KR101419356B1 - Carrier and overhead hoist system including the same - Google Patents

Abstract

A lane departing apparatus of a transportation system is disclosed. A lane departing apparatus of a transportation system according to an embodiment of the present invention includes: a carrier unit installed to be able to run on a running rail and carrying an object from a starting point to a destination; And a slide moving device installed at a lower portion of the carrier unit and capable of moving the object in a deflected direction from the center line of the carrier unit, wherein the slide moving device comprises: a stationary base installed in the carrier unit; A multi-stage slide portion movably installed on a fixed base, the multi-stage slide portion including a plurality of movable plates movably coupled with each other; An actuator unit installed on the fixed base and moving the movable plate coupled to the fixed base of the plurality of movable plates; And the upper and lower belts correspond to the fixed base and the movable plates to move the other movable plates disposed below the movable plate coupled to the fixed base so as to rotate according to the operation of the actuator unit And a plurality of idler pulleys each capable of supporting the rotation of the drive belt.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a carriage apparatus,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lane departing apparatus and a transportation system including the same and, more particularly, to a lane departing apparatus capable of automatically transporting a transportation object to a destination by a transportation bogie moving along a rail provided on a ceiling, To a conveying system.

OHS or OHT (Overhead Hoist Shuttle OR Transport) is installed in large hospitals, semiconductor and flat panel display manufacturing plants where there are many small carry objects to be transported. The ceiling trolley system includes a conveyance truck that runs along a rail installed on a ceiling and conveys an object, and a track having a rail for guiding the running of the conveyance truck.

For example, when such a ceiling trolley system is installed in a semiconductor or display flat panel production line, a traveling rail is installed using a ceiling space in a clean room. The transportation trolley driven on a traveling rail is a semiconductor wafer, a substrate, A cassette or the like is carried between transporting ports.

The running rail is supported by a support or the like from a ceiling of a clean room, and is composed of a running rail main body and a power feeding rail. The conveying bogie includes a traveling driving unit, which can travel within the traveling rail main body, and receives a signal from the power feeding rail by the power receiving unit.

Such a system for traveling a conveyance truck along a running rail such as an OHS or an OHT may include a slide moving device that can move the object to be conveyed to a side away from a center of the vehicle by a certain distance.

Such a slide moving apparatus has a function of advancing an object to the left or right of the traveling direction of a moving bogie and storing the object to be transported in a side buffer connected to the transport port.

Such a slide moving device should be a structure capable of advancing in both left and right directions. The slide moving device mounted on a conventional bogie has a complicated sliding structure and is vulnerable to failure, and maintenance and maintenance are not easy. The rigidity is weak, and the thickness of the sliding device itself is large, thereby increasing the height of the bogie, thereby increasing the vertical space occupied by the bogie in the ceiling.

Korean Patent Application Publication No. 10-2009-0023139

SUMMARY OF THE INVENTION Accordingly, the present invention has been made in view of the above problems, and it is an object of the present invention to provide a sliding type sliding door, which is capable of biasing the object in both right and left directions, simplifying the sliding structure, And a conveyance system including the same, which is capable of reducing the installation height of a carriage by making the thickness thereof compact.

According to an aspect of the present invention, there is provided a railway vehicle comprising: a carrier unit installed to be able to run on a running rail and conveying an object from a starting point to a destination; And a slide moving device installed at a lower portion of the carrier unit and capable of moving the object in a deflected direction from a center line of the carrier unit, wherein the slide moving device includes: a stationary base mounted on the carrier unit; A multi-stage slide unit movably installed on the fixed base, the multi-stage slide unit including a plurality of movable plates movably coupled with each other; An actuator unit installed on the fixed base to move a movable plate coupled to the fixed base among the plurality of movable plates; A plurality of movable plates disposed on the fixed base and the movable plates, respectively, for moving the other movable plates disposed below the movable plate coupled to the fixed base, A plurality of belt pulley units each having a drive belt to which the belt and the lower belt are coupled and to which a plurality of idle pulleys capable of supporting the rotation of the drive belt can be provided.

The movable plate coupled to the fixed base may have a plurality of bending portions capable of increasing rigidity against bending.

The plurality of bent portions may be symmetrically disposed with respect to a center line intersecting with a moving direction of the movable plate coupled with the fixed base in the vertical direction.

The plurality of bends may provide at least one of a cross-sectional shape such as "┏┓" or "┗┛".

Wherein the multi-stage slide portion includes: a first linear guide installed at both lower sides of the fixed base in the width direction thereof to guide movement of the movable plate coupled to the fixed base; And a second linear guide provided on the plurality of bending portions that can be disposed between the first linear guide and the lower portion of the fixed base to guide movement of the other movable plates, A side mounting portion for forming a mounting space protruding downward with respect to the first linear guide so that the upper level of the second linear guide can be superimposed on the lower level of the linear guide; And a center mounting portion for forming an installation space protruding upward.

The plurality of movable plates may include: a first movable plate coupled to the first linear guide and movably installed on the fixed base; A second movable plate coupled to the second linear guide and movably installed on the first movable plate; And a third movable plate movably installed at a lower portion of the second movable plate, wherein the multi-stage slide portion includes a third linear plate provided at a lower portion of the second movable plate to guide movement of the third movable plate, Guide. ≪ / RTI >

Wherein the actuator unit includes: a driving unit provided on the fixed base and having a driving motor capable of moving the first movable plate; And a ball screw unit installed along the fixed base to be driven by the driving motor and connected to the first movable plate to move the first movable plate.

The drive unit includes: a ball screw drive belt rotated by the drive motor; And a drive pulley connected to the ball screw drive belt, the drive pulley being installed in the ball screw unit, wherein the ball screw unit includes: a screw round bar rotatably installed on the fixed base and rotated by the drive pulley; An arm screw installed on the screw round bar; And a moving bracket installed on the female screw and coupled to the first movable plate.

Wherein the plurality of belt pulley units are installed on the first movable plate by a pair of idle pulleys spaced apart from the plurality of idle pulleys, wherein the upper belt is coupled to the fixed base, A first belt pulley unit coupled to the movable plate; And a pair of idle pulleys spaced apart from the plurality of idle pulleys, wherein the upper belt is coupled to the first movable plate, the lower belt is coupled to the third movable plate, And a second belt pulley unit that is coupled to the second belt pulley unit.

Wherein the carrier unit comprises: a plurality of carrier bodies spaced apart from the running rail; A pair of driving wheels installed on the carrier body and moving along the traveling rail; And a pair of support rollers installed on the carrier main body and supported by the running rail to guide movement of the carrier main body.

Further comprising a loading platform installed at a lower portion of the multi-stage slide unit to be movable by the slide moving device, the loading platform being capable of picking up and dropping the object, wherein the loading platform includes: a chuck gripper unit capable of holding the object; And a lift unit connected to the chuck gripper unit and capable of moving the chuck gripper unit up and down and rotating the chuck gripper unit.

A cover frame which is installed on the plurality of carrier bodies and into which the object is drawn and is placed; And a drop prevention device installed at a lower portion of the cover frame to support the object.

