200838781 九、發明說明 【發明所屬之技術領域】 本發明係有關一種涵蓋建築物等的建物之複數階，沿 著水平地舖設於地板或天花板，或沿著垂直地舖設於牆壁 的軌道，使由容器及台車構成的搬運體移動，並且在沿著 軌道而配置的站上，使文件、零件等的積層物從容器下降 、或在搭載於該容器的搬運系統中，隨時以水平姿勢使自 走台車移動的水平搬運機構。 【先前技術】 這種搬運系統係被廣泛的利用在可將辦公室內的文書 、郵寄物、文具等、醫院內的病歷、工廠內的零件或製品 ，甚至可自動搬運檢體或試藥等的積載物到目的地。 該搬運系統係由：水平及垂直地舖設在建築物內部的 軌道；在該軌道上移動作爲複數個搬運體的台車；以及控 制自走台車的移動之電腦等所構成。自動台車係在沿著軌 道而移動的台車上安裝搭載積載物的容器而形成。 在容器中以可水平搬運爲前提，搭載可容納多數個檢 體或試藥等的盒體。因此，藉由回轉手段在台車上可搖動 的支持容器，在垂直區間移動時，於台車上旋轉容器9 0 度，而可使其隨時維持水平狀態（例如，參照專利文獻1 )° 另外’在該搬運系統的自走台車中，於移動方向的左 右側前後，從上下被挾持在軌條（軌道），或是配置有從 -6- 200838781 上下挾住軌道之以2個爲一組的4組之移動輪。該自走台 車係在軌道從水平區間朝向垂直區間轉移的區間，也就是 在軌道從水平到垂直，或從垂直到水平彎曲角度9 0 °的區 間’由於台車從水平變化至垂直（或從垂直到水平）的姿 勢，需變化移動姿勢，因此經由回轉手段，使懸吊於台車 的容器旋轉90度，而可維持容器的水平姿勢，但當容器 內單側爲重量較大的積載物時，可知因其偏荷重將導致容 器傾斜，而無法維持水平姿勢。 又裝備隨時水平維持容器的姿勢之回轉手段、以及藉 由將台車從水平軌朝向垂直軌旋轉而移動，而需要容器的 回轉空間、和台車的旋回移動空間，因此不得不使軌道的 水平區間和垂直區間之間的區間之彎道半徑變大，不只是 使系統全體大型化，根據情況不同，也有所謂因爲彎道半 徑過大等的理由，而無法設置該搬運系統的問題。 [專利文獻1]日本特開平2005-047369號公報 【發明內容】 [發明所欲解決之課題] 本發明係有鑑於這種搬運系統的上述現狀而硏創，其 課題在於提供一種即使沒有回轉手段，也可隨時將容器的 姿勢維持在水平，而且，可縮小軌道的方向之變更區間的 彎道曲率，小型化地構築系統全體之自走台車的隨時水平 姿勢搬運機構。 200838781 [用以解決課題之手段] 以解決上述課題爲目的而構成的本發明之搬運機構的 第一構成，係一種自走台車的水平搬運機構，係具備搭載 有積載物的自走台車之搬運機構，該自走台車係具有：於 建物內部水平及垂直地被舖設的軌道；沿著軌道而舖設的 齒條；在軌道上移動的移動輪；和與齒條咬合的副齒輪及 副齒輪的驅動部，其特徵爲，前述軌道係於從水平朝向垂 Φ 直或從垂直朝向水平，來變更方向的彎道區間、和接續於 此的垂直區間中，具備：與前述副齒輪咬合的齒條之副齒 輪用軌道；與該副齒輪用齒條平行且從此分離的移動輪用 軌道，並且前述台車係於其左右側面具備：與前述副齒輪 用軌道咬合的副齒輪、和被支持在移動輪用軌道的移動輪 ，且以在彎道區間和接續於該區間的垂直區間，台車可以 水平姿勢來移動之方式，配置前述副齒輪用軌道和移動輪 用軌道。 # 在本發明中，於上述第一構成中，於與前述台車的移 動方向垂直的一方之側面，具備：第一副齒輪和第一移動 輪，並且於和另一方的側面之前述第一副齒輪同相位的位 置，具備第二移動輪；於與前述第一移動輪同相位的位置 ，具備第二副齒輪，在兩側面藉由配置相位不同的第一及 第2副齒輪和移動輪，來抑制台車的傾斜。 在本發明中，前述台車係於左右兩側面的中間部之同 相位的位置之同軸上具備副齒輪，並且具備：於台車的移 動方向的左右兩側於前後挾住副齒輪，且於上下挾住副齒 200838781 輪的旋轉軸而配置的上下且構成對的前後之移動輪，在彎 道區間和接續於該區間的垂直區間，藉由前後任一方中的 移動輪和副齒輪被支持於個別的軌道，可採用使台車保持 水平姿勢而移動之第2構成。 在上述兩個的構成中，可設爲前述軌道的水平區間之 副齒輪用軌道、和移動輪用軌道，係由平行並列兩軌道的 複合軌道所形成，該複合軌道係從彎道區間，於垂直區間 上前後分離而配置之構成。 然後，可解決上述課題的本發明搬運機構之第3構成 ，係具備搭載有積載物的自走台車之搬運機構，該自走台 車係具有：於建物內部水平及垂直地被舖設的軌道；沿著 軌道舖設的齒條；在軌道上移動的移動輪；和與齒條咬合 的副齒輪及副齒輪的驅動部，其特徵爲，前述台車係在左 右兩側面的中間部之同相位的同軸上具備副齒輪，並且具 備：於台車的移動方向上前後挾住副齒輪之構成對的前後 之水平部移動輪；及從上下挾住副齒輪的旋轉軸之構成對 的上下之垂直部移動輪，軌道係具備：於從水平朝向垂直 或從垂直朝向水平，來改變方向的彎道區間中’具有與副 齒輪咬合的齒條和水平部移動輪的移動面之彎軌，並且在 接續於與彎道區間的垂直區間中，具有與副齒輪咬合的齒 條和垂直部移動輪的移動面之垂直軌，在彎道區間，藉由 彎軌來支持水平部移動輪和副齒輪，在接續於彎道區間的 垂直區間中，藉由垂直軌道來支持垂直移動輪和副齒輪。 再者，可解決上述課題的本發明搬運機構之第4構成 -9- 200838781 ’係具備搭載有積載物的自走台車之搬運機構，該自 車係具有：於建物內部水平及垂直地被舖設的軌道； 軌道舖設的齒條·，在前述軌道上移動的移動輪；和與 齒條咬合的副齒輪及該副齒輪的驅動部，其特徵爲， 台車係在左右兩側面的中間部之同相位的同軸上具備 輪’並且具備：設置於該台車的底部之水平部移動輪 上下挾住前述副齒輪的旋轉軸而構成對的方式設置之 的垂直部移動輪，軌道係具備··於從水平朝向垂直或 直朝向水平，來改變方向的彎道區間中，具有與前述 輪咬合的彎齒條、和拘束導引垂直部移動輪之移動面 軌，並且在接續於該彎道區間之較短的垂直區間中， 與副齒輪咬合之較短的齒條和垂直部移動輪的移動面 直軌，在彎道區間，副齒輪被支持在彎曲齒條，並且 部移動輪被支持在彎軌，在接續於彎道區間的較短之 區間中，藉由內包副齒輪和垂直部移動輪之較短的齒 垂直軌道，來加以支持，使台車隨時以水平姿勢移動 [發明效果] 本發明的第1構成之搬運機構，係具備搭載有 的自走台車之搬運機構’該自走台車係具有：於建 水平及垂直地被舖設的軌道；沿著軌道而舖設的齒 軌道上移動的移動輪；和與齒條咬合的副齒輪及副 驅動部，前述軌道係於從水平朝向垂直或從垂直朝 ，來變更方向的彎道區間、和接I買於此的垂直區間 走台 沿著 前述 前述 副齒 :以 上下 從垂 副齒 的彎 具有 之垂 水平 垂直 條之 載物 內部 •，在 輪的 水平 ，具 -10- 200838781 備：與前述副齒輪咬合的齒條之副齒輪用軌道；與該副齒 輪用軌道平行且從此分離的移動輪用軌道，並且前述台車 係於其左右側面具備：與前述副齒輪用軌道咬合的副齒輪 、和被支持在移動輪用軌道的移動輪，且以在前述垂直區 間’台車可以水平姿勢來移動之方式，配置前述副齒輪用 軌道和移動輪用軌道，因此即使沒有回轉手段，也可隨時 將容器的姿勢維持在水平，而且，可縮小軌道的方向之變 更區間的彎道曲率，而可小型化的構築系統全體。 亦即，在本發明的第1構成之自走台車的水平姿勢搬 運機構中，副齒輪一邊與齒條咬合，一邊自轉，藉著移動 輪轉動移動輪用軌道，使台車沿著軌道移動。此時，前述 台車係於其左右側面具備：與前述副齒輪用軌道咬合的副 齒輪、和被支持在移動輪用軌道的移動輪，因此即使沒有 回轉手段，也可隨時將容器的姿勢維持在水平，而即使成 爲單邊負荷狀態，亦可隨時水平搬運積載物。然後，軌道 係於從水平到垂直或從垂直到水平，來變更方向之彎道區 間、和接續於此的垂直區間中，具備：與前述副齒輪咬合 的齒條之副齒輪用軌道；與該副齒輪用軌道平行且從此分 離的移動輪用軌道，故可從移動輪用軌道獨立設定副齒輪 用軌道的曲率半徑，可縮小軌道的水平區間和垂直區間之 間的區間之曲率半徑。換言之，不需要設置容器的回轉空 間和台車的旋轉移動空間’可將搬運機構全體構成小型化 〇 又，即使是本發明的第2構成之搬運機構’前述台車 -11 - 200838781 係在左右兩側面的中間部之同相位的同軸上具備副齒輪， 並且具備：於台車的移動方向上前後挾住副齒輪之構成對 的前後之水平部移動輪；及從上下挾住副齒輪的旋轉軸之 構成對的上下之垂直部移動輪，軌道係具備：於從水平朝 向垂直或從垂直朝向水平，來改變方向的彎道區間中，具 有與副齒輪咬合的齒條和水平部移動輪的移動面之彎軌， 並且在接續於與彎道區間的垂直區間中，具有與副齒輪咬 合的齒條和垂直部移動輪的移動面之垂直軌，在彎道區間 中，藉由彎軌來支持水平部移動輪和副齒輪，在接續於彎 道區間的垂直區間中，藉由垂直軌道來支持垂直移動輪和 副齒輪，因此即使沒有回轉手段，也可隨時將容器的姿勢 維持在水平，而且，由於副齒輪和移動輪在一個軌道上移 動，因此不需各別舖設軌道，而可小型化的構築系統全體 〇 即使於本發明的第3構成之搬運機構中，副齒輪與齒 條咬合且自轉，藉著移動輪轉動移動輪用軌道，使台車沿 著軌道移動。此時，台車係在左右兩側面的中間部之同相 位的同軸上具備副齒輪，並且於台車的移動方向上前後挾 住副齒輪之構成對的前後之水平部移動輪；及從上下挾住 副齒輪的旋轉軸之構成對的上下之垂直部移動輪，藉由副 齒輪和垂直部移動輪，使彎道區間和接續於該區間的垂直 區間移動，因此即·使沒有回轉手段，也可隨時將容器的搬 運姿勢維持在水平，即使成爲單邊負載狀態’亦可隨時以 水平姿勢搬運積載物。因此，軌道係具備：於從水平朝向 -12 - 200838781 垂直或從垂直朝向水平，來改變方向的彎道區間中，具有 與前述副齒輪咬合的齒條、和具備與水平部移動輪之移動 面的彎軌，並且在接續於該彎道區間之垂直區間中，具有 與副齒輪咬合之齒條和垂直部移動輪的移動面之垂直軌， 在彎道區間，藉由彎軌支持水平部移動輪和副齒輪，在接 續於彎道區間的垂直區間中，藉由垂直軌道來支持垂直部 移動輪和副齒輪，因此可藉由單一的軌道，構成彎道區間 和接續於此的垂直區間，可小型化構成搬運機構全體。 再者，於本發明的第4構成之搬運機構中，台車係在 左右兩側面的中間部之同相位的同軸上具備副齒輪，並且 具備：設置於該台車的底部之水平部移動輪；以上下挾住 前述副齒輪的旋轉軸而構成對的方式設置之上下的垂直部 移動輪，軌道係具備：於從水平朝向垂直或從垂直朝向水 平，來改變方向的彎道區間中，具有與前述副齒輪咬合的 齒條、和拘束導引垂直部移動輪之移動面的彎軌，並且在 接續於該彎道區間之較短的垂直區間中，具有與副齒輪咬 合之較短的齒條、和垂直部移動輪的移動面之垂直軌，在 彎道區間中，副齒輪被支持在彎曲齒條，並且水平部移動 輪被支持在彎軌，在接續於彎道區間的較短之垂直區間中 ，藉由內包較短的齒條之垂直軌道，來支持副齒輪與垂直 部移動輪’使台車隨時以水平姿勢移動，故與上述構成的 本發明搬運機構相同，小型化地形成搬運系統全體，特別 是小型化地形成移動方向從水平變成垂直、或與其相反， 改變移動方向的地方。 -13- 200838781 於本發明的第4搬運機構中，使彎道區間的齒條和軌 道單元化，除了可與台車從水平移動往垂直方向改變移動 方向時對應之外，在垂直移動台車時，使已被單元化的前 述彎道區間，可退避到不會影響台車之垂持移動的位置。 結果’第4搬運機構的彎道區間，係具有用來將水平 移動變更爲垂直移動的分歧裝置之功能。 【實施方式】 以下，參照圖面，說明本發明自走台車之水平搬運機 構的實施形態例。在添附圖中，第1圖係本發明的第1構 成之自走台車的水平搬運機構的實施形態的正面圖，第2 圖係第1圖的水平搬運機構的右側面圖，第3圖爲第2圖 的俯視圖，第4圖爲第1圖至第3圖所示的第1構成之水 平搬運機構的立體圖，第5圖係本發明的第2構成之自走 台車的水平搬運機構的實施形態之正面圖，第6圖係第5 圖所示的水平搬運機構的右側面圖，第7圖爲第6圖的俯 視圖，第8圖爲第5圖至第7圖所示的第2構成之水平搬 運機構的立體圖，第9圖係本發明自走台車的水平搬運機 構之第三實施形態的正面圖’第1 0圖係第9圖所示的水 平搬運機構的右側面圖’第1 1圖爲第9圖的俯視圖’第 12圖爲第9圖至第11圖所示的第3構成之水平搬運機構 的立體圖，第13圖至第15圖係用來說明第4構成之水平 搬運機構的台車之移動狀況的側面圖’第16圖之台車係 水平一垂直移動搬運路之例的立體圖’第1 7圖係第1 6圖 -14 - 200838781 的模式側面圖，第1 8圖係台車垂直移動搬運路之例的立 體圖，第19圖係第18圖的模式側面圖。第20圖是第4 構成的本發明水平搬運機構的應用例所使用的台車的一例 的側面圖’弟21圖是第20圖的台車的俯視圖。第22圖 是第20圖的台車的左側面圖，第23圖是第2〇圖〜第22 圖所示的台車的模式立體圖，第24圖是模式顯示第20圖 〜第23圖的台車移動的方向變換軌道（左側軌道）的型 B 態的立體圖，第25圖是第22圖的台車進入到左右的方向 變換軌道部的狀態的該軌道部的正面圖，第26圖（a )〜 (f )是時序性地顯示台車通過方向變換軌道的狀態的側 剖面圖。 在第1圖至第4圖中，第1構成的本發明的水平搬運 機構係具備：水平及垂直地舖設在建築物內部，而與台車 3 〇的移動方向有關，彼此平行配置的左右一對的軌道1 0 ;以及在該軌道10上移動的台車30。 φ 各軌道1 〇如第2圖所示，具備有：形成舖設在地板 等的水平區間之水平軌；.從水平朝向垂直或從垂直朝向水 平，來變更方向的彎道區間之彎道軌；形成接續於此或舖 設在柱子等的垂直區間之垂直軌。各軌道10的彎道區間 ~ 和垂直區間係由：副齒輪用軌道1 1和與該副齒輪用軌道 1 1平行，從此與前後方向分離的移動輪用軌道1 2所構成 。然後，水平區間係由兩軌道11、1 2平行並列成一個之 複合軌道1 4所構成。 副齒輪用軌道1 1係如第3圖及第4圖所例示，由前 -15- 200838781 後壁lla、lib及側壁lie所構成的剖面3字狀、或通道 狀剖面構件所構成。移動輪用軌道12也是由前後壁12a 、1 2b及側壁12c，所構成的剖面3字狀或通道狀剖面構 件所構成。此等軌道1 1、1 2係藉由連接壁1 3 —體化。該 連接壁13係延長移動輪用軌道12的側壁12e，其延長端 與副齒輪用軌道1 1的前壁1 1 a之開放端緣連接。 水平區間的複合軌道14，爲由上下壁14a、14b及側 壁1 4c所構成的3字狀或通道狀剖面，使開放面左右相對 而配置。該複合軌道1 4係介由彎道區間，與在形成垂直 區間前後已分離的副齒輪用軌道1 1和移動輪用軌道1 2連 接。 當詳細說明彎道區間時，在位於第1圖的右側，第2 圖、第3圖的正前方側之軌道1 0中，垂直區間的副齒輪 用軌道1 1的前壁1 1 a，係延伸到複合軌道1 4的上壁1 4a 爲止，並且與此連接。副齒輪用軌道1 1的後壁1 1 b，如 第2圖所示，介由曲面壁15而延伸到複合軌道14的下壁 14b爲止，並且與側壁14c成爲一體。移動輪用軌道12 的前壁12a被複合軌道14的上壁14a區隔，後壁12b係 延伸到複合軌道14的下壁14b爲止，並與其連接，側壁 12c與連接壁13 —起和複合軌道14的下壁14b連接。 又，在第1圖的左側，位於第2圖、第3圖的較深側 的位置之軌道1 〇中，副齒輪用軌道1 1的前壁1 1 a係延伸 到複合軌道14的上壁14a爲止，並且與此連接，後壁 1 1 b介由曲面壁與複合軌道1 4的下壁1 4b連接，側壁1 1 c -16- 200838781 延伸到複合軌道14的下壁14b爲止，並且與複合軌道 14c成爲一體。移動輪用軌道12的前壁12a與複合軌道 14的上壁14a連接，後壁12b與複合軌道14的下壁14b 連接’側壁1 2 c與連接壁1 3 —起，延伸到複合軌道1 4的 上壁14a爲止，並且與此連接。 齒條（齒條齒輪）20係配置在副齒輪用軌道1 1的後 壁11b、曲面壁15、及複合軌道14的下壁14b，並加以 固定。 台車3 0係在台車本體3 5的單側面（右側面）具備移 動輪3 1及驅動輪的副齒輪（副齒輪）3 3，在台車本體3 5 的相反側面（左側面）具備移動輪32及副齒輪（副齒輪 )3 4。各移動輪3 1、3 2係保持在各軸位於台車本體3 5的 軸承上。副齒輪3 3與移動輪3 1同軸，而配置在台車本體 35的移動輪32之某左側面，副齒輪34與移動輪31同軸 ，而配置在台車本體3 5的移動輪3 1之某右側面。副齒輪 33、34係與將各軸設置在台車本體35內部之電動機、減 速機等所構成的驅動部連結（省略圖示）。 該台車3 0之一例，係從垂直區間往水平區間移動時 ，使移動輪31、32的周面位於移動輪用軌道12的前後壁 12a、12b之間，並使副齒輪33、34與舖設在各副齒輪用 軌道1 1的齒條20咬合，而配置在各軌道1 0之間。台車 30係藉由驅動部，使副齒輪33、34藉著與齒條20咬合 而自轉，並沿著齒條2 0移動。亦即，副齒輪3 3、3 4係在 軌道1 〇的垂直區間及彎道區間中，與齒條2 0咬合而自轉 -17- 200838781 ，並且在副齒輪用軌道11的內部移動’在水平區間中’ 與齒條20咬合而且自轉，並在複合軌道14的內部移動。 同時，移動輪3 1、3 2係在垂直區間及彎道區間中’沿著 構成移動輪用軌道12的前後壁12a、12b而轉動’在水平 區間沿著複合軌道1 4的上下壁1 4a、1 4b而轉動。因此’ 台車30係藉由藉由副齒輪33、34和齒條20的咬合而支 持、及藉由移動輪32、33被支持在移動輪用軌道12’使 台車3 0維持水平姿勢而在垂直區間平行移動，並從垂直 區間通過彎道區間朝向水平區間移動。即使台車3 0從水 平區間通過彎道區間而進入垂直區間時’也和前述相同’ 台車3 0以水平姿勢的狀態移動。 對於驅動部的供電，係藉由沿著軌道1 0而配置的架 線，移動控制係藉由位於該水平搬運機構的外部之電腦裝 置、和位於台車3 0的控制器之間的通訊而構成，通過與 前述架線平行而移動的通訊線’在外部電腦裝置和控制器 之間，進行訊號的收受。 在該實施形態中，容器係例如由附有蓋子的容器所構 成，設置在台車本體3 5的上面，或者被組裝到台車本體 3 5的內部。然後，沿著複合軌道1 4設置幾個站。 在開始動作時，藉由作業員將例如檢體或試藥的盒體 搭載於容器上。作業員藉由終端於外部電腦裝置指定搬運 站時，台車3 0的控制器依據命令，從外部電腦裝置使驅 動部動作，使台車3 0移動到目的地的搬運站爲止，而將 積載物搬運到目的站。 -18- 200838781 此時，配置在台車30的左右側面之副齒輪33、34與 齒條20咬合，並且從軌道丨〇的水平區間通過彎道區間， 使台車30在垂直區間移動，在平行移動台車30之同時， 藉者將副齒輪3 3、3 4配置在台車3 0的前後，來控制與台 車30的移動方向及與移動方向垂直之方向的傾斜，以水 平姿勢移動台車3 0。該水平姿勢係藉由移動輪3 1、3 2來 修正，不會傾斜地平行移動台車3 0，換言之，由於可隨 時以水平姿勢移動台車3 0，故不需要水平維持容器的回 轉手段。因此，即使是被要求隨時爲水平姿勢的積載物， 也可安心的搬運。 不僅是軌道1 〇的垂直區間，即使在水平區間和垂直 區間的邊界之彎道區間中，使舖設與副齒輪33、34咬合 的齒條20的副齒輪用軌道1 1、使移動輪3 1、32轉動的 移動輪用軌道12前後分離，由於可將各軌道11、12設定 爲不同的曲率半徑，因此藉由縮小彎道區間的軌道11、 1 2的曲率半徑，可小型化的構築具備該水平搬運機構的 搬運系統全體。 在以上所說明的本發明的第1構成的水平搬運機構的 實施形態中，台車3 〇係在與其移動方向垂直的單側面上 ，具備第一副齒輪3 3和第一移動輪3 1，並且在和相反側 面的第一副齒輪3 3同相位（同軸上），具備第二移動輪 3 2，在與第一移動輪31同相位（同軸上）具備第二副齒 輪3 4，藉由在兩側面具備配置相位不同的第一和第二的 副齒輪3 3、3 4、及第一和第二移動輪3 1、3 2，而當台車 -19- 200838781 30的移動方向從水平姿勢變更爲垂直方向時，控制該台 車使其不傾斜。本發明之自走台車的水平搬運機構，由於 係可藉由第5圖至第8圖的本發明之搬運機構的第2構成 的實施態樣來實現，因此說明如下。 在第5圖至第8圖所示的第2構成的本發明之水平搬 運機構中’台車1 3 0係在具備左右兩側面的中間部之同相 位（同位置）的同軸上具備副齒輪1 3 3、1 3 4，於與該副 _ 齒輪1 3 3、1 3 4的移動方向相關的前方側和後方側，且與 各別的副齒輪133和該134的旋轉軸相關，與位於上下位 置的上下一對之第一移動輪131a、131b相同的移動輪 132a、132b;以及配置與第二移動輪6a、136b相同的 移動輪137a、137b，在彎道區間和垂直區間中，藉由前 、後任一方的上、下一對之移動輪和副齒輪被支持在軌道 1 1 1和1 1 2，而即使是彎道區間和垂直區間，也可保持水 平姿勢而移動。 φ 亦即，台車1 3 〇係在台車本體1 3 5的單側面上，於其 中央部（右側面的中央部），配置從前後挾住副齒輪1 3 3 和該副齒輪1 3 3的一對移動輪1 3 1 a、1 3 1 b和1 3 6a、1 3 6b ’在該台車本體1 3 5的相反側面上，於其中央部（左側面 的中央部），於和前述副齒輪1 3 3同軸上，配置從前後挾 住副齒輪1 3 4、和該副齒輪i 3 4的前述右側面之移動輪 131a、131b和137a、13 7b。左右的副齒輪133和134之 軸’係與由設置在台車本體1 3 5的內部之電動機、減速機 等所構成的驅動部連結。 -20- 200838781 軌道11 0係左右一對彼此平行配置。配置在垂直區間 的左右的軌道1 1 0，係沿著壁或柱而舖設的副齒輪用軌道 1 1 1和移動輪用軌道1 1 2所構成。如第7圖及第8圖所示 ’垂直區間的副齒輪用軌道1 1 1係由L字狀剖面構件所構 成，移動輪用軌道1 1 2係由剖面3字狀或通道狀剖面構件 所構成，兩軌道11 1和1 1 2係一體形成有形成開放面的軌 道111的後壁111b、和軌道112的前壁112a。左右的軌 道1 1 1和1 1 2係使開放面相對而平行地配置。水平區間的 左右軌道110係由略3字狀或通道狀剖面的軌道114所構 成，使開放面相對而配置。 垂直區間的副齒輪用軌道.1 1 1之後壁1 1 1 b (移動輪 用軌道112的前壁112a)，係介由形成彎道區間的曲面 壁1 1 5，與水平區間的軌道1 1 4的下壁11 4b連接。垂直 區間的側壁1 1 1 c係延伸到水平區間的軌道1 1 4之上壁 1 14a爲止，與該軌道1 14b的側壁1 14c成爲一體。垂直 區間的移動輪用軌道1 1 2的前壁1 1 2a，係延伸到水平區 間的軌道1 1 4的上壁1 1 4a爲止，在該軌道1 1 4的內部形 成通過用的孔117。垂直區間的後壁1〗2b係延伸到水平 區間的軌道1 14的下壁1 14b爲止，並且與此連接。然後 ，垂直區間的側壁112c係延伸到水平區間的軌道114的 下壁1 14b爲止。 在水平區間的軌道1 1 4之上壁1 1 4a，係具有垂直區 間的副齒輪用軌道1 1 1之寬度，詳言之，係具有與副齒輪 用軌道1 1 1的後壁1 1 1 b、和垂直區間的移動輪用軌道1 1 2 -21 - 200838781 的前壁1 1 2a之合計對應的寬度之開口 1 1 6，位於開 的周圍立設有導引壁118。導引壁118的側壁成爲 區間的副齒輪用軌道1 1 1之側壁1 1 1 c 一體。 用來導引左右的副齒輪133和134的左右之齒 ，係垂直區間的副齒輪用軌道1 1 1之後壁1 1 1 b的 內側面，爲形成彎道區間的曲面壁11 5的內面，沿 水平區間的軌道1 1 4的下壁1 1 4b的上面被舖設。 與垂直區間的軌道1 1 0相對的台車1 3 0的架裝 移動輪136a、136b、和 137a、137b的外周面，位 區間之移動輪用軌道1 1 2的前壁1 1 2a、以及後壁] 間，藉著在水平區間和彎道區間的邊界附近上，使 133、134可與舖設在軌道114的下壁114b之齒條 合。在此，與水平區間的軌道1 1 0相對的台車1 3 0 ，係台車本體左右側的上、下對之移動輪131a至 被導引到軌道1 14的上壁1 14a、和下壁1 14b的內 且左右的副齒輪1 3 3和1 3 4，係與形成在軌道1 1 4 之內面的左右之齒條120咬合而被支持。此外，雖 圖示，但驅動部對於電動機的供電，係藉由沿著軌 而配置的架線，又移動控制係藉由配置在軌道1 1 〇 之電腦裝置、和配置在台車1 3 0的控制器之間的通 成，沿著軌道1 1 〇通過與前述架線平行移動的通訊 外部電腦裝置和控制器之間進行訊號的收受。 未圖示的驅動部藉著一邊使副齒輪1 3 3、1 3 4 12〇咬合，一邊自轉，台車130例如在軌道11〇& P 116 與垂直 條120 前面、 箸形成 ，係使 於垂直 [1 2b 之 副齒輪 120咬 的架裝 137b， 面，並 的下壁 然沒有 道 110 的外部 訊而構 線，在 與齒條 f水平區 -22- 200838781 間及彎道區間移動，從這裡開始在垂直區間移動。在此， 水平區間的軌道1 14之上壁1 14a和下壁114b的距離，使 與構成台車1 3 0的移動輪1 3 1 a之上端、和1 3 1 b的下端之 間的距離，也就是構成各移動輪131a和131b、136a和 136b、132a和132b、137a和137b的高度大致相等，因 此，移動輪 131a 和 131b、136a 和 136b、132a 和 132b、 137a和137b，係沿著軌道114的上、下壁114a、114b而 滾動，而使台車1 3 0水平移動。如此，當台車1 3 0以水平 姿勢移動時，左右的移動輪 13 6a和 136b、該 137a和 13 7b係構成垂直區間的移動輪用軌道（複軌部）U2的前 後壁1 12a、1 12b，而開始移動，並且移動輪131a和131b 、132a和132b係在被導引至導引壁1 18的態樣下，通過 開口 1 1 6，並移動到單軌1 1 4的外側部。藉此，台車1 3 0 係可從水平姿勢的水平區間移動到垂直區間，並在該垂直 區間移動（參照第6圖及第8圖）。 第5圖至第8圖所示的本發明之水平搬運機構的容器 ，也具備未圖示的附蓋之容器，該容器爲設置在台車本體 3 5的上面，或是組裝在台車本體3 5的內部之設置態樣。 例如，容許檢體或試藥的盒體所構成的積載物被收納在容 器內，藉由與外部電腦電連接的終端來指示搬運站，而使 驅動部的電動機動作，使台車1 3 0移動到目的之搬運站， 並停止於此。 如此’本發明之第2構成的實施態樣的水平搬運機構 之台車1 3 0 ’係在左右側面配置副齒輪1 3 3、1 3 4 ’並藉由 -23- 200838781 該副齒輪沿著齒條120而移動，並且設置在該副齒輪133 、134和齒條120及台車130的左右側面，藉由以上下構 成對的移動輪131a和131b、該132a和132b、該136a和 13 6b、該13 7a和137b，來抑制台車130的傾斜，因此即 使台車1 30有傾斜，但在容許範圍內的傾斜可平行移動， 因而，當然可以水平姿勢在水平區間移動設置在台車1 3 0 的容器，即使是在彎道區間或垂直區間亦可以水平姿勢移 動。藉此，由於不需要回轉手段等，因此可謀求積載物的 種類或量的增加。 又，在水平區間中，舖設與形成在軌道1 14的台車 30之左右的副齒輪133、和與134咬合的左右之齒條120 的副齒輪用軌道；使設置在台車的左右側之上、下構成對 的移動輪 131a、 131b、 132a、 132b、 136a、 136b、 137a、 1 3 7b滾動的移動輪用軌道，係在從彎道區間形成垂直區 間的部份中，從彎道區間分離爲副齒輪用軌道1 1 1和移動 輪用軌道1 1 2 ’而形成垂直區間的軌道1 1 0，將各軌道 1 1 1和1 1 2設定爲不同的曲率半徑，因而，縮小副齒輪用 軌道1 1 1及齒條1 20的曲率半徑，而可小型化地構築搬運 系統全體。 然後，本發明第3構成之自走台車的水平搬運機構， 係如第9圖至第1 2圖所示’可藉由第3例的實施態樣加 以實現。以下’對於第3例的實施態樣而言’係參照第9 圖至第1 2圖加以說明。 在第9圖至第12圖的水平搬運機構中，台車230係 -24- 200838781 在左右兩側面的中間同相位之同軸上具備副齒輪233、 2 3 4 ’在與副齒輪2 3 3、2 3 4的移動方向有關的前方側和後 方側上，配置水平部移動輪231a、231b、232a、232b， 在前述副齒輪23 3、23 4的上方側和下方側，分別配置垂 直部移動輪 23 6a、23 6b、237a、237b。