KR101530028B1 - Carriage system - Google Patents

Abstract

A transfer trailer system is disclosed. According to an aspect of the present invention, there is provided a transport truck system comprising: a transport truck for transporting an object; And a traveling track side branch guide for guiding a traveling track side traveling of the transporting truck in a branch section and a traveling track side branching guide for guiding the traveling track side traveling in a branching section, And a branching track side guide including a branching track side branching guide for guiding the traveling of the transporting car on a branching track side in a branching section, wherein the transporting carriage includes a traveling track side branching guide and a branching track side branching guide A pair of branching rollers selectively contacting the branching rollers; And a pair of branch rollers connected to the pair of branch rollers so that one of the pair of branch rollers is selectively brought into contact with any one of the traveling track side branch guide and the branch orbital side branch guide. Roller interlocking module.

Description

{CARRIAGE SYSTEM}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a conveyance truck system, and more particularly, to a conveyance truck system capable of quickly switching a conveyance truck from a branch section to a traveling track or a branch orbit.

Overhead shuttles (OHS) and overhead hoist transport (OHT) systems are installed in large hospitals, semiconductor and flat panel display production plants where there are many small objects to be transported.

The conveyance truck system includes a conveyance truck for conveying the object and a trajectory for the conveyance truck that is installed on the ceiling so that the conveyance truck can run, and includes a trajectory and a branch trajectory branched from the trajectory.

For example, in a case where a conveyance truck system is installed in a semiconductor or display flat panel production line, a traveling track and a branch track branched from a traveling track are installed in a ceiling space in a clean room. And travels along the branch trajectory to transport the object.

Here, the traveling orbit and the branch orbit are supported by the pillars or the like in the ceiling space of the clean room. The traveling orbit and the branch orbit include the orbital body and the feeding orbit.

On the other hand, in the trajectory for traverse bogie, there is at least one branch section that branches from the trajectory to the branch trajectory, and at least one confluence section where the branch trajectory merges with the trajectory, and the traverse bogie has the trajectory And a branch orbit.

However, the conventional conveyance truck can not be quickly changed from a branch trajectory or a branch trajectory to a traveling trajectory in the traveling trajectory, so that the delivery truck is delayed from the traveling trajectory to the branch trajectory or from the branch trajectory to the traveling trajectory, There is a problem that the reliability of the rapid delivery of the goods is deteriorated due to the non-smoothness or the positional error occurring during the direction change, for example, an impact is applied to the delivery vehicle and frequent failures occur.

[Patent Document 1] Korean Patent Laid-Open No. 10-2009-0023139 (Assist Technologies Japan Co., Ltd.) 2009.03.04 Disclosure

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a conveyance truck system capable of quickly and smoothly turning a conveyance truck in a traveling trajectory or a branch trajectory in a branch section, .

According to an aspect of the present invention, there is provided a conveyance bogie for conveying an object; And at least one branch section provided so as to be able to travel the transportation bogie, the branch bogie having a traveling trajectory, a branch trajectory branching from the traveling trajectory, and a traveling route guiding the traveling bogie traveling on the traveling track side in the branch section A trajectory side branching guide and a trajectory trajectory trajectory including a trajectory side branching guide for guiding the trajectory side running of the traversing bogie in the branching section, A pair of branch rollers selectively contacting any one of the branch guide and the branch orbit side branch guide; And a pair of branch rollers connected to the pair of branch rollers so that one of the pair of branch rollers is selectively in contact with any one of the traveling track side branch guide and the branch track side branch guide, And a branching roller interlocking module for interlocking the branching roller interlocking module with the branching roller interlocking module.

Wherein the branching roller interlocking module comprises: a pair of link members respectively connected to the pair of branching rollers; And a pair of link members connected to the pair of link members so that one of the pair of branch rollers is selectively in contact with any one of the traveling track side branch guide and the branch orbit side branch guide, And a link member driving unit for moving the link member in mutually opposite directions.

Wherein the branching roller interlocking module further comprises a connection bracket for interconnecting one end of the pair of link members and the link member driving portion, and the link member driving portion is connected to the connection bracket, And a drive motor for moving the link members of the link member in mutually opposite directions.

Wherein the branching roller interlocking module includes a plurality of branching roller interlocking modules each of which is connected to one side of the pair of link members so as to extend in the direction of the traveling track side branching guide and the branching track side branching guide, And may further include a member guide portion.

