201043508 六、發明說明： 【發明所屬之技術領域】 本發明，是有關搬運系統，進一步詳細的話，有關於 :橫跨如大樓的建築物的複數樓層，沿著在地板和頂棚等 水平且在壁等垂直地舖設的軌道，使由容器或是台車所構 成的搬運體可以隨時水平姿勢行走，在沿著軌道被配置的 平台將文件和零件等的搬運物從前述隨時水平姿勢的搬運 0 體卸下或是搭載於該搬運體的搬運系統。 【先前技術】 這種的搬運系統，是已揭示於本發明的申請人所國際 申請的國際公開公報（W02008/012989 )。前述公開公報 所揭示被搬運系統，首先，具有：在建築物內部被水平及 垂直地舖設的軌道、及沿著軌道舖設的齒條、及設在行走 於軌道上的台車上的行走輪、及與齒條嚙合的小齒輪及小 〇 齒輪的驅動部。且，前述軌道，是在從水平朝垂直地或是 從垂直朝向水平變更的曲線區間及沿續其的垂直區間，具 備：設有與小齒輪嚙合的齒條的小齒輪用軌道、及與該小 齒輪用軌道平行且從其分離的行走輪用軌道。且，台車’ 是在左右側面，具備：與前述小齒輪用軌道嚙合的小齒輪 及被支撐於前述行走輪用軌道的行走輪，且，將小齒輪用 軌道及行走輪用軌道，在沿續前述曲線區間及該曲線區間 的垂直區間使此台車維持水平姿勢地移動。 在前述公開公報所揭示的台車的結構的第一例’是在 -5- 201043508 左右兩側面中的中間部的同相位的位置的同軸上具備小齒 輪，並且在台車的行走方向具備將前述小齒輪前、後挾持 且將小齒輪的旋轉軸上、下挾持的方式配置的上下成對的 前後的行走輪，在沿續曲線區間及此區間的垂直區間，前 、後任一方的行走輪及小齒輪是藉由被支撐於各別的軌道 ，可以將該台車隨時保持在水平姿勢地行走。 上述公開公報的第二例的台車，是具備：在左右兩側 面中的中間部的同相位的同軸上具備小齒輪，並且在台車 的行走方向將前述小齒輪前、後挾持的成對的前後的水平 部行走輪：及將小齒輪的旋轉軸上下挾持的成對的上下的 垂直部行走輪。且軌道，是在從水平朝垂直或是從垂直朝 向水平變更的曲線區間，具備設有將與小齒輪嚙合的齒條 及水平部行走輪的行走面的曲線軌道，並且在沿續曲線區 間的垂直區間，具備設有將與小齒輪嚙合的齒條及垂直部 行走輪的行走面的垂直軌道，在曲線區間，水平部行走輪 及小齒輪是藉由曲線軌道被支撐，在沿續曲線區間的垂直 區間，垂直部行走輪及小齒輪是藉由垂直軌道被支撐，台 車是可以隨時以水平姿勢行走。 進一步在上述公開公報的第三例的台車，是在左右兩 側面中的中間部的同相位的同軸上具備小齒輪，並且具備 :設在該台車的底部的水平部行走輪、及將前述小齒輪的 旋轉軸上下挾持地成對地設置的上下的垂直部行走輪。且 ，軌道，是在從水平朝垂直或是從垂直朝向水平變更的曲 線區間，具備設有與前述小齒輪嚙合的曲線齒條及將垂直 -6- 201043508 部行走輪拘束導引的行走面的曲線軌道，並且在沿續該曲 線區間的短的垂直區間，具備設有與前述小齒輪嚙合的短 的齒條及垂直部行走輪的行走面的短的垂直軌道，在曲線 區間，小齒輪是被支撐於曲線齒條並且水平部行走輪被支 撐於曲線軌道，在沿續曲線區間的短的垂直區間中，小齒 輪及垂直部行走輪是藉由將短的齒條內包的垂直軌道被支 撐，使台車可以隨時以水平姿勢行走。 0 本發明的申請人先前提案的上述的搬運系統，是即使 沒有迴轉手段也可以將被積載在台車的容器的姿勢與台車 一體地隨時維持於水平姿勢，且，具備可以縮小軌道的方 向的變更區間的曲線曲率使搬運系統整體可以輕小地構築 的優點。 [先行技術文獻] [專利文獻] [專利文獻1]PCT國際申請公開號第W02008 / 〇 012989 號 【發明內容】 (本發明所欲解決的課題） 本發明的課題，是提供一種將台車隨時維持並保持於 水平姿勢的搬運系統’可以改良使先前申請人提案的台車 可以隨時水平姿勢行走的搬運系統的構造更簡單，由此搬 運系統的設置工事可以更簡單地進行，進一步提高動作（ 行走動作）的信賴性。 201043508 (用以解決課題的手段） 爲了解決上述課題的本發明搬運系統的 台車的搬運系統，具備：在上、下端部形成 間形成垂直部的具有齒條齒的齒條軌道 '及 平行配置的導引軌道、及與前述齒條軌道及 端的水平部連接的下部水平軌道、及與該齒 軌道的上端的水平部連接的上部水平軌道、 齒嚙合的小齒輪、及在導引軌道上旋轉移動 述台車，是在其左右側面且在假想正立四角 交點設有小齒輪，並且具備呈水平且垂直地 四角形的頂點的四個導引輪’前述齒條軌道 及垂直部及兩部之間具備曲線區間，導引軌 於前述齒條軌道中的上、下的水平部及垂直 部及垂直部之間的曲線區間的該齒條軌道， 、下面及前後面位置的方式配置的一對的導 並且在前述導引軌道中的垂直部及曲線區間 成：先行的導引輪通過用的間隙、及水平部 間對於前述的先行行走輪位於對角線上位置 輪通過用的間隙。 