The fall preventing device includes a pair of rotation supporting members which are disposed to face the lower portion of the cover frame and are rotatably coupled to the lower portion of the cover frame to support the object; And a drop prevention driving unit coupled to the cover frame to rotate the rotation support member.

The drop prevention drive unit includes a rotation link having one end rotatably coupled to the lower portion of the rotation support member and the other end rotatably coupled to the cover frame; A support link having one end rotatably coupled to the rotation link and the other end rotatably coupled to the cover frame; And a link driving module having one end coupled to the rotating link and the other end coupled to the cover frame, wherein the link driving module rotates the rotating link to rotate the rotating supporting member.

Wherein the pair of driving wheels are rotatably coupled to the pair of driving wheels so as to allow idle wheels to idly rotate any one of the pair of driving wheels away from the driving rail .

Further comprising: a support holder unit installed on the carrier unit and fixing the carrier unit to the running rail according to a deflected position of the object, wherein the support holder unit is movably installed at a lower portion of the carrier unit, A support holder member which is moved in a direction opposite to a direction in which the object is moved when it is moved and is held in contact with the running rail located in a direction opposite to the moving direction of the object; And a holder moving device installed on the carrier unit to move the support holder member.

According to another aspect of the present invention, there is provided a lane departing apparatus comprising: And a branching and joining rails interconnecting the plurality of running rails and the plurality of running rails so that the luggage rack carries the objects from the start point to the destination, wherein the branch rails are connected to the branching and joining rails And a rail system in which a straight branching guide for guiding the straight running and a curve branching guide for guiding the traveling of the branch are installed, Wherein one of the plurality of branching rollers is provided on one of the rectilinear branching guide and the curve branching guide when the carrier unit enters the branching region, There is provided a conveying system in which a branching roller unit, .

Wherein the branching roller unit is rotatably mounted on the carrier unit, the top end of the one end and the other end of the branching roller unit being inclined with respect to each other; And a branch contact moving unit installed in a width direction intersecting the running direction of the carrier unit and restricting the rotation range of the seesaw unit and returning the seesaw unit.

Wherein the seesection comprises: a seesection member provided with the branching rollers; A rotation hinge provided at a central portion of the seesick member to provide rotation of the seesaw member; And a center return contact portion provided on the rotary hinge and contacting the branch contact moving portion when the seesection member is rotated.

Wherein the branch contact moving section includes: a return moving block installed on the carrier unit so as to be movable in a width direction of the running rail and in contact with the center return contact portion; A moving circular rod to which the return moving block is movably installed; And a center return member provided on the carrier unit to elastically support the return moving block when the return moving block is moved, wherein the center return contacting portion is coupled to an end portion of the rotating hinge, And a support cam provided in a sector shape so as to be in contact with the moving block, wherein the return moving block includes a pair of support tines which are arranged to face each other with the support cam therebetween so as to be in contact with the support cam .

According to the present invention, it is possible to constitute a three-tiered structure having a top-most fixed base and two-stage slide-moving portions below the top-bottom base, A linear guide having high resistance to bending is provided and the shape of the first movable plate which requires the greatest rigidity is provided so as to have a section with high flexural rigidity so as to increase rigidity of member against sagging, The level of the guide is arranged in a superposed structure so as to have a minimum thickness, thereby providing a margin for the height of the loading / unloading of the bogie, and a transportation system having the same.

1 is a layout diagram of a transport system according to an embodiment of the present invention.
Fig. 2 is a branch traveling state diagram of the lane departing apparatus and the joining region of Fig. 1; Fig.
Fig. 3 is a straight running state view of the lane departing apparatus and the joining region of Fig. 1. Fig.
4 is a conceptual cross-sectional view of I-I in Fig.
Fig. 5 is a plan layout diagram of the branching roller unit with respect to the branching region of Fig. 1;
6 is a detailed cross-sectional view of I-I in Fig.
FIG. 7 is a cross-sectional view of a running rail in which a truck according to an embodiment of the present invention is shown.
8 is a side view of a lane departing apparatus of a transportation system according to an embodiment of the present invention.
9 is a perspective view of the slide moving apparatus of Fig.
10 is a side view of the slide moving apparatus of Fig.
11 is an operational state diagram of the slide moving apparatus of Fig.
12 is an enlarged view of the carrier unit of Fig.
13 is a plan view of the carrier unit of Fig.

In order to fully understand the present invention, operational advantages of the present invention, and objects achieved by the practice of the present invention, reference should be made to the accompanying drawings and the accompanying drawings which illustrate preferred embodiments of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Like reference symbols in the drawings denote like elements.

1 to 6, a conveyance system according to an embodiment of the present invention includes a rail system 101 installed on a ceiling, a conveyor system 101 installed to run on a rail system 101, (Not shown).

First, as shown in Fig. 1, the rail system 101 includes a straight section 102, a curve connecting section 103, a branching and confluence section 104, a conveying section for loading and unloading the object 100 Port 105 and may include various sensors, a power supply, a communication device, and the like, not shown, for controlling the running of the vehicle 140.

A straight section 102 of the sections is a section through which the truck 140 can move linearly. A curve connecting section 103 is a section connecting the straight sections 102 spaced apart and arranged side by side. The section 104 is a section capable of moving the truck 140 from the separated branching zone 107 to the confluence zone 108.

The traveling rails 110 may be disposed in the straight section 102 of the rail system 101 and may include branching and joining sections that interconnect a plurality of traveling rails 110 spaced apart from the branching and merging section 104, The rails 111 may be arranged.

As shown in Figs. 1 to 6, a branching region 107 to which the running rail 110 and the branching and joining rails 111 are connected is provided with a straight branching guide 112 for guiding straight running, The curve branching guide 113 is installed so as to be divided in each running direction from one body.

The rail system 101 according to the present embodiment may include a straight rail main body 115 and a branch rail main body 116. The straight rail main body 115 is provided with a rail member 110 disposed along the running rail 110 in the branching area 107 for straight running corresponding to the straight branching guide 112, Is connected to the straight rail main body 115 in the branching area 107 and is disposed along the branching and confluence section 104 and the rail member 110 for branching travel corresponding to the curve branching guide 113 can be installed have.

The branching and joining rails 111 are disposed in the aforementioned branching and joining sections 104. The branching and joining rails 111 according to the present embodiment are formed by connecting the running rails 110 arranged in parallel to each other in an inclined manner to form N Type traveling track can be formed. The straight running, the branched running, and the converging running of the branching and merging area 108 of the balancing device 140, which will be described later, mainly assume the N-type running track.

The railroad car 101 installed in the rail system 101 according to the present embodiment is provided with a carrier unit 110 installed to be able to run on the running rail 110 of the rail system 101, And a branching roller unit 150 having branching rollers 151 and 152 which are rotated together so that either the straight running or the branching running is selectively performed.