Wherein the traveling track side branching guide and the branching track side branching guide are arranged so as to be opposed to each other on an upper portion of the transporting carriage, and the pair of branching rollers are disposed on one of the traveling track side branching guide and the branching track side branching guide And can be moved up and down in the opposite direction.

The traveling track side branching guide and the lower end portions of the branching track side branching guide may be formed with bent portions bent in the direction of the pair of branching rollers so as to prevent the pair of branching rollers from being separated during traveling.

Wherein the transporting carriage comprises: a frame part in which the object is seated; And a carrier unit connected to the frame unit and provided so as to be able to run along the traveling track and the branch track, wherein the carrier unit includes a pair of branching rollers and a carrier main body unit connected to the branching roller interlocking module, ; And a pair of driving rollers connected to the carrier main body, the driving roller contacting the traveling track and the branch track to allow the carrier main body to travel.

The carrier unit includes a pair of support rollers that are connected to the carrier main body and are disposed adjacent to one side of the pair of drive rollers and contact the side of the travel track and the branch track to support the carrier main body .

Wherein the conveyance truck includes a gripper unit provided inside the frame unit, the gripper unit gripping the object; And a gripper transfer unit provided inside the frame unit and connected to the gripper unit to allow the gripper unit to reciprocate inside and outside the frame unit.

The gripper unit includes: a gripper for gripping the object; And a gripper driving module connected to the gripper, the gripper driving module allowing the gripper to be raised and lowered.

The gripper driving module includes a lift unit for winding and releasing a wire connected to the gripper so that the gripper moves up and down; And a rotation unit coupled to the gripper to rotate the object within the frame unit.

The conveyance truck may further include a drop preventing unit disposed at a lower portion of the frame portion to support the object placed on the frame portion to prevent the object from falling during conveyance.

The drop prevention unit includes: a support member disposed at a lower portion of the frame portion to contact and support the lower portion of the object; And a support member driving unit disposed at a lower portion of the frame unit and connected to the support member to allow the support member to contact and release the lower portion of the object.

The supporting member driving unit includes: a rotating link having one end connected to the supporting member and the other end rotatably connected to the frame portion; A support link having one end rotatably connected to the frame portion and the other end slidably connected to the rotation link; And a rotation link driver disposed at a lower portion of the frame portion and connected to the rotation link to rotate the rotation link to bring the support member into contact with and disengagement from the lower portion of the object.

The rotation link driving unit may include an actuator connected to the rotation link and rotating the rotation link as it extends and contracts.

An embodiment of the present invention is a branching roller interlocking module for interlocking a pair of branching rollers so that a pair of branching rollers can be selectively brought into contact with any one of a traveling track side branching guide and a branching track side branching guide in a branching section It is possible to quickly and smoothly change the direction of the conveying bogie in the direction of the trajectory or the branch orbit in the branching section and to prevent the occurrence of the failure due to the direction change and to improve the reliability in the rapid delivery of the goods.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic view showing a delivery truck system according to an embodiment of the present invention; FIG.
Fig. 2 is an enlarged view of a portion A in Fig. 1, showing a traveling state of a transportation bogie in a branch section. Fig.
3 is a cross-sectional view illustrating a conveyance truck according to an embodiment of the present invention.
4 is an enlarged cross-sectional view illustrating a gripper unit, a gripper transfer unit, and a drop prevention unit according to an embodiment of the present invention.
5 is an enlarged cross-sectional view showing a carrier unit according to an embodiment of the present invention.
6 is an enlarged view showing a branching roller interlocking module according to an embodiment of the present invention.
Fig. 7 is a cross-sectional view of BB of Fig. 2, which is a running state diagram of a transport truck running on a branch trajectory in a branch section.
Fig. 8 is a cross-sectional view of CC in Fig. 2, showing a running state of a conveyance truck traveling on a trajectory in a branch section. 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.

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

2 is a partially enlarged view of a portion A of Fig. 1, showing a traveling state of a transportation bogie in a branch section, Fig. 3 is a view showing a traveling bogie according to an embodiment of the present invention. Fig. 4 is an enlarged cross-sectional view illustrating a gripper unit, a gripper transfer unit, and a drop prevention unit according to an embodiment of the present invention, and FIG. 5 is an enlarged cross- Fig. 6 is an enlarged view showing a branching roller interlocking module according to an embodiment of the present invention. Fig.

Referring to FIG. 1, a conveyance truck system according to an embodiment of the present invention includes a conveyance truck 200 for conveying an object M, a trajectory 100 for the conveyance truck 200, ).