對於本發明，台車是具備供在水平軌道 的行走輪及驅動輪，驅動輪是可以藉由台車 強制旋轉。 且，對於本發明，上、下部的水平軌道 結構，是自走 水平部在其中 與此齒條軌道 導引軌道的下 條軌道及導引 及與前述齒條 的導引輪，前 形的對角線的 並列配置於該 ，是在水平部 道，是各別對 部以及該水平 各別由位於上 引軌道形成， 之間，各別形 及曲線區間之 的後行的導引 上旋轉移動用 的驅動機構被 是具備與該軌 -8- 201043508 道平行的導引’台車是具備將前述導引挾持且沿著其旋轉 移動的補助導引輪較佳。 進一步，對於本發明，配置於齒條軌道前方側的導引 軌道，是由該齒條軌道中的下部水平部的導引軌道、垂直 部的導引軌道、上部曲線區間的導引軌道及上部水平部的 導引軌道所構成。且，在前述垂直部的導引軌道及上部曲 線區間的導引軌道之間以及在上部曲線區間的導引軌道及 0 上部水平部的導引軌道之間，配置有台車的導引輪通過用 的間隙。 另一方面，配置於齒條軌道的後側的導引軌道，是由 下部水平部的導引軌道、下部曲線區間的導引軌道、垂直 部的導引軌道及上部水平部的導引軌道所構成。且，在下 部水平部的導引軌道及下部曲線區間的導引軌道之間以及 在下部曲線區間的導引軌道及垂直部的導引軌道之間，配 置有台車的導引輪通過用的間隙也可以。 Q 又，對於本發明，將前述齒條軌道及導引軌道，至少 在進入下部的曲線區間的前方的垂直部進行切斷，將別的 齒條軌道及導引軌道，作爲朝前述垂直部正直地連接的垂 直齒條軌道部及垂直導引軌道部地配置，並且被切斷的前 '述曲線區間的齒條軌道及導引軌道及前述別的垂直齒條軌 道部及垂直導引軌道部，是可選擇地移動於前述切斷部的 齒條軌道及導引軌道之間也可以。 [發明的效果] -9- 201043508 本發明搬運系統’因爲是自走台車的搬運系統，具備 :在上、下端部形成水平部在其中間形成垂直部的具有齒條 齒的齒條軌道'及與此齒條軌道平行配置的導引軌道、及與 前述齒條軌道及導引軌道的下端的水平部連接的下部水平軌 道、及與該齒條軌道及導引軌道的上端的水平部連接的上部 水平軌道、及與前述齒條齒嚙合的小齒輪、及在導引軌道上 旋轉移動的導引輪，前述台車，是在其左右側面且在假想正 立四角形的對角線的交點設有小齒輪，並且具備呈水平且垂 直地並列配置於該四角形的頂點的四個導引輪，前述齒條軌 道，是在水平部及垂直部及兩部之間具備曲線區間，導引軌 道，是各別對於前述齒條軌道中的上、下的水平部及垂直部 以及該水平部及垂直部之間的曲線區間的該齒條軌道，各別 由位於上、下面及前後面位置的方式配置的一對的導引軌道 形成，並且在前述導引軌道中的垂直部及曲線區間之間，各 別形成：先行的導引輪通過用的間隙、及水平部及曲線區間 之間對於前述的先行行走輪位於對角線上位置的後行的導引 輪通過用的間隙，所以台車是從水平移動朝垂直移動時，在 小齒輪是嚙合於齒條齒使台車昇降，同時使導引輪在水平及 垂直區間在導引軌道的外側面旋轉移動，並且在曲線區間使 先行的導引輪及位於與該先行導引輪對角方向位置的後行的 導引輪通過間隙，就可以將台車從水平移動朝垂直移動變更 走路。因此，搬運系統的整體構造，更具體而言，將方向變 換動作圓滑且正確地進行的方向變更部的構造可以更簡單’ 藉此設置工事也可以更簡單地施工，可以提供行走信賴性高 -10- 201043508 的搬運系統。 【實施方式】 [實施例1] 第1圖〜第7圖是顯示本發明搬運系統的實施的一例 〇 本發明搬運系統，是如第1〜3圖所示’具備：作爲 Ο 搬運體的台車10、及具備被舖設在建築物內部的垂直部 及從此垂直部朝水平部方向變換的部位的齒條齒的軌道 20、及與軌道20連繫的上、下的水平軌道41、42。 台車10，是具備形成容器的框體11。框體11’是在 其上部具備可開放的上蓋1 2，藉由上蓋1 2打開就可從所 形成的開口搬運物收納在框體內部。框體1 1的下部是形 成於車台。 在台車10的下面配置有行走輪13a、13b及驅動輪 〇 16，在行走方向的左右的兩側面配置有小齒輪17、及4 個導引輪 1 8a、1 8b、1 9a、1 9b。 行走輪13a、13b是在台車10的下面的前後將左右的 行走輪作爲1組組入。在行走輪1 3 a、1 3 b的中間位置， 驅動輪16是被配設在台車10的下面，與被組入台車內部 的驅動機構連結。在上、下部的水平軌道41、42作用的 直線行走用的2個補助導引輪14，是在台車10的下面的 前後，在行走輪13a、13b的軸及直角方向的軸，即將旋 轉軸垂直且彼此之間隔有間隔的方式使車軸被保持於車台 -11 - 201043508 。補助導引輪1 4的間隔是對應上、下部的水平軌道4 1、 42的導引41a的剖面寬度。 