The carrier unit 141 according to this embodiment includes a plurality of carrier main bodies 142 that are installed to be spaced apart from the running rail 110 and a plurality of carrier main bodies 142 installed on the respective carrier main bodies 142, And a pair of driving wheels 144 that are disposed on both sides of the carrier main body 142 and are supported by the side walls of the traveling rail 110 so as to support the carrier main body 142, And a support roller 145 that can guide the movement of the recording medium. The carrier body 142 is provided with a traveling motor 146 capable of driving the driving wheel 144 and a moving bar 148 coupled to the cover frame 147 on which the object 100 is to be placed. The movable bar 148 can fix the cover frame 147 to the carrier unit 141. [

The carrier unit 141 is installed on a running rail 110 of a rail system 101 mounted on a ceiling of a factory facility or a building that requires automatic transportation of goods in a manufacturing process of a product such as a semiconductor and a display manufacturing process, So that the object 100 can be carried by the automatic running from the starting point to the destination. When the carrier unit 141 travels in the branching zone 107 in which the branching and joining rails 111 are connected to the running rail 110, the branching roller unit 150 can execute branching driving .

Hereinafter, the transport system according to the present embodiment will be described in detail with reference to Figs. 1 to 6. Fig. 2 schematically shows the branching travel of the ladle truck by the branching roller unit 150, the straight travel in the branching region, and the straight travel in the joining region. The rollers of the branching roller unit 150, It is marked in black. The arrows indicate the running directions of the truck.

The branching roller unit 150 provided on the upper portion of the carrier unit 141 according to the present embodiment includes a plurality of branching rollers 151 and 152 which are rotatably installed in the carrier unit 141 and are moved in the vertical direction When any one of the plurality of branching rollers 151 and 152 is contacted to any one of the straight branching guide 112 and the curve branching guide 113 when the carrier unit 141 enters the branching region 107 .

The plurality of branching rollers 151 and 152 may be arranged to be inclined so as to be moved upward by the rotational motion and to be contacted with any one of the straight branching guide 112 and the curve branching guide 113. [

Accordingly, when the carrier unit 141 enters the branching region 107, any one of the plurality of branching rollers 151 and 152 can be separated from the straightening branching guide 112 and the curve < RTI ID = 0.0 > And the branching guide 113 so that either the straight running or the branching running with respect to the carrier unit 141 in the branching area 107 can be executed.

Each of the plurality of branching rollers 151 and 152 is arranged such that two pairs of the pair of rollers 151 and 152 are rotatable together. The pair of rollers 151 and 152 are lifted by one of the pair of rollers 151 and 152, One of which can be guided along the curve branching guide 113 in a rolling motion by being contacted with and supported by the curve branching guide 113. On the other hand, 112 and can be guided along the straight-going branch guide 112 as well.

The branching roller unit 150 according to the present embodiment is mounted on the carrier unit 141 so as to be rotatable for lifting and lowering the branching rollers 151 and 152. The upper and lower ends of the branching roller unit 150 are inclined And a seesaw section 155. The drive source of the seesaw 155 is not shown, but an electric motor can be used. The rotary shaft 153 of the branching rollers 151 and 152 is provided so as to be inclined with respect to one end of the seesaw 155 and the upper surface of the other end. These two side rotating shafts 153 may be arranged so that the center lines thereof cross the straight line branching guide 112 and the center line along the vertical direction of the curve branching guide 113.

The curve branching guide 113 described above is arranged from the running rail 110 of the branching region 107 to the branching and joining rails 111 so that the branching travel can be performed, So that the vehicle can travel straight ahead. The straight branching guide 112 may be arranged to pass through the branching region 107 along the running rail 110 on the opposite side of the curve branching guide 113. [ The branching or straight running of the carrier unit 141 can be executed by selection of the ascending / descending operations of the branching rollers 151 and 152 with respect to the linear branching guide 112 and the curve branching guide 113. [

According to the present embodiment, the straight branching guide 112 and the curve branching guide 113 are disposed so as to guide the straight running and the branching run to the branching region, And the other branch roller 152 can be contacted and supported by the linear branching guide 112. [0050]

The straight branching guide 112 and the curve branching guide 113 can be provided with sufficient contact surfaces so as to secure the grounding force of the branching rollers 151 and 152 in the horizontal direction. This contact surface is disposed so as to face the ground surface of the support roller 145 with respect to the corresponding rail member 110 at the time of the branched running or the straight running of the carriage device 140. [

The linear rail main body 115 and the branch rail main body 116 disposed in the branching region 107 and the confluence region 108 are provided on the rail member 117 which is grounded at the time of driving of the driving wheel 144, Can exist only on one side. The rail member 117 can not be installed at the connecting portion of the straight rail main body 115 to which the branch rail main body 116 is connected. The carrier unit 141 which travels through the branching region 107 can be driven to contact the one of the left and right rail members 117 on one side and the carrier unit 141 can be driven It is possible to make a straight run using one rail member 117 of the straight rail main body 115 and to perform branching travel using the other rail member 117 of the branch rail main body 116. [

In other words, the carrier unit 141 can be rotated by being tilted about the ground plane of the support roller 145 by the absence of any one of the rail members 117, The separation of the carrier unit 141 from the rail member 117 can be blocked by providing a moment that balances the reaction force applied to the branch rollers 151 and 152 from the oppositely disposed contact surfaces. The carrier unit 141 can smoothly run the branching region 107 depending on one of the rail members 117. [

On the other hand, the branching roller unit 150 according to the present embodiment is provided in the width direction crossing the running direction of the carrier unit 141, and restricts the rotation range of the seesection 155, And a branch contact moving unit 160 capable of returning the branch contact.

According to the present embodiment, when the seesaw portion 155 is rotated, any one of the branching rollers 151 and 152, that is, the branching roller 151 disposed on the left side can be guided and guided by the curve branching guide 113 At this time, after the seesaw 155 is rotated at a predetermined angle, the rotation of the seesaw 155 may be further restricted by the branch contact moving unit 160.

The drive wheel 144 disposed on the side contacted by the reaction force moment applied from the curve branching guide 113 to the branching roller 151 is moved in the radial direction of the rail 155, The rotation of the branching roller 151 by the seesaw unit 155 is limited to such a degree that the rotation of the branching roller 151 is in contact with the curve branching guide 113 so that the one drive wheel 144 of the carrier unit 141 Traveling can be performed without derailment from the rail member 117. [ The restriction of the rotation of the branching rollers 151 and 152 can also be applied to the straight branching guide 112 and the curve joining guide 131 and the joining straightening guide 132 described below.

The seesaw unit 155 according to the present embodiment includes a seesaw member 157 to which the diverging rollers 151 and 152 are installed and a rotary member 157 provided at the center of the seesaw member 157 to provide rotation of the seesaw member 157 A hinge 156 and a center return contact portion 158 which is provided on the rotary hinge 156 and is in contact with the branch contact moving portion 160 so as to limit the rotation range when the seesection member 157 rotates.

The branch contact moving unit 160 according to the present embodiment includes a return moving block 161 that is provided so as to be movable in the width direction of the running rail on the carrier unit 141 and contacts the center return contact unit 158, A moving bar 16 that is provided on the carrier unit 141 so as to move the return moving block 161 to move the return moving block 161 in the center And a return member 163. At this time, as the center return member 163, a pair of coil springs 164 which can be installed on the moving round bar 162 and return the return moving block 161 to the center position of the moving round bar 162 can be used .

