjustment device."

As shown in FIGS. 5 to 7, the maintenance device 100 includes a first support rail 10 and a second support rail 20 that are spaced apart from each other in the width direction Y, and a first support rail 10 and a second support rail 20 that are spaced apart from each other in the width direction Y. and a third support rail 30 arranged at a different position in the vertical direction. In this embodiment, the first support rail 10 is arranged on the first side Y1 in the width direction with respect to the second support rail 20. The second support rail 20 is arranged on the second widthwise side Y2 with respect to the first support rail 10. The third support rail 30 is arranged between the first support rail 10 and the second support rail 20 in the width direction Y. The upper surface 10F of the first support rail 10 is configured such that the first traveling wheel 81 can come into contact with it from above. The upper surface 20F of the second support rail 20 is configured such that the second traveling wheel 82 can come into contact with it from above. The third support rail 30 includes a side surface 31F facing the first side Y1 in the width direction and a side surface 32F facing the second side Y2 in the width direction. The side surface 31F of the third support rail 30 facing the first side Y1 in the width direction is configured such that the guide wheel 83 can come into contact with it from the first side Y1 in the width direction. The side surface 32F of the third support rail 30 facing the second widthwise side Y2 is configured such that the guide wheel 83 can come into contact with it from the widthwise second side Y2.

The maintenance device 100 includes a first lifting mechanism L1 (see FIG. 16) that lifts and lowers the first support rail 10 to a first reference position Pu1 and a first lowered position Pd1 located below the first reference position Pu1; A second lifting mechanism L2 that raises and lowers the support rail 20 to a second reference position Pu2 and a second lowered position Pd2 below the second reference position Pu2 (see FIG. 16), the first support rail 10, and the second support. The rail support part 1 integrally supports the rail 20 and the third support rail 30. The first support rail 10, second support rail 20, and third support rail 30 supported by the rail support section 1 extend in the same direction. More specifically, the first support rail 10, the second support rail 20, and the third support rail 30 are arranged parallel to each other.

In the rail support section 1, the positional relationship between the first support rail 10 at the first reference position Pu1 and the second support rail 20 and third support rail 30 at the second reference position Pu2 is such that the pair of running rails 96 and the guide It is configured to support the first support rail 10, the second support rail 20, and the third support rail 30 in the same positional relationship as the rail 95 (see FIG. 3). The first support rail 10 is located at a position corresponding to one of the pair of traveling rails 96 in a state of being at the first reference position Pu1. The second support rail 20 is located at a position corresponding to the other of the pair of travel rails 96 in a state of being at the second reference position Pu2. The third support rail 30 is arranged at a position corresponding to the guide rail 95. In this embodiment, the first support rail 10 is arranged on the extension line of one of the pair of running rails 96, and the second support rail 20 is arranged on the extension line of the other one of the pair of running rails 96 (Fig. 5). The direction in which the first support rail 10 and the second support rail 20 extend is equal to the direction in which the pair of travel rails 96 extend. That is, the "extending direction X" in this specification means the direction in which the first support rail 10 and the second support rail 20 extend, and also means the direction in which the pair of running rails 96 extends. In this embodiment, the first support rail 10 and the second support rail 20 are arranged on an extension of the pair of running rails 96 in the running path 99 that connects the lifter 97 and the maintenance device 100.

The maintenance device 100 includes a power supply section 7 that supplies power to a travel drive section M8 that is a source of driving force for the first travel wheels 81 and the second travel wheels 82. The power supply unit 7 is a power supply line 70 that supplies power to the vehicle 8 in a non-contact manner. This power supply line 70 is the same as the one arranged along the pair of traveling rails 96 arranged outside the maintenance device 100 described above. That is, in this example, the power supply line 70 is arranged along the pair of running rails 96, and is also arranged on the first support rail 10 and the second support rail 20. However, the power supply line 70 may not be arranged on both the first support rail 10 and the second support rail 20, but may be arranged only on either one of the first support rail 10 and the second support rail 20. Also good.

In this embodiment, the maintenance device 100 attaches and detaches the first running wheel 81 and the second running wheel 82 to and from the vehicle body 80, and also inserts the shim 9 into the first shim insertion portion 91 and inserts the second shim into the vehicle body 80. A holding arm 5 for inserting the shim 9 into the insertion portion 92 is provided. In this embodiment, the holding arm 5 corresponds to a "wheel attachment/detachment robot" and a "shim insertion robot". That is, in this embodiment, the wheel attachment/detachment robot also serves as the shim insertion robot, and the shim insertion robot also serves as the wheel attachment/detachment robot.

In the present embodiment, the holding arm 5 has a first side unit 51 disposed on the outer side in the width direction Y than the first support rail 10 (width direction first side Y1) and a first side unit 51 disposed on the outside in the width direction Y than the second support rail 20. A second side unit 52 disposed on the outside of Y (second side Y2 in the width direction). In this example, the first side unit 51 is configured to attach and detach the first running wheel 81 from the vehicle body 80 and insert the shim 9 into the second shim insertion portion 92. Further, the second side unit 52 is configured to attach and detach the second running wheel 82 to and from the vehicle body 80 and to insert the shim 9 into the first shim insertion portion 91. In the illustrated example, the first side unit 51 and the second side unit 52 are arranged at different positions also in the extending direction X. In this example, the first side unit 51 and the second side unit 52 are arranged in a diagonal positional relationship in plan view. However, the arrangement is not limited to this, and the arrangement of the first side unit 51 and the second side unit 52 can be set as appropriate.

In this embodiment, the first side unit 51 corresponds to a "first detachable unit" and a "second shim insertion unit." Further, the second side unit 52 corresponds to a "second detachable unit" and a "first shim insertion unit." That is, the holding arm 5 as a wheel attachment/detachment robot is disposed outside the first support rail 10 in the width direction Y (width direction first side Y1) and is a first attachment/detachment unit that attaches and detaches the first traveling wheel 81. (first side unit 51), and a second attachment/detachment unit (second side unit 52). Further, the holding arm 5 as a shim insertion robot is disposed outside the first support rail 10 in the width direction Y (on the first side Y1 in the width direction), and the holding arm 5 serves as a shim insertion robot for inserting the shim 9 into the second shim insertion portion 92. 2 insertion unit (first side unit 51), and a second insertion unit that is arranged outside the second support rail 20 in the width direction Y (width direction second side Y2) and inserts the shim 9 into the first shim insertion part 91. 1 insertion unit (second side unit 52).

The maintenance device 100 includes a fastening robot 6 that fastens and unfastens each of the first fastening section 910 and the second fastening section 920. In this embodiment, the fastening robot 6 is composed of an arm. Further, the fastening robot 6 is disposed outside the first support rail 10 in the width direction Y (on the first side Y1 in the width direction), and the second fastening unit 62 is configured to fasten and unfasten the second fastening portion 920. and a first fastening unit 61 that is disposed outside the second support rail 20 in the width direction Y (second width direction Y2) and that fastens and unfastens the first fastening portion 910. There is. In the illustrated example, the first fastening unit 61 and the second fastening unit 62 are arranged at different positions also in the extending direction X. In this example, the first fastening unit 61 and the second fastening unit 62 are arranged in a diagonal positional relationship in plan view. However, the arrangement of the first fastening unit 61 and the second fastening unit 62 can be set as appropriate.

In this embodiment, the maintenance device 100 includes a first support rail 10, a second support rail 20, a third support rail 30, a first lifting mechanism L1, a second lifting mechanism L2, a holding arm 5, and a fastening robot 6. It is equipped with a surrounding wall W. That is, the surrounding wall W is configured to surround the rail support section 1, the first elevating mechanism L1, the second elevating mechanism L2, the wheel attachment/detaching robot, the shim insertion robot, and the fastening robot 6. Although FIG. 5 shows the inside of the surrounding wall W in a plan view, the surrounding wall W also surrounds the various devices and mechanisms described above from above. Work for replacing the wheels of the vehicle 8 and adjusting the positions of the wheels is performed inside the surrounding wall W.

Furthermore, in this embodiment, the maintenance device 100 includes an opening Wh that communicates the inside and outside of the surrounding wall W, and an automatic door Wd that automatically opens and closes the opening Wh. A travel route 99 for the vehicle 8, which is constituted by a pair of travel rails 96, a first support rail 10, and a second support rail 20, is provided to pass through the opening Wh. The automatic door Wd is configured to automatically open the opening Wh before the vehicle 8 passes through the opening Wh, and automatically close the opening Wh after the vehicle 8 passes the opening Wh. With such a configuration, when the vehicle 8 passes through the opening Wh, the opening Wh can be opened to guide the vehicle 8 from the outside to the inside of the surrounding wall W, or from the inside to the outside. In other cases, the opening Wh can be kept in a closed state, so the inside of the surrounding wall W can be sealed, and dust etc. can come and go between the inside and outside of the surrounding wall W. can be restrained from doing so.

As shown in FIG. 5, in this embodiment, the maintenance device 100 includes a wheel storage area Sw and a shim storage area Ss. A plurality of wheels used for wheel replacement are arranged in the wheel yard Sw. After removing the first running wheel 81 or the second running wheel 82 from the vehicle 8, the holding arm 5 takes out a new wheel from the wheel storage area Sw and attaches it to the vehicle 8. A plurality of shims 9 to be inserted into the first shim insertion part 91 and the second shim insertion part 92 are arranged in the shim storage area Ss. In this example, a reference shim 9S formed to a preset reference thickness, which will be described later, is also arranged in the shim storage area Ss. After the holding arm 5 extracts the shim 9 from the first shim insertion part 91 or the second shim insertion part 92 in the vehicle 8, it takes out a new shim 9 from the shim storage space Ss and inserts it into the first shim insertion part 91 or the second shim. Insert into the insertion section 92. The wheel storage area Sw and the shim storage area Ss are provided inside the surrounding wall W.

As described above, the first support rail 10, the second support rail 20, and the third support rail 30 are integrally supported by the rail support section 1. As shown in FIGS. 6 and 7, in this embodiment, the rail support section 1 includes a first support stand 11 and a second support stand 12 that are spaced apart from each other in the width direction Y.