該台車 23 0在垂 直區間中，藉由將上下一對的垂直部移動輪236a、236b 、237a、23 7b、副齒輪233、234支持在軌道211，而使 該台車23 0從水平區間可保持水平姿勢而移動。 台車230係在台車本體23 5的單側面中央（右側面中 央）設置副齒輪23 3，挾住該副齒輪23 3，在前後方向配 置一對的水平部移動輪231a、231b，在上下方向配置一 對的垂直部移動輪236a、236b，並且在台車本體235的 相反側面中央（左側面中央），於和副齒輪2 3 3同軸上設 置副齒輪234，挾住該副齒輪234而配置水平部移動輪 232a、232b和移動輪237a、237b。全部的移動輪雖然皆 形成相同的直徑，但是比副齒輪2 3 3、2 3 4的直徑小。 在第9圖〜第12圖，水平區間的軌道210之左右一 對係彼此平行配置。垂直區間係沿著壁或柱舖設有垂直軌 道211，台車230的副齒輪233、234和垂直部移動輪 236a、236b、237a、237b爲相通。如第 1 1圖及第 12圖 所示，該垂直軌道2 1 1係由3字狀剖面材所構成，前後壁 2 1 1 a和2111^的內側爲各移動輪的移動路，接近連接壁 2 1 1 c的外側，成爲副齒輪2 3 3、2 3 4移動的齒條移動路。 形成水平區間的各軌道，係由一個左右的平行之水平軌 -25- 200838781 214所構成。水平軌214係使上壁214a、下壁214b和連 接壁214c彼此直角接合的剖面之副齒輪用軌道，具備與 垂直軌道211相同的剖面，並且具備一體形成：於前述上 壁214a形成倒L字狀剖面的移動輪導引壁219a ;或在下 壁214b形成L字狀剖面的移動輪導引壁219b。 垂直軌211的後壁211b係介由形成彎道區間的曲面 壁215，與水平軌214的下壁214b連接，並與其成爲一 體。成爲形成彎道區間的曲面之後壁2 1 1 b ’係形成台車 230的移動輪231b、232b通過的通道217。該通道217係 由：具有延長垂直軌211的前後壁211a、211b之寬度的 垂直開口部；和具有延長水平軌2 1 4的寬度之水/平開口部 所構成。又，前壁2 1 1 a係與垂直軌的上壁2 1 4a連接而形 成，並切除彎道區間的一部份，成爲台車1 3 0的移動輪 236a、237a所通過的開口 216。然後，側壁2 1 1 c係延伸 到水平軌214的側壁214c爲止，與側壁214c成爲一體。 在第9圖〜第12圖的垂直軌道211中，被挾住在前 後壁2 1 1 a、2 1 1 b的態樣之移動輪用的軌道部份、和副齒 輪用的軌道部份之寬度不同。也就是，接近連接壁2 1 1 c ，形成移動輪23 6a、236b和23 7a、23 7b的移動路之部份 ，係形成接近此等移動輪的直徑之寬度，成爲副齒輪23 3 、234的移動路之部份，係形成比此等副齒輪的直徑更寬 的寬度。副齒輪用的齒條220，係橫跨舖設在：形成垂直 區間的垂直軌道2 1 1之後壁2 1 1 b、形成彎道區間的曲面 壁2 1 5、和形成水平區間的水平軌道2 1 4的下壁2 1 4b。爲 -26- 200838781 了在彎道區間支持水平部移動輪231b、232b，而在後壁 2 11b的背面配置具有曲面的導引構件243。 在第9圖〜第12圖，台車2 3 0對軌道210的架裝， 係在水平軌214的上下壁214a、214b之間，配置水平部 移動輪231a、231b、232a、232b的周面，在上壁214a的 外面配置垂直部移動輪236a、23 7a，在下壁214b的外面 配置垂直部移動輪23 6b、23 7b，並且使副齒輪23 3、234 與水平軌道214的齒條220咬合。此外，雖然沒有圖示， 副齒輪23 3、234係與將軸設置在台車本體23 5的內部之 電動機、減速機等所構成的驅動部連結。然後，與驅動部 對電動機的供電之一例，係藉由沿著軌道210而配置的架 線，或是移動控制由位於軌道2 1 0的外部之電腦裝置，和 位於台車23 0的控制器之間的通訊來構成，沿著軌道210 ，通過與前述架線平行而移動的通訊線，進行外部電腦裝 置和控制器之間的訊號收受。 在第9圖〜第12圖所示的第3構成的本發明水平搬 運機構，台車23 0的驅動部係藉由在齒條上，使與齒條 2 2 0咬合的副齒輪2 3 3、2 3 4自轉，而在水平區間移動， 而繼續在軌道210的彎道區間及垂直區間移動。 當在水平區間移動時，藉由水平部移動輪 2 3 1 a、 231b、232a、232b、和畐丨J齒輪 233、2 34，而使台車 230 以水平姿勢沿.著水平軌2 1 4而移動。此時，垂直部移動輪 23 6a、23 6b、23 7a、23.7b，係在水平軌道 214的上下壁 2 14a、214b的外面滾動，並且修正台車2 3 0的水平姿勢 -27- 200838781 當台車23 0進入彎道區間時，如第1 〇圖所示，副齒 輪23 3、234係與齒條220咬合並且滾動，垂直部移動輪 236a、23 7a，係藉由垂直軌21 1的前壁21 la的下端之彎 曲面，而被導入到前後壁2 1 1 a、2 1 1 b之間，垂直部移動 輪236b、23 7b脫離通道217，並朝向前後壁211a、211b 之間，水平部移動輪231a、232a則被位於水平軌214的 上壁214a的端部之斜面導引至上方。此時，移動輪231a 係與水平軌214的上壁214a接觸並且轉動，移動輪23 lb 係與位於垂直軌21 1的背面之導引構件243接觸並且滾動 ，而維持水平姿勢，並且使台車2 3 0開始上升。 台車23 0藉由副齒輪23 3、234的旋轉而開始上升時 ，垂直部移動輪 236a、23 6b、237a、237b，係沿著形成 於前後壁211a、211b的移動面而移動，水平部移動輪 23 1a、23 2a係脫離開口 216而上升，移動輪231b、232b 係拔出導引構件243而上升。台車23 0之垂直部移動輪 236a 、 236b 、 237a 、 237b 係挾住副齒輪 233 、 234 ，而在 垂直軌道211的前後壁211a、211b之間滾動，而維持水 平姿勢並且在垂直區間上升。 根據第9圖至第1 2圖所說明的第3構成的本發明搬 運機構，容器係設置在台車230的上面，或被組裝到台車 23 0的台車本體23 5的內部。該容器係例如收容有檢體或 試藥的盒體所構成的積載物。台車23 0係藉由與外部電腦 電連接的終端來指示搬運台，而使驅動部的電動機動作， -28- 200838781 並且移動到目的之搬運站，而停止於此。 如上所述，本發明之第3構成的實施態樣的搬運機構 之台車23 0，係在左右側面配置於副齒輪233、234，藉由 該副齒輪沿著齒條220而移動，並且該副齒輪23 3、234 、和使此等副齒輪咬合的一對之齒條220，水平部移動輪 23 la、23 lb、232a、232b、將其支承的水平軌214、藉由 垂直部移動輪236a、 236b、 237a、 237b、與將其支承的 垂直軌211、及具備有與上述齒條22 0與上述軌部214、 2 1 1連續的齒條與軌道的彎道區間的軌道2 1 0，保持台車 23 0的水平姿勢於此，因此，大致不需要使台車230傾斜 而平行移動，並且組裝在台車230內部的容器，不僅可以 水平姿勢在水平區間移動，也可在彎道區間及垂直區間移 動。然後，以保持水平姿勢之移動，不需要回轉機構，因 此可增加容器的積載容量。 而且，構成彎道區間和接續於此的垂直區間之軌道爲 單一，也就是一體形成副齒輪用的軌道和移動輪用的軌道 ，而不需各別舖設，因此，可縮小此等軌道所佔有的空間 ，特別是可以在彎道區間上將彎道曲率壓抑在最小，因此 ，可以小型化構築搬運系統全體。 又根據積載物的種類，省略水平軌道2 1 4的移動輪導 引壁219a、219b，而設爲與垂直軌道21 1的剖面相同的 構成亦可，因此，可使設置成本或佔有空間更加減少。 除了依據上述本發明搬運機構的3個構成之實施形態 外，使台車以水平姿勢從水平區間經由彎道區間，在垂直 -29- 200838781 區間移動之本發明的第4構成的搬運機構之實施形態例， 參照第1 3圖至第19圖進行說明。 在第13圖〜第19圖所示的本發明第4構成的搬運機 構所使用的台車3 30，係在台車本體3 3 5的底部前後，具 備2個1組的4個水平區間移動用的之水平移動輪3 3 1 a 、3 3 1 b。將移動用的驅動力輸入到水平移動輪3 3 1 a或 3 3 1 b。又，在該台車3 3 0的左右側面之略中間位置上，設 置有垂直區間用的左右之驅動副齒輪3 3 3 (看不到位於圖 的相反面的副齒輪）；以及以上下挾住該驅動副齒輪3 3 3 的態樣而定位的上、下2個垂直區間用之移動輪3 3 6a、 3 3 6b (看不到位於圖的相反側之移動輪）。此外，驅動副 齒輪333係作爲垂直區間用的移動輪336a或336b的一*方 ，更以作爲與下方的3 3 6b切換之配置爲佳。 另外，第4構成的搬運機構之軌道，係以上述移動輪 3 3 1a、3 3 1 b滾動的水平軌3 1 0，和垂直軌3 1 1所垂直的態 樣而配設。然後，水平軌310係在定置水平軌部310a、 和該軌部310a的前端部，藉由未圖示的汽缸或電動機等 之驅動力，而水平、直立自如樞裝連結的起伏軌部3 1 Ob 所形成。 另外，垂直軌3 1 1係由：在與前述定置水平軌部 310a垂直的方向而配置的定置垂直軌部311a、311b;大 致與前述起伏軌部3 1 Ob的長度同等長度的部份，係在比 起伏軌部3 1 〇b的延長線上之位置更上方處切離，藉由所 分離的切離軌部3 1 1 c來形成。 -30- 200838781 前述切離軌部311c係藉由汽缸等的驅動力，在與前 述垂直軌部311a、311b垂直的方向上，以與該軌部311a 、3 1 1 b反向接合而動作的功能。垂直軌3 1 1和定置垂直 軌部311a、311b、切離軌部311c，係在內面設置有使驅 動副齒輪333咬合而導引的齒條311d。 在第4構成的本發明搬運機構中，除了上述垂直、水 平的各軌310、311之外，當切離軌部311c與定置垂直軌 部3 1 1 a、3 1 1 b反向時，偏離到上、下的定置垂直軌部 311a、311b之間，將在水平軌310上移動之台車33·0方 向變換到上方的定置垂直軌部3 1 1 a的方向變換軌部3 1 2 ，係配置爲與上述的切離軌部311c同步，而在水平方向 上動作。 作爲彎曲軌道的方向變換軌部3 1 2，係在上位的定置 垂直軌部3 1 1 a的下端，使其上端部接合的垂直部3 1 2a， 和於垂直部3 1 2a的下方，在上下方向並列3條路線的彎 道部312b、312c、312d而形成。在垂直部312a係具備與 前述齒條311d接合的齒條312d。 在此，3個彎道部312b、312c、312d之上下的2個 彎道部3 1 2b和3 1 2d，係形成於用來導引挾住位於水平軌 310上的台車330的副齒輪333之上、下的移動輪336a 和3 3 6b的彎軌，中間的彎道部3 1 2 c係形成於具備導引副 齒輪333的齒條312f的彎軌。 形成在導引驅動副齒輪3 3 3的作爲彎軌的方向變換軌 部3 1 2之彎軌部3 1 2c，係於內側的下面設置有與副齒輪 -31 - 200838781 3 3 3咬合的齒條3 12f。副齒輪3 3 3係在與垂直區間用的移 動輪33 6b切換的態樣下設置時，與該副齒輪3 3 3咬合的 齒條312f，係設置在下方的彎道部312d的內側之下面。 在具備上述構成的台車330和水平、垂直的軌道310 、311所構成的本發明之第4構成的搬運機構中，如第13 圖至第15圖所表示，藉由移動輪331a、331b，從圖的左 方在水平軌310上移動而來的台車330，到達與上位的垂 直軌部3 1 1 a接合的方向變換軌部3 1 2時，上、下的移動 輪3 36a、3 3 6b，在進入方向變換軌部3 12的上、下之彎 道部3 1 2b、3 1 2d的軌道之同時，副齒輪3 3 3進入中間彎 道部312c的齒條312f之軌道。 進入各彎道部 312b、312d和312〇的前述移動輪 3 3 6a、3 3 6c和副齒輪3 3 3，係各別被導引到彎道軌，而到 達方向變換軌部3 12的垂直部312a，在此，藉由副齒輪 3 3 3和該咬合導引副齒輪3 3 3的齒條3 1 2 e的作用，成爲 進入上方的定置垂直軌部3 1 1 a而移動（參照第1 4圖、第 16圖及第17圖）。 在此，台車330係在包含方向變換軌部312的垂直部 3 12a之垂直軌部311a的區間中，藉由縱列的移動輪3 3 6 a 、3 3 6b、和副齒輪3 3 3之3個滾動體，成爲被支持在垂直 軌311，因此台車330之全體在水平軌310上移動，並保 持垂直姿勢，經由方向變換軌部3 1 2，保持水平姿勢，可 沿著垂直軌3 1 1移動（參照第1 5圖）。 當水平移動而來的台車 330進入上方的垂直軌部 -32- 200838781 311a時，使起伏軌部310b立起（參照第18圖及第19圖 )，而解除方向變換軌部312和垂直軌部311a的接合’ 朝向水平方向位移（使之立起的起伏軌部3 1 Ob側），與 此同步，垂直軌3 1 1的切離軌部3 1 1 c，係進入上下的定 置垂直軌部311a和311b之間，而使垂直軌311的全體結 合成貫通狀態，因此，進入垂直軌部31 la的台車3 3 0， 係沿著上方的垂直軌部3 1 1 a朝向上方移動，或是朝向下 方的垂直軌部311b側移動，而可選擇該移動方向。 如以上所說明，第4構成的本發明搬運機構，除了從 水平軌3 1 0朝向垂直軌3 1 1而改變台車3 2 0的移動方向且 保持水平姿勢的機構之功能以外，另具有使從水平軌3 1 0 進入垂直軌的台車320的垂直方向上之移動方向，可選擇 上方或下方的任一方，而做爲移動方向的分歧機構之作用 〇 接著，針對先前以第3圖〜第1 9圖所說明的本發明 的第4構成的水平搬運機構的應用例，以第20圖〜第26 圖加以說明。在第20圖〜第26圖，與第13圖〜第19圖 相同的圖號，是代表同一構件或同一部位。 應用第1 3圖〜第1 9圖所說明的第4構成的本發明的 水平搬運機構，所使用的台車3 3 0，例示於第2 0圖〜第 23圖。在第20圖〜第23圖，台車330，是在台車本體 335的底部的則後，具備有兩個作爲一組的水平移動輪 3 3 1 a與3 3 1 b ’並且具備有：從左右側面夾住防止脫輪的 導引軌道（沒有圖示）的水平姿勢的輔助輪3 3 1 c與3 3 1 d -33- 200838781 。在圖示例子中用來得到水平移動力的水平移動輪331D ，設置在台車本體335的底部中央。水平移動的驅動力， 輸入到上述移動輪331a或331b，或輸入到雙方都可以。 這樣則不需要水平移動輪33 1D。 另一方面，在上述台車330的左右側面的大致中間位 置，從台車本體33 5的正面（背面）觀察，在較上述副齒 輪3 3 3、3 3 4更內側（靠近台車本體），設置有：分別以 上下夾住的方式定位的上、下兩個的垂直區間用的移動輪 336a、3 36b與337a、337b。在與副齒輪333、334同軸上 ，且在兩副齒輪3 3 3與3 3 4的外面側，分別設置有：防止 各副齒輪3 3 3、3 3 4從齒條脫落的防止脫落用滾子3 3 3 a、 3 34a。防止脫落用滾子3 3 3 a、3 34a是同樣形狀，分別較 副齒輪3 3 3、3 3 4更小直徑。而在第20圖〜第23圖，CT 是示意性地顯示搭載於台車主體3 3 5的容器。 與上述副齒輪333、334設置在同軸上的防止脫落用 滾子3 3 3 a、3 3 4a，以與該滾子相同的形式，對於之前所 述的第2構成及第3構成的本發明的水平搬運機構的台車 130、230所設的副齒輪133、134、233、234也能適用。 上述台車330移動而從水平方向朝垂直方向進行方向 變換的方向變換軌部3 1 2，是配設在：第4構成的本發明 搬運機構的水平軌310與垂直軌311的交叉部，具備有第 2 4圖所示的型態。 第24圖的方向變換軌部312，相對於從正面（或背 面）來觀察在第25圖示意性地顯示的台車3 3 0的狀態的 -34- 200838781 台車本體3 3 5的左右側的副齒輪3 3 3、3 34、垂直區間移 動輪 3 3 6a、3 3 6b、33 7a、3 3 7b、防止脫落用滾子 3 3 3a、 3 3 4a，具備有第25圖所示的端面（剖面）形狀。 在第25圖顯示剖面（端面）形狀的左右的方向變換 軌部312，在第24圖顯示第25圖的左側的軌部312的型 態。左右的方向變換軌部3 1 2的型態，是左右對稱的同一 型態，以下藉由第24圖（也參考第25圖），針對第25 圖的左側的方向變換軌部3 1 2的構造加以說明。 適用左右的方向變換軌部312的水平軌310與垂直軌 31 1，使之前藉由第1 3圖〜第1 9圖所說明的例子同樣地 ，至少具備有：定置水平軌部3 1 0a與定置垂直軌部3 1 1 a 〇 方向變換軌部312，形成爲具備有：在上位的定置垂 直軌部3 1 1 a的下端接合著其上端部的垂直部3 1 2a、以及 在垂直部312a的下方朝上下方向排列著三路線的三個彎 曲部3 12b、3 12c、3 12d。在垂直部3 12a具備有齒條312e ，該齒條312e嚙合於上述垂直軌311a的齒條311d。 第24圖所示的三個彎曲部312b、312c、312d，上、 下兩個彎曲部3 12b、3 12d，夾著位於水平軌3 1 0上的台 車3 3 0的副齒輪3 3 4 ( 3 3 3 )，而形成在：將下面的移動 輪3 3 7a、3 3 7b ( 3 3 6a、3 3 6b )從水平方向導引到垂直方 向的彎軌，中間的彎區部3 1 2c，是形成在：分別用來將 在與副齒輪3 3 4 ( 3 3 3 )與各副齒輪爲同軸上的防止脫落 用滾子3 34a( 3 3 3 a)進行導引的齒條312f與導引溝312g -35- 200838781 並排所具備的雙軌的彎軌部。 爲了導引防止脫落用滾子334a(333a)，具有與齒 條3 12f並排的導引溝3l2g的雙軌構造，在上述第2、第 3構成的本發明水平搬運機構的台車所設的副齒輪1 3 3、 134、23 3、234具備有防止脫落用滾子的情況，也適用於 :設置有與該副齒輪咬合的齒條的彎軌。 在用來將副齒輪334 ( 3 33 )與防止脫落用滾子3 3 4a (3 3 3 a)進行導引的雙軌的彎軌部所形成的彎曲部312c ，在內側的下面部設置有：與副齒輪3 3 4 ( 3 3 3 )嚙合的 齒條312f。 在將具備有：第20圖〜第25圖所說明的構成的台車 3 3 0、水平、垂直的各軌道3 1 0、3 1 1、及方向變換軌部 3 12的本發明的第4構成加以應用的搬運機構，如第26 圖所例示，於水平軌3 1 0上從圖的左方藉由移動輪3 3 1 a 、331b移動來的台車330，當到達與上位的垂直軌311a 接合的方向變換軌部3 1 2時，左右側的上、下的垂直區間 用的移動輪3 3 6a、3 3 6b與3 3 7a、3 3 7b，在進入到左右的 方向變換軌部312的上、下的彎曲部312b、312d·的軌道 的同時，左右的副齒輪333、334、及同軸上的防止脫落 用滾子3 3 3 a、3 34a，會進入到：並排具備有中間彎曲部 312c的齒條312f與導引溝312g的軌道。 進入到各彎曲部312b、312d與312c的上述垂直區間 用的移動輪336a、336b與337a、337b、及副齒輪333與 3 3 4及同軸上的防止脫落用滾子3 3 3 a與3 3 4a，被各彎軌 -36- 200838781 部導引而到達方向變換軌部3 1 2的垂直部3 1 2 a，在副齒 輪333、334、與將該副齒輪333、334咬合導引的左右的 齒條312e的作用、以及防止上述兩副齒輪3 3 3、334從齒 條312e脫離的防止脫落用滾子333a、334a與用來導引各 滾子的導引溝312g的作用，會正正地進入到上方的左右 的定置垂直軌部311a而移動（參考第26圖（a)〜（f) )° φ 如第26圖（f)所示，台車3 3 0，在包含左右的方向 變換軌部3 1 2的垂直部3 1 2a的垂直軌部3 1 1 a的區間，藉 由縱列的左右的移動輪3 3 6a、3 3 6b與3 3 7a、3 3 7b、及左 右的副齒輪3 3 3、3 3 4的左右側的三個滾動體，而被支承 在左右的垂直軌3 1 1，台車 3 3 〇，其全體移動於水平軌 3 1 0而保持水平姿勢，而能沿著垂直軌3 1 1移動（參考第 26圖（f))。這與第13圖〜第19圖所說明的先前的實 施方式相同。 [產業上利用的可能性] 以上所說明的第一至第四構成及其應用例的實施形態 中，水平區間的水平軌，雖然具有通道狀剖面的一個複合 軌所形成，但因應設置目的或設置環境，與垂直區間同樣 由副齒輪用軌、以及移動輪用軌來構成亦可，水平區間的 台車的移動，除了齒條和副齒輪之外，由於可採用接受驅 動力的移動輪方式，因此，做爲可隨時保持水平姿勢的搬 運機構，藉由應用既有的技術，可容易實施。尤其在本發 -37- 200838781 明的第4構成的應用例，與齒條嚙合而從彎道區間輸出垂 直區間移動的驅動力的副齒輪的同軸上，設置有用來防止 副齒輪從齒條脫離的防止脫落用滾子，所以移動模式從水 平變換成垂直的彎道區間的副齒輪與齒條的咬合狀態，能 確保其穩定。 又，在以上的實施形態中，雖然垂直軌和水平軌是沿 著建築物的地板及牆壁而舖設，但即使將此等軌道舖設在 柱子或天花板，亦可形成本發明搬運機構。例如，若搬運 物爲必須維持特定姿勢的產品，而且不能在天花板移動時 ，必須適當選擇水平軌的剖面形狀或移動輪的支持構造， 或是軌道的舖設之方法，階段狀舖設構成水平區間的軌道 和彎道區間、及與此等區間接續的垂直區間之軌道，即使 天井和牆壁沒有回轉手段，亦可以在維持容器的水平姿勢 的狀態下，使具備有該容器的台車移動。 【圖式簡單說明】 第1圖係本發明的第一構成之自走台車的水平搬運機 構的實施形態的正面圖。 第2圖係第1圖的水平搬運機構的右側面圖。 第3圖爲第2圖的俯視圖。 第4圖爲第1圖至第3圖所示的水平搬運機構的立體 圖。 第5圖係本發明的第二構成之自走台車的水平搬運機 構的實施形態之正面圖。 -38- 200838781 第6圖係第5圖所示的水平搬運機構的右側面圖。 第7圖爲第6圖的俯視圖。 第8圖爲第5圖至第7圖所示的水平搬運機構的立體 圖。 第9圖係本發明第三構成之自走台車的水平搬運機構 之實施形態的正面圖。、 第1 0圖係第9圖所示的水平搬運機構的右側面圖。 第1 1圖爲第9圖的俯視圖。 第12圖爲第9圖至第11圖所示的水平搬運機構的立 體圖。 第1 3圖係用來說明本發明的第4構成之水平搬運機 構的台車之水平區間的移動狀況之側面圖。 第1 4圖係用來說明第4構成之水平搬運機構的台車 之彎道區間的移動狀況之側面圖。 第1 5圖係用來說明第4構成之水平搬運機構的台車 之垂直區間的移動狀況之側面圖。 第1 6圖之台車係從水平區間移動到垂直區間之例的 台車和各軌道的姿勢之立體圖。 第1 7圖係第1 6圖的模式側面圖。 第1 8圖之台車係以水平姿勢在垂直區間移動之例的 台車和各軌道的姿勢之立體圖。 第1 9圖係第1 8圖的模式側面圖。 第20圖是在第4構成的本發明水平搬運機構的應用 例所使用的台車的一例的側面圖。 -39- 200838781 第21圖是第20圖的台車的俯視圖。 第22圖是第20圖的台車的左側面圖。 第23圖是第20圖〜第22圖所示的台車的模式立體 圖。 第24圖是模式顯示第20圖〜第23圖的台車移動的 方向變換軌部（左側軌部）的型態的立體圖。 第25圖是第22圖的台車進入到左右的方向變換軌部 φ 的狀態的該軌部的正面圖。 第26圖（a)〜（f)是時序性地顯示台車通過方向 變換軌部的狀態的側剖面圖。 【主要元件符號說明】 1 〇 :軌道 1 1 :副齒輪用軌道 1 2 :移動輪用軌道 _ 1 4 :複合軌 1 5 :曲面壁 2 0 :齒條 30 :台車 3 1、3 2 :移動輪 3 3、3 4 :副齒輪 35 :台車本體 110 :軌道 111 ··副齒輪用軌道 -40- 200838781200838781 IX. INSTRUCTIONS OF THE INVENTION [Technical Field to Be Invented by the Invention] The present invention relates to a plurality of steps of a building covering a building or the like, which are laid horizontally on a floor or a ceiling, or along a rail that is vertically laid on a wall, so that The conveyance body of the container and the trolley moves, and the stack of documents, parts, and the like is lowered from the container at the station disposed along the rail, or is carried out in a horizontal posture at any time in the conveyance system mounted on the container. Horizontal handling mechanism for trolley movement. [Prior Art] This type of transportation system is widely used in documents, mail items, stationery, etc. in hospitals, medical records in hospitals, parts or products in factories, and even automatic handling of samples or reagents. Stowage to the destination. The transport system is composed of a rail that is laid horizontally and vertically in a building, a trolley that moves a plurality of transporters on the rail, and a computer that controls the movement of the self-propelled trolley. The automatic trolley is formed by mounting a container on which a load is placed on a trolley that moves along the rail. A container that can accommodate a large number of specimens or reagents is installed on the premise that the container can be transported horizontally. Therefore, the support container that can be swung on the trolley by the turning means can rotate the container 90 degrees on the trolley while moving in the vertical section, so that it can be maintained horizontally at any time (for example, refer to Patent Document 1) In the self-propelled trolley of the transport system, the front and rear sides of the moving direction are held in the rails (tracks) from the top