One branch roller 151 of the pair of branch rollers 151 and 152 is moved along one wall portion of the curve branching guide 113 and the other branching roller 152 is moved in the opposite direction, The pair of branch rollers 151 and 152 can be rotated by the seesection member 157 and the position can be switched.

When the seesaw member 157 according to the present embodiment is rotated in the direction about the rotational axis 154 of the rotary hinge 156, the one branching roller 151 is raised and the other branching roller 152 is lowered The center return contact portion 158 provided on the rotary shaft 154 of the seesaw member 157 is moved in the direction of the return movement when the one branch roller 151 contacts the curve branch guide 113 side corresponding to the left wall portion. The block 161 is moved to one side and the return motion block 161 is supported by the coil spring 164 to be in an elastic bias state.

When the seesaw member 157 is rotated so that the other branching roller 152 contacts the right side wall portion of the curve joining guide 131 connected to the rear end of the curve branching guide 113, The return motion block 161 is quickly moved to press the center return contact 158 so that the rotational force of the rotational axis 154 of the rotational hinge 156 can be quickly reversed, The branching rollers 152 can be raised by the rotational movement and can be quickly brought into contact with the right side wall portion of the curve joining guide 131. [

The pair of branching rollers 151 and 152 according to the present embodiment are arranged in the branching region 107 or the joining region 108 in accordance with the flexible supporting relationship between the branching contact moving portion 160 and the center returning contact portion 158. [ 152 can be quickly rotated at the time of the branch running and the straight running to switch the running mode.

To this end, the center return contact portion 158 according to the present embodiment includes a support cam 158 which is coupled to an end of the rotation hinge 156 and is provided in a fan shape to contact the return movement block 161, The moving block 161 may have a pair of supporting jaws 165 that are arranged to face each other with the support cam 158 therebetween and can contact the support cam 158. [

The center return contact portion 158 provided on the rotary shaft 154 is rotated when the rotary shaft 154 of the rotary hinge 156 is rotated so that the one branch roller 151 is rotated to contact the curve branching guide 113 The support cam 158 can press one of the support jaws 165 and the return movement block 161 is moved to one side by the pressing of the support jaws 165 and is supported by the coil spring 164 to be elastically biased The returning block 161 is rapidly returned by the coil spring 164 and the support cam 158 is pressed by the support jaw 165 and the center return The rotary shaft 154 is quickly rotated in the opposite direction by the rotation force to rotate the contact portion 158 in the opposite direction so that the one branch roller 151 is quickly disengaged from the curve branch guide 113, Can be rapidly raised.

By switching the position of the pair of branch rollers 151 and 152, the carrier unit 141 can travel to the confluence area 108 after the branching travel. To this end, the rail system 101 according to the present embodiment is connected to the curve branching guide 113 and is disposed in the confluence region 108 along the branching and joining rails 111 as described above, and the branching rollers 151, And a curve joining guide 131 in which the other branching roller 152 is contactably supported on the opposite surface of the curve joining guide 131. The curve joining guide 131 is provided with a converging rectilinear guide 132 Can be connected.

The joining straightening guide 132 is disposed along the running rail 110 disposed in the joining region 108 and connected to the rear end of the curve joining guide 131. The joining straightening guide 132 is branched from the branching rollers 151, The branching roller 151 used for running is contacted with the left wall portion to provide straight running. As described above, the carrier unit 141 is supported by the one branch roller 151 in contact with the junction straight guide 132, so that the carrier unit 141 can smoothly pass through the junction region 108.

Conversely, according to the present embodiment, by switching the positions of the pair of branch rollers 151 and 152 with respect to the wall portions of the merging / straightening guide 132, the curve merging guide 131, and the curve branching guide 113, (141) can also travel from the confluence area (108) to the branch area (107).

The carrier unit 141 according to the present embodiment can perform the straight running by bringing the other branching roller 152 into contact with the straight branching guide 112 in the branching region 107. In the merging region 108, The one branch roller 151 which can be brought into contact with the cam follower 113 can be brought into direct contact with the converging / In this straight-ahead branching guide 112 and the merging straight-ahead guide 132, the carrier unit 141 can perform straight-line running using one of the branching rollers, which is used for straight- The branching rollers 151 and 152 can be quickly returned to the original position as well as the rotation range can be limited by the coordinated resilient support relationship of the branch contact moving portion 160 and the center return contact portion 158 .

The carrier unit 141 according to the present embodiment has the same curved section as that of the curve connecting section 103 because of the difference in position of the rail members 110 installed on both sides of the curved section, The driving range of the outer driving wheels 144 is longer than the inner driving wheels 144 so that the outer driving wheels 144 are behind the inner driving wheels 144, 144 may be driven to the driving position of the driving wheels.

In order to prevent the driving wheel of the carrier unit 141 from being pushed, a pair of driving wheels 144 are rotatably coupled to the pair of driving wheels 144, and a pair of driving wheels 144 The idle wheel 199 may be configured to idle any one of the driving wheels 144 to prevent the driving wheels 144 from being pushed due to a difference in the running radius of the other driving wheels 144.

The idle wheel 199 travels along a spacing member that can be poured on the outer rail member 110 of the curve section so that the driving wheel 144 is spaced apart from the rail member 110 And the idle wheel 199 that is not transmitted with the driving force that is moved along the spacing member to the driving force of the inner driving wheel 144 can naturally curve the curve section.

Hereinafter, other general components that can be installed in the ladle truck of the transportation system according to the present embodiment will be described in detail.

7 is a cross-sectional view of a running rail according to an embodiment of the present invention, FIG. 8 is a side view of a truck of a transportation system according to an embodiment of the present invention, FIG. 9 is a side view of the slide moving device of Fig. 9, Fig. 11 is an operating state view of the slide moving device of Fig. 7, Fig. 12 is an enlarged view of the carrier unit of Fig. 7, Fig.

1 and 4 and FIGS. 7 and 8, the truck 140 according to the present embodiment is provided at a lower portion of the carrier unit 141, so that the object 100 is supported by the carrier unit 141 A slide movement device 170 capable of moving the object 100 in a biased direction from the center line and a loading and elevating device 175 installed at a lower portion of the slide movement device 170 and capable of picking up and dropping the object 100 are provided.

The slide moving apparatus 170 according to the present embodiment can have a multi-step slide structure so that the object 100 suspended from the loading / unloading apparatus 175 can be moved laterally outward through the opening of the cover frame 147 , And the length can be extended laterally from the lower center of the carrier unit 141 by the multi-stage slide structure. The detailed components of the slide moving device 170 according to the present embodiment will be described later.

The loading and unloading apparatus 175 according to the present embodiment includes a chuck gripper unit 176 capable of gripping the object 100 and a winding wire connected to the chuck gripper unit 176 to form a chuck gripper unit 176 And an elevation unit 177 which can rotate the elevation unit 177 up and down. The elevating unit 177 is a hoist apparatus using a winding apparatus in which a generally known winding wire is wound. Although not shown in the figure, a winding motor in which a winding wire is wound by a winding motor installed therein rotates a winding drum, And the chuck gripper unit 176 can be lifted and lowered by the winding wire.