The first support stand 11 is arranged on the first side Y1 in the width direction with respect to the second support stand 12. Moreover, the first support stand 11 supports the first support rail 10 on the inner side in the width direction Y (width direction second side Y2) so as to be able to move up and down. As described above, the first support rail 10 is configured to be raised and lowered by the first lifting mechanism L1. The first elevating mechanism L1 can be configured using, for example, an air cylinder operated by air pressure, or a ball screw mechanism, a cam mechanism, or the like that converts rotation of a motor into linear motion.

The second support stand 12 is arranged on the second side Y2 in the width direction with respect to the first support stand 11. Further, the second support stand 12 supports the second support rail 20 on the inner side in the width direction Y (width direction first side Y1) so as to be able to move up and down. As described above, the second support rail 20 is configured to be raised and lowered by the second lifting mechanism L2. The second elevating mechanism L2 can be configured using, for example, an air cylinder operated by air pressure, or a ball screw mechanism, a cam mechanism, or the like that converts rotation of a motor into linear motion.

The first support rail 10 and the second support rail 20 are configured to be able to move up and down independently of each other. The first support rail 10 located at the first reference position Pu1 and the second support rail 20 located at the second reference position Pu2 are arranged at the same height. However, the first support rail 10 at the first lowered position Pd1 and the second support rail 20 at the second lowered position Pd2 may be arranged at the same height or at different heights. . That is, the amount of elevation of the first support rail 10 and the amount of elevation of the second support rail 20 may be the same or may be different.

The rail support section 1 includes a frame 13 that connects a first support stand 11 and a second support stand 12. The frame 13 is located between the first support rail 10 and the second support rail 20 in the width direction Y, more specifically, at an intermediate position in the width direction Y, and is located between the first support rail 10 and the second support rail 20. The third support rail 30 is supported at different positions in the vertical direction. In the present embodiment, the frame 13 is located at an intermediate position in the width direction Y between the first support rail 10 and the second support rail 20, and above the first support rail 10 and the second support rail 20. It supports the support rail 30. That is, in this example, the third support rail 30 is arranged above the first support rail 10 and the second support rail 20.

The maintenance device 100 includes a moving mechanism M that moves the rail support part 1 relative to the holding arm 5 in the extending direction X. The moving mechanism M moves the first support rail 10, the second support rail 20, and the third support rail 30 along the extension direction X by moving the rail support part 1 along the extension direction X. . Thereby, the moving mechanism M moves the vehicle 8 supported by at least two of the first support rail 10 , the second support rail 20 , and the third support rail 30 to the first running wheel 81 and the second running wheel 82 . It can be moved along the extending direction X without rolling.

In this embodiment, the moving mechanism M includes a linear motion rail MR that guides each of the first support stand 11 and the second support stand 12 along the extending direction X, and the first support stand 11 and the second support stand 12. and a linear drive unit MM that integrally moves the linear motion rail MR along the linear motion rail MR. The linear drive unit MM is configured using, for example, a ball screw mechanism or a linear guide that converts rotation of a motor into linear motion.

In this embodiment, the maintenance device 100 includes a regulating section 4 that regulates the rolling of the first running wheel 81 on the first support rail 10 and the rolling of the second running wheel 82 on the second support rail 20. ing. The regulating portion 4 has a regulating attitude Ar that regulates the rolling of the first running wheel 81 and the second running wheel 82, and an allowable attitude Aa that allows the rolling of the first running wheel 81 and the second running wheel 82. Change your posture.

For example, FIG. 15 shows a state in which the regulating portion 4 is in a regulating posture Ar that regulates the rolling of the first traveling wheel 81. Although detailed illustration is omitted, the regulating portion 4 regulates the rolling of the second traveling wheel 82 by assuming the regulating attitude Ar in the same manner as the example shown in FIG. 15 . In the present embodiment, the regulating part 4 is arranged adjacent to the first running wheel 81 and the second running wheel 82 in the extending direction X in the regulating attitude Ar, and the first running wheel 81 and the second running wheel Regulates rolling of 82. Further, as shown in FIG. 6, in the permissible attitude Aa, the regulating portion 4 is disposed at a position that does not overlap with the first traveling wheel 81 and the second traveling wheel 82 when viewed in the extending direction X, and the first traveling wheel 81 and the second running wheel 82 are allowed to roll. In this example, the restriction part 4 is arranged on both the first support stand 11 and the second support stand 12, and is configured to move in and out in the width direction Y by a restriction drive part M4 (see also FIG. 16). . Thereby, the regulation part 4 has a regulation attitude Ar that regulates the rolling of both the first running wheel 81 and the second running wheel 82, and a regulation attitude Ar that limits the rolling of both the first running wheel 81 and the second running wheel 82. The posture is changed to the allowable posture Aa.

As described above, the vehicle 8 includes the switching mechanism 84 that switches the position of the guide wheel 83 in the width direction Y. As shown in FIG. 6, the switching mechanism 84 has a first guide position Pg1 where the guide wheel 83 contacts the side surface 32F of the third support rail 30 facing the second side Y2 in the width direction, and a first guide position Pg1 where the guide wheel 83 contacts the third support rail The position of the guide wheel 83 in the width direction Y is configured to be switched to a second guide position Pg2 in contact with the side surface 31F facing the first width direction side Y1 in the guide wheel 83.

As shown in FIG. 7, in this embodiment, a notch 33 through which the guide wheel 83 can pass in the width direction Y is formed in a part of the third support rail 30 in the extending direction X. Thereby, the guide wheel 83 can be moved with respect to the third support rail 30 across the widthwise first side Y1 and the widthwise second side Y2 by using the notch 33, and The position of the guide wheel 83 in the width direction Y relative to the rail 30 can be appropriately switched.

Here, as shown in FIG. 8, an imaginary line extending between the first support rail 10 and the second support rail 20 in the width direction Y along the extending direction X of the first support rail 10 and second support rail 20 The line is defined as a reference axis Ax, and the direction in which the vehicle 8 rotates around the reference axis Ax is defined as a swing direction R. The side on which the vehicle 8 swings when the first running wheel 81 is lowered relative to the second running wheel 82 is defined as the first swing direction side R1, and the second running wheel 82 is lowered relative to the first running wheel 81. The side on which the vehicle 8 swings when descending is defined as the second swing direction side R2. As described above, in this embodiment, the third support rail 30 is arranged above the first support rail 10 and the second support rail 20. Therefore, in this embodiment, with respect to the third support rail 30, the first side Y1 in the width direction corresponds to the first side R1 in the swing direction, and the second side Y2 in the width direction corresponds to the second side R2 in the swing direction. Compatible. That is, the third support rail 30 has a side surface 32F facing the second side R2 in the swing direction (second side Y2 in the width direction) and a side surface 31F facing the first side R1 in the swing direction (first side Y1 in the width direction). ,have. The above-mentioned guide wheel 83 is in the first guide position Pg1 and comes into contact with the side surface 32F of the third support rail 30 facing the second side R2 in the swing direction (see FIGS. 9 and 10), and is in the second guide position. In the state of Pg2, it abuts against the side surface 31F of the third support rail 30 facing the first side R1 in the swing direction (see FIG. 8).

As shown in FIG. 8, in the vehicle 8, the first support rail 10 is at the first reference position Pu1 and the second support rail 20 is at the second reference position Pu2, and the first traveling wheel 81 is at the first support The second running wheel 82 is placed on the rail 10 and the second running wheel 82 is placed on the second support rail 20, resulting in a two-wheel placement state. In the two-wheel mounted state, the vehicle 8 is supported by the first support rail 10 and the second support rail 20.

As shown in FIG. 9, in the vehicle 8, the first support rail 10 is in the first lowered position Pd1 and the second support rail 20 is in the second reference position Pu2, and the first traveling wheel 81 is in the first support position. The first wheel is separated from the rail 10, the second running wheel 82 is placed on the second support rail 20, and the guide wheel 83 is in contact with the side surface 32F of the third support rail 30 facing the second side R2 in the swinging direction. state. In the first wheel separation state, the vehicle 8 is supported by the second support rail 20 and the third support rail 30.

In this embodiment, the maintenance device 100 includes a first detection unit Se1 that detects the position of the first running wheel 81. As shown in FIG. 9, the first detection unit Se1 is configured to be able to perform a first detection operation of detecting the position of the first traveling wheel 81 when the vehicle 8 is in the first wheel separation state. The first detection unit Se1 is configured to detect the distance between the first running wheel 81 and the first support rail 10 when the vehicle 8 is in the first wheel separation state. Thereby, the first detection unit Se1 detects the upper surface 10F of the first support rail 10 in a state located at the first reference position Pu1 and the upper surface 20F of the second support rail 20 in a state located in the second reference position Pu2. Detects the inclination of the vehicle 8 with respect to a virtual plane including . In the present embodiment, the first detection unit Se1 is constituted by a contact type sensor that protrudes upward from the first support rail 10 and contacts the first traveling wheel 81. The first detection unit Se<b>1 detects the distance between the first running wheel 81 and the first support rail 10 based on the amount of protrusion when the first running wheel 81 comes into contact with the first running wheel 81 . It is preferable that the first support rail 10 is formed with a hole or a notch through which the first detection section Se1 can pass in the vertical direction. Note that, without being limited to the above configuration, the first detection unit Se1 detects the distance between the first running wheel 81 and the first support rail 10 when the vehicle 8 is in the first wheel separated state. It may be configured to detect the amount of change in a portion of the vehicle 8 that changes depending on the distance.

As shown in FIG. 10, in the vehicle 8, the first support rail 10 is at the first reference position Pu1 and the second support rail 20 is at the second lowered position Pd2, and the first traveling wheel 81 is at the first support position. The second wheel is placed on the rail 10, the second running wheel 82 is separated from the second support rail 20, and the guide wheel 83 is in contact with the side surface 31F of the third support rail 30 facing the first side R1 in the swing direction. They become separated. In the second wheel separation state, the vehicle 8 is supported by the first support rail 10 and the third support rail 30.