小齒輪17’是配置於台車10的左右側面中的下方靠 近的略中間位置，藉由台車內部的驅動機構旋轉。且，4 個導引輪18a、18b、19a、19b’是可自由旋轉的方式被 配置在使小齒輪1 7的位置爲對角線的交點的假想正立四 角形的隅部（頂點）。對於4個導引輪18a〜19b雖只有 說明右側面，是但小齒輪1 7及4個導引輪1 8 a、1 8 b、 1 9a、1 9b是如第3圖所示也同樣地組入左側面。 由具備齒條齒的齒條軌道25以及沿著該軌道25被配 送的導引軌道21a、21b〜32a、32b、33等所構成的軌道 20，是在第1〜3圖中意示地顯示，將台車10從某樓層的 樓板等的水平面朝上層樓層的水平面（樓板等）使用台車 1 0將搬運物以維持水平姿勢移動的情況的舖設態樣。 即，由齒條軌道25及各導引軌道21a等所構成的軌 道20，是如第1圖〜第3圖所示，在台車10的行走方向 左右兩側配置有一對，且彼此之間平行地被配置。構成軌 道20的各軌道構件，在第1〜7圖中雖圖示空中浮遊，但 是實際上是藉由適當的構件和架台等被固定支撐在地板、 壁等。 構成軌道2 0的齒條軌道2 5，是具備與台車1 〇的小 齒輪17嚙合的齒條齒25a。此齒條軌道25 ’是在與被平 行配置的二個上下端部連接的上、下的水平部、及兩水平 部之間，具備隔著曲線區間被配置的垂直部，例如’沿著 -12- 201043508 建築物的垂直的壁被舖設。對於沿著此齒條軌道25配置 的各導引軌道，如以下說明。 位於垂直部的齒條軌道25前方（前方側）的導引軌 道21 a，是位於二條的齒條軌道2 5的內側（第3圖參照 )，並與齒條軌道25平行地配置。且，在齒條軌道25的 上下位水平部配設有導引軌道22a、22b及同32a、32b ’ 且在齒條軌道2 5的垂直部的後方（背面側）配設有導引 Q 軌道21b，在上下部的曲線區間配設有導引軌道23、33。 又，在位於齒條軌道25的後方的導引軌道21b中，前述 的各導引軌道22b、導引軌道23、導引軌道3 2b，是位於 成爲連續的行走路徑上。 下方的水平部的導引軌道22a、22b是被平行配置於 齒條軌道25的水平部的內側。此導引軌道22a、22b的上 側面是對應從台車10的左右的導引輪18a、18b或是導引 輪19b、19b的行走方向所見的寬度（第3圖參照）。 〇 下部的曲線區間的左右的導引軌道23，是被配置於 :位於齒條軌道2 5的垂直部的背面側的左右的導引軌道 2 1b、及位於齒條軌道25的水平部的下方側的導引軌道 22b之間的左右的曲線區間。此下部的曲線區間的左右的 導引軌道23，是形成左右反轉的略L字形，將一端配置 在下部的水平部的導引軌道22b，將另一端朝向垂直部的 導引軌道24b配置，使外側面與下部的水平部的導引軌道 22b、22b的外側面連續的方式配置。此軌道23的外側面 的曲線’雖是與齒條軌道2 5的曲線區間共有曲率中心， -13- 201043508 但是曲率半徑較大形成。 齒條軌道25的垂直部的導引軌道21a及21b的左右 的外側面的寬度，是是對應台車10的導引輪18a、18b或 是導引輪19a、19b的行走方向的寬度（第3圖參照）。 在齒條軌道25中，上部的曲線區間的導引軌道33，是 與垂直部的導引軌道21a、21a的上端部連接的方式配置。 上部曲線區間的導引軌道33,是形成反轉的略L字形，將 下端側朝向垂直部的導引軌道2 1 a，將前端部朝向上部的水 平部的導引軌道3 2a地配置，外側面是與這些的垂直區間導 引軌道21a及上部的水平部導引軌道32a的上面連續的方式 配置。此導引軌道32的外側面，雖是與齒條軌道25的上方 的曲線區間共有中心，但是曲率半徑較大形成。 齒條軌道25中的上部水平部的導引軌道32a及32b ，是例如被配置於成爲上層樓層的場所。這些的上部的水 平部中的左右一對的導引軌道32a、32b的寬度，是對應 從台車10的導引輪18a、18b或是導引輪19a、19b的正 面所見的寬度（行走方向的左右寬度）。 在齒條軌道25的垂直部的導引軌道21a、21b，在該 垂直部的導引軌道21b及下部的曲線區間中的導引軌道 23之間，是形成台車10的導引輪之中右上的導引輪18a 通過的間隙3 6，在上部的水平部導引軌道3 2 b及上部的 曲線區間的導引軌道3 3之間，是形成導引輪1 8 a及對角 方向後行的導引輪1 9 b通過的間隙3 8 ° 即，設有下部的水平部的導引軌道22b及下部的曲線 -14- 201043508 區間的導引軌道2 3之間的間隙3 5，是台車1 〇的左下中 的後行的導引輪19b可通過，下部的曲線區間的導引軌道 23及垂直部的導引軌道2 1 b之間的間隙3 6，是先行的右 上的導引輪18a可通過。