The trajectory trajectory 100 serves to guide the traveling of the traverse bogie 200.

The trajectory track 100 includes a straight section S1, a curve connecting section S2 and a branch section S3 (or a branching and merging section).

The curve connecting section S2 is a section in which a part of the continuous straight section S1 has a certain curvature and the branch section S3 is a section in which the conveying carriage 200 can travel in a straight line. Are sections that are arranged side by side and mutually spaced apart from each other to connect the rectilinear sections S1.

The traveling track 110 may be disposed in the straight section S1 and the curve connecting section S2 and the branch section S3 may be provided in the traveling track 110 so as to interconnect the plurality of traveling orbits 110, The branching trajectory 130 can be arranged.

3 and 5, the trajectory body 140 is provided on each of the traveling trajectory 110 and the branch trajectory 130 so that the traveling carriage 200 can make contact with the traveling carriage 200. As shown in FIG.

2, the branching section S3 is provided with a traveling track side branching guide 150 for guiding the traveling carriage 200 to continue to run straight along the traveling orbit 110, 200 is provided on a branch orbit side branching guide (170) for guiding the branching orbit side branching guide (170) to travel along a branch orbit (130).

For example, when the transporting truck 200 continues to travel straight along the traveling track 110 in the branching section S3, the transporting truck 200 travels along the traveling-track side branching guide 150, The transporting carriage 200 travels along the branching track side branching guide 170 when the transporting carriage 200 tries to branch off along the branching trajectory 130 in the branching period S3.

At this time, the traveling track side branching guide 150 and the branching track side branching guide 170 are arranged to face each other on the upper part of the conveying carriage 200. This causes the branching rollers 237 of one of the pair of branching rollers 237 to be described to be lifted up to selectively contact any one of the traveling-side orbit-side branching guide 150 and the branching-orbit side branching guide 170, 110 or the branch trajectory 130. [0035]

When the conveyance truck system according to an embodiment of the present invention is installed in a semiconductor or display flat panel production line, the traveling track side branching guide 150 and the branching track side branching guide 170 are supported by a support or the like in a ceiling space As shown in FIG.

3 and 5, the trajectory body 140 of the traveling trajectory 110 and the branch trajectory 130 is disposed on the lower side of the traveling track side branch guide 150 and the branch orbit side branch guide 170 .

Referring to FIG. 2, a case in which the conveyance truck 200 branches from the upper travel trajectory 110 and merges into the lower travel trajectory 110 will be described in detail.

The upper branching orbit side branching guide 170 is provided adjacent to the branching area A1 where the conveying carriage 200 starts to branch off from the upper traveling orbit 110 and the lower traveling orbit 110 is provided in the branching section S3, And the lower branch orbit side branching guide 170 is provided adjacent to the joining region A2 joined to the lower branching orbit side guide.

Therefore, the conveying carriage 200 is continuously brought into contact with the upper branch-orbital-side branching guide 170 and the lower-branch-orbit side-branching guide 170 in the branching area A1 of the branching section S3.

When the conveyance truck 200 travels along the lower branch orbital side branch guide 170, the lower orbiting road 110 adjacent to the confluence area A2 is provided with the upper orbiting track side 110 provided on the upper side orbits 110 The lower traveling track side branching guide 150 is provided corresponding to the branching guide 150.

Therefore, the conveyance truck 200 joins the lower travel orbit 110 along the lower branch orbital side branch guide 170 and the lower travel orbital side branch guide 150 and travels.

As described above, the conveying carriage 200 is provided with the upper-side moving orbital-side branching guide 170, the lower-branching orbit side-branching guide 170, and the lower- And then joins the lower travel track 110 and travels.

In addition, a conveyance port P, in which the object M is loaded and unloaded, is disposed adjacent to the trajectory 100 for conveyance. Although not shown in the trajectory track 100, various sensors, a power supply device, a communication device, and the like may be provided for controlling the traveling of the conveyance truck 200.

On the other hand, in the present embodiment, a pair of branch rollers 237, which will be described later, in which the transporting carriage 200 travels along the traveling track side branching guide 150 or the branching track side branching guide 170 in the branching section S3, Side branching guide 150 or the branching-orbit side branching guide 170, as shown in FIG.

Hereinafter, a description will be made of the conveyance truck 200 traveling along the trajectory 100 for the trailer according to the present embodiment.