In this embodiment, the maintenance device 100 includes a second detection unit Se2 that detects the position of the second running wheel 82. As shown in FIG. 10, the second detection unit Se2 is configured to be able to perform a second detection operation of detecting the position of the second traveling wheel 82 when the vehicle 8 is in the second wheel separation state. The second detection unit Se2 is configured to detect the distance between the second traveling wheel 82 and the second support rail 20 when the vehicle 8 is in the second wheel separation state. As a result, the second detection unit Se2 detects the upper surface 10F of the first support rail 10 when located at the first reference position Pu1, and the upper surface 20F of the second support rail 20 when located at the second reference position Pu2. Detects the inclination of the vehicle 8 with respect to a virtual plane including . In the present embodiment, the second detection unit Se2 is configured by a contact type sensor that protrudes upward from the second support rail 20 and contacts the second traveling wheel 82. The second detection unit Se2 detects the distance between the second running wheel 82 and the second support rail 20 based on the amount of protrusion when the second running wheel 82 is contacted. It is preferable that the second support rail 20 is formed with a hole or a notch through which the second detection section Se2 can pass in the vertical direction. Note that, without being limited to the above configuration, the second detection unit Se2 detects the distance between the second running wheel 82 and the second support rail 20 when the vehicle 8 is in the second wheel separation state. It may be configured to detect the amount of change in a portion of the vehicle 8 that changes depending on the distance.

As shown in FIG. 11, in this embodiment, the holding arm 5 is configured to be replaceable with a plurality of types of hands. The holding arm 5 can perform functions depending on the purpose by replacing a plurality of types of hands. The maintenance device 100 includes a hand storage area Sh where a plurality of types of hands attached to the holding arm 5 are arranged (see also FIG. 5).

In this embodiment, the holding arm 5 is configured to automatically replace different types of hands when holding a wheel and when holding a shim 9. In this example, the holding arm 5 is configured to be able to be replaced with a wheel hand Hw for holding the wheel and a shim hand Hs for holding the shim 9 (and the reference shim 9S). A wheel hand Hw and a shim hand Hs are placed in a hand storage area Sh.

As shown in FIG. 12, when the holding arm 5 holds the first running wheel 81, the second running wheel 82, or a wheel placed in the wheel yard Sw, the holding arm 5 attaches a wheel hand Hw to itself and holds these wheels. Hold the wheels. In this manner, the holding arm 5 of the wheel hand Hw is used to hold the first running wheel 81, the second running wheel 82, or a wheel placed in the wheel yard Sw. Note that FIG. 12 shows an example in which the holding arm 5 holds the first running wheel 81 or the second running wheel 82.

As shown in FIG. 13, the holding arm 5 is attached to the shim 9 or reference shim 9S inserted into the first shim insertion part 91, the shim 9 or reference shim 9S inserted into the second shim insertion part 92, and the shim storage space Ss. When holding the placed shim 9 or reference shim 9S, the shim hand Hs is attached to the shim hand Hs and held. In this way, in the shim hand Hs, the holding arm 5 is used to hold the shim 9 or the reference shim 9S. Note that FIG. 13 shows an example in which the holding arm 5 holds the shim 9.

As shown in FIG. 14, in this embodiment, the fastening robot 6 is configured to be able to replace a plurality of types of fastening hands Hc. The fastening robot 6 is configured to be able to fasten and unfasten fastening portions having different shapes and sizes by replacing a plurality of types of fastening hands Hc. The maintenance device 100 includes a fastening hand storage area Sc in which a plurality of types of fastening hands Hc attached to the fastening robot 6 are arranged (see also FIG. 5).

In this embodiment, the first fastening part 910 or the second fastening part 920 for fastening and fixing the shim 9 to the vehicle body 80 is fastened and unfastened, and the first running wheel 81 is fastened to the vehicle main body 80. The configuration is such that different types of fastening hands Hc are automatically replaced when fastening and unfastening the fastening part 810 for fixing and the fastening part 820 for fixing the second traveling wheel 82 to the vehicle 8. has been done. In this example, the fastening hand Hc has a nut runner corresponding to the shapes of the bolts 91B of the first fastening part 910 and the bolts 92B of the second fastening part 920, and a nut runner corresponding to the shapes of the bolts 81B and 82B of the fixing parts 810 and 820. Includes at least two types with corresponding nutrunners. A plurality of types of fastening hands Hc, at least two types of nutrunners in this example, are arranged in the fastening hand storage area Sc.

FIG. 15 shows fixing parts 810 and 820 of the first running wheel 81 and the second running wheel 82. In the present embodiment, the fixing parts 810 and 820 have a plurality of bolt holes (not shown) arranged in the circumferential direction with reference to the respective rotation axes of the first running wheel 81 and the second running wheel 82, and bolt holes inserted into the bolt holes (not shown). bolts 81B and 82B. When fastening and unfastening the fixing parts 810 and 820, the fastening robot 6 attaches a fastening hand Hc corresponding to the fixed parts 810 and 820 to itself, and fastens or fastens each of the plurality of bolts 81B and 82B. Perform the cancellation.

Although detailed illustrations are omitted, when the fastening robot 6 fastens and unfastens the first fastening section 910, the fastening robot 6 attaches a fastening hand Hc corresponding to the bolt 91B of the first fastening section 910 to itself. , each of the plurality of bolts 91B arranged on the vehicle body 80 is fastened or unfastened. Note that the same applies when the fastening robot 6 fastens and unfastens the second fastening portion 920.

Here, as shown in FIG. 5, in this embodiment, the maintenance device 100 is arranged at different positions in the extending direction X with respect to the holding arm 5, and the maintenance device 100 is arranged at different positions in the extending direction A photographing section C is provided for photographing the fixing parts 810 and 820 to the main body 80. In this example, the imaging unit C is arranged outside the first support rail 10 in the width direction Y (first width direction Y1), and includes a first camera C1 that photographs the fixed part 810 of the first running wheel 81. , a second camera C2 that is disposed outside the second support rail 20 in the width direction Y (second width direction side Y2) and photographs the fixed portion 820 of the second traveling wheel 82. In the illustrated example, the first camera C1 is disposed between the first side unit 51 and the second fastening unit 62 in the extending direction X on the outer side of the first support rail 10 in the width direction Y. The second camera C2 is arranged between the second side unit 52 and the first fastening unit 61 in the extending direction X, on the outer side of the second support rail 20 in the width direction Y.

In this embodiment, the states of the fixed portions 810 and 820 of the first running wheels 81 and the second running wheels 82 change as the respective wheels roll. Specifically, as described above, in this example, the fixing parts 810 and 820 include a plurality of bolt holes (not shown) arranged in the circumferential direction and bolts 81B and 82B inserted into the bolt holes. Therefore, as the first running wheel 81 and the second running wheel 82 roll, the circumferential positions of the bolt holes and the bolts 81B and 82B change.

In this embodiment, the fixed part 810 of the first running wheel 81 is photographed by the imaging part C while the rolling of the first running wheel 81 is restricted by the regulating part 4, and then the rail support part 1 is photographed in the extending direction. By moving it in the direction X, the fixed part 810 of the first traveling wheel 81 is moved to the work position by the fastening robot 6. Since the first running wheel 81 is not rolling during this movement of the rail support part 1, the circumferential position of the fixed part 810 of the first running wheel 81, that is, the plurality of bolt holes and bolts 81B, is Maintains the condition in which it was taken. The fastening robot 6 is capable of grasping the circumferential positions of the plurality of bolt holes and the bolts 81B based on the image photographed by the photographing section C. Thereby, the fastening robot 6 can appropriately fasten and unfasten the fixing portion 810. Regarding the fastening and unfastening of the fixing part 820 of the second running wheel 82, similarly to the above, the regulating part 4 regulates the rolling of the second running wheel 82, the photographing part C takes a picture of the fixing part 820, and the rail supporting part This is done by utilizing the movement of the second running wheels 82 by the motor vehicle.

Next, the control configuration of the article transport facility F and the maintenance device 100 will be explained.

As shown in FIG. 16, the vehicle 8 includes a vehicle control device 8C that controls each part of the vehicle 8. In this embodiment, the vehicle control device 8C controls the travel drive section M8, the switching mechanism 84, and the transfer section 86. The maintenance device 100 includes a maintenance control device 100C that controls each part of the maintenance device 100. The maintenance control device 100C controls the first lifting mechanism L1, the second lifting mechanism L2, the holding arm 5, and the fastening robot. In this embodiment, in addition to the above, the maintenance control device 100C controls the regulation drive section M4, the movement mechanism M, the automatic door Wd, the first detection section Se1, and the second detection section Se2. In this embodiment, the maintenance control device 100C corresponds to a "control unit".

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

The maintenance control device 100C causes the holding arm 5 to attach and detach the first running wheel 81 when the first wheel of the vehicle 8 is in the separated state (see FIG. 9), and causes the holding arm 5 to attach and detach the first running wheel 81 when the second wheel of the vehicle 8 is in the separated state (see FIG. 10). , the holding arm 5 is made to attach and detach the second traveling wheel 82. Thereby, the maintenance device 100 as a wheel replacement device automatically replaces the first running wheels 81 and the second running wheels 82.

The maintenance control device 100C also causes the first detection unit Se1 to perform a first detection operation of detecting the position of the first running wheel 81 in the first wheel separated state of the vehicle 8, and The second detection unit Se2 is caused to perform a second detection operation of detecting the position of the second traveling wheel 82 at . Then, the maintenance control device 100C inserts the number and thickness of shims 9 into the first shim insertion portion 91 according to the detection result of the first detection operation while the first fastening portion 910 is unfastened by the fastening robot 6. With the first shim insertion operation performed and the second fastening portion 920 unfastened by the fastening robot 6, the number and thickness of shims 9 are inserted into the second shim insertion portion 92 according to the detection result of the second detection operation. The holding arm 5 is caused to perform the second shim insertion operation. Thereby, the maintenance device 100 as a wheel position adjustment device adjusts the position of the guide wheel 83 in the width direction Y using the shim 9, thereby adjusting the vertical position of the first traveling wheel 81 and the vertical position of the second traveling wheel 82. The position in the direction is adjusted, and the positional relationship between the guide wheel 83 and the first running wheel 81 and the positional relationship between the guide wheel 83 and the second running wheel 82 are automatically adjusted.

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

As shown in FIG. 17, when the vehicle 8 to be maintained moves in front of the maintenance device 100, the automatic door Wd is opened (#1). The vehicle 8 enters the inside of the surrounding wall W through the opening Wh of the surrounding wall W (#2) and stops on the first support rail 10 and the second support rail 20. After the vehicle 8 enters, the automatic door Wd is closed (#3). The regulating part 4 assumes the regulating attitude Ar and regulates the rolling of the first running wheel 81 on the first support rail 10 and the rolling of the second running wheel 82 on the second support rail 20 (#4) . After that, the maintenance device 100 replaces the wheels of the vehicle 8 (#5) and adjusts the wheel positions of the vehicle 8 (#6).