and the bottom, or are arranged in groups of two from the -6-200838781. Group of moving wheels. The self-propelled trolley is in the interval where the track shifts from the horizontal section to the vertical section, that is, in the interval from the horizontal to the vertical, or from the vertical to the horizontal bending angle of 90°. Since the trolley changes from horizontal to vertical (or from vertical) In the posture to the level, the movement posture needs to be changed. Therefore, the container suspended by the trolley is rotated by 90 degrees by the turning means, and the horizontal posture of the container can be maintained, but when the one side of the container is a heavy weight stowage, It can be seen that the container is tilted due to its partial load, and the horizontal posture cannot be maintained. Further, it is equipped with a turning means for maintaining the posture of the container horizontally at any time, and moving by rotating the trolley from the horizontal rail toward the vertical rail, and the space for the rotation of the container and the swinging movement space of the trolley are required, so that the horizontal interval of the track has to be The radius of the curve in the section between the vertical sections is increased, and the system is not only enlarged in size, but also the reason why the transportation system cannot be installed because of the reason that the radius of the curve is too large depending on the situation. [Problem to be Solved by the Invention] The present invention has been made in view of the above-described current situation of such a transportation system, and an object thereof is to provide a means of turning without In addition, the posture of the container can be maintained at a constant level, and the curvature of the curve of the change section of the direction of the track can be reduced, and the horizontal posture conveyance mechanism of the self-propelled trolley of the entire system can be constructed in a small size. 200838781 [Means for Solving the Problem] The first configuration of the transport mechanism of the present invention, which is configured to solve the above problems, is a horizontal transport mechanism for a self-propelled trolley, and is provided with a self-propelled trolley equipped with a load. The self-propelled trolley system has: a rail that is horizontally and vertically laid inside the building; a rack that is laid along the rail; a moving wheel that moves on the rail; and a sub-gear and a sub-gear that mesh with the rack The drive unit is characterized in that the track is formed in a curve section that changes direction from a horizontal direction toward a vertical direction or a vertical direction, and a vertical section that is connected thereto, and includes a rack that meshes with the sub-gear a sub-gear rail; a moving wheel rail parallel to the sub-gear rack and separated therefrom; and the bogie is provided on the left and right side surfaces thereof: a sub-gear that meshes with the sub-gear rail, and is supported by the moving wheel Using the moving wheel of the track, and in the vertical section of the curve section and the section continuing, the trolley can be arranged in a horizontal posture to configure the auxiliary tooth Wheels for track and moving wheels. In the first aspect of the invention, the first sub-gear and the first moving wheel are provided on a side surface perpendicular to the moving direction of the bogie, and the first side of the other side surface is provided. a position of the gear in the same phase, comprising a second moving wheel; a second auxiliary gear at a position in phase with the first moving wheel, and the first and second auxiliary gears and the moving wheel having different phases are arranged on both sides, To suppress the tilt of the trolley. In the present invention, the carriage is provided with a sub-gear coaxially on the same phase of the intermediate portion of the left and right side surfaces, and includes a pair of right and left sides on the left and right sides of the moving direction of the carriage, and is swayed up and down. The moving wheels that are arranged above and below and which are arranged to align with the rotating shaft of the auxiliary tooth 200838781, are supported by the moving wheel and the auxiliary gear in either of the front and the rear in the vertical section of the curve section and the section. The track can be moved to a second configuration in which the trolley is moved in a horizontal posture. In the above two configurations, the sub-gear rail and the moving-wheel rail in the horizontal section of the rail may be formed by a composite rail in which two rails are parallel in parallel, and the composite rail is from a curve section. The vertical interval is configured to be separated before and after. Further, the third configuration of the transport mechanism of the present invention which solves the above-described problems includes a transport mechanism for a self-propelled trolley equipped with a stowage, and the self-propelled vehicle has a rail that is horizontally and vertically laid inside the building; a rack that is laid on a track; a moving wheel that moves on the rail; and a driving portion that a sub-gear and a sub-gear that mesh with the rack, wherein the bogie is coaxial on the same phase of the middle portion of the left and right sides The auxiliary gear includes a horizontal moving wheel that is disposed before and after the pair of the auxiliary gears in the moving direction of the trolley, and a vertical moving wheel that blocks the upper and lower sides of the rotating shaft of the auxiliary gear. The track system has a curved track having a moving surface of a rack that meshes with the sub-gear and a moving portion of the horizontal moving wheel in a curved section that changes direction from horizontal to vertical or from vertical to horizontal, and is connected to the curved In the vertical section of the track section, there is a vertical rail that meshes with the sub-gear and a moving rail of the vertical moving wheel, and in the curved section, the water is supported by the curved rail Movement wheel and pinion portion in the vertical interval subsequent to the curve segment in vertical track by a vertical movement to support the wheel and the pinion. Further, the fourth configuration of the transport mechanism of the present invention, which solves the above-described problems, is a transport mechanism for a self-propelled trolley equipped with a stowage, and the self-vehicle system is laid horizontally and vertically inside the building. a track on which the track is laid, a moving wheel that moves on the track, and a sub-gear that meshes with the rack and a drive portion of the sub-gear, wherein the trolley is in the middle of the left and right sides A phase wheel is provided coaxially with a wheel and includes a vertical portion moving wheel that is disposed on a horizontal portion of the bottom of the vehicle and that is disposed to face the rotation axis of the sub-gear, and the rail system is provided with In the curve section in which the horizontal direction is vertical or straight toward the horizontal direction to change direction, there is a curved rack that meshes with the aforementioned wheel, and a moving surface rail that restrains the vertical moving wheel, and is connected to the curved section. In the short vertical section, the shorter rack that meshes with the sub-gear and the moving surface of the vertical moving wheel are in a straight track. In the curve section, the sub-gear is supported on the curved rack, and the The moving wheel is supported on the curved track, and is supported by the shorter vertical track of the inner sub-gear and the vertical moving wheel in the shorter section following the curve section, so that the trolley moves in a horizontal posture at any time. [Effect of the Invention] The transport mechanism according to the first aspect of the present invention includes a transport mechanism for a self-propelled trolley mounted. The self-propelled train has a rail that is laid horizontally and vertically, and is laid along the rail. a moving wheel that moves on the tooth track; and a sub-gear and a sub-driving portion that mesh with the rack, the track is tied to a vertical direction or a vertical direction, and a direction of the curve is changed, and the vertical direction is bought. The section of the carriage is along the aforementioned auxiliary teeth: the inside of the carrier having the horizontal vertical strip from the bend of the vertical sub-tooth; • at the level of the wheel, having a length of -10- 200838781: a rack engaged with the aforementioned auxiliary gear a sub-gear rail; a moving-wheel rail that is parallel to the sub-gear rail and separated therefrom, and the bogie is provided on the left and right side surfaces thereof: a pair that engages with the sub-gear rail The wheel and the moving wheel supported by the moving wheel track, and the sub-track track and the moving wheel track are arranged in such a manner that the trolley can move in a horizontal posture in the vertical section, so that even if there is no turning means, The posture of the container can be maintained at a level at any time, and the curvature of the curve in the change section of the direction of the track can be reduced, and the entire system can be miniaturized. In the horizontal posture transporting mechanism of the self-propelled vehicle according to the first aspect of the present invention, the sub-gear rotates while being engaged with the rack, and the traveling wheel is rotated by the moving wheel to move the bogie along the rail. In this case, the trolley has the sub-gear that meshes with the sub-gear rail and the moving wheel that is supported by the moving-wheel rail on the left and right side surfaces. Therefore, the posture of the container can be maintained at any time even without the turning means. At the level, even if it is in a single-sided load state, the stowage can be handled horizontally at any time. Then, the track is connected to the curve section that changes direction from horizontal to vertical or from vertical to horizontal, and the vertical section that is connected thereto, and includes a sub-gear rail for the rack that meshes with the sub-gear; Since the sub-gear rails are used for the moving wheel rails in which the rails are parallel and separated therefrom, the radius of curvature of the sub-gear rails can be independently set from the moving wheel rails, and the radius of curvature of the section between the horizontal section and the vertical section of the rail can be reduced. In other words, it is not necessary to provide the revolving space of the container and the rotational movement space of the bogie, and the entire transport mechanism can be miniaturized. Even in the transport mechanism of the second configuration of the present invention, the bogie-11 - 200838781 is attached to the left and right sides. The intermediate portion of the intermediate portion has a sub-cog in the same phase, and includes a horizontal portion moving wheel that locks the pair of front and rear gears in the moving direction of the bogie, and a rotating shaft that clamps the sub-gear from above and below a pair of upper and lower vertical moving wheels, the track system having a moving section that meshes with the sub-gear and the moving surface of the horizontal moving wheel in a curved section that changes direction from horizontal to vertical or from vertical to horizontal a curved rail, and in a vertical section continuing from the curve section, having a rack that meshes with the sub-gear and a vertical rail of the moving surface of the vertical moving wheel, in the curved section, the horizontal section is supported by the curved rail The moving wheel and the auxiliary gear support the vertical moving wheel and the auxiliary gear in the vertical section following the curve section, so even if there is no The turning means can also