且，上部的曲線區間的導引軌道 33及上部的水平部的導引軌道32a之間的間隙38是形成 可讓先行的右上中的導引輪18a通過，上部的曲線區間的 導引軌道33及垂直部的導引軌道21a之間的間隙37是形 ¢) 成可讓後行的左下中的導引輪19b通過。 在建築物的地板和接近地板的水平部分，舖設有下部 水平軌道41。下部水平軌道41，是與齒條軌道25中的下 部的水平部的導引軌道22a、22b稍爲重疊設置，且，省略 圖示的水平軌道41的左端側，是朝向此樓層中的平台延伸 。另一方面，在上層樓層中，舖設有供驅動輪16及行走輪 13a、13b旋轉移動的上部水平軌道42。上部水平軌道42 ，是與齒條軌道25中的上部的水平部的導引軌道32a、 Q 3 2b稍爲重疊設置，且，此軌道42的圖示省略的右端側， 是朝向此樓層中的平台延伸。這些上下的水平軌道41及 42中，供台車10的補助導引輪14旋轉移動用的導引41a 、42a是設在長度方向中央，使台車10可直線地移動。 台車10，是藉由驅動輪16及行走輪13a、13b’從位 於下樓層中的平台在下部水平軌道41上自走’並且藉由 直線行走的補助導引輪14沿著下部水平軌道41的導引 41a，移動直到下部水平軌道41的末端部爲止。 到達前述水平軌道41的末端部附近的話’首先導引 -15- 201043508 輪18a、18b是與下部水平部的導引軌道22a、22b的上 面接觸，稍爲行走的話，小齒輪17是與齒條齒25a嚙 。台車10，是如第4圖所示，藉由小齒輪17及齒條 25a而上昇，導引輪18a是與垂直部的導引軌道24b的 側面接觸，導引輪18b是與下部曲線區間的導引軌道 的外側面接觸，將台車1 〇保持在水平姿勢的狀態下’ 水平朝垂直角度9 0 °地彎曲行走。 如此台車10進入齒條軌道25的下部的曲線區間的 ，後方（第4圖的左側）的導引輪19a、19b是與垂直 的導引軌道2 1 a的外側面接觸且自由旋轉，導引輪1 8a 18b是與垂直區間導引軌道24b的外側面接觸且自由旋 ，將台車10正直地（垂直）上昇，如第5圖所示，移 直到上部的曲線區間爲止。 台車10是進入上部的曲線區間的話，該台車10的 引輪19a是與上部曲線區間的導引軌道33的外側面接 ，將此台車1〇從垂直方向朝水平方向角度90°彎曲行走 ，導引輪1 9a是與上部水平部的導引軌道32a的外側面 觸，導引輪19b是通過間隙37與上部水平部導引軌 3 2b的外側面接觸。又，導引輪18a是通過間隙38在 部水平部導引軌道32a的上側面旋轉移動，導引輪18b 上部水平區間導引軌道3 2b的上側面旋轉移動。 台車1 0的導引輪1 8a、1 8b、1 9a、1 9b是到達上部 平部的導引軌道32a、32b的末端的話，在幾乎同時’ 齒輪17是從齒條齒25a脫落，同時台車10的行走輪1 側 合 齒 外 23 從 話 部 轉 動 導 觸 後 接 道 上 是 水 小 3 a -16- 201043508 、13b是與上部水平軌道42接觸且台車ι〇的驅動輪16 是藉由驅動機構被旋轉，使台車10水平移動。由此，台 車10，是經由齒條軌道25從下層樓層至上層樓層水平移 動，到達其樓層中的平台後，移動停止。 以上的說明，雖說明了從下層樓層朝上層樓層的台車 10的搬運，但是從下層樓層的某場所至上層樓層的某場 所將搬運物直接垂直移動的情況，例如，從一樓層的某場 ¢) 所至三樓層的某場所將搬運物直接移動的情況時，齒條軌 道2 5是如例如第7圖所不的構成。 這是藉由將齒條軌道25的垂直部的導引軌道21a' 21b中的下部曲線區間的導引軌道23的附近切斷，使由 第7圖假想線所示的走路切換移動體43及同44，選擇性 地在齒條軌道25、125及垂直部的導引軌道21a、21b、 121a、121b之間移動的方式進行。 即，在第7圖中，將下方的齒條軌道125與齒條軌道 Q 25的垂直部的下端連接，下方的垂直部的導引軌道部分 121a、121b是與上方的垂直部的導引軌道21a、21b連接的 方式配置。走路切換移動體43 ’是具備：下部的曲線區間 導引軌道23、垂直部的導引軌道21a、21b的下端部分21a' 、21b，、齒條軌道25的一部分25'。一方的切換移動體44 ，是具備垂直部的導引軌道22〗a、221b及齒條齒輪225 ° 2個切換移動體43及44’是選擇性地在上下的齒條軌道 25、125及上下的垂直部的導引軌道21a、21b、121a、 1 2 1 b之間移動。此水平移動’是例如可以藉由將切換移動 -17- 201043508 體43及44載置在軌道，藉由油壓汽缸等動作而進行。 另一方面，從二樓層的平台朝一樓層的平台的台車 10的移動，是將走路切換移動體43在垂直部的導引軌道 21a、21b、121a、121b之間移動，朝垂直部的導引軌道 21a、21b移動，並且之後，使切換移動體43退避，將前 述移動體44在垂直部的導引軌道21a、21b、121a、121b 之間移動的話，就可以使台車l〇下降。 