FIG. 18 shows the wheel replacement process in step #5 shown in FIG. 17. In this embodiment, the maintenance device 100 replaces all the first running wheels 81 to be replaced (#51), and then replaces all the second running wheels 82 to be replaced (#52). . Thereby, when replacing all the first running wheels 81 and second running wheels 82 provided on the vehicle body 80, the number of times the position of the guide wheels 83 is switched by the switching mechanism 84 can be reduced.

Hereinafter, each process when replacing the first running wheel 81 in step #51 will be described with reference mainly to FIG. 19. Each step in replacing the second running wheel 82 is common to or corresponds to each step in replacing the first running wheel 81, so a detailed explanation will be omitted.

When replacing the first traveling wheel 81, first the guide wheel 83 is placed at the first guide position Pg1 by the switching mechanism 84 (#51-1). Thereby, the guide wheel 83 is arranged on the second widthwise side Y2 with respect to the third support rail 30. As shown in FIG. 20, the guide wheel 83 at the first guide position Pg1 is arranged on the opposite side of the first traveling wheel 81 with the third support rail 30 in between in the width direction Y.

After that, while the rolling of the first running wheels 81 is restricted by the restriction part 4, the rail support part 1 is moved along the extending direction X by the moving mechanism M (#51-2). Specifically, as shown in FIG. 21, the rail support section 1 is moved along the extending direction X to a position where the first running wheels 81 face the first camera C1. Then, the fixed portion 810 of the first running wheel 81 is photographed by the first camera C1 (#51-3). Thereafter, while the rolling of the first running wheels 81 is restricted by the restriction part 4, the moving mechanism M moves the rail support part 1 along the extending direction X (#51-4). Specifically, as shown in FIG. 22, the rail support section 1 is moved along the extending direction X to a position where the first running wheels 81 face the first side unit 51. The first running wheel 81 is held by the first side unit 51, and the second running wheel 82, which is disposed on the opposite side in the width direction Y with respect to the first running wheel 81, is held by the second side unit 52. (#51-5). Here, in this example, the first running wheels 81 and the second running wheels 82 arranged in the width direction Y are configured to rotate together. As described above, by holding the second running wheel 82 arranged on the opposite side in the width direction Y to the first running wheel 81 that is the target of the work, the first running wheel 81 rotates during the work. This makes it easier to work.

Next, while holding the first running wheel 81 and the second running wheel 82, the second fastening unit 62 unfastens the fixing portion 810 of the first running wheel 81 (#51-6). As shown in FIG. 22, in this example, the first side unit 51 holds the first running wheel 81 and the second side unit 52 holds the second running wheel 82, and the second fastening unit 62 holds the second running wheel 82. The fixing portion 810 of the first running wheel 81 is unfastened.

Next, the first support rail 10 is lowered by the first lifting mechanism L1 (#51-7). Specifically, as shown in FIG. 23, the first support rail 10 is lowered to the first lowered position Pd1. This brings the vehicle 8 into the first wheel separation state.

Next, the first running wheel 81 is removed from the vehicle body 80 (#51-8), and then a new first running wheel 81 is attached to the vehicle body 80 (#51-9). That is, the first traveling wheel 81 is replaced while the first wheel of the vehicle 8 is in a separated state. Specifically, as shown in FIG. 24, the first side unit 51 removes the first running wheel 81 from the vehicle body 80, and then the first side unit 51 removes the first running wheel 81 from the vehicle body 80. It is attached to the vehicle body 80. In this example, the first running wheel 81 is replaced while the second running wheel 82, which is disposed on the opposite side in the width direction Y to the first running wheel 81 to be replaced, is held by the second side unit 52. I do.

After the new first running wheels 81 are attached to the vehicle body 80, the rail support portion 1 is moved along the extending direction X by the moving mechanism M (#51-10). Specifically, as shown in FIG. 21, the rail support section 1 is moved along the extending direction X to a position where the first running wheels 81 face the first camera C1. Then, the fixed portion 810 of the new first running wheel 81 installed in step #51-9 is photographed by the first camera C1 (#51-11). Thereafter, while the rolling of the first running wheels 81 is restricted by the restriction part 4, the rail support part 1 is moved along the extending direction X by the moving mechanism M (#51-12). Specifically, as shown in FIG. 22, the rail support section 1 is moved along the extending direction X to a position where the first running wheels 81 face the first side unit 51. Then, the first side unit 51 holds a new first running wheel 81, and the second running wheel 82 disposed on the opposite side in the width direction Y with respect to the first running wheel 81 is held by the second side unit 51. (#51-13).

After holding the new first running wheel 81 and second running wheel 82, the fixing portion 810 of the first running wheel 81 is fastened by the second fastening unit 62 (#51-14). As shown in FIG. 22, in this example, the first side unit 51 holds a new first running wheel 81 and the second side unit 52 holds the second running wheel 82, and the second fastening unit 62 The fixing portion 810 of the first running wheel 81 is fastened by the following steps.

After fastening the fixing portion 810 of the first running wheel 81, the first support rail 10 is raised by the first lifting mechanism L1 (#51-15). Specifically, as shown in FIG. 20, the first support rail 10 is raised to be placed at the first reference position Pu1. Thereby, the vehicle 8 is placed in a state where both wheels are placed.

As described above, the maintenance device 100 replaces the first running wheel 81. When replacing the second running wheel 82, the maintenance device 100 performs a step of bringing the vehicle 8 into the second wheel separation state, and removes the second running wheel 82 from the vehicle body 80 using the second side unit 52. A new second running wheel 82 is attached to the vehicle body 80. When replacing the second traveling wheel 82, the switching mechanism 84 moves the guide wheel 83 from the first guide position Pg1 to the second guide position Pg2. In this embodiment, the vehicle 8 is moved in the extending direction It is moved from the second widthwise side Y2 to the first widthwise side Y1 with respect to the support rail 30. Thereafter, the vehicle 8 is moved again in the extending direction X so that the guide wheels 83 are arranged at a position where the notch 33 of the third support rail 30 does not exist. Thereby, it becomes possible to bring the vehicle 8 into the second wheel separation state.

FIG. 25 shows the wheel position adjustment process in step #6 shown in FIG. 17. In this embodiment, the maintenance device 100 adjusts the position of the first running wheel 81 (#61), and then adjusts the position of the second running wheel 82 (#62).

When adjusting the position of the first running wheel 81, the maintenance control device 100C performs a first shim removal operation to remove the shim 9 from the first shim insertion portion 91, a first shim removal operation to insert the shim 9 into the first shim insertion portion 91, and a first shim removal operation to remove the shim 9 from the first shim insertion portion 91. Shim insertion operation, first reference shim insertion operation of inserting the reference shim 9S formed to a preset reference thickness into the first shim insertion part 91, and removing the reference shim 9S from the first shim insertion part 91. The second side unit 52 (shim insertion robot) is caused to perform the first reference shim removal operation. In addition, when adjusting the position of the first running wheel 81, the maintenance control device 100C performs a first detection operation to detect the position of the first running wheel 81 when the vehicle 8 is in the first wheel separation state. Let Se1 execute it.

Further, when adjusting the position of the second running wheel 82, the maintenance control device 100C performs a second shim removal operation to remove the shim 9 from the second shim insertion portion 92, and inserts the shim 9 into the second shim insertion portion 92. The second shim insertion operation, the second reference shim insertion operation to insert the reference shim 9S into the second shim insertion portion 92, and the second reference shim removal operation to remove the reference shim 9S from the second shim insertion portion 92 are performed as follows. The first side unit 51 (shim insertion robot) is made to execute the process. In addition, when adjusting the position of the second running wheel 82, the maintenance control device 100C performs a second detection operation to detect the position of the second running wheel 82 when the vehicle 8 is in the second wheel separation state. Let Se2 execute it.

FIG. 26 shows the process of adjusting the position of the first running wheel 81 in step #61 shown in FIG. 25. In the present embodiment, the maintenance device 100 executes a shim number/shim thickness determination process to determine the number and thickness of shims 9 to be inserted into the first shim insertion portion 91 (#611), and then A wheel position adjustment process for adjusting the position of the wheel 81 is executed (#612). Although not shown, the maintenance device 100 similarly determines the number of shims to determine the number and thickness of the shims 9 to be inserted into the second shim insertion portion 92 when adjusting the position of the second traveling wheel 82. /A shim thickness determination process is executed, and then a wheel position adjustment process for adjusting the position of the second traveling wheel 82 is executed.

Hereinafter, each process in the case of executing the shim number/shim thickness determination process in step #611 shown in FIG. 26 will be explained with reference mainly to FIG. 27. The shim number/shim thickness determination process described below is a process for adjusting the position of the first traveling wheel 81. The process for determining the number of shims/shim thickness when adjusting the position of the second running wheel 82 is common or corresponds to the process when adjusting the position of the first running wheel 81, so a detailed explanation will be omitted. However, in the explanation regarding the first running wheel 81, only the main points will be explained as appropriate.

Note that, as described above, the first shim insertion portion 91 into which the shim 9 is inserted in order to adjust the positional relationship between the first traveling wheel 81 and the guide wheel 83, and the shim 9 inserted into the first shim insertion portion 91 A first fastening section 910 that fastens and fixes the first fastening section 910 to the vehicle main body 80 and a first fastening unit 61 that fastens/unfastens the first fastening section 910 are arranged on both sides of the third support rail 30 in the width direction Y. It is arranged on the opposite side to the first running wheel 81 (see FIGS. 29 and 31). In other words, the first running wheel 81 is arranged on the first side Y1 in the width direction with respect to the third support rail 30, and the first shim insertion part 91, the first fastening part 910, and the first fastening unit 61 is arranged on the second widthwise side Y2 with respect to the third support rail 30.