maintain the posture of the container at a constant level, and since the sub-gear and the moving wheel move on one rail, it is not necessary to lay the rails separately, and the miniaturized construction system is even in the present invention. In the transport mechanism of the third configuration, the sub-gear meshes with the rack and rotates, and the traveling wheel is rotated by the moving wheel to move the trolley along the rail. At this time, the trolley is provided with a sub-gear coaxially on the same phase of the middle portion of the left and right sides, and the front and rear horizontal moving wheels of the pair of counter gears are held forward and backward in the moving direction of the bogie; The upper and lower vertical moving wheels of the pair of rotating shafts of the pair of gears are moved by the sub-gear and the vertical moving wheel to move the curve section and the vertical section following the section, so that the turning means can be omitted. The conveyance posture of the container can be maintained at a level at any time, and the load can be carried in a horizontal posture at any time even if it is in a unilateral load state. Therefore, the rail system has a rack that meshes with the sub-gear and a moving surface that is provided with the shifting wheel of the horizontal portion in a curved section that changes direction from a horizontal direction toward -12 - 200838781 or a vertical direction. The curved rail, and in the vertical section following the curved section, has a vertical rail that meshes with the sub-gear and a moving surface of the vertical moving wheel, and supports the horizontal movement by the curved rail in the curved section The wheel and the auxiliary gear support the vertical moving wheel and the auxiliary gear in the vertical section following the curve section, so that the vertical section and the vertical section which is connected thereto can be formed by a single track. The entire transport mechanism can be miniaturized. Further, in the transport mechanism according to the fourth aspect of the present invention, the bogie is provided with a sub-gear coaxially on the same phase of the intermediate portion of the left and right side surfaces, and includes a horizontal portion moving wheel provided at the bottom of the bogie; a vertical portion moving wheel that is disposed above and below the rotating shaft of the sub-gear, and the rail system has a direction in which the direction is changed from horizontal to vertical or from vertical to horizontal, and has the aforementioned a rack engaged by the sub-gear and a curved rail that restrains the moving surface of the vertical moving wheel, and having a shorter rack that meshes with the sub-gear in a shorter vertical section following the curve section, And the vertical rail of the moving surface of the vertical moving wheel, in the curved section, the auxiliary gear is supported on the curved rack, and the horizontal moving wheel is supported in the curved rail, in the shorter vertical interval following the curved section The carrier of the present invention is constructed by supporting the sub-gear and the vertical moving wheel 'to move the trolley in a horizontal posture at any time by enclosing a vertical rail of a short rack. Same, the size of the entire transport system is formed, in particular, compactly formed from a horizontal into a vertical movement direction, or the opposite, where the moving direction changes. -13-200838781 In the fourth transport mechanism according to the present invention, the rack and the track in the curve section are unitized, and when the trolley is vertically moved, in addition to the fact that the trolley can be changed from the horizontal movement to the vertical direction. The aforementioned curve section that has been unitized can be retracted to a position that does not affect the vertical movement of the trolley. As a result, the curve section of the fourth transport mechanism has a function of changing the horizontal movement to the vertical movement. [Embodiment] Hereinafter, an embodiment of a horizontal transport mechanism of a self-propelled trolley according to the present invention will be described with reference to the drawings. In the drawings, Fig. 1 is a front view showing an embodiment of a horizontal transport mechanism for a self-propelled vehicle according to a first configuration of the present invention, and Fig. 2 is a right side view of the horizontal transport mechanism of Fig. 1, and Fig. 3 is a view FIG. 4 is a perspective view of the horizontal transport mechanism of the first configuration shown in FIGS. 1 to 3, and FIG. 5 is a perspective view of the horizontal transport mechanism of the self-propelled trolley according to the second configuration of the present invention. Fig. 6 is a right side view of the horizontal transport mechanism shown in Fig. 5, Fig. 7 is a plan view of Fig. 6, and Fig. 8 is a second configuration shown in Fig. 5 to Fig. 7. FIG. 9 is a front view of a third embodiment of the horizontal transport mechanism of the self-propelled trolley of the present invention. FIG. 1 is a right side view of the horizontal transport mechanism shown in FIG. 1 is a plan view of the ninth drawing. FIG. 12 is a perspective view of the horizontal transport mechanism of the third configuration shown in FIGS. 9 to 11 , and FIGS. 13 to 15 are for explaining the horizontal transport of the fourth configuration. Side view of the movement of the trolley of the organization 'Figure 16 of the car system horizontal one vertical moving transport road A perspective view of 'of FIG first 17 lines of 16 FIG -14--200838781 model side view, the first 18 of FIG based perspective view showing an example of a mobile conveyance path of the carriage vertically, Fig. 19 lines 18 of FIG pattern side view. Fig. 20 is a side view showing an example of a bogie used in an application example of the horizontal transport mechanism of the fourth embodiment. Fig. 21 is a plan view of the bogie shown in Fig. 20. Fig. 22 is a left side view of the bogie of Fig. 20, Fig. 23 is a schematic perspective view of the bogie shown in Figs. 2 to 22, and Fig. 24 is a schematic diagram showing the movement of the cart of Figs. 20 to 23 The perspective view of the B-state of the direction change track (left track), and Fig. 25 is a front view of the track portion of the state in which the trolley enters the left and right direction changing track portion of Fig. 22, Fig. 26(a)~( f) is a side cross-sectional view showing the state in which the trolley passes the direction changing track in a time series. In the first to fourth figures, the horizontal transport mechanism of the first aspect of the present invention includes a pair of left and right sides which are laid horizontally and vertically in the interior of the building and are arranged in parallel with the moving direction of the carriage 3〇. The track 10; and the trolley 30 moving on the track 10. φ Each track 1 is as shown in Fig. 2, and has a horizontal rail formed in a horizontal section laid on the floor or the like; The curved track of the curve section that changes direction from horizontal to vertical or from vertical to horizontal; forms a vertical rail that is connected to or placed in a vertical section of the column or the like. The curve section ~ and the vertical section of each of the rails 10 are composed of a sub-gear rail 1 1 and a jog wheel rail 1 which is parallel to the sub-gear rail 1 and is separated from the front-rear direction. Then, the horizontal section is composed of two tracks 11, 12 which are parallel and juxtaposed into one composite track 14. The sub-gear rail 1 1 is composed of a three-section cross-section or a channel-shaped cross-sectional member composed of the front wall lla, lib and the side wall lie of the front -15-200838781 as exemplified in Figs. 3 and 4 . The moving wheel rail 12 is also constituted by a cross-sectional three-shaped or channel-shaped cross-sectional member formed by the front and rear walls 12a, 12b and the side wall 12c. These tracks 1 1 and 1 2 are formed by the connecting wall 13 . The connecting wall 13 extends the side wall 12e of the moving wheel rail 12, and its extended end is connected to the open end edge of the front wall 11a of the sub-gear rail 1 1. The composite track 14 in the horizontal section is a three-shaped or channel-shaped cross section formed by the upper and lower walls 14a and 14b and the side wall 14c, and the open faces are arranged to face each other. The composite rail 14 is connected to the sub-gear rail 1 1 and the moving-wheel rail 1 2 which are separated before and after the vertical section is formed by the curve section. When the curve section is described in detail, the front wall 1 1 a of the sub-gear rail 1 1 in the vertical section is located on the right side of the first figure, in the track 10 on the front side of the second and third figures. It extends to the upper wall 14a of the composite track 14 and is connected thereto. The rear wall 1 1 b of the sub-gear rail 1 1 extends to the lower wall 14b of the composite rail 14 via the curved wall 15 as shown in Fig. 2, and is integrated with the side wall 14c. The front wall 12a of the moving wheel rail 12 is partitioned by the upper wall 14a of the composite rail 14, and the rear wall 12b extends to and is connected to the lower wall 14b of the composite rail 14, and the side wall 12c is connected to the connecting wall 13 and the composite rail The lower wall 14b of 14 is connected. Further, on the left side of the first drawing, the front wall 1 1 a of the sub-gear rail 1 1 extends to the upper wall of the composite rail 14 in the rail 1 位于 located at the deeper side of the second and third figures. 14a, and connected thereto, the rear wall 1 1 b is connected to the lower wall 14b of the composite rail 14 via a curved wall, and the side wall 1 1 c -16-200838781 extends to the lower wall 14b of the composite rail 14, and The composite rail 14c is integrated. The front wall 12a of the moving wheel track 12 is connected to the upper wall 14a of the composite track 14, and the rear wall 12b is connected to the lower wall 14b of the composite track 14 by the side wall 1 2 c and the connecting wall 13 extending to the composite track 14 The upper wall 14a is connected to and connected to this. The rack (rack gear) 20 is disposed on the rear wall 11b of the sub-gear rail 1 1 , the curved wall 15 , and the lower wall 14 b of the composite rail 14 and fixed. The trolley 30 is provided with a moving wheel 31 and a sub-gear (sub-gear) 3 3 of the driving wheel on one side surface (right side surface) of the bogie body 35, and a moving wheel 32 is provided on the opposite side surface (left side surface) of the bobbin main body 35. And the auxiliary gear (sub gear) 34. Each of the moving wheels 3 1 and 3 2 is held on a bearing in which the respective axles are located on the carriage body 35. The sub-gear 33 is coaxial with the moving wheel 31, and is disposed on a left side of the moving wheel 32 of the bogie body 35. The sub-gear 34 is coaxial with the moving wheel 31, and is disposed on the right side of the moving wheel 31 of the bobbin body 35. surface. The sub-gears 33 and 34 are coupled to a drive unit (not shown) including a motor, a speed reducer, and the like that provide each of the shafts inside the truck body 35. In one example of the carriage 30, when moving from the vertical section to the horizontal section, the circumferential surfaces of the moving wheels 31, 32 are located between the front and rear walls 12a, 12b of the moving wheel rail 12, and the sub-gears 33, 34 are laid. The racks 20 of the sub-gear rails 1 1 are engaged and disposed between the rails 10 . The carriage 30 is rotated by the sub-gears 33 and 34 by the drive unit, and moves along the rack 20. That is, the sub-gears 3 3, 3 4 are in the vertical section and the curve section of the rail 1 ,, are engaged with the rack 20 and rotate -17-200838781, and move inside the sub-gear rail 11 