3 to 8, the conveyance truck 200 includes a frame unit 210 in which the object M is seated, and a frame unit 210 which is provided inside the frame unit 210 and grips the object M a gripper unit 250 which is provided inside the frame unit 210 and is connected to the gripper unit 250 so as to reciprocate the gripper unit 250 to the inside and outside of the frame unit 210, A drop preventing unit 290 disposed at a lower portion of the frame unit 210 and supporting the object M placed on the frame unit 210 to prevent the object M from dropping during transportation, And a carrier unit 230 that is connected to the frame unit 210 and is installed to be capable of traveling along the traveling track 110 and the branching track 130.

3 and 4, the frame unit 210 is transported along the traveling track 110 and the branch trajectory 130, and the object M to be loaded or unloaded to the transport ports P Lt; / RTI >

The frame part 210 according to the present embodiment has a structure in which an opening through which the object M can pass is formed in the side part and the lower part.

The frame unit 210 is connected by a carrier unit 230 to be described later so as to be able to be traversed along the traveling orbit 110 and the branch orbit 130.

On the other hand, the object M is loaded into the frame portion 210 at the transfer ports P by the gripper unit 250 or unloaded to the transfer ports P at the frame portion 210.

Therefore, the gripper unit 250 according to the present embodiment includes a gripper 251 for gripping the object M.

The gripper 251 grips the object M placed on the transfer ports P or grips the object M placed on the frame part 210. [

In order to grip the object M seated on the transfer ports P or grip the object M seated on the transfer ports P and to mount the object M on the frame portion 210, The gripper 251 is provided with a gripper transfer unit 270 for reciprocating between the frame portion 210 and the transfer ports P between the frame portion 210 and the frame portion 210.

The gripper transfer unit 270 may have a multi-stage slide structure connected to the upper portion of the gripper 251 to allow the gripper 251 to reciprocate between the frame portion 210 and the transfer ports P.

The object M gripped by the gripper 251 is transferred to the inside of the frame unit 210 and is mounted on the frame unit 210. The gripper unit 250 grips the object M onto the frame unit 210 And a gripper driving module 253 which lifts and rotates the gripper 251 in order to place the gripper 251 at a predetermined position.

That is, the gripper driving module 253 is connected to the gripper 251 and serves to lift and rotate the gripper 251.

In this embodiment, the gripper driving module 253 includes a lift portion (not shown) for winding and releasing a wire connected to the gripper 251 so as to raise and lower the gripper 251, (Not shown) that rotates the frame M inside the frame unit 210. [

The elevating portion has a winding drum (not shown) wound with a wire connected to the gripper 251. The driving motor (not shown) connected to the winding drum is rotated to wind and unwind the wire on the winding drum so that the gripper 251 is lifted .

The rotating part serves to align the object M and the frame part 210 in placing the object M at a predetermined position of the frame part 210. [

For example, the object M placed on the transfer ports P is gripped by the gripper 251, and then is drawn into the frame portion 210 by the gripper transfer unit 270.

Then, the object M is lowered inside the frame portion 210 by the elevating portion.

At this time, the object M must be seated at a predetermined position of the frame unit 210, and the object M and the frame unit 210 are aligned so that the object M is seated at a predetermined position of the frame unit 210.

Thus, in this embodiment, a rotating portion for rotating the gripper 251 and aligning the object M with the frame portion 210 is provided.

The twist device may include a twist motor (not shown) that rotates the gripper 251, and a twist motor (not shown) that rotates the gripper 251. The twist device And a speed reducer (not shown).

In order to prevent the object M placed on the frame 210 from dropping along the traveling trajectory 110 and the branch trajectory 130, And a fall prevention unit 290 for supporting the object M is provided.

4, the drop prevention unit 290 is configured to prevent the object M placed on the frame unit 210 from shaking during transportation and to be dropped from the frame unit 210, Thereby providing a transfer structure.

That is, the drop prevention unit 290 includes a support member 291 disposed at the lower portion of the frame portion 210 for contacting and supporting the lower portion of the object M, And a support member driving unit 293 connected to the support member 291 to cause the support member 291 to come into contact with and disengage from the lower portion of the object M. [

The support member 291 is in contact with the lower portion of the object M to stably support the object M with respect to the frame portion 210.

At least one pair of the support members 291 is provided so as to face the lower portion of the frame portion 210 so as to contact and support the lower portion of the object M. [ That is, the object M is stably supported by at least one pair of the support members 291 in the lower portion of the frame portion 210.