In the shim number/shim thickness determination process, first, the switching mechanism 84 places the guide wheel 83 at the second guide position Pg2 (#611-1). Thereby, the guide wheel 83 is arranged on the first side Y1 in the width direction with respect to the third support rail 30. That is, as shown in FIG. 29(b), the guide wheel 83 is arranged on the opposite side of the first shim insertion portion 91 with the third support rail 30 in between in the width direction Y. When the guide wheel 83 is disposed on the opposite side of the first shim insertion part 91 with the third support rail 30 in between, the shim 9 or the reference shim 9S is not pressed inside the first shim insertion part 91. It becomes possible to smoothly remove/insert the shim 9 and the reference shim 9S into the first shim insertion portion 91.

Next, the first fastening unit 61 unfastens the first fastening portion 910 (#611-2). Then, the existing shim 9 is removed from the first shim insertion portion 91 by the second side unit 52 (#611-3: first shim removal operation). Thereafter, as shown in FIGS. 29(a) and 29(b), the second side unit 52 inserts the reference shim 9S formed to a preset reference thickness into the first shim insertion portion 91 (#611 -4: 1st standard shim insertion operation). In this way, the maintenance control device 100C performs the first reference shim insertion operation on the second side unit 52 (shim insertion robot) while the first fastening unit 61 (fastening robot 6) has released the first fastening portion 910. have it executed. Similarly, when adjusting the position of the second traveling wheel 82, the maintenance control device 100C inserts the second reference shim while the second fastening portion 920 is unfastened by the second fastening unit 62 (fastening robot 6). The first side unit 51 (shim insertion robot) is caused to execute the operation. Further, in the present embodiment, as described above, the maintenance control device 100C has the guide wheels 83 disposed on the opposite side of the first shim insertion portion 91 across the third support rail 30 in the width direction Y. The second side unit 52 (shim insertion robot) is caused to remove and insert the shim 9 and the reference shim 9S into the first shim insertion portion 91. Similarly, when adjusting the position of the second traveling wheel 82, the maintenance control device 100C arranges the guide wheel 83 on the opposite side of the second shim insertion portion 92 across the third support rail 30 in the width direction Y. In this state, the first side unit 51 (shim insertion robot) is caused to remove/insert the shim 9 and the reference shim 9S into the second shim insertion portion 92.

After the first reference shim insertion operation is performed (#611-4), the guide wheel 83 is placed at the first guide position Pg1 by the switching mechanism 84 (#611-5). Thereby, the guide wheel 83 is arranged on the second widthwise side Y2 with respect to the third support rail 30. That is, the guide wheel 83 is placed on the same side of the third support rail 30 as the first shim insertion portion 91 in the width direction Y, and on the opposite side of the first running wheel 81 with the third support rail 30 in between. Place it in In this embodiment, the vehicle 8 is moved in the extending direction The support rail 30 is moved from the second guide position Pg2 on the first side Y1 in the width direction to the first guide position Pg1 on the second side Y2 in the width direction. Thereafter, the vehicle 8 is moved again in the extending direction X so that the guide wheels 83 are arranged at a position where the notch 33 of the third support rail 30 does not exist. Hereinafter, the movement of the guide wheel 83 by the switching mechanism 84 is performed in the same manner.

Next, the vehicle 8 is caused to travel on the rail support section 1 by the travel drive section M8 (#611-6). Thereby, the deflection and gap of the reference shim 9S inserted into the first shim insertion portion 91 can be reduced by using vibrations and loads caused by the running of the vehicle 8. Note that, before the vehicle 8 is driven, the regulating portion 4 is set in the permissible attitude Aa to allow the first running wheels 81 and the second running wheels 82 to roll. After the vehicle 8 is running, the regulating portion 4 is placed in the regulating attitude Ar, and the rolling of the first running wheels 81 and the second running wheels 82 is regulated.

Next, the first support rail 10 is lowered by the first lifting mechanism L1 (#611-7). Specifically, by lowering the first support rail 10, it is placed at the first lowered position Pd1. This brings the vehicle 8 into the first wheel separation state. Then, as shown in FIG. 30, after the vehicle 8 is brought into the first wheel separation state, the first detection unit Se1 is caused to perform the first detection operation (#611-8). Thereby, the distance between the first running wheel 81 and the first support rail 10 is detected. That is, in the present embodiment, the maintenance control device 100C performs the first detection operation when the vehicle 8 detects the first traveling wheel in the first wheel separated state while the reference shim 9S is inserted into the first shim insertion portion 91. The first detection unit Se1 is caused to detect the position 81. In addition, when adjusting the position of the second traveling wheel 82, the maintenance control device 100C performs a second detection operation such that the vehicle 8 is in the second position with the reference shim 9S inserted into the second shim insertion portion The second detection unit Se2 is caused to detect the position of the second traveling wheel 82 in the wheel separation state.

After the first detection operation is executed (#611-8), based on the detection result by the first detection unit Se1, when the shim 9 is inserted into the first shim insertion part 91, the vehicle 8 is in the first wheel separation state. The number and thickness of shims 9 that will give the proper posture are calculated (#611-9). In this example, the number of shims 9 is such that the first running wheel 81 is located slightly above the second running wheel 82 supported by the second support rail 20 when the first wheel of the vehicle 8 is in the separated state. and calculate the thickness. As a result, when the vehicle 8 that has completed wheel position adjustment actually travels on the travel route 99 and moves from the branching/merging section BS to the normal section NS, that is, the first traveling wheels 81 are supported by the traveling rails 96. When transitioning from an unsupported state to a supported state, the first running wheels 81 can be appropriately supported by the running rails 96, and vibrations of the vehicle 8 during the transition can be suppressed to a small level.

After calculating the number and thickness of the shims 9 to be inserted into the first shim insertion portion 91 (#611-9), the first support rail 10 is raised by the first lifting mechanism L1 (#611-10). Specifically, by raising the first support rail 10, it is placed at the first reference position Pu1, and the vehicle 8 is placed in a state where both wheels are placed.

Next, with reference mainly to FIG. 28, each process when executing the wheel position adjustment process in step #612 shown in FIG. 26 will be described. The wheel position adjustment process described below is a process for adjusting the position of the first traveling wheels 81. The wheel position adjustment process when adjusting the position of the second running wheel 82 is common or corresponds to the process when adjusting the position of the first running wheel 81, so a detailed explanation will be omitted and the first In the explanation regarding the running wheels 81, only the main points will be explained as appropriate.

In the wheel position adjustment process, first, the guide wheel 83 is placed at the second guide position Pg2 by the switching mechanism 84 (#612-1). Thereby, as also shown in FIG. 29(b), the guide wheel 83 is arranged on the opposite side of the first shim insertion portion 91 with the third support rail 30 in between in the width direction Y. Then, as shown in FIGS. 31(a) and 31(b), the existing shim 9 is removed from the first shim insertion portion 91 by the second side unit 52 (#612-2: existing shim removal operation). In this embodiment, as described above, since the reference shim 9S is inserted into the first shim insertion portion 91 in advance, this operation is a first reference shim removal operation for removing the reference shim 9S. Thereafter, the second side unit 52 inserts the number and thickness of shims 9 calculated by the shim number/shim thickness determination process into the first shim insertion portion 91 (#612-3: first shim insertion operation).

Next, the guide wheel 83 is placed at the first guide position Pg1 by the switching mechanism 84 (#612-4). Thereby, the guide wheel 83 is arranged on the opposite side of the first traveling wheel 81 with the third support rail 30 in between in the width direction Y. Thereafter, the first support rail 10 is lowered by the first lifting mechanism L1 (#612-5), and the vehicle 8 is placed in the first wheel separation state. Then, as shown in FIG. 32, after the vehicle 8 is brought into the first wheel separation state, the first detection unit Se1 is caused to perform the first detection operation (#612-6). As a result, the distance between the first running wheel 81 and the first support rail 10 ( Here, the presence or absence of an error is detected. After execution of the first detection operation, the first support rail 10 is raised by the first lifting mechanism L1 (#612-7), and the vehicle 8 is placed in a state where both wheels are placed.

Next, as shown in FIG. 33, the first fastening unit 61 fastens the first fastening portion 910 (#612-8). Thereby, the shim 9 inserted into the first shim insertion portion 91 is fastened and fixed to the vehicle main body 80. As described above, in the present embodiment, the maintenance control device 100C performs the fastening of the first fastening section 910 by the first fastening unit 61 (fastening robot) after the first shim insertion operation by the second side unit 52 (shim inserting robot). ) is executed. Further, when adjusting the position of the second traveling wheel 82, the maintenance control device 100C causes the second fastening portion 920 to be fastened after the second shim insertion operation by the first side unit 51 (shim insertion robot). 2. The fastening unit 62 (fastening robot) is made to execute the fastening unit 62 (fastening robot).

After the first fastening portion 910 is fastened (#612-8), the vehicle 8 is caused to run on the rail support portion 1 by the traveling drive portion M8 (#612-9). Thereby, the deflection and gap of the shim 9 inserted into the first shim insertion portion 91 can be reduced by using vibrations and loads caused by the running of the vehicle 8. That is, after performing the first shim insertion operation, the maintenance control device 100C performs first travel control to cause the vehicle 8 to travel in the extending direction X with respect to the rail support portion 1. Similarly, when adjusting the position of the second traveling wheels 82, the maintenance control device 100C causes the vehicle 8 to travel in the extending direction X relative to the rail support 1 after performing the second shim insertion operation. Execute second travel control. Note that, before the vehicle 8 is driven, the regulating portion 4 is set in the permissible attitude Aa to allow the first running wheels 81 and the second running wheels 82 to roll. After the vehicle 8 is running, the regulating portion 4 is placed in the regulating attitude Ar, and the rolling of the first running wheels 81 and the second running wheels 82 is regulated.