The elevating unit 177 according to the present embodiment may be provided with a twisting device capable of rotating the chuck gripper unit 176. [ Although not shown, the twist device includes a twist motor and a speed reducer capable of rotating the elevation unit 177, which is capable of aligning the rotation of the object 100 by rotating the object 100 about a vertical axis .

The carrier unit 141 according to the present embodiment includes a cover frame 147 on which a plurality of carrier bodies 142 are provided and to which the object 100 can be inserted and placed, And a drop prevention device 180 installed at a lower portion of the apparatus 100 to block the falling of the object 100. [

The cover frame 147 has a frame structure capable of forming openings through which the object 100 can pass on the side and the bottom. The cover frame 147 can be installed at the lower portion of the carrier unit 141 by being coupled to the above-described moving bar 148. The fall preventing device 180 installed under the cover frame 147 can be attached to the object 100 can be placed on the cover frame 147 and the separation of the object 100 that can be shaken when the cover frame 147 moves can be blocked to provide a stable transport structure for the object 100. [

The fall preventing device 180 according to the present embodiment is arranged to be opposed to the lower portion of the cover frame 147 and is provided at the lower portion of the cover frame 147 to support the object 100 by allowing the object 100 to be pulled, A pair of rotation support members 181 that are rotatably coupled and a fall prevention driving unit 185 that is coupled to the cover frame 147 to rotate the rotation support member 181. [ The pair of rotation support members 181 according to the present embodiment are rotated so that the object 100 can be drawn in and out of the cover frame 147. [

That is, the object 100 is moved in the cover frame 147 by the pair of rotation support members 181, which are rotated by the drop prevention drive unit 185 at the lower part of the cover frame 147 and come into contact with the object 100 And can be stably supported.

The drop prevention drive unit 185 according to the present embodiment includes a rotation link 186 having one end rotatably coupled to the lower portion of the rotation support member 181 and the other end rotatably coupled to the cover frame 147, A support link 187 whose one end is rotatably engaged with the rotation link 186 and the other end is rotatably engaged with the cover frame 147 and the other end is coupled to the rotation link 186, And a link drive module 188 which is coupled to the rotation support member 147 and which can rotate the rotation link 186 to rotate the rotation support member 181. [

The solenoid 190 of the solenoid 190 is coupled to the rotating link 186 and the solenoid 192 is coupled to the cover frame 186. [ 147 when the swing rod 192 is pulled into the sol body 191 and the rotary link 186 connected to the support link 187 is rotated such that the rotary support 186 is rotated by the rotary link 186, (181) can be rotated to support the object (100). On the other hand, when the soled rod 192 protrudes from the sol body 191, the rotary link 186 is rotated counterclockwise so that the rotary support member 181 is rotated in the opposite direction and the object 181 100 can be released.

The object 100 supported by the fall preventing device 180 and supported by the cover frame 147 can be moved to the destination by traveling of the carrier unit 141 and can be moved from the destination transport port 105 to the outside Lt; / RTI >

The object 100 carried on the lower portion of the carrier unit 141 can be loaded from the side of the cover frame 147 when the carrier unit 141 stops and can be moved laterally and unloaded .

The rail system 101 may be provided with various transport ports 105 depending on the type of the object 100 that can load and unload the object 100. The object 100 may be mounted on the slide moving apparatus 170, As shown in Fig.

Hereinafter, the components and operation of the slide moving apparatus according to the present embodiment will be described in detail with reference to Figs. 1, 4, and 7 to 11. Fig.

The slide moving apparatus 170 according to the present embodiment installed on the above-described loading / unloading apparatus 175 includes a fixed base 200 installed in the carrier unit 141, A plurality of movable plates 210 installed on the fixed base 200 and having a plurality of movable plates 210 mounted on the fixed base 200 of the plurality of movable plates 210, And an actuator unit 215 for moving the first movable plate 211 to be coupled therewith.

The plurality of belt pulley units 225 are provided on the multi-stage slide unit 201 so as to be rotated according to the operation of the actuator unit 215. The plurality of belt pulley units 225 are fixed to the fixed base 200 The upper belt 231 and the lower belt 231 are attached to the fixed base 200 and the movable plates 211, 212 and 213, respectively, so as to move the other movable plates 212 and 213 disposed below the one movable plate 211, And a plurality of idle pulleys 235 capable of supporting the rotation of the drive belts 231 and 233 and the drive belts 231 and 233 to which the belts 233 are associated.

The carrier unit 141 provided with the slide moving apparatus 170 according to the present embodiment is configured such that the loading and elevating apparatus 175 is moved in both directions along the width direction of the running rail by the extension of the slide moving apparatus 170 The object 100 can be unloaded or reloaded with the transport port 105 that can be installed on both sides of the running rail 110 or the object 100 can be loaded into the temporary storage buffer of the object 100. [ Can be stored.

The slide moving device 170 is configured to move the movable plates 211, 212 and 213 provided on the fixed base 200 in accordance with the driving of the belt pulley unit 225 operated by the actuator unit 215 The movable plate 213 disposed at the lowermost position is moved by the stroke of the actuator unit 215 by moving all of the movable plates 211, 212 and 213 provided immediately below the stroke of the actuator unit 215, Can be moved by the distance multiplied by the number of stages of the movable plate.

As described above, the slide moving apparatus 170 can move the object 100 from the center of the carrier unit 141 to a position deviated from the central portion by spreading and extending the plurality of movable plates 210, In the case where the object 100 is disposed in a deflected state, the weight of the object 100 acts, so that the multi-stage slide unit 201 can be deflected downward.

In order to increase the rigidity against bending, a multi-stage slide unit 201 is provided with a first movable plate 211 movably coupled to a movable plate disposed nearest to the fixed base 200, that is, a fixed base 200, A plurality of bending portions 237 capable of increasing the rigidity of the bending portion 237 can be applied. For example, when the bending is applied to the cantilever beam, even if they have the same cross-sectional area, the cross-sectional moment becomes larger when the height is differently distributed from the horizontal center line to the vertical center line. It is possible to increase the rigidity of the multi-stage slide portion 201, that is, the resistance against the flexural deformation, by providing the bent portions 237, that is, the bent sectional shape, in the first movable plate 211 acting.

To this end, the plurality of bending portions 237 according to the present embodiment are symmetrically arranged with respect to a center line intersecting in the up-and-down direction with respect to the moving direction of the first movable plate 211 coupled to the fixed base 200 The thickness of the first movable plate 211 coupled to the fixed base 200 can be made compact so that the overall height occupied by the slide moving device 170 can be reduced and the width of the fixed base 200 can be reduced. It is possible to provide a structure in which the first linear guide 241, which will be described later, is efficiently disposed between the fixed base 200 and the first movable plate 211 when viewed from the side along the direction of the axis.