The support member driving unit 293 serves to bring the support member 291 into contact with the lower portion of the object M and release the contact.

The support member driving unit 293 includes a rotation link 294 having one end connected to the support member 291 and the other end rotatably connected to the frame unit 210 and one end rotatably connected to the frame unit 210 And a supporting link 295 slidably connected at the other end to the rotating link 294 and connected to the rotating link 294 disposed at the lower portion of the frame portion 210 to rotate the rotating link 294, 291 to contact and release the contact of the object M with the lower portion of the object M. [

One end of the rotation link 294 is connected to the support member 291 so that the support member 291 can rotate relative to the frame 210. The rotation link 294 causes the support member 291 to come into contact with the lower portion of the object M or the support member 291 to be disengaged from the lower portion of the object M.

In addition, the rotating link 294 is supported by a support link 295 rotatably connected to the frame portion 210. That is, one end of the support link 295 is rotatably connected to the frame portion 210 and the other end of the support link 295 is slidably connected to the rotation link 294 to support the rotation link 294.

4, when one end of the rotation link 294 is rotated to bring the support member 291 into contact with the lower portion of the object M, the other end of the support link 295 And is slid at the rotating link 294 to firmly support the rotating link 294. [

The rotation link drive unit 296 is provided below the frame unit 210 so that the support member 291 is brought into contact with and released from the lower portion of the object M by the rotation of the rotation link 294. [

The rotating link driving unit 296 according to the present embodiment includes an actuator 296 connected to the rotating link 294 and rotating the rotating link 294 as it extends and contracts.

The rotation of the rotary link 294 according to the operation of the actuator 296 will be described below.

The body 297 of the actuator is coupled to the rotating link 294 and the rod 298 of the actuator is coupled to the frame portion 210. [

Therefore, when the rod 298 of the actuator is pulled into the body 297 of the actuator, the rotation link 294 is rotated in the direction in which the support member 291 contacts the lower portion of the object M. Conversely, when the rod 298 of the actuator is pulled out from the body 297 of the actuator, the rotary link 294 is rotated in such a direction that the support member 291 is disengaged from the lower portion of the object M.

As described above, it is possible to prevent the object M placed on the frame unit 210 from falling off the frame unit 210 during transportation by using the drop prevention unit 290. [

The frame 210 on which the object M is placed travels along the traveling orbit 110 and the branch orbit 130 and is transported to the transporting port P disposed adjacent to the transporting orbiting track 100 .

The carrier unit 230 is connected to the frame unit 210 and serves to enable the frame unit 210 to travel along the traveling orbit 110 and the branch orbit 130.

3 to 6, the carrier unit 230 includes a carrier main body 231 and a carrier main body 231. The carrier main body 231 is connected to the carrier trajectory 110 and the branch trajectory 130, A pair of driving rollers 233 which are connected to the carrier main body 231 and are disposed adjacent to one side of a pair of driving rollers 233, A pair of support rollers 235 which are in contact with side portions of the guide rails 130 to support the carrier main body portion 231, A pair of branch rollers 237 selectively connected to any one of the pair of branch rollers 237 and a pair of branch rollers 237 connected to the pair of branch rollers 237, A pair of branch rollers 237 are interlocked so as to be selectively in contact with any one of the guide 150 and the branching track side branching guide 170 It includes a branching rollers interlock module (239).

The carrier body portion 231 is connected to the frame portion 210 and serves to transfer the object M placed on the frame portion 210 to a destination.

3 to 6, the coupling between the carrier main body 231 and the frame part 210 is performed such that the movement bar of the coupling bar 232 coupled to the lower part of the carrier main body part 231 is inserted into the frame part 210 So that the frame portion 210 is transferred along the trajectory 100 for conveyance according to the conveyance of the carrier main body portion 231. [

The pair of driving rollers 233 are connected to both side portions of the carrier main body 231 so that the carrier main body 231 can travel along the traveling track 110 and the branch trajectory 130 .

A pair of drive rollers 233 are disposed on the trajectory body 140 provided in the traveling orbit 110 and the branch orbit 130 when the carrier main body portion 231 travels along the traveling track 110 and the branch trajectory 130. [ ). ≪ / RTI >

In the branching region A1 and the joining region A2 of the branching trajectory 130, however, one of the pair of driving rollers 233 is in contact with the branching trajectory 130 and travels. 2, a part of the track body 140 in which the pair of drive rollers 233 can be in contact with the branch area A1 of the branch section S3 or a part of the confluence area A2, Because it does not exist.