Next, the first support rail 10 is lowered by the first lifting mechanism L1 (#612-10), and the vehicle 8 is placed in the first wheel separation state. After the vehicle 8 is brought into the first wheel separation state, as shown in FIG. 32, the first detection unit Se1 is caused to perform the first detection operation (#612-11: first confirmation detection operation). That is, after the first shim insertion operation is performed and the first fastening portion 910 is fastened, the maintenance control device 100C causes the first detection portion Se1 to perform a first confirmation detection operation for detecting the position of the first traveling wheel 81. Let it run. Similarly, when adjusting the position of the second running wheel 82, the maintenance control device 100C adjusts the position of the second running wheel 82 after the second shim insertion operation is performed and after the second fastening portion 920 is fastened. The second detection unit Se2 is caused to perform a second confirmation detection operation for detecting the position. Thereby, it can be confirmed whether the position of the first running wheel 81 or the second running wheel 82 is appropriate after the wheel position adjustment. Note that, as explained above, the first travel control for causing the vehicle 8 to travel on the rail support section 1 is performed before the first confirmation detection operation is performed. That is, in this embodiment, the maintenance control device 100C executes the first travel control after the first shim insertion operation and before the first confirmation detection operation. Similarly, when adjusting the position of the second traveling wheel 82, the maintenance control device 100C performs the second traveling control after the second shim insertion operation and before the second confirmation detection operation. Execute.

After performing the first confirmation detection operation (#612-11), it is determined whether the position of the first running wheel 81 is within a specified range (#612-12). Here, it is detected whether the vertical position of the first traveling wheel 81 is within a specified range, and if it is within the specified range, the inclination of the vehicle 8 in the first wheel separated state is within an allowable range. If it is determined that there is, and it is outside the specified range, it is determined that the inclination of the vehicle 8 in the first wheel separation state is outside the allowable range.

If it is determined that the position of the first traveling wheel 81 is within the specified range (#612-12: Yes), the wheel position adjustment process is ended. On the other hand, if it is determined that the position of the first running wheel 81 is outside the specified range (#612-12: No), the position of the first running wheel 81 is determined based on the detection result of the first confirmation detection operation. The number and thickness of the shims 9 are recalculated so that they fall within the specified range (#612-13). Thereafter, the first support rail 10 is raised by the first lifting mechanism L1 (#612-14), and the vehicle 8 is placed in a state where both wheels are placed. Then, the guide wheel 83 is placed at the second guide position Pg2 by the switching mechanism 84 (#612-15). After that, the process returns to step #612-3. In addition, if the number of shims 9 inserted into the first shim insertion part 91 is larger than the appropriate number, or if the thickness of the shims 9 is thicker than the appropriate thickness, after recalculating the number and thickness of the shims 9. In step #612-3, an operation is also performed to remove the inappropriate shim 9 as described above.

[Other embodiments]
Next, other embodiments of the wheel position adjustment device will be described.

(1) In the above embodiment, an example has been described in which the maintenance device 100 replaces all the first running wheels 81 to be replaced, and then replaces all the second running wheels 82 to be replaced. However, the order of exchange may be reversed to the above without being limited to this example. That is, the maintenance device 100 may replace all the first running wheels 81 to be replaced after replacing all the second running wheels 82 to be replaced. Further, when there are a plurality of first running wheels 81 and a plurality of second running wheels 82, the first running wheels 81 and the second running wheels 82 may be replaced alternately.

(2) In the above embodiment, an example was described in which the maintenance device 100 adjusts the position of the second traveling wheel 82 after adjusting the position of the first traveling wheel 81. However, the order of position adjustment may be reversed to the above without being limited to such an example. That is, the maintenance device 100 may adjust the position of the first running wheel 81 after adjusting the position of the second running wheel 82. Further, when there are a plurality of first running wheels 81 and a plurality of second running wheels 82, the positions of the first running wheels 81 and the second running wheels 82 may be adjusted alternately.

(3) In the above embodiment, an example has been described in which each of the first running wheels 81 and the second running wheels 82 includes a plurality of wheels. However, without being limited to such an example, the vehicle 8 may have a configuration including one each of the first running wheel 81 and the second running wheel 82.

(4) In the embodiment described above, an example has been described in which the power supply unit 7 is the power supply line 70 that supplies power to the vehicle 8 in a non-contact manner. However, the power supply unit 7 may be, for example, a battery mounted on the vehicle 8 without being limited to such an example.

(5) In the above embodiment, the maintenance device 100 includes the first support rail 10, the second support rail 20, the third support rail 30, the first lifting mechanism L1, the second lifting mechanism L2, the holding arm 5, and An example in which the surrounding wall W surrounding the fastening robot 6 is provided has been described. However, the maintenance device 100 does not need to include such a surrounding wall W.

(6) In the above embodiment, the example in which the third support rail 30 is arranged above the first support rail 10 and the second support rail 20 has been described. However, the third support rail 30 may be arranged below the first support rail 10 and the second support rail 20, for example, without being limited to such an example. In this case, with respect to the third support rail 30, the first side R1 in the swing direction corresponds to the second side Y2 in the width direction, and the second side R2 in the swing direction corresponds to the first side Y1 in the width direction. .

(7) In the above embodiment, an example has been described in which both the first detection section Se1 and the second detection section Se2 are configured by contact-type sensors. However, without being limited to such an example, the first detection section Se1 and the second detection section Se2 may be configured by a sensor having a structure different from a contact type sensor, such as an optical sensor.

(8) In the above embodiment, an example has been described in which the maintenance device 100 includes the regulating section 4 that regulates the rolling of the first running wheel 81 and the rolling of the second running wheel 82. However, the maintenance device 100 is not limited to such an example, and the maintenance device 100 may not include the restriction section 4 as described above. In this case, for example, a configuration may be adopted in which the rolling of the first running wheels 81 and the second running wheels 82 is restricted by a brake mechanism or the like provided in the vehicle 8.

(9) In the above embodiment, an example was described in which the notch portion 33 through which the guide wheel 83 can pass in the width direction Y is formed in a part of the third support rail 30 in the extending direction X. . However, the third support rail 30 may not have the cutout portion 33 as described above, and the third support rail 30 may be formed continuously along the extending direction X. When the third support rail 30 is configured in this way, when the switching mechanism 84 switches the position of the guide wheel 83 in the width direction Y, the guide wheel 83 extends beyond the end of the third support rail 30. It is preferable to move the vehicle 8 in the extending direction X so that the guide wheel 83 is disposed outside the direction X, and to move the guide wheels 83 in the width direction Y relative to the third support rail 30 at that position.

(10) In the embodiment described above, the maintenance device 100 is arranged at different positions in the extending direction X with respect to the holding arm 5 and the fastening robot 6, and the An example has been described in which the photographing section C is provided to photograph the fixing parts 810 and 820. However, without being limited to such an example, the photographing unit C may be configured to photograph the first traveling wheel 81 and the second traveling wheel 82 instead of the fixed parts 810 and 820. In this case, for example, a mark consisting of a symbol, a figure, a character, a color, or a combination thereof is provided at a position corresponding to the fixed part 810 of the first running wheel 81, and the photographing unit C is configured to take a photograph of the mark. It may be configured. Thereby, it becomes possible to grasp the position of the fixing part 810 through the mark. The fixing portion 820 of the second running wheel 82 can also be configured in a similar manner. Further, the arrangement position of the photographing section C can be set as appropriate without being limited to the above example. For example, the imaging unit C may be placed at the same position in the extending direction X with respect to the holding arm 5. Alternatively, the imaging unit C may be attached to the fastening robot 6. In this way, the fastening robot 6 can perform fastening and unfastening while referring to the image photographed by the photographing unit C. Note that the maintenance device 100 does not need to include the imaging section C itself.

(11) In the above embodiment, an example will be described in which the reference shim 9S is used to calculate the number and thickness of the shims 9 so that the vehicle 8 assumes an appropriate posture in the first wheel separation state or the second wheel separation state. did. However, the reference shim 9S may not be used. In this case, each operation regarding the reference shim 9S explained above can be omitted.

(12) In the above embodiment, an example was explained in which the first travel control, the second travel control, the first confirmation detection operation, and the second confirmation detection operation are executed, but each of these operations is not an essential operation. . Therefore, some or all of these operations may not be performed.

(13) In the above embodiment, the maintenance device 100 is configured as a wheel replacement device that replaces the first running wheel 81 and the second running wheel 82 of the vehicle 8, and the first running wheel 81 of the vehicle 8 An example configured as a wheel position adjustment device that adjusts the positional relationship between the second traveling wheel 82 and the guide wheel 83 has been described. However, the maintenance device 100 only needs to be configured as a wheel position adjustment device, and does not need to be configured as a wheel replacement device. In this case, the maintenance device 100 does not need to include various devices and functions for replacing the first running wheels 81 and the second running wheels 82.

(14) Note that the configuration disclosed in the embodiment described above can also be applied in combination with the configuration disclosed in other embodiments as long as there is no contradiction. Regarding other configurations, the embodiments disclosed herein are merely illustrative in all respects. Therefore, various modifications can be made as appropriate without departing from the spirit of the present disclosure.

[Summary of the above embodiment]
The wheel position adjustment device described above will be described below.