又，這種台車1〇的移動，是將搭載在走路切換移動 體43的構成構件群，在第7圖中左右及上下反轉，即， 藉由將組裝了上部曲線區間的導引軌道3 3、垂直部的導 引軌道21a、21b的下端21a1、21b’、齒條軌道25的一部 分25’的第三走路切換移動體，在垂直部的導引軌道21a 、21b，121a、121b之間與其他的切換移動體擇一地移動 ，就不需如其中一例從二樓層朝一樓層使台車的水平行走 ，就可以直接地將台車1〇移動。 [產業上的利用可能性] 本發明的搬運系統，對於辦公室內中的文書' 郵件' 文具等、病院內的病歷、工場內的零件和製品、進一步檢 體和試藥等的積載物，因爲可以藉由將該積載物隨時保持 在水平姿勢的狀態下行走的台車自動搬運直到目的場所爲 止，所以極有用。 【圖式簡單說明】 -18- 201043508 [第1圖]顯示本發明搬運系統的實施的一例的從正面 側所見的立體圖。 [第2圖]第1圖的搬運系統的側面圖。 [第3圖]第1圖的搬運系統的前視圖。 [第4圖]顯示第1圖〜第3圖所示的搬運系統中的搬 運體從水平行走朝垂直行走轉移的狀態的側面圖。 [第5圖]顯示搬運體從垂直行走朝水平行走轉移的狀 Q 態的側面圖。 [第6圖]顯示第1圖〜第3圖所示的搬運系統中的搬 運體從水平行走朝垂直行走轉移的狀態的側面圖。 [第7圖]顯示以第1圖〜第6圖所示的搬運系統爲基 礎的其他的搬運路的結構例的側面圖。 【主要元件符號說明】 10 :台車 〇 11 :框體 12 :上蓋 13a、13b :行走輪 Μ :補助導引輪 1 6 :驅動輪 1 7 :小齒輪 18a =導引輪 1 8b :導引輪 Ma :導引輪 -19- 201043508 19b :導引輪 2 0 :軌道 21a'、21b':下端部分 21a、21b、121a、121b ：導弓[軌道 22a、22b :導引軌道 23 :導引軌道 24b :導引軌道 2 5 ’ ： 一部分 2 5、1 2 5 :齒條軌道 2 5 a :齒條齒 32 :導引軌道 32a、32b :導引軌道 33 :導引軌道 3 5 :間隙 3 6 :間隙 3 7 :間隙 3 8 :間隙 4 1 :下部水平軌道 41a、 42a ：導弓[ 42 :上部水平軌道 43 :切換移動體 44 :切換移動體 221a、221b:導引軌道 225 :齒條齒輪 -20-201043508 VI. Description of the Invention: [Technical Field of the Invention] The present invention relates to a handling system, and in further detail, relates to: a plurality of floors spanning a building such as a building, along a floor and a ceiling, etc. The rails that are vertically laid can be transported in a horizontal posture by a container or a trolley, and the articles such as documents and parts are unloaded from the transporting body in the horizontal posture at the time of the platform arranged along the rail. The following is a transport system mounted on the transport body. [Prior Art] This type of handling system is disclosed in International Publication (W02008/012989), which is incorporated herein by reference. The conveyance system disclosed in the above publication has firstly: a rail that is laid horizontally and vertically inside a building, a rack that is laid along the rail, and a traveling wheel that