'at the level The section 'interacts with the rack 20 and rotates, and moves inside the composite rail 14. At the same time, the moving wheels 3 1 and 3 2 are rotated 'in the vertical section and the curve section along the front and rear walls 12a, 12b constituting the moving wheel rail 12' along the upper and lower walls 14a of the composite rail 14 in the horizontal section. , 1 4b and rotate. Therefore, the trolley 30 is supported by the engagement of the sub-gears 33, 34 and the rack 20, and supported by the moving wheels 32, 33 in the moving wheel rail 12' to maintain the horizontal position of the trolley 30 in the vertical position. The sections move in parallel and move from the vertical section through the curve section toward the horizontal section. Even when the trolley 30 enters the vertical section from the horizontal section through the curve section, the same as the above, the trolley 30 moves in a state of a horizontal posture. The power supply to the driving unit is constituted by a wire arranged along the track 10, and the movement control is constituted by communication between a computer device located outside the horizontal conveying mechanism and a controller located at the trolley 30. The signal is transmitted between the external computer device and the controller through a communication line 'moving parallel to the aforementioned overhead line'. In this embodiment, the container is constituted, for example, by a container with a lid, and is provided on the upper surface of the trolley body 35 or assembled inside the trolley body 35. Then, several stations are placed along the composite track 14. At the start of the operation, the operator mounts the case, for example, the sample or the reagent, on the container. When the operator specifies the transfer station by the external computer device, the controller of the trolley 30 operates the drive unit from the external computer device according to the command, and moves the trolley 30 to the destination transfer station to carry the load. Go to the destination station. -18- 200838781 At this time, the sub-gears 33 and 34 disposed on the left and right sides of the bogie 30 are engaged with the rack 20, and the bogie 30 is moved in the vertical section from the horizontal section of the rail 通过 through the horizontal section, and is moved in parallel. At the same time as the bogie 30, the borrower arranges the sub-gears 3 3 and 3 4 in front of and behind the bogie 30 to control the inclination of the traveling direction of the bogie 30 and the direction perpendicular to the moving direction, and moves the bogie 30 in a horizontal posture. This horizontal posture is corrected by the moving wheels 3 1 and 3 2, and the trolley 30 is moved in parallel without tilting. In other words, since the trolley 30 can be moved in a horizontal posture at any time, it is not necessary to horizontally maintain the return means of the container. Therefore, even if it is a stowage that is required to be in a horizontal position at any time, it can be handled with peace of mind. It is not only the vertical section of the track 1 ,, but also the sub-gear rail 1 1 for the rack 20 that is engaged with the sub-gears 33 and 34, and the moving wheel 3 1 in the curve section of the boundary between the horizontal section and the vertical section. The 32-turn moving wheel rails 12 are separated back and forth. Since the rails 11 and 12 can be set to different curvature radii, the radius of curvature of the rails 11 and 1 2 in the curve section can be reduced, and the structure can be miniaturized. The entire handling system of the horizontal transport mechanism. In the embodiment of the horizontal transport mechanism according to the first aspect of the present invention described above, the carriage 3 is provided with the first sub-gear 3 3 and the first moving sheave 31 in a single side perpendicular to the moving direction thereof. In the same phase (coaxially) as the first sub-gear 3 3 on the opposite side, the second moving wheel 32 is provided, and the second sub-gear 34 is provided in the same phase (coaxially) as the first moving wheel 31, by The two side surfaces are provided with first and second sub-gears 3 3, 3 4 having different phases, and first and second moving wheels 3 1 and 3 2, and the moving direction of the trolley 19 - 200838781 30 is changed from a horizontal posture. When it is in the vertical direction, the car is controlled so that it does not tilt. The horizontal transport mechanism of the self-propelled trolley of the present invention can be realized by the second embodiment of the transport mechanism of the present invention in Figs. 5 to 8 and will be described below. In the horizontal conveyance mechanism of the present invention of the second configuration shown in FIGS. 5 to 8 , the "trailer 1 300 is provided with the sub-gear 1 coaxially on the same phase (same position) as the intermediate portion having the left and right side faces. 3 3, 1 3 4, on the front side and the rear side related to the moving direction of the sub-gears 1 3 3, 1 3 4, and related to the respective sub-gears 133 and the rotating shaft of the 134, The same moving wheels 132a, 132b of the upper and lower pair of first moving wheels 131a, 131b; and the moving wheels 137a, 137b arranged the same as the second moving wheels 6a, 136b, in the curve section and the vertical section, by The upper and lower pair of moving wheels and sub-gears of either the front and the rear are supported on the rails 1 1 1 and 1 1 2, and even in the curve section and the vertical section, the horizontal posture can be maintained and moved. φ, that is, the trolley 13 is attached to the single side surface of the trolley main body 135, and the sub-gear 1 3 3 and the sub-gear 1 3 3 are disposed at the center portion (the central portion of the right side surface). A pair of moving wheels 1 3 1 a, 1 3 1 b and 1 3 6a, 1 3 6b ' on the opposite side of the carriage body 135, at the central portion (the central portion of the left side surface), and the aforementioned vice The gears 1 3 3 are coaxially disposed, and the shifting wheels 131a, 131b and 137a, 13 7b of the right side of the sub-gears 134 and the sub-gears i 3 4 are disposed. The shafts of the left and right sub-gears 133 and 134 are coupled to a drive unit including a motor, a reducer, or the like provided inside the bogie body 135. -20- 200838781 Tracks 1 0 are a pair of left and right parallel to each other. The left and right rails 1 1 0 disposed in the vertical section are constituted by a sub-gear rail 1 1 1 and a moving-wheel rail 1 1 2 which are laid along a wall or a column. As shown in Fig. 7 and Fig. 8, the sub-gear rail 1 1 1 in the vertical section is composed of an L-shaped cross-section member, and the moving wheel rail 1 1 2 is a cross-sectional 3-shaped or channel-shaped cross-section member. In the configuration, the two rails 11 1 and 1 1 2 are integrally formed with a rear wall 111b that forms an open surface rail 111, and a front wall 112a of the rail 112. The left and right rails 1 1 1 and 1 1 2 are arranged such that the open faces are opposed to each other in parallel. The left and right rails 110 in the horizontal section are formed by rails 114 having a slightly triangular shape or a channel-like cross section, and the open surfaces are arranged to face each other. The auxiliary gear of the vertical section is used. The 1 1 1 rear wall 1 1 1 b (the front wall 112a of the moving wheel track 112) is connected to the lower wall 11 4b of the track 1 1 4 in the horizontal section via the curved wall 1 1 5 forming the curve section. The side wall 1 1 1 c of the vertical section extends to the upper wall 1 14a of the track 1 14 in the horizontal section, and is integrated with the side wall 1 14c of the track 1 14b. The front wall 1 1 2a of the moving wheel rail 1 1 2 in the vertical section extends to the upper wall 1 1 4a of the rail 1 1 4 in the horizontal section, and a through hole 117 is formed inside the rail 1 14 . The rear wall 1 2b of the vertical section extends to the lower wall 1 14b of the track 1 14 in the horizontal section and is connected thereto. Then, the side wall 112c of the vertical section extends to the lower wall 1 14b of the rail 114 of the horizontal section. In the horizontal section, the upper wall 1 1 4a of the track 1 1 4 has a width of the sub-gear rail 1 1 1 having a vertical section, and in detail, has a rear wall 1 1 1 with the sub-gear rail 1 1 1 b. An opening 1 1 6 corresponding to the width of the front wall 1 1 2a of the moving wheel track 1 1 2 -21 - 200838781 of the vertical section is provided with a guide wall 118 standing around the opening. The side wall of the guide wall 118 is integrated with the side wall 1 1 1 c of the sub-gear rail 1 1 1 in the section. The left and right teeth for guiding the left and right sub-gears 133 and 134 are the inner side faces of the rear wall 1 1 1 b of the sub-gear rail 1 1 1 in the vertical section, and are the inner faces of the curved wall 11 5 forming the curve section. The upper surface of the lower wall 1 1 4b of the track 1 1 4 along the horizontal section is laid. The outer peripheral surface of the rack mounted moving wheels 136a, 136b, and 137a, 137b of the trolley 1 130 opposite to the track 1 1 0 of the vertical section, the front wall 1 1 2a of the moving wheel rail 1 1 2 in the bit section, and the rear Between the walls, 133, 134 can be engaged with the racks laid on the lower wall 114b of the rail 114 by being in the vicinity of the boundary between the horizontal section and the curve section. Here, the trolley 1 3 0 opposed to the track 1 1 0 of the horizontal section is the upper and lower pair of moving wheels 131a on the left and right sides of the carriage body to be guided to the upper wall 1 14a of the rail 1 14 and the lower wall 1 The inner and left side sub-gears 1 3 3 and 1 3 4 of 14b are engaged with the left and right racks 120 formed on the inner surface of the rail 1 1 4 to be supported. Further, although illustrated, the power supply for the motor by the drive unit is provided by the rails arranged along the rails, and the movement control system is controlled by the computer device disposed on the track 1 1 and the control set in the trolley 1 300. The communication between the devices is performed along the track 1 1 〇 through the communication between the external computer device and the controller that moves parallel to the aforementioned line. The drive unit (not shown) rotates while the sub-gears 1 3 3 and 1 3 4 12 〇 are engaged, and the bogie 130 is formed, for example, in front of the rails 11〇 & P 116 and the vertical strip 120, and is vertical. [1 2b The sub-gear 120 bite the rack 137b, the surface, and the lower wall does not have the external signal of the road 110 to construct the line, moving between the rack and the horizontal area of the rack f-22-200838781 and the curve section, from here Start moving in the vertical interval. Here, the distance between the upper wall 14 14a and the lower wall 114b of the track 1 14 in the horizontal section is such that the distance between the upper end of the moving wheel 1 3 1 a constituting the trolley 1 30 and the lower end of 1 3 1 b, That is, the heights constituting each of the moving wheels 131a and 131b, 136a and 136b, 132a and 132b, 137a and 137b are substantially equal, and therefore, the moving wheels 131a and 131b, 136a and 136b, 132a and 132b, 137a and 137b are along the track. The upper and lower walls 114a, 114b of the 114 are rolled, and the trolley 1130 is horizontally moved. Thus, when the trolley 1130 moves in a horizontal posture, the left and right moving wheels 13 6a and 136b, 137a and 13 7b constitute the front and rear walls 1 12a, 1 12b of the moving wheel track (retrack portion) U2 of the vertical section. The movement starts, and the moving wheels 131a and 131b, 132a and 132b are guided to the guide wall 1 18, pass through the opening 1 1 6 and move to the outer side of the monorail 1 1 4 . Thereby, the