a vehicle body; a first running wheel that rolls on the upper surface of one of a pair of running rails arranged apart in the width direction; and a second running wheel that rolls on the upper surface of the other of the pair of running rails; The first running wheel, the second running wheel, and the guide wheel in a vehicle that includes a pair of running rails and a guide wheel that rolls on a side surface of a guide rail that is arranged at a different position in the vertical direction. A wheel position adjustment device that adjusts the positional relationship of
In the vehicle body,
a first shim insertion portion into which a shim is inserted to adjust the positional relationship between the first traveling wheel and the guide wheel;
a second shim insertion portion into which the shim is inserted to adjust the positional relationship between the second traveling wheel and the guide wheel;
a first fastening part that fastens and fixes the shim inserted into the first shim insertion part to the vehicle body;
a second fastening part that fastens and fixes the shim inserted into the second shim insertion part to the vehicle body,
a first support rail and a second support rail that are spaced apart from each other in the width direction;
a third support rail disposed at different positions in the vertical direction from the first support rail and the second support rail;
a first lifting mechanism that raises and lowers the first support rail to a first reference position and a first lowered position below the first reference position;
a second lifting mechanism that raises and lowers the second support rail to a second reference position and a second lowered position below the second reference position;
The positional relationship between the first support rail at the first reference position, the second support rail and the third support rail at the second reference position is the positional relationship between the pair of traveling rails and the guide rail. a rail support part that supports the first support rail, the second support rail, and the third support rail so that they are the same;
a shim insertion robot that inserts the shim into the first shim insertion portion and inserts the shim into the second shim insertion portion;
a fastening robot that fastens and unfastens each of the first fastening part and the second fastening part;
a first detection unit that detects the position of the first running wheel;
a second detection unit that detects the position of the second running wheel;
A control unit that controls the first lifting mechanism, the second lifting mechanism, the shim insertion robot, and the fastening robot,
A virtual line extending between the first support rail and the second support rail in the width direction along the extending direction of the first support rail and the second support rail is set as a reference axis, and around the reference axis. The direction in which the vehicle rotates is defined as a swing direction, the side on which the vehicle swings when the first running wheel descends relative to the second running wheel is defined as a first swing direction side, and the second running wheel is defined as a swing direction. A side on which the vehicle swings when the wheels descend relative to the first running wheels is a second side in the swing direction,
With the first support rail in the first lowered position and the second support rail in the second reference position, the first running wheel moves away from the first support rail and the second running wheel is placed on the second support rail, and the first wheel is in a separated state in which the guide wheel is in contact with a side surface of the third support rail facing the second side in the swinging direction;
With the first support rail in the first reference position and the second support rail in the second lowered position, the first traveling wheel is placed on the first support rail and the second a second wheel-separated state in which the running wheels are separated from the second support rail and the guide wheels abut against a side surface of the third support rail facing the first side in the swing direction;
The control unit causes the first detection unit to perform a first detection operation of detecting the position of the first running wheel in the first wheel separated state, and causes the first detection unit to perform a first detection operation to detect the position of the first running wheel in the second wheel separated state. causing the second detection unit to perform a second detection operation of detecting the position of
Furthermore, the control unit inserts the shims of the number and thickness according to the detection result of the first detection operation into the first shim insertion part while the first fastening part is unfastened by the fastening robot. a first shim insertion operation, and with the second fastening portion unfastened by the fastening robot, the number and thickness of the shims are inserted into the second shim insertion portion according to the detection result of the second detection operation. The second shim insertion operation is caused to be performed by the shim insertion robot.

According to this configuration, the first support rail is configured so that the first running wheel can roll, the second support rail is configured so that the second running wheel can roll, and the guide wheel can roll. The third support rail is configured as follows. Therefore, the vehicle can be moved along the first support rail, the second support rail, and the third support rail and placed at the work location by the fastening robot and the shim insertion robot. Further, according to this configuration, the positional relationship between the first support rail at the first reference position and the second support rail and third support rail at the second reference position is the same as the position of the pair of running rails and the guide rail. The first support rail, the second support rail, and the third support rail are supported in the same relationship. Then, the position of the first running wheel is detected in the first wheel separated state, and the position of the second running wheel is detected in the second wheel separated state. Therefore, according to this configuration, the position of the running wheel can be detected by the first detection unit and the second detection unit under the same conditions as when the vehicle is running while being supported by one of the pair of running rails and the guide rail. can. Then, the control unit controls the shim insertion robot and the fastening robot to insert shims in the number and thickness of the shims into the first shim insertion part and the second shim insertion part according to the detection results by the first detection part and the second detection part. Insert it into the vehicle body and fasten it to the vehicle body. As described above, according to this configuration, the position of the guide wheel can be adjusted using the shim without manual intervention, and the positional relationship between the pair of running wheels and the guide wheel can be adjusted automatically. Become.

here,
The control unit causes the fastening robot to fasten the first fastening portion after the first shim insertion operation by the shim insertion robot, and after the second shim insertion action by the shim insertion robot, causing the fastening robot to fasten the second fastening portion;
The control unit causes the first detection unit to perform a first confirmation detection operation for detecting the position of the first traveling wheel after the first shim insertion operation is performed and after the first fastening portion is fastened. Further, after the second shim insertion operation is performed and after the second fastening portion is fastened, the second detection section is caused to perform a second confirmation detection operation for detecting the position of the second traveling wheel. suitable.

According to this configuration, it is possible to confirm the positions of the first running wheel and the second running wheel after inserting the shims into the first shim insertion part and the second shim insertion part, respectively. Thereby, after wheel position adjustment, it can be confirmed whether the positions of the first running wheel and the second running wheel are appropriate.

Furthermore, in the above configuration,
The control unit is configured to perform first travel control to cause the vehicle to travel in the extending direction relative to the rail support after the first shim insertion operation and before the first confirmation detection operation. and further, after performing the second shim insertion operation and before performing the second confirmation detection operation, a second traveling control for causing the vehicle to travel in the extending direction with respect to the rail support part. It is preferable to carry out.

According to this configuration, the deflection and gap of the shims inserted into the first shim insertion part and the second shim insertion part can be reduced using vibrations and loads caused by running the vehicle. Therefore, in the first confirmation detection operation and the second confirmation detection operation, the positions of the first running wheel and the second running wheel can be detected in a state close to the state after the vehicle actually starts running.

Also,
The control unit performs a first reference shim insertion operation of inserting a reference shim formed to a preset reference thickness into the first shim insertion portion in a state in which the first fastening portion is unfastened by the fastening robot. and a second reference shim insertion operation of inserting the reference shim into the second shim insertion part with the second fastening part unfastened by the fastening robot,
As the first detection operation, the control unit detects the position of the first traveling wheel in the first wheel separation state with the reference shim inserted in the first shim insertion part. The second detection operation is caused to be performed by the detection unit, and the second detection operation detects the position of the second traveling wheel in the second wheel separation state with the reference shim inserted in the second shim insertion part. It is preferable that the detection unit 2 is executed.

According to this configuration, the amount of adjustment required for the position of the first traveling wheel is determined with higher accuracy than when the first detection operation is performed with the shim inserted before adjustment or with the shim not inserted. can do. Therefore, it is possible to improve the efficiency of the process of determining the number and thickness of shims to be inserted into the first shim insertion portion. Similarly, since the amount of adjustment required for the position of the second traveling wheel can be determined with high precision, it is possible to improve the efficiency of the process of determining the number and thickness of shims to be inserted into the second shim insertion portion. can.

Also,
The first detection unit detects a distance between the first running wheel and the first support rail in the first wheel separation state or an amount of change in a portion that changes depending on the distance,
It is preferable that the second detection unit detects a distance between the second traveling wheel and the second support rail in the state where the second wheels are separated, or an amount of change in a portion that changes depending on the distance.

According to this configuration, the position of the first traveling wheel with respect to the first support rail can be detected. Further, the position of the second traveling wheel with respect to the second support rail can be detected. Therefore, it is easy to appropriately adjust the position of the first running wheel with respect to the first support rail, and it is easy to appropriately adjust the position of the second running wheel with respect to the second support rail.

Also,
comprising a power supply unit that supplies power to a driving force source of the first running wheel and the second running wheel,
The vehicle has a first guide position where the guide wheel contacts a side surface of the third support rail facing the second side in the swing direction, and a first guide position where the guide wheel contacts the first side of the third support rail in the swing direction. a switching mechanism that switches the position of the guide wheel in the width direction to a second guide position in contact with a side surface facing the guide wheel;
Preferably, a notch portion through which the guide wheel can pass in the width direction is formed in a part of the third support rail in the extending direction.

According to this configuration, by switching the position of the guide wheel in the width direction by the switching mechanism, the attitude of the guide wheel can be easily switched between an attitude suitable for the first wheel separation state and an attitude suitable for the second wheel separation state. becomes possible. In addition, the position of the guide wheel in the width direction can be changed by positioning the guide wheel in the area where the notch is formed in the extending direction of the third support rail, and then changing the position of the guide wheel in the width direction. This can be done by moving the guide wheel so that it passes in the width direction. Therefore, the position of the guide wheel in the width direction with respect to the third support rail can be appropriately switched.

Also,
The first support rail is arranged on an extension line of one of the pair of travel rails,
Preferably, the second support rail is arranged on an extension of the other of the pair of travel rails.

According to this configuration, the vehicle can be guided to the first support rail and the second support rail while traveling along the pair of travel rails. Therefore, the vehicle running on the pair of travel rails can be automatically moved to the work location by the fastening robot and the shim insertion robot without manual intervention.

Furthermore, in the above configuration,
comprising a power supply unit that supplies power to a driving force source of the first running wheel and the second running wheel,
The power supply unit is a power supply line that supplies power to the vehicle in a non-contact manner,
Preferably, the power supply line is arranged along the running rail and also arranged on at least one of the first support rail and the second support rail.

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

Furthermore, in the above configuration,
a surrounding wall surrounding the first support rail, the second support rail, the third support rail, the first lifting mechanism, the second lifting mechanism, the shim insertion robot, and the fastening robot;
an opening that communicates between the inside and outside of the surrounding wall;
an automatic door that automatically opens and closes the opening;
A travel route for the vehicle configured by a pair of the travel rails, the first support rail, and the second support rail is provided to pass through the opening,
Preferably, the automatic door automatically opens the opening before the vehicle passes through the opening, and automatically closes the opening after the vehicle passes through the opening.

According to this configuration, the area where the position of the pair of running wheels and the guide wheel is adjusted can be surrounded by the surrounding wall and the automatic door, and the dust etc. generated during the above position adjustment can be removed from the outside of the surrounding wall. You can prevent it from appearing. This configuration is particularly suitable, for example, when the vehicle is used in a clean room or the like.

Also,
a wheel attachment/detachment robot that attaches and detaches the first traveling wheel and the second traveling wheel to and from the vehicle body;
The control unit causes the wheel attachment/detachment robot to attach or detach the first traveling wheel in the first wheel separation state, and causes the wheel attachment/detachment robot to attach or detach the second traveling wheel in the second wheel separation state. let it be done,
Preferably, the shim insertion robot also serves as the wheel attachment/detachment robot.

According to this configuration, the first running wheel and the second running wheel can be replaced by the wheel attachment/detachment robot. Moreover, since the shim insertion robot also serves as such a wheel attachment/detachment robot, it is possible to downsize the entire device.

Also,
The shim insertion robot includes a second insertion unit that is disposed outside the first support rail in the width direction and inserts the shim into the second shim insertion portion; a first insertion unit that is disposed on the outside of the direction and inserts the shim into the first shim insertion portion,
The fastening robot includes a second fastening unit that is disposed outside the first support rail in the width direction and that fastens and unfastens the second fastening portion, and a second fastening unit that is disposed outside the first support rail in the width direction. It is preferable to include a first fastening unit that is disposed outside of the first fastening unit and that fastens and unfastens the first fastening portion.