is provided on a trolley that travels on the rail, and A pinion gear that meshes with the rack and a drive portion of the pinch gear. Further, the track is a curved section that changes horizontally from vertical to vertical or vertically, and a vertical section that follows, and includes a small-gear rail provided with a rack that meshes with the pinion, and The pinion uses a track for the traveling wheel in which the tracks are parallel and separated therefrom. Further, the carriage ' is a left-hand side surface, and includes a pinion gear that meshes with the pinion rail and a traveling wheel that is supported by the traveling wheel rail, and the small-gear rail and the traveling wheel rail are continued The aforementioned curve section and the vertical section of the curve section move the trolley in a horizontal posture. The first example of the structure of the bogie disclosed in the above publication is that a pinion is provided coaxially at the same phase position of the intermediate portion of the two side surfaces of the left and right sides of -5 to 201043508, and the small diameter is provided in the traveling direction of the bogie. The front and rear pair of front and rear traveling wheels that are placed in front of and behind the gear and that hold the pinion's rotating shaft up and down, in the continuous curve section and the vertical section of the section, the front and rear traveling wheels and small The gears are supported by the respective tracks, and the trolley can be kept in a horizontal position at any time. In the bogie according to the second example of the above-mentioned publication, the pair of front and rear sides of the intermediate portion of the right and left sides are coaxially provided with the pinion gears in the same phase, and the front and rear of the pinion gears are held in the traveling direction of the carriage. The horizontal traveling wheel: and a pair of upper and lower vertical traveling wheels that hold the rotating shaft of