Specifically, the plurality of bent portions 237 according to the present embodiment can provide at least one of cross sectional shapes such as "┏┓" or "┗.". That is, the first movable plate 211 coupled to the fixed base 200 has a cross-sectional shape such as "┏ ┓" protruding upward at the center and a cross-sectional shape such as "┗ 이" Can be applied. That is, the first movable plate 211 coupled to the stationary base 200 according to the present embodiment provides a corrugated structure so that a plurality of first linear guides 241, which will be described later, can do.

The multistage slide portion 201 applied to the first movable plate 211 having the plurality of bent portions 237 at the uppermost portion is provided at both lower portions along the width direction of the fixed base 200, A first linear guide 241 guiding the movement of the first movable plate 211 coupled to the first linear guide 241 and a second linear guide 241 disposed between the lower portion of the fixed base 200 and the first linear guide 241, And a second linear guide 242 installed on the movable plate 237 for guiding movement of the other movable plates 212, 213.

The plurality of bending portions 237 may be formed on the first linear guide 241 so that the upper level of the second linear guide 242 can be superimposed on the lower level of the first linear guide 241 A side installation portion 238 forming an installation space protruding downward and a center installation portion 239 forming an installation space protruding upward from the second linear guide 242 can be provided.

The plurality of movable plates 210 according to the present embodiment includes a first movable plate 211 coupled to the first linear guide 241 and movably installed on the fixed base 200, A second movable plate 212 coupled to the guide 242 and movably installed on the first movable plate 211 and a third movable plate 213 movably installed on the lower portion of the second movable plate 212 The multi-stage slide unit 201 may further include a third linear guide 243 installed at a lower portion of the second movable plate 212 to guide the movement of the third movable plate 213 .

The first to third movable plates 211, 212, and 213 are movable in the left and right directions along the width direction by the first to third linear guides 241, 242, and 243, An actuator portion 215 capable of providing a predetermined stroke, and a first and second belt pulley unit 225. [ The slide moving device 170 to which the first to third movable plates 211, 212, and 213 having the three-step stroke are applied can provide a stroke in the rightward direction of about 505 mm at maximum, Of the stroke.

A driving element for three-stroke sclocking of the multi-stage slide portion 201 of the slide moving apparatus 170 according to the present embodiment will be described in detail.

The actuator unit 215 according to the present embodiment includes a drive unit 216 provided on the fixed base 200 and having a drive motor 217 capable of moving the first movable plate 211, And a ball screw unit 220 installed along the fixed base 200 to be driven by the motor 217 and connected to the first movable plate 211 to move the first movable plate 211 have.

The actuator unit 215 is configured such that a driving motor 217 such as a servo motor rotates the ballscrew unit 220. A position control method applied to the servo motor is applied to the ballscrew unit 220 And this stroke is applied to the first movable plate 211. As the first movable plate 211 moves, a movement relationship is again established by the plurality of belt pulley units 225 The second and third movable plates 212 and 213 can be simultaneously moved.

The drive unit 216 according to the present embodiment includes a ball screw drive belt 224 rotated by a drive motor 217 and a ball screw drive belt 224 connected to the ball screw drive belt 224, And a driving pulley 219 which is connected to the driving pulley 219. The drive motor 217 and the drive pulley 219 are installed at the lower part of the fixed base 200. The drive motor 217 and the drive pulley 219 are vertically spaced apart by the interval by the ball screw drive belt 224 And the main pulley 218 corresponding to the drive pulley 219 may be installed on the rotation shaft of the drive motor 217. [

The ball screw unit 220 according to the present embodiment includes a screw round bar 221 that is rotatably installed on a fixed base 200 and is rotated by a drive pulley 219, And a moving bracket 223 attached to the arm screw 222 and coupled to the first movable plate 211. [

According to this embodiment, when the drive motor 217 is rotated, the screw round bar 221 is rotated by the drive pulley 219 so that the arm screw 222 can be moved, The first movable plate 211 can be moved by the stroke of the arm screw 222 provided by the screw round bar 221 by moving the movable bracket 223.

A plurality of belt pulley units 225 capable of directly transmitting the strokes applied to the first movable plate 211 to the second and third movable plates 212 and 213 will be described.

The plurality of belt pulley units 225 according to the present embodiment are installed on the first movable plate 211 by a pair of idler pulleys 235 spaced apart from the plurality of idler pulleys 235, A first belt pulley unit 226 coupled to the fixed base 200 and coupled to the second movable plate 212 by a lower belt 233 and a second belt pulley unit 226 coupled to the other pair of idle pulleys 235, The second belt 233 is attached to the second movable plate 212 by the pulley 235 while the upper belt 231 is coupled to the first movable plate 211 and the lower belt 233 is coupled to the third movable plate 213, And a belt pulley unit 227.

The first belt pulley unit 226 and the second belt pulley unit 227 according to the present embodiment are components for transmitting the above-described stroke to the second movable plate 212 and the third movable plate 213, respectively , The interlocking relationship for delivering the position and stroke is different, but it can be considered almost the same on the external form. Each of the belt pulley units 226 and 227 supported by a plurality of idler pulleys 235 includes an upper belt 231 and a lower belt 233, The belt 233 is only a representation of the vertical position of one belt. That is, the upper belt 231 and the lower belt 233 are wound to be supported by idle pulleys 235 spaced apart from each other as one drive belt 231, 233 connected to each other.

The first belt pulley unit 226 is a component for transmitting the stroke of the first movable plate 211 to the second movable plate 212. The first belt pulley unit 226 includes a plurality of idler pulleys 211, The upper and lower belts 231 and 233 are wound around the idle pulleys 235 as one drive belt 231 and 233, respectively. The upper belt 231 of the first belt pulley unit 226 is coupled to the fixed base 200 having the fixed position and the lower belt 233 is coupled to the second movable plate 212 to move the second movable plate 212. [ And is coupled to the movable plate 212.

In this structure, when the first movable plate 211 is moved, a plurality of idle pulleys 235 are moved in the moving direction of the first movable plate 211, and the second movable plate 212 is moved have. Since the plurality of idler pulleys 235 are wound around the connection portion between the upper belt 231 and the lower belt 233, the upper belt 231 is rotated by the rotation of the idler pulleys 235, But the lower belt 233 can be moved together with the second movable plate 212. [

A second belt pulley unit 227 according to the present embodiment in which a plurality of idle pulleys 235 are provided in the second movable plate 212 is described. The pulley 235 is moved and the third movable plate 234 coupled to the lower belt 233 by the relative movement of the lower belt 233 relative to the upper belt 231 fixed by rotation of the plurality of idler pulleys 235, (213) can be moved.

As described above, the plate shape of the first movable plate 211 of the slide moving device 170 according to the present embodiment is formed in a W-shape so as to increase the sectional moment so as to increase rigidity against sagging during slide operation The first linear guide 241 between the fixed base 200 and the first movable plate 211 and the second linear guide 242 between the first movable plate 211 and the second movable plate 212 It is possible to optimize the overall lifting height plus the loading / unloading device 175 by the compact structure of the slide moving device 170 by arranging the placement levels so as to form an overlap, The first to third movable plates 211, 212, and 213 installed in the first and second movable plates 211 and 212 are configured to be movable in both directions by the first to third linear guides 241, 242 and 243, Both directions It is possible to easily increase the capacity of the buffer, thereby increasing the efficiency of the production line.