trolley 1 3 0 can be moved from the horizontal section of the horizontal posture to the vertical section and moved in the vertical section (refer to Figs. 6 and 8). The container of the horizontal transport mechanism of the present invention shown in Figs. 5 to 8 also includes a container (not shown) which is provided on the upper surface of the trolley body 35 or assembled in the trolley body 35. The internal setting. For example, the stowage formed by the case of the specimen or the reagent is stored in the container, and the transport station is instructed by the terminal electrically connected to the external computer, and the motor of the drive unit is operated to move the trolley 1130. Go to the destination port and stop here. In the above-described second embodiment of the second aspect of the present invention, the trolley 1 390' of the horizontal transport mechanism is provided with the sub-gears 1 3 3 and 1 3 4 ' on the left and right side surfaces, and the sub-gear is along the teeth by -23-200838781. The strip 120 moves and is disposed on the left and right sides of the sub-gears 133, 134 and the rack 120 and the bogie 130, and the moving wheels 131a and 131b, the 132a and 132b, the 136a and 13bb, which are formed by the above, 13 7a and 137b, to suppress the inclination of the trolley 130, so even if the trolley 1 30 is inclined, the inclination within the allowable range can be moved in parallel, and therefore, it is of course possible to move the container provided in the trolley 1 3 0 in the horizontal section in a horizontal posture. It can move in a horizontal position even in a curve section or a vertical section. Thereby, since the turning means or the like is not required, an increase in the type or amount of the stowage can be achieved. Further, in the horizontal section, the sub-gears 133 formed on the right and left sides of the bogie 30 of the rails 14 and the sub-gear rails of the left and right racks 120 engaged with the 134 are laid, and are disposed on the left and right sides of the bogie, The moving wheel rails on which the moving wheels 131a, 131b, 132a, 132b, 136a, 136b, 137a, and 137b which are formed in the pair are formed in the vertical section from the curve section are separated from the curve section into The sub-gear rail 1 1 1 and the moving wheel rail 1 1 2 ' form a rail 1 1 0 in a vertical section, and the rails 1 1 1 and 1 1 2 are set to have different curvature radii, thereby reducing the sub-gear rail In the 1 1 1 and the radius of curvature of the rack 1 20, the entire transport system can be constructed in a small size. Then, the horizontal transport mechanism of the self-propelled trolley according to the third aspect of the present invention, as shown in Figs. 9 to 12, can be realized by the embodiment of the third example. The following description of the third embodiment will be described with reference to Figs. 9 to 12. In the horizontal transport mechanism of Figs. 9 to 12, the trolley 230 is -24-200838781, and the sub-gears 233, 2 3 4 ' and the sub-gears 2 3 3, 2 are provided on the same phase in the middle of the left and right sides. The horizontal moving wheels 231a, 231b, 232a, and 232b are disposed on the front side and the rear side of the moving direction of the 34, and the vertical moving wheels 23 are disposed on the upper side and the lower side of the sub gears 23 3 and 23 4, respectively. 6a, 23 6b, 237a, 237b. In the vertical section, the carriage 23 is supported by the upper and lower vertical moving wheels 236a, 236b, 237a, and 23b, and the sub-gears 233 and 234 on the rail 211, so that the trolley 23 can be held from the horizontal section. Move in a horizontal position. In the trolley 230, a sub-gear 23 3 is provided at the center of one side surface (the center of the right side surface) of the bogie body 23 5, and the sub-gear 23 3 is clamped, and a pair of horizontal-part moving wheels 231a and 231b are disposed in the front-rear direction, and are arranged in the vertical direction. The pair of vertical portions move the wheels 236a and 236b, and at the center of the opposite side surface of the carriage body 235 (the center of the left side surface), the sub-gear 234 is disposed coaxially with the sub-gear 233, and the sub-gear 234 is clamped to the horizontal portion. The wheels 232a, 232b and the moving wheels 237a, 237b are moved. All of the moving wheels are formed to have the same diameter, but are smaller than the diameter of the sub-gears 2 3 3 and 2 3 4 . In the ninth to twelfthth drawings, the left and right pairs of the tracks 210 in the horizontal section are arranged in parallel with each other. The vertical section is provided with vertical rails 211 along the walls or columns, and the sub-gears 233, 234 of the trolley 230 and the vertical moving wheels 236a, 236b, 237a, 237b are in communication. As shown in FIGS. 1 1 and 12, the vertical rail 2 1 1 is composed of a 3-shaped cross-section, and the inner sides of the front and rear walls 2 1 1 a and 2111^ are the moving paths of the moving wheels, close to the connecting wall. The outer side of 2 1 1 c is a rack moving path in which the sub-gears 2 3 3 and 2 3 4 move. Each of the orbits forming the horizontal interval is composed of a horizontal parallel rail -25-200838781 214. The horizontal rail 214 is a sub-gear rail of a cross section in which the upper wall 214a, the lower wall 214b, and the connecting wall 214c are joined at right angles to each other, and has the same cross section as the vertical rail 211, and is integrally formed: an inverted L shape is formed on the upper wall 214a. The moving wheel guide wall 219a of the cross-section is formed; or the moving wheel guide wall 219b of the L-shaped cross section is formed in the lower wall 214b. The rear wall 211b of the vertical rail 211 is connected to and formed integrally with the lower wall 214b of the horizontal rail 214 via a curved wall 215 forming a curve section. The wall 2 1 1 b ' after forming the curved surface forming the curve section forms a passage 217 through which the moving wheels 231b, 232b of the carriage 230 pass. The passage 217 is composed of a vertical opening portion having a width extending the front and rear walls 211a, 211b of the vertical rail 211, and a water/flat opening portion having a width extending the horizontal rail 2144. Further, the front wall 2 1 1 a is formed by being connected to the upper wall 2 1 4a of the vertical rail, and a part of the curve section is cut out to become the opening 216 through which the moving wheels 236a, 237a of the trolley 130 pass. Then, the side wall 2 1 1 c extends to the side wall 214c of the horizontal rail 214 and is integrated with the side wall 214c. In the vertical rail 211 of FIGS. 9 to 12, the track portion for the moving wheel and the track portion for the auxiliary gear are clamped on the front and rear walls 2 1 1 a, 2 1 1 b The width is different. That is, near the connecting wall 2 1 1 c , the part of the moving path forming the moving wheels 23 6a, 236b and 23 7a, 23 7b is formed to be close to the width of the diameter of the moving wheels, and becomes the sub-gear 23 3 , 234 The portion of the moving path is formed to have a wider width than the diameter of the sub-gears. The rack 220 for the sub-gear is laid across the vertical rail 2 1 1 forming the vertical section, the wall 2 1 1 b, the curved wall 2 1 5 forming the curve section, and the horizontal rail 2 1 forming the horizontal section The lower wall of 4 is 4 1 4b. The horizontal portion moving wheels 231b and 232b are supported in the curve section from -26 to 200838781, and the curved guide member 243 is disposed on the back surface of the rear wall 2 11b. In the ninth to twelfth drawings, the racking of the rails 203 to the rails 210 is between the upper and lower walls 214a and 214b of the horizontal rail 214, and the circumferential surfaces of the horizontal moving wheels 231a, 231b, 232a, and 232b are disposed. The vertical moving wheels 236a and 23 7a are disposed on the outer surface of the upper wall 214a, the vertical moving wheels 23 6b and 23 7b are disposed on the outer surface of the lower wall 214b, and the sub gears 23 3 and 234 are engaged with the rack 220 of the horizontal rail 214. Further, although not shown, the sub-gears 23 3 and 234 are coupled to a drive unit including a motor, a speed reducer, or the like that has a shaft provided inside the carriage body 23 5 . Then, an example of power supply to the motor by the driving unit is performed by a wire disposed along the track 210 or by a computer device located outside the track 210 and between the controller of the trolley 23 0 . The communication is configured to perform signal reception between the external computer device and the controller along the track 210 by a communication line that moves in parallel with the aforementioned overhead line. In the horizontal conveyance mechanism of the present invention of the third configuration shown in Figs. 9 to 12, the drive portion of the carriage 23 is a sub-gear 2 3 3 that engages with the rack 220 in the rack. 2 3 4 rotates, and moves in the horizontal interval, and continues to move in the curve section and the vertical section of the track 210. When moving in the horizontal interval, the trolley 230 is horizontally positioned by the horizontal moving wheels 2 3 1 a, 231b, 232a, 232b, and 畐丨J gears 233, 2 34. Move on the horizontal rail 2 1 4 . At this time, the vertical portion moves the wheels 23 6a, 23 6b, 23 7a, 23. 7b, rolling outside the upper and lower walls 2 14a, 214b of the horizontal rail 214, and correcting the horizontal posture of the trolley 270 - 200838781 When the trolley 23 0 enters the curve section, as shown in Fig. 1, the pair The gears 23 3, 234 are engaged with the rack 220 and roll, and the vertical moving wheels 236a, 23 7a are introduced into the front and rear walls 2 1 1 by the curved surface of the lower end of the front wall 21 la of the vertical rail 21 1 . Between a and 2 1 1 b, the vertical moving wheels 236b, 23 7b are separated from the passage 217 and directed between the front and rear walls 211a, 211b, and the horizontal moving wheels 231a, 232a are located at the end of the upper wall 214a of the horizontal rail 214. The slope of the section is guided to the top. At this time, the moving wheel 231a is in contact with and rotated with the upper wall 214a of the horizontal rail 214, and the moving wheel 23 lb is in contact with and guided by the guiding member 243 located at the back of the vertical rail 21 1 while maintaining the horizontal posture, and the trolley 2 is caused 3 0 began to rise. When the carriage 23 starts to rise by the rotation of the sub-gears 23 3 and 234, the vertical portion moving wheels 236a, 23 6b, 237a, and 237b move along the moving surfaces formed on the front and rear walls 211a and 211b, and the horizontal portion moves. The wheels 23 1a and 23 2a are lifted off the opening 216, and the moving wheels 231b and 232b are pulled out by the guide member 243. The vertical moving wheels 236a, 236b, 237a, and 237b of the carriage 23 are held by the sub-gears 233 and 234, and are rolled between the front and rear walls 211a and 211b of the vertical rail 211 to maintain the horizontal posture and rise in the vertical section. According to the transport mechanism of the present invention of the third configuration described with reference to Figs. 9 to 2, the container is provided on the upper surface of the bogie 230 or in the interior of the bobbin main body 25 5 of the bogie 230. This container is, for example, a stowage composed of a case in which a sample or a reagent is accommodated. The trolley 203 is instructed by the terminal electrically connected to the external computer, and the motor of the drive unit is operated, and -28-200838781 is moved to the destination transportation station, and stops. As described above, the carriage 23 0 of the transport mechanism according to the third embodiment of the present invention is disposed on the right and left side