According to this configuration, the insertion, fastening, and unfastening of the shim into the first shim insertion portion and the insertion, fastening, and unfastening of the shim into the second shim insertion portion are performed without changing the orientation of the vehicle. be able to.

The technology according to the present disclosure includes a vehicle body, a first running wheel that rolls on the upper surface of one of a pair of running rails arranged apart from each other in the width direction, and a first running wheel that rolls on the upper surface of the other of the pair of running rails. and a guide wheel that rolls on a side surface of a guide rail that is disposed at a vertically different position from a pair of said running rails, said first running wheel and said second running wheel. It can be used in a wheel position adjustment device that adjusts the positional relationship between the traveling wheels and the guide wheels.

100: Maintenance device (wheel position adjustment device)
100C: Maintenance control device (control unit)
1: Rail support part 5: Holding arm (Shim insertion robot)
6: Fastening robot 7: Power supply section 8: Vehicle 9: Shim 9S: Reference shim 10: First support rail 10F: Top surface 20: Second support rail 20F: Top surface 30: Third support rail 31F: Side surface 32F: Side surface 33 : Notch 51 : First side unit (second insertion unit)
52: Second side unit (first insertion unit)
61 : First fastening unit 62 : Second fastening unit 70 : Power supply line 80 : Vehicle main body 81 : First running wheel 82 : Second running wheel 83 : Guide wheel 84 : Switching mechanism 91 : First shim insertion part 92 : First 2 shim insertion portion 95 : Guide rail 95F : Side surface 96 : Running rail 96F : Top surface 99 : Running path 910 : First fastening part 920 : Second fastening part Ax : Reference axis L1 : First lifting mechanism L2 : Second lifting mechanism Pd1: First lowered position Pd2: Second lowered position Pg1: First guide position Pg2: Second guide position Pu1: First reference position Pu2: Second reference position R: Swing direction R1: Swing direction first side R2 : Swinging direction second side Se1 : First detection part Se2 : Second detection part W : Surrounding wall Wd : Automatic door Wh : Opening part X : Extending direction Y : Width direction

Claims (11)

a vehicle body; a first running wheel that rolls on the upper surface of one of a pair of running rails arranged apart in the width direction; and a second running wheel that rolls on the upper surface of the other of the pair of running rails; The first running wheel, the second running wheel, and the guide wheel in a vehicle that includes a pair of running rails and a guide wheel that rolls on a side surface of a guide rail that is arranged at a different position in the vertical direction. A wheel position adjustment device that adjusts the positional relationship of
In the vehicle body,
a first shim insertion portion into which a shim is inserted to adjust the positional relationship between the first traveling wheel and the guide wheel;
a second shim insertion portion into which the shim is inserted to adjust the positional relationship between the second traveling wheel and the guide wheel;
a first fastening part that fastens and fixes the shim inserted into the first shim insertion part to the vehicle body;
a second fastening part that fastens and fixes the shim inserted into the second shim insertion part to the vehicle body,
a first support rail and a second support rail that are spaced apart from each other in the width direction;
a third support rail disposed at different positions in the vertical direction from the first support rail and the second support rail;
a first lifting mechanism that raises and lowers the first support rail to a first reference position and a first lowered position below the first reference position;
a second lifting mechanism that raises and lowers the second support rail to a second reference position and a second lowered position below the second reference position;
The positional relationship between the first support rail at the first reference position, the second support rail and the third support rail at the second reference position is the positional relationship between the pair of traveling rails and the guide rail. a rail support part that supports the first support rail, the second support rail, and the third support rail so that they are the same;
a shim insertion robot that inserts the shim into the first shim insertion portion and inserts the shim into the second shim insertion portion;
a fastening robot that fastens and unfastens each of the first fastening part and the second fastening part;
a first detection unit that detects the position of the first running wheel;
a second detection unit that detects the position of the second running wheel;
A control unit that controls the first lifting mechanism, the second lifting mechanism, the shim insertion robot, and the fastening robot,
A virtual line extending between the first support rail and the second support rail in the width direction along the extending direction of the first support rail and the second support rail is set as a reference axis, and around the reference axis. The direction in which the vehicle rotates is defined as a swing direction, the side on which the vehicle swings when the first running wheel descends relative to the second running wheel is defined as a first swing direction side, and the second running wheel is defined as a swing direction. A side on which the vehicle swings when the wheels descend relative to the first running wheels is a second side in the swing direction,
With the first support rail in the first lowered position and the second support rail in the second reference position, the first running wheel moves away from the first support rail and the second running wheel is placed on the second support rail, and the first wheel is in a separated state in which the guide wheel is in contact with a side surface of the third support rail facing the second side in the swinging direction;
With the first support rail in the first reference position and the second support rail in the second lowered position, the first traveling wheel is placed on the first support rail and the second a second wheel-separated state in which the running wheels are separated from the second support rail and the guide wheels abut against a side surface of the third support rail facing the first side in the swing direction;
The control unit causes the first detection unit to perform a first detection operation of detecting the position of the first running wheel in the first wheel separated state, and causes the first detection unit to perform a first detection operation to detect the position of the first running wheel in the second wheel separated state. causing the second detection unit to perform a second detection operation of detecting the position of
Furthermore, the control unit inserts the shims of the number and thickness according to the detection result of the first detection operation into the first shim insertion part while the first fastening part is unfastened by the fastening robot. a first shim insertion operation, and with the second fastening portion unfastened by the fastening robot, the number and thickness of the shims are inserted into the second shim insertion portion according to the detection result of the second detection operation. A wheel position adjustment device that causes the shim insertion robot to perform a second shim insertion operation. The control unit causes the fastening robot to fasten the first fastening portion after the first shim insertion operation by the shim insertion robot, and after the second shim insertion action by the shim insertion robot, causing the fastening robot to fasten the second fastening portion;
The control unit causes the first detection unit to perform a first confirmation detection operation for detecting the position of the first traveling wheel after the first shim insertion operation is performed and after the first fastening portion is fastened. Further, after the second shim insertion operation is performed and after the second fastening portion is fastened, the second detection unit is caused to perform a second confirmation detection operation for detecting the position of the second traveling wheel. Item 1. The wheel position adjustment device according to item 1. The control unit is configured to perform first travel control to cause the vehicle to travel in the extending direction relative to the rail support after the first shim insertion operation and before the first confirmation detection operation. and further, after performing the second shim insertion operation and before performing the second confirmation detection operation, a second traveling control for causing the vehicle to travel in the extending direction with respect to the rail support part. The wheel position adjustment device according to claim 2, which performs the wheel position adjustment device. The control unit performs a first reference shim insertion operation of inserting a reference shim formed to a preset reference thickness into the first shim insertion portion in a state in which the first fastening portion is unfastened by the fastening robot. and a second reference shim insertion operation of inserting the reference shim into the second shim insertion part with the second fastening part unfastened by the fastening robot,
As the first detection operation, the control unit detects the position of the first traveling wheel in the first wheel separation state with the reference shim inserted in the first shim insertion part. The second detection operation is caused to be performed by the detection unit, and the second detection operation detects the position of the second traveling wheel in the second wheel separation state with the reference shim inserted in the second shim insertion part. The wheel position adjustment device according to any one of claims 1 to 3, wherein the wheel position adjustment device is caused to be executed by the second detection section. The first detection unit detects a distance between the first running wheel and the first support rail in the first wheel separation state or an amount of change in a portion that changes depending on the distance,
Claims 1 to 4, wherein the second detection unit detects a distance between the second running wheel and the second support rail when the second wheels are separated, or an amount of change in a portion that changes depending on the distance. The wheel position adjustment device according to any one of the above. comprising a power supply unit that supplies power to a driving force source of the first running wheel and the second running wheel,
The vehicle has a first guide position where the guide wheel contacts a side surface of the third support rail facing the second side in the swing direction, and a first guide position where the guide wheel contacts the first side of the third support rail in the swing direction. a switching mechanism that switches the position of the guide wheel in the width direction to a second guide position in contact with a side surface facing the guide wheel;
According to any one of claims 1 to 5, a notch portion through which the guide wheel can pass in the width direction is formed in a part of the third support rail in the extending direction. Wheel position adjustment device. The first support rail is arranged on an extension line of one of the pair of travel rails,
The wheel position adjustment device according to any one of claims 1 to 6, wherein the second support rail is arranged on an extension line of the other of the pair of traveling rails. comprising a power supply unit that supplies power to a driving force source of the first running wheel and the second running wheel,
The power supply unit is a power supply line that supplies power to the vehicle in a non-contact manner,
The wheel position adjustment device according to claim 7, wherein the power supply line is arranged along the traveling rail and also arranged on at least one of the first support rail and the second support rail. a surrounding wall surrounding the first support rail, the second support rail, the third support rail, the first lifting mechanism, the second lifting mechanism, the shim insertion robot, and the fastening robot;
an opening that communicates between the inside and outside of the surrounding wall;
an automatic door that automatically opens and closes the opening;
A travel route for the vehicle configured by a pair of the travel rails, the first support rail, and the second support rail is provided to pass through the opening,
The automatic door according to claim 7 or 8, wherein the automatic door automatically opens the opening before the vehicle passes through the opening, and automatically closes the opening after the vehicle passes through the opening. Wheel position adjustment device. a wheel attachment/detachment robot that attaches and detaches the first traveling wheel and the second traveling wheel to and from the vehicle body;
The control unit causes the wheel attachment/detachment robot to attach or detach the first traveling wheel in the first wheel separation state, and causes the wheel attachment/detachment robot to attach or detach the second traveling wheel in the second wheel separation state. let it be done,
The wheel position adjustment device according to any one of claims 1 to 9, wherein the shim insertion robot also serves as the wheel attachment/detachment robot. The shim insertion robot includes a second insertion unit that is disposed outside the first support rail in the width direction and inserts the shim into the second shim insertion portion; a first insertion unit that is disposed on the outside of the direction and inserts the shim into the first shim insertion portion,
The fastening robot includes a second fastening unit that is disposed outside the first support rail in the width direction and that fastens and unfastens the second fastening portion, and a second fastening unit that is disposed outside the first support rail in the width direction. The wheel position adjustment device according to any one of claims 1 to 10, further comprising: a first fastening unit that is arranged outside of the first fastening unit and fastens and releases the first fastening portion.

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