The center of gravity of the carrier unit 141 can be moved when the object 100 suspended at the lower center of the carrier unit 141 is moved laterally by the slide moving device 175 according to the present embodiment, The carrier unit 141 can be rotated about one rail member 110 of the running rail 110. [

The other one of the two driving wheels 144 of the carrier unit 141 can be heard about the center of gravity of the other one of the driving wheels 144. The carrier unit 141 is rotated to move the object 100 ) Can be changed. When the carrier unit 141 is rotated, the object 100 can be moved to a position where it is lowered from the predetermined moving position to generate an error.

In order to prevent the positional error of the object 100, the carriage apparatus 140 according to the present embodiment controls the rotation of the carrier unit 141 according to the deflected position of the object 100 moved by the carrier unit 141 And a support holder unit 250 installed at the lower portion of the carrier unit 141 so as to block the movement of the carrier unit 141.

According to the present embodiment, however, since the support holder unit 250 is provided below the carrier unit 141 to prevent rotation of the carrier unit 141 before the object 100 is laterally moved, The object 100 may be moved to a predetermined moving position and unloaded. That is, the support holder unit 250 can be supported by the rail member 110 positioned opposite to the direction in which the object 100 is moved, and can prevent the rotation of the carrier unit 141. [ That is, the support holder unit 250 can block lifting of either one of the driving wheels 144 from the rail member 110.

Referring to Figs. 1 and 11 to 13, the support holder unit 250, which can prevent the rotation of the carrier unit 141 due to the movement of the object by the slide moving apparatus 170 according to the present embodiment, .

The support holder unit 250 provided so as to prevent the rotation of the carrier unit 141 according to the present embodiment is provided with a support holder 160 which is movably provided in the carrier unit 141 and can be supported by the drive rail 110, The carrier 251 is moved so that the support holder member 251 can be moved in a direction crossing the traveling direction of the carrier unit 141 with respect to the running rail 110, A holder movement drive unit 260 installed on the carrier unit 141 to move the support holder member 251 along the holder movement guide unit 255, . ≪ / RTI >

The support holder unit 250 according to this embodiment can move the holder holder member 251 along the holder movement guide unit 255 by the holder movement drive unit 260, Side rail member 110 of the running rail 110, which is installed as far as possible. For example, when the object 100 is moved to the right by the slide moving device 170, the support holder member 251 is moved to the left-side rail member 110 and supported on the rail member 110 , It is possible to prevent rotation of the carrier unit 141 due to the movement of the center of gravity.

The support holder member 251 according to the present embodiment includes a side wall support portion 252 supported on the side wall of the rail member 110 and a rotation support portion 252 provided on the bottom portion of the rail member 110, Prevention part 253. The end of the support holder member 251 can be formed so as to conform to the end surface of the rail member 110. The side wall support portion 252 is configured such that when the support holder member 251 is moved toward the rail member 110 side, The rotation preventing portion 253 is supported by the bottom surface portion 222 of the rail member 110 to limit the rotation of the support holder member 251 .

The holder movement guide portion 255 according to the present embodiment includes a holder moving member 256 which is coupled to the support holder member 251 and is moved by the holder movement driving portion 260, And a linear guide 257 for guiding the movement of the movable member 256. [ The holder moving member 256 is coupled to the linear guide 257 so that the upper end thereof is connected to the female screw 265 of the ball screw module 263 to be described later and the lower end thereof is coupled to the support holder member 251.

The holder movement drive unit 260 capable of moving the holder movement member 256 is connected to the holder movement motor 261 provided to the carrier unit 141 and the holder movement member 256, And a ball screw module 263 which is driven by the guide member 262 to move the holder moving member 256.

When the holder moving motor 261 is rotated so that the screw round bar 264 of the ball screw module 263 is rotated, the arm screw 265 can be moved on the screw round bar 264, The connected holder moving member 256 is moved so that the supporting holder member 251 can be moved toward the rail member 110 side.

According to the present embodiment, the holder moving motor 261 can be disposed in parallel with the ball screw module 263 and spaced apart from the ball screw module 263 to rotate the screw round bar 264. To this end, the holder movement drive unit 260 includes a drive pulley 266 coupled to the rotation shaft of the holder movement motor 261 and connected to the drive pulley 266 by a drive belt 267, And a driven pulley 268 coupled to the screw round bar 264 of the screw 263.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. Accordingly, such modifications or variations are intended to fall within the scope of the appended claims.

100: Object 101: Rail system
102: straight ahead section 103: curve connection section
104: branching and confluence period 105:
107: branching region 108: junction region
110: running rail 111: branching and joining rail
112: Straight branch guide 113: Curve branch guide
115: straight rail main body 116: branch rail main body
117: Rail member 131: Curve joining guide
132: joining straight ahead guide 140:
141: Carrier unit 142: Carrier body
144: drive wheel 145: support roller
146: Travel motor 147: Cover frame
148: movement bar 150: branching roller unit
151, 152: branching roller 153: rotary shaft
154: rotation axis 155: seesaw section
156: rotation hinge 157: seesaw member
158: center return contact portion 159: support cam
160: branch contact moving unit 161: return moving block
162: moving round bar 163: center return member
164: coil spring 165: support jaw
170: Slide moving device 175: Loading and unloading device
176: Chuck gripper unit 177: Lift unit
180: Fall prevention device 181:
185: drop prevention driving unit 186: rotation link
187: Support link 188: Link drive module
190: Solenoid 191: Sol Body
192: Sol Road 199: Children wheel
200: fixed base 201: multi-stage slide part
210: a plurality of movable plates 211: a first movable plate
212: second movable plate 213: third movable plate
215: actuator unit 216: drive unit
217: drive motor 218: main pulley
219: drive pulley 220: ball screw unit
221: screw round bar 222: female screw
223: Moving bracket 224: Ball screw drive belt
225: a plurality of belt pulley units 226: a first belt pulley unit
227: second belt pulley unit 231: upper belt
233: lower belt 231, 233: drive belt
235: plural idler pulleys 237: plural bending parts
238: Side mounting portion 239: Center mounting portion
240: a plurality of linear guides 241: a first linear guide
242: second linear guide 250: support holder unit
251: support holder member 252:
253: rotation prevention part 255: holder movement guide part
256: holder moving member 257: linear guide
260: holder movement drive unit 261: holder movement motor
263: ball screw module 264: screw round bar
265: female screw 266: driven pulley
267: drive belt 268: driven pulley

Claims (20)