The carrier main body portion 231 and the frame portion 210 are driven by the pair of driving rollers 233 traveling along the traveling track 110 and the branch trajectory 130, To the feed port (P).

When the carrier main body 231 and the frame portion 210 travel along the traveling trajectory 110 and the branch trajectory 130, the pair of the support rollers 235 move the traveling trajectory 110 and the branch trajectory 130 130 so as to support the carrier main body 231 and the frame portion 210.

Particularly, in the case where the carrier main body portion 231 travels in the branching section S3, a pair of the branching regions A1 in which the branching section S3 starts and the pairing region A2 in which the branching section S3 ends Only one drive roller 233 of the pair of drive rollers 233 travels along the track body 140 because a part of the track body 140 in which the drive roller 233 can be in contact is not present, The carrier main body portion 231 may be frequently deviated from the track body 140 in the branching region A1 and the joining region A2 of the step S3.

Therefore, in this embodiment, a pair of support rollers 235 are provided to prevent the carrier body portion 231 from being deviated in the branching section S3, and the carrier body portion 231 is supported by the track body 140, So that the vehicle can run smoothly.

A pair of support rollers 235 is connected to the carrier main body 231 and is disposed adjacent to one side of the pair of drive rollers 233. [ The pair of support rollers 235 are driven by being brought into contact with the trajectory body 110 and the side of the trajectory body 140 of the branch trajectory 130.

5, the pair of support rollers 235 are arranged so as to cross the pair of drive rollers 233 such that the carrier main portion 231 is deviated from the track body 140 prevent.

In this embodiment, the carrier main body 231 can run along the trajectory 110 or the branch trajectory 130 in the branching interval S3. This is because the pair of branching rollers 237 and the pair of branching rollers 237 Is performed by a branching roller interlocking module (239) for selectively bringing the branching roller (237) into one of the traveling track side branching guide (150) and the branching track side branching guide (170).

The pair of branch rollers 237 are connected to the carrier main body 231 and disposed on the upper portion of the carrier main body 231.

One branching roller 237 of the pair of branching rollers 237 in the branching section S3 is divided into a traveling track side branching guide 150 and a branching orbit side branching guide The carrier main body 231 enters the traveling track 110 or the branch track 130 depending on whether the carrier main body 231 is selectively in contact with any one of the traveling path 170 and the traveling path 170.

In order to selectively bring any one of the pair of branching rollers 237 into contact with either the traveling-track side branching guide 150 or the branching-track side branching guide 170, the branching roller interlocking module 239 .

That is, the branching roller interlocking module 239 is connected to the pair of branching rollers 237 so that one branching roller 237 of the pair of branching rollers 237 is connected to the traveling-track side branching guide 150 and the branching orbit side The remaining branching rollers 237 are brought into contact with one of the pair of branching rollers 237 so as to be brought into contact with each other by the traveling track side branching guide 150 and the branching track side branching guide 170 ).

5 and 6, in this embodiment, the branching roller interlocking module 239 includes a pair of link members 239a connected to the pair of branching rollers 237, a pair of link members 239a And one of the pair of branch rollers 237 is selectively brought into contact with any one of the traveling-track side branching guide 150 and the branching orbit side branching guide 170, A connecting bracket 239b for interconnecting one end portion of the pair of link members 239a and the link member driving portion 239c and a link member driving portion 239b for moving the link member driving portion 239b in the opposite direction, And a pair of link members 239a which are connected to one side of the pair of link members 239a so as to extend in the direction of the side branching guide 150 and the branching track side branching guide 170 to guide the movement of the pair of link members 239a, And a portion 239d.

Each of the pair of link members 239a is correspondingly connected to each of the pair of branch rollers 237 so that the branching roller 237 is connected to the traveling track side branching guide 150 and the branching track side branching guide 170 ) Direction.

The lifting and lowering of the pair of link members 239a is performed by the link member driving portion 239c. The link member driving portion 239c includes a pair of link members 239a interlocked with each other to form a pair of branch rollers 237, One of the branching rollers 237 contacts one of the traveling track side branching guide 150 and the branching track side branching guide 170 and the remaining branching rollers 237 contact the traveling track side branching guide 150 and the branching track Side branching guide 170 to be released from contact.

In this embodiment, one end of the pair of link members 239a is interconnected by the connection bracket 239b so that the pair of link members 239a can be interlocked with each other, (239c).