surfaces on the sub-gears 233 and 234, and the sub-gear moves along the rack 220, and the pair Gears 23 3, 234, and a pair of racks 220 that engage the sub-gears, horizontal moving wheels 23 la, 23 lb, 232a, 232b, horizontal rails 214 supporting them, and vertical moving wheels 236a And 236b, 237a, 237b, a vertical rail 211 supporting the same, and a track 2 1 0 including a rack section of the rack and the track continuous with the rack 22 0 and the rail portions 214 and 21 1 Since the horizontal posture of the carriage 23 0 is maintained, the trolley 230 is not required to be tilted and moved in parallel, and the container assembled inside the trolley 230 can be moved not only in the horizontal position but also in the curved section and the vertical section. mobile. Then, in order to maintain the horizontal posture, no slewing mechanism is required, so that the stowage capacity of the container can be increased. Moreover, the track constituting the curve section and the vertical section connected thereto is single, that is, the track for the sub-gear and the track for the moving wheel are integrally formed, without separate laying, thereby reducing the occupation of the tracks. In particular, the curvature of the curve can be suppressed to a minimum in the curve section, and therefore, the entire transportation system can be miniaturized. Further, the moving wheel guide walls 219a and 219b of the horizontal rail 2 14 are omitted depending on the type of the load, and the configuration may be the same as the cross section of the vertical rail 21 1 . Therefore, the installation cost or the occupied space can be further reduced. . In addition to the embodiment of the three configurations of the transport mechanism of the present invention, the embodiment of the transport mechanism of the fourth aspect of the present invention in which the trolley moves from the horizontal section to the curved section in the vertical section -29-200838781 in a horizontal posture For example, description will be made with reference to Figs. 13 to 19. The trolley 3 30 used in the transport mechanism of the fourth configuration of the present invention shown in Figs. 13 to 19 is provided with two horizontal movements of one set in the front and rear of the bottom of the trolley main body 335. The horizontal moving wheels 3 3 1 a , 3 3 1 b. The driving force for movement is input to the horizontal moving wheel 3 3 1 a or 3 3 1 b. Further, a left and right drive sub-gear 3 3 3 for the vertical section is provided at a position slightly in the middle of the left and right side faces of the carriage 303 (the auxiliary gear located on the opposite side of the drawing is not visible); The moving wheels 3 3 6a, 3 3 6b for the upper and lower vertical sections which are positioned to drive the sub-gear 3 3 3 (the moving wheels on the opposite side of the figure are not visible). Further, the drive sub-gear 333 is preferably one of the side of the moving wheel 336a or 336b for the vertical section, and is preferably arranged to be switched to the lower 3 3 6b. Further, the rail of the transport mechanism of the fourth configuration is disposed such that the horizontal rail 3 1 0 in which the moving wheels 3 3 1a and 3 3 1 b roll is perpendicular to the vertical rail 3 1 1 . Then, the horizontal rails 310 are fixed to the horizontal rail portion 310a and the front end portion of the rail portion 310a, and are horizontally and erectably coupled to the undulating rail portion 3 by a driving force such as a cylinder or a motor (not shown). Formed by Ob. Further, the vertical rail 31 is composed of fixed vertical rail portions 311a and 311b disposed in a direction perpendicular to the fixed horizontal rail portion 310a, and a portion substantially the same length as the length of the aforementioned relief rail portion 3 1 Ob. It is cut away at a position higher than the position on the extension line of the rail portion 3 1 〇b, and is formed by the separated cut-away rail portion 3 1 1 c. -30-200838781 The above-described cutting off-track portion 311c is operated by being reversely engaged with the rail portions 311a and 31 1b in a direction perpendicular to the vertical rail portions 311a and 311b by a driving force of a cylinder or the like. Features. The vertical rail 31 1 and the fixed vertical rail portions 311a and 311b and the cut-away rail portion 311c are provided with racks 311d for guiding the drive sub-gears 333 to be engaged on the inner surface. In the transport mechanism of the present invention of the fourth configuration, in addition to the above-described vertical and horizontal rails 310, 311, when the cut rail portion 311c is opposite to the fixed vertical rail portions 3 1 1 a, 3 1 1 b Between the upper and lower fixed vertical rail portions 311a and 311b, the direction of the trolley 33·0 moving on the horizontal rail 310 is changed to the direction changing rail portion 3 1 1 of the upper fixed vertical rail portion 3 1 1 a . It is arranged to operate in the horizontal direction in synchronization with the above-described cutaway rail portion 311c. The direction changing rail portion 3 1 2 as the curved rail is at the lower end of the upper fixed vertical rail portion 3 1 1 a, and the vertical portion 3 1 2a where the upper end portion is joined, and below the vertical portion 3 1 2a The curve portions 312b, 312c, and 312d of the three routes are arranged in the vertical direction. The vertical portion 312a is provided with a rack 312d that is engaged with the rack 311d. Here, the two curve portions 3 1 2b and 3 1 2d above the three curve portions 312b, 312c, and 312d are formed in the sub gear 333 for guiding the bogie 330 on the horizontal rail 310. The curved rails of the upper and lower moving wheels 336a and 336b are formed in a curved rail having a rack 312f for guiding the sub-gear 333. The curved rail portion 3 1 2c formed as a direction changing rail portion 3 1 2 of the guide driving sub-gear 3 3 3 is provided with a tooth engaged with the sub-gear-31 - 200838781 3 3 3 under the inner side. Article 3 12f. When the sub-gear 3 3 3 is provided in a state of being switched between the vertical wheel and the moving wheel 33 6b, the rack 312f engaged with the sub-gear 33 3 is disposed below the inner side of the lower curved portion 312d. . In the transport mechanism of the fourth aspect of the present invention comprising the bogie 330 having the above-described configuration and the horizontal and vertical rails 310 and 311, as shown in Figs. 13 to 15, the moving wheels 331a and 331b are used to When the trolley 330 moved on the horizontal rail 310 to the left of the figure reaches the direction changing rail portion 3 1 2 engaged with the upper vertical rail portion 3 1 1 a, the upper and lower moving wheels 3 36a, 3 3 6b At the same time as the track of the upper and lower curve portions 3 1 2b and 3 1 2d of the direction changing rail portion 3 12 is entered, the sub-gear 3 3 3 enters the orbit of the rack 312f of the intermediate curve portion 312c. The aforementioned moving wheels 3 36a, 3 3 6c and the sub-gears 33 3 entering the respective curve portions 312b, 312d and 312 are respectively guided to the curved track and reach the vertical direction of the direction changing rail portion 3 12 . The portion 312a is moved by the action of the sub-gear 3 3 3 and the rack 3 1 2 e of the occlusion guide sub-gear 3 3 3 to enter the upper fixed vertical rail portion 3 1 1 a (refer to 1 4, 16 and 17). Here, the trolley 330 is in the section including the vertical rail portion 311a of the vertical portion 312a of the direction changing rail portion 312, by the moving wheels 3 3 6 a , 3 3 6b , and the sub-gear 3 3 3 The three rolling elements are supported on the vertical rail 311, so that the whole of the trolley 330 moves on the horizontal rail 310 and maintains the vertical posture, and the horizontal posture is maintained via the direction changing rail portion 31, and can be along the vertical rail 3 1 1 Move (refer to Figure 15). When the horizontally moved trolley 330 enters the upper vertical rail portion -32-200838781 311a, the undulating rail portion 310b is raised (refer to Figs. 18 and 19), and the direction changing rail portion 312 and the vertical rail portion are released. The engagement '311' is displaced in the horizontal direction (the rising rail portion 3 1 Ob side), and in synchronization with this, the cutting rail portion 3 1 1 c of the vertical rail 3 1 1 enters the upper and lower fixed vertical rail portions. Between 311a and 311b, the entire vertical rail 311 is combined into a through state. Therefore, the trolley 3 3 0 entering the vertical rail portion 31 la moves upward along the upper vertical rail portion 31 1 1 a, or The moving direction is selected by moving toward the lower side of the vertical rail portion 311b. As described above, the transport mechanism of the present invention having the fourth configuration has a function of a mechanism for changing the moving direction of the bogie 300 from the horizontal rail 31 to the vertical rail 3 1 1 and maintaining the horizontal posture. The vertical rail 3 1 0 enters the direction of movement of the trolley 320 in the vertical direction of the vertical rail, and can select either one of the upper or lower sides, and acts as a branching mechanism of the moving direction. Next, for the previous FIG. 3 to the first The application example of the horizontal transport mechanism of the fourth configuration of the present invention described in Fig. 9 will be described with reference to Figs. 20 to 26 . In the 20th to 26th drawings, the same reference numerals as in the 13th to 19th drawings represent the same member or the same portion. The horizontal transport mechanism of the present invention having the fourth configuration described in the first to third embodiments is applied to the vehicle 3300, which is illustrated in Figs. 2 to 23. In the 20th to 23rd drawings, the trolley 330 is provided at the bottom of the trolley body 335, and has two horizontal moving wheels 3 3 1 a and 3 3 1 b ' as a group and is provided with: The side wheels are sandwiched by the side wheels 3 3 1 c and 3 3 1 d -33- 200838781 in a horizontal posture of the guide rail (not shown) for preventing the unloading. The horizontal moving wheel 331D for obtaining the horizontal moving force in the illustrated example is disposed at the center of the bottom of the truck body 335. The driving force for horizontal movement is input to the above-mentioned moving wheel 331a or 331b, or can be input to both sides. This eliminates the need for the horizontal moving wheel 33 1D. On the other hand, at a substantially intermediate position between the left and right side faces of the bogie 330, viewed from the front (back side) of the bogie body 33 5, the inside of the sub-gears 3 3 3 and 3 3 4 (close to the bogie body) are provided. : the upper and lower vertical moving wheels 336a, 3 36b and 337a, 337b positioned in the upper and lower directions respectively. Coaxially with the sub-gears 333 and 334, and on the outer surfaces of the two sub-gears 3 3 3 and 3 3 4, there are provided rolling prevention rolls for preventing the sub-gears 3 3 3 and 3 3 4 from falling off the rack. Sub 3 3 3 a, 3 34a. The rollers 3 3 3 a and 3 34a for preventing the falling off have the same shape and are smaller in diameter than the sub gears 3 3 3 and 3 3 4 , respectively. On the other hand, in Fig. 20 to Fig. 23, CT is a container schematically showing the carriage main body 335. The anti-drop roller 3 3 3 a, 3 3 4a which is disposed coaxially with the sub-gears 333 and 334, and the second and third configurations of the invention described above in the same manner as the roller The sub-gears 133, 134, 233, and 234 provided in the trolleys 130 and 230 of the horizontal transport mechanism are also applicable. The direction changing rail portion 3 1 2 in which the carriage 330 moves and changes in the direction from the horizontal direction in the vertical direction is provided