A carrier unit installed to be capable of traveling on a running rail and carrying an object from a starting point to a destination; And
And a slide moving device installed at a lower portion of the carrier unit and capable of moving the object in a deflected direction from a center line of the carrier unit,
The slide moving device includes:
A fixed base mounted on the carrier unit;
A multi-stage slide unit movably installed on the fixed base, the multi-stage slide unit including a plurality of movable plates movably coupled with each other;
An actuator unit installed on the fixed base to move a movable plate coupled to the fixed base among the plurality of movable plates; And
Wherein the upper and lower plates are provided on the fixed base and the movable plates so as to move the other movable plates disposed below the movable plate coupled to the fixed base so as to rotate according to the operation of the actuator, And a plurality of belt pulley units each having a drive belt to which the lower belt is coupled and a plurality of idle pulleys capable of supporting rotation of the drive belt. The method according to claim 1,
Wherein the movable plate coupled to the fixed base has a plurality of bent portions capable of increasing rigidity against bending. 3. The method of claim 2,
Wherein the plurality of bent portions are symmetrically arranged with respect to a center line intersecting in the vertical direction with respect to a moving direction of the movable plate coupled to the fixed base. The method of claim 3,
Wherein said plurality of bends provide at least one of a cross-sectional shape such as "┏┓" or "┗.". The method of claim 3,
Wherein the multi-
A first linear guide installed at both lower sides along the width direction of the fixed base to guide movement of the movable plate coupled to the fixed base; And
And a second linear guide installed in the plurality of bending portions that can be disposed between the first linear guides at a lower portion of the fixed base to guide movement of the other movable plates,
The plurality of bending portions may include a side attachment portion for forming an installation space protruding downward with respect to the first linear guide so that an upper level of the second linear guide can be overlapped with the lower level of the first linear guide, And a center mounting part for forming an installation space protruding upward with respect to the second linear guide. The method of claim 3,
Wherein the plurality of movable plates comprise:
A first movable plate coupled to the first linear guide and movably installed on the fixed base; And
A second movable plate coupled to the second linear guide and movably installed on the first movable plate; And
And a third movable plate movably installed below the second movable plate,
Further comprising a third linear guide provided at a lower portion of the second movable plate for guiding movement of the third movable plate. The method according to claim 6,
The actuator unit includes:
A drive unit provided on the fixed base and having a drive motor capable of moving the first movable plate; And
And a ball screw unit installed along the fixed base to be driven by the driving motor and connected to the first movable plate to move the first movable plate. 8. The method of claim 7,
The driving unit includes:
A ball screw drive belt rotated by the drive motor; And
Further comprising a drive pulley connected to the ball screw drive belt and installed in the ball screw unit,
The ball screw unit includes:
A screw round bar rotatably installed on the fixed base and rotated by the drive pulley;
An arm screw installed on the screw round bar; And
And a moving bracket installed on the arm screw and coupled to the first movable plate. 8. The method of claim 7,
Wherein the plurality of belt pulley units comprise:
A first belt mounted on the first movable plate by a pair of idle pulleys spaced apart from the plurality of idle pulleys, wherein the upper belt is coupled to the fixed base, and the lower belt is coupled to the second movable plate; Pulley unit; And
Wherein the upper and lower belts are mounted on the second movable plate by a pair of idle pulleys spaced apart from the plurality of idle pulleys, wherein the upper belt is coupled to the first movable plate and the lower belt is coupled to the third movable plate And a second belt pulley unit. The method according to claim 1,
Wherein the carrier unit comprises:
A plurality of carrier bodies spaced apart from the running rail;
A pair of driving wheels installed on the carrier body and moving along the traveling rail; And
And a pair of support rollers mounted on the carrier main body and supported by the running rail to guide movement of the carrier main body. 11. The method of claim 10,
Further comprising a loading and unloading device installed at a lower portion of the multi-stage slide portion so as to be movable by the slide moving device,
The loading /
A chuck gripper unit capable of holding the object; And
And a lift unit connected to the chuck gripper unit and capable of moving the chuck gripper unit up and down and rotating the chuck gripper unit. 12. The method of claim 11,
A cover frame which is installed on the plurality of carrier bodies and into which the object is drawn and is placed; And
Further comprising: a fall preventing device provided at a lower portion of the cover frame to support the object. 13. The method of claim 12,
The drop prevention device includes:
A pair of rotation support members disposed to face the lower portion of the cover frame and rotatably coupled to a lower portion of the cover frame to support the object; And
And a fall prevention driving unit coupled to the cover frame to rotate the rotation support member. 14. The method of claim 13,
The drop prevention driving unit includes:
A rotary link having one end rotatably coupled to the lower portion of the rotation support member and the other end rotatably coupled to the cover frame;
A support link having one end rotatably coupled to the rotation link and the other end rotatably coupled to the cover frame; And
And a link driving module which is connected at one end to the rotating link and is coupled to the cover frame at the other end, and which is capable of rotating the rotating link to rotate the rotating supporting member. 11. The method of claim 10,
Wherein the pair of driving wheels are rotatably coupled to the pair of driving wheels so as to allow idle wheels to idly rotate any one of the pair of driving wheels away from the driving rail Further comprising: a conveying device for conveying the conveying system. 11. The method of claim 10,
Further comprising a support holder unit installed on the carrier unit and fixing the carrier unit to the running rail according to the deflected position of the object,
The support holder unit includes:
A support holder member movably installed at a lower portion of the carrier unit and movable in a direction opposite to a direction in which the object is moved when the object is moved to be contacted with the running rail in a direction opposite to a moving direction of the object; And
And a holder moving device installed on the carrier unit to move the support holder member. A conveyance device of the conveyance system according to any one of claims 1 to 16; And
And a branching and joining rails interconnecting the plurality of running rails and the plurality of running rails so as to carry the objects from the start point to the destination, wherein the branch rails are straightly connected to the branching areas to which the running rails and the branching and joining rails are connected And a rail system in which a straight branching guide for guiding the running and a curve branching guide for guiding the running of the branch are installed,
Wherein the carrier unit is provided with a plurality of branch rollers rotatably installed in the carrier unit so as to selectively perform either the straight traveling operation or the branching traveling operation, Wherein one of the plurality of branching rollers is provided with a branching roller unit which is guided while being held in contact with any one of the rectilinear branching guide and the curve branching guide. 18. The method of claim 17,
Wherein the branching roller unit comprises:
A seesick portion rotatably installed on the carrier unit, wherein the seesaw portion is provided such that the upper surfaces of the one end portion and the upper end portion of the other end portion are inclined with respect to each other; And
Further comprising a branch contact moving section which is provided in a width direction intersecting the running direction of the carrier unit and which limits the rotation range of the seesection and can return the seesection. 19. The method of claim 18,
The seesaw unit,
A seesection member provided with the branching rollers;
A rotation hinge provided at a central portion of the seesick member to provide rotation of the seesaw member; And
And a center return contact portion provided on the rotary hinge and contacting the branch contact moving portion when the seesection member is rotated. 20. The method of claim 19,
Wherein the branch contact moving unit comprises:
A return moving block installed on the carrier unit so as to be movable in a width direction of the running rail and contacting the center return contact portion;
A moving circular rod to which the return moving block is movably installed; And
And a center return member provided on the carrier unit to elastically support the return moving block when the return moving block is moved,
Wherein the center return contact portion includes a support cam that is engaged with an end portion of the rotary hinge and is provided in a fan shape to contact the return movement block,
Wherein the return moving block includes a pair of support tines which are arranged to face each other with the support cam therebetween so as to be in contact with the support cam.

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