The link member driving unit 239c includes a driving motor 239c which is provided at one side of the carrier main body 231 and moves the pair of link members 239a in opposite directions as they rotate.

That is, as the drive motor 239c is connected to the connection bracket 239b and rotated, one of the link members 239a of the pair of link members 239a is connected to the traveling-track side branching guide 150 or the branch- The other link member 239a is lowered in the direction in which it is brought into contact with the guide 170 and the other link member 239a is disengaged from the traveling track side branching guide 150 and the branching track side branching guide 170. [

In order to guide the movement of the pair of link members 239a when one of the pair of link members 239a is lifted in the direction of the traveling track side branch guide 150 or the branch orbit side branch guide 170 A link member guide portion 239d is connected to one side of the pair of link members 239a.

The pair of link members 239a are lifted and lowered along the link member guide portion 239d and the side portions of the pair of link members 239a are supported by the link member guide portion 239d.

On the other hand, a part of the track body 140, in which the pair of drive rollers 233 can contact with each other in the branching region A1 where the branching section S3 starts and the junction region A2 where the branching section S3 ends, Only one drive roller 233 of the pair of drive rollers 233 travels along the track body 140 so that the carrier body portion 231 can be deviated from the track body 140. [

Therefore, in the present embodiment, as described above, when a pair of branch rollers 237 is traveling along with the pair of support rollers 235, the branching roller 237 is separated from the traveling track side branch guide 150 or the branch orbit side branch guide 170 The bending portions 155 and 175 bent in the direction of the pair of branch rollers 237 are formed on the lower ends of the traveling track side branching guide 150 and the branching track side branching guide 170 to prevent the traveling track side branching guide 150 and the branching track side branching guide 170 from being bent.

As described above, in the branching section S3, the pair of branching rollers 237 are interlocked so as to be selectively brought into contact with and disconnected from any one of the traveling-track side branching guide 150 and the branching orbit side branching guide 170 The carrier main body portion 231 is moved in the direction of the trajectory 110 or the branch trajectory 130 quickly and smoothly in the branching section S3 by providing the branching roller interlocking module 239 for ascending and descending in the opposite direction, It is possible to prevent the occurrence of a failure due to the switching of the direction and to improve the reliability of the rapid delivery of the goods.

The traveling operation in the branching period S3 of the transportation truck system according to the embodiment of the present invention will now be described.

Fig. 7 is a cross-sectional view of BB of Fig. 2, which is a traveling state diagram of a transportation truck traveling on a branch trajectory in a branch section, Fig. 8 is a sectional view of CC in Fig. 2, to be.

7 shows the operation in which the carrier main body portion 231 travels along the branch trajectory 130 in the branch section S3 and is arranged at the left side of Fig. 7 in the branch region A1, which is the starting point of the branch section S3 The branching roller 237 is raised by the link member 239a disposed on the left side and is brought into contact with the branching track side branching guide 170. [

7, the drive roller 233 in the branching area A1 travels along the track body 140 existing on the left side of the branching track 130, and the support roller 235 moves along the track body 140, And is in contact with the side portion of the track body 140 existing on the left side of the track 130.

At this time, the branching roller 237 disposed on the right side of Fig. 7 maintains the lowered state as opposed to the branching roller 237 disposed on the left side.

8 shows the operation in which the carrier main body portion 231 travels along the traveling trajectory 110 in the branching section S3 and in the branching region A1 which is the starting point of the branching section S3, The branching roller 237 disposed on the traveling-side branching guide 150 is raised by the link member 239a disposed on the right side and is brought into contact with the traveling-

8, the driving roller 233 in the branching area A1 travels along the track body 140 existing on the right side of the branching track 130, and the supporting roller 235 moves along the track body 140, And is in contact with the side portion of the track body 140 existing on the right side of the track 130.

At this time, the branching roller 237 disposed on the left side of Fig. 8 maintains the lowered state in contrast to the branching roller 237 disposed on the right side.