at an intersection of the horizontal rail 310 and the vertical rail 311 of the transport mechanism of the present invention having the fourth configuration. The type shown in Figure 24. The direction changing rail portion 312 of Fig. 24 is viewed from the front side (or the back side) on the left and right sides of the -34-200838781 trolley body 3 3 5 in the state of the bogie 3 3 0 schematically shown in Fig. 25 . The auxiliary gears 3 3 3, 3 34, the vertical section moving wheels 3 3 6a, 3 3 6b, 33 7a, 3 3 7b, and the falling prevention rollers 3 3 3a and 3 3 4a are provided with the end faces shown in Fig. 25 (profile) shape. In Fig. 25, the left and right direction changing rail portions 312 of the cross section (end surface) shape are shown, and in Fig. 24, the type of the rail portion 312 on the left side of Fig. 25 is shown. The shape of the left and right direction changing rails 3 1 2 is the same type of left and right symmetry. Hereinafter, by the 24th diagram (see also FIG. 25), the rail portion 3 1 2 is changed for the direction of the left side of the 25th figure. The structure is explained. The horizontal rail 310 and the vertical rail 31 1 of the left and right direction changing rail portion 312 are applied, and at least the fixed horizontal rail portion 3 1 0a is provided in the same manner as the example described in the first to third figures. The fixed vertical rail portion 3 1 1 a 〇 direction changing rail portion 312 is formed to include a vertical portion 3 1 2a in which the upper end portion of the upper fixed vertical rail portion 3 1 1 a is joined to the upper end portion thereof, and a vertical portion 312a The three curved portions 3 12b, 3 12c, and 3 12d of the three routes are arranged in the lower direction. The vertical portion 3 12a is provided with a rack 312e that meshes with the rack 311d of the vertical rail 311a. The three curved portions 312b, 312c, and 312d shown in Fig. 24, the upper and lower curved portions 3 12b, 3 12d, sandwich the sub-gear 3 3 4 of the trolley 3 3 0 on the horizontal rail 310 ( 3 3 3 ), formed in: the lower moving wheel 3 3 7a, 3 3 7b ( 3 3 6a, 3 3 6b ) is guided from the horizontal direction to the vertical direction of the curved track, the middle curved portion 3 1 2c Is formed in a rack 312f for guiding the falling prevention roller 3 34a ( 3 3 3 a) coaxially with the sub gear 3 3 4 ( 3 3 3 ) and each of the sub gears Guide groove 312g -35- 200838781 The side rails of the double rails are provided side by side. In order to guide the roller 334a (333a) for preventing the fall-off, the double-track structure of the guide groove 313g which is arranged in parallel with the rack 312f, the sub-gear provided in the trolley of the horizontal transport mechanism of the present invention of the second and third configurations 1 3 3, 134, 23 3, 234 are provided with a roller for preventing falling off, and are also applicable to a curved rail provided with a rack engaged with the sub-gear. The curved portion 312c formed by the curved portion of the double rail for guiding the sub-gear 334 (33) and the falling prevention roller 3 3 4a (3 3 3 a) is provided on the inner lower portion: A rack 312f that meshes with the sub-gear 3 3 4 ( 3 3 3 ). The fourth structure of the present invention including the bogie 3003 having the configuration described in Figs. 20 to 25, the horizontal and vertical rails 3 1 0 and 31 1 and the direction changing rail portion 3 12 The transport mechanism to be applied, as illustrated in Fig. 26, the trolley 330 moved from the left side of the figure by the moving wheels 3 3 1 a, 331b on the horizontal rail 310, when reaching the upper vertical rail 311a When the direction of the rail portion 3 1 2 is changed, the moving wheels 3 3 6a, 3 3 6b and 3 3 7a, 3 3 7b for the vertical sections of the upper and lower sides on the left and right sides enter the left and right direction changing rail portion 312. At the same time as the rails of the upper and lower curved portions 312b and 312d, the left and right sub-gears 333 and 334 and the anti-dropping rollers 3 3 3 a and 3 34a on the same side enter: the intermediate bending portion is arranged side by side. The rack 312f of the 312c and the track of the guiding groove 312g. The moving wheels 336a, 336b and 337a, 337b for the vertical sections of the respective curved portions 312b, 312d, and 312c, and the sub-gears 333 and 343 and the anti-dropping rollers 3 3 3 a and 3 3 for coaxial insertion 4a, guided by each of the curved rails -36-200838781, reaches the vertical portion 3 1 2 a of the direction changing rail portion 3 1 2, and the left and right gears 333, 334 are engaged with the sub-gears 333, 334. The action of the rack 312e and the prevention of the detachment rollers 333a and 334a from which the two sub-gears 3 3 3 and 334 are detached from the rack 312e and the guide grooves 312g for guiding the rollers are positive. The vehicle is moved to the left and right fixed vertical rail portions 311a (refer to Fig. 26(a) to (f)). φ As shown in Fig. 26(f), the trolley 3 3 0 is in the left and right directions. The section of the vertical rail portion 3 1 1 a of the vertical portion 3 1 2a of the rail portion 3 1 2 is changed by the left and right moving wheels 3 3 6a, 3 3 6b and 3 3 7a, 3 3 7b, and left and right. The three rolling elements on the left and right sides of the sub-gears 3 3 3 and 3 3 4 are supported by the left and right vertical rails 3 1 1 , the trolleys 3 3 〇, and the whole moves on the horizontal rails 3 1 0 Hold the horizontal position and move along the vertical rail 3 1 1 (refer to Figure 26 (f)). This is the same as the previous embodiment explained in Figs. 13 to 19 . [Possibility of Industrial Applicability] In the embodiments of the first to fourth configurations and the application examples described above, the horizontal rails of the horizontal section are formed by one composite rail having a channel-shaped cross section, but The installation environment may be configured by the sub-gear rail and the moving wheel rail as in the vertical section, and the movement of the trolley in the horizontal section may be a moving wheel that receives the driving force in addition to the rack and the sub-gear. Therefore, as a transport mechanism that can maintain a horizontal posture at any time, it can be easily implemented by applying an existing technique. In particular, in the application example of the fourth configuration of the present invention, the auxiliary gear that meshes with the rack and outputs a driving force for moving the vertical section from the curve section is provided with a mechanism for preventing the sub-gear from being detached from the rack. Since the roller is prevented from falling off, the movement mode is changed from the horizontal direction to the vertical bending section of the sub-gear and the rack to ensure the stability. Further, in the above embodiment, the vertical rail and the horizontal rail are laid along the floor and the wall of the building, but the transport mechanism of the present invention can be formed even if the rails are laid on the pillars or the ceiling. For example, if the carrier is a product that must maintain a specific posture and cannot move on the ceiling, the cross-sectional shape of the horizontal rail or the supporting structure of the moving wheel or the method of laying the rail must be appropriately selected, and the staged laying constitutes a horizontal section. The track and the curve section, and the track of the vertical section which is indirectly continuous with the zones, can move the trolley provided with the container while maintaining the horizontal posture of the container even if the patio and the wall do not have a turning means. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a front elevational view showing an embodiment of a horizontal transport mechanism of a self-propelled trolley according to a first configuration of the present invention. Fig. 2 is a right side view of the horizontal transport mechanism of Fig. 1. Fig. 3 is a plan view of Fig. 2. Fig. 4 is a perspective view of the horizontal transport mechanism shown in Figs. 1 to 3. Fig. 5 is a front elevational view showing an embodiment of a horizontal transport mechanism of a self-propelled trolley according to a second configuration of the present invention. -38- 200838781 Fig. 6 is a right side view of the horizontal transport mechanism shown in Fig. 5. Fig. 7 is a plan view of Fig. 6. Fig. 8 is a perspective view of the horizontal transport mechanism shown in Figs. 5 to 7. Fig. 9 is a front elevational view showing an embodiment of a horizontal transport mechanism for a self-propelled trolley according to a third configuration of the present invention. Fig. 10 is a right side view of the horizontal transport mechanism shown in Fig. 9. Fig. 1 is a plan view of Fig. 9. Fig. 12 is a perspective view of the horizontal transport mechanism shown in Figs. 9 to 11. Fig. 3 is a side view for explaining the movement of the horizontal section of the bogie of the horizontal transport mechanism of the fourth configuration of the present invention. Fig. 14 is a side view for explaining the movement of the curve section of the bogie of the horizontal transport mechanism of the fourth configuration. Fig. 15 is a side view for explaining the movement of the vertical section of the bogie of the horizontal transport mechanism of the fourth configuration. A perspective view of the trolley and the posture of each track in the case where the carriage of the figure is moved from the horizontal section to the vertical section. Figure 17 is a side view of the pattern of Figure 16. The figure of Fig. 18 is a perspective view of the posture of the trolley and the respective rails in the case where the horizontal posture is moved in the vertical section. Figure 19 is a side view of the mode of Figure 18. Fig. 20 is a side view showing an example of a bogie used in an application example of the horizontal transport mechanism of the fourth aspect of the present invention. -39- 200838781 Figure 21 is a plan view of the trolley of Figure 20. Figure 22 is a left side view of the trolley of Figure 20. Fig. 23 is a schematic perspective view of the trolley shown in Figs. 20 to 22. Fig. 24 is a perspective view showing the pattern of the direction changing rail portion (left rail portion) in which the carriage moves in the 20th to 23rd views. Fig. 25 is a front elevational view showing the rail portion of the state in which the carriage of the Fig. 22 enters the left and right direction changing rail portion φ. Fig. 26 (a) to (f) are side cross-sectional views showing a state in which the rail passing direction is changed in a time series manner. [Description of main component symbols] 1 〇: Track 1 1 : Track for sub gear 1 2 : Track for moving wheel _ 1 4 : Composite rail 1 5 : Curved wall 2 0 : Rack 30 : Pallet 3 1 , 3 2 : Moving Wheel 3 3, 3 4 : Sub-gear 35 : Pallet body 110 : Track 111 · · Sub-gear track -40 - 200838781
1 1 2 :移動輪用軌道 1 14 :單軌 1 1 5 :曲面壁 1 1 6 ··開口 1 1 7 ·•孔 1 18 :導引壁 1 2 0 :齒條 1 3 0 :台車 1 3 1 a、1 3 1 b :移動輪 132a、132b :移動輪 13 3、134 ：畐!| 齒輪 135 :台車本體 13 6a、136b :移動輪 137a 、 137b :移動輪 2 1 0 :軌道 2 1 1 :垂直軌 2 1 4 :水平軌 2 1 5 :曲面壁 2 1 6 :開□ 217 :通道 220 :齒條 2 3 0 :台車 2 3 1 a、2 3 1 b :水平部移動輪 232a、232b :水平部移動輪 -41 - 2008387811 1 2 : Track for moving wheels 1 14 : Monorail 1 1 5 : Curved wall 1 1 6 ·· Opening 1 1 7 ·• Hole 1 18 : Guide wall 1 2 0 : Rack 1 3 0 : Pallet 1 3 1 a, 1 3 1 b : moving wheels 132a, 132b: moving wheels 13 3, 134: 畐! | gear 135: trolley body 13 6a, 136b: moving wheels 137a, 137b: moving wheels 2 1 0 : track 2 1 1 : Vertical rail 2 1 4 : Horizontal rail 2 1 5 : Curved wall 2 1 6 : Open 217 : Channel 220 : Rack 2 3 0 : Pallet 2 3 1 a, 2 3 1 b : Horizontal moving wheel 232a, 232b: Horizontal moving wheel -41 - 200838781
233 > 234 ：副齒輪 23 5 :台車本體 23 6a、23 6b :垂直部移動輪 23 7a、23 7b :垂直部移動輪 -42-233 > 234 : sub-gear 23 5 : trolley body 23 6a, 23 6b : vertical moving wheel 23 7a, 23 7b : vertical moving wheel -42-