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: Trajectory trajectory 110: Running trajectory
130: branch orbit 150: traveling orbit side branching guide
170: branch orbit side branching guide 200:
210: frame part 230: carrier unit
231: carrier main body 233: a pair of drive rollers
235: a pair of support rollers 237: a pair of branch rollers
239: branching roller interlocking module 239a: a pair of link members
239b: connection bracket 239c: link member driving part
239d: Link member guide part 250: Gripper unit
251: gripper 253: gripper drive module
270: gripper transfer unit 290: fall prevention unit
291: Support member 293: Support member driving unit
294: Rotating link 295: Support link
296:

Claims (15)

A transport bogie for transporting the object; And
A traveling trajectory, a branch trajectory branched from the traveling trajectory, and a plurality of branch trajectories, which are arranged so as to be opposed to each other above the transport trajectory in the branch section, A traveling track side branching guide for guiding the traveling on the traveling track side of the traveling vehicle, and a branching track side branching guide for guiding the traveling track of the traveling car in the branching orbit side traveling in the branching section,
The conveyance truck
A pair of branch rollers interlocked with each other so as to be selectively brought into contact with and disengaged from any one of the traveling track side branching guide and the branching track side branching guide in the branch section and being raised and lowered in the opposite direction; And
A pair of branch rollers connected to the pair of branch rollers so that one of the pair of branch rollers is selectively in contact with any one of the traveling track side branch guide and the branch orbital side branch guide, A branching roller interlocking module for interlocking the branching roller interlocking module,
And a bending portion bent in the direction of the pair of branch rollers is formed at a lower end portion of the traveling track side branch guide and the branch track side branch guide so as to prevent the pair of branch rollers from being separated during running. . The method according to claim 1,
Wherein the branching roller interlocking module comprises:
A pair of link members respectively connected to the pair of branching rollers; And
A pair of link members connected to the pair of link members so that one of the pair of branch rollers is selectively in contact with any one of the traveling track side branch guide and the branch orbital side branch guide, And a link member driving unit for moving the link member in mutually opposite directions. 3. The method of claim 2,
Wherein the branching roller interlocking module comprises:
Further comprising a connection bracket for interconnecting one end of the pair of link members and the link member driver,
The link member driving unit includes:
And a driving motor connected to the connection bracket and configured to move the pair of link members in opposite directions as they rotate. The method of claim 3,
Wherein the branching roller interlocking module comprises:
Further comprising a link member guiding portion which is disposed in the direction of the traveling track side branching guide and the branching orbit side branching guide and which is connected to one side of the pair of link members to guide movement of the pair of link members, Balance system. delete delete The method according to claim 1,
The conveyance truck
A frame part in which the object is seated; And
Further comprising a carrier unit connected to the frame unit and provided so as to be able to travel along the traveling track and the branch track,
Wherein the carrier unit comprises:
A pair of branching rollers and a branching roller interlocking module; And
And a pair of drive rollers connected to the carrier main body portion and brought into contact with the traveling track and the branch track to make the carrier main body portion travelable. 8. The method of claim 7,
Wherein the carrier unit comprises:
Further comprising a pair of support rollers that are connected to the carrier main body and are disposed adjacent to one side of the pair of drive rollers and contact the side of the travel track and the branch track to support the carrier main body, system. 8. The method of claim 7,
The conveyance truck
A gripper unit provided inside the frame unit, the gripper unit gripping the object; And
Further comprising a gripper transfer unit provided inside the frame portion and connected to the gripper unit to allow the gripper unit to reciprocate inside and outside the frame portion. 10. The method of claim 9,
Wherein the gripper unit comprises:
A gripper for gripping the object; And
And a gripper drive module coupled to the gripper, the gripper drive module allowing the gripper to be raised and lowered. 11. The method of claim 10,
The gripper drive module includes:
A lifting unit for winding and releasing a wire connected to the gripper so that the gripper is lifted and lowered; And
And a rotating part connected to the gripper to rotate the object inside the frame part. 8. The method of claim 7,
The conveyance truck
Further comprising a fall prevention unit disposed at a lower portion of the frame portion to support the object placed on the frame portion to prevent the object from falling down during the conveyance. 13. The method of claim 12,
The drop prevention unit includes:
A support member disposed at a lower portion of the frame portion to contact and support the lower portion of the object; And
And a support member driver disposed at a lower portion of the frame portion and connected to the support member to cause the support member to come into contact with and disengage from the lower portion of the object. 14. The method of claim 13,
The support member driving unit may include:
A rotary link having one end connected to the support member and the other end rotatably connected to the frame portion;
A support link having one end rotatably connected to the frame portion and the other end slidably connected to the rotation link; And
And a rotating link driver disposed at a lower portion of the frame portion and connected to the rotating link to rotate the rotating link to bring the supporting member into contact with and disengage from the lower portion of the object. 15. The method of claim 14,
The rotary link driving unit includes:
And an actuator coupled to the rotating link to rotate the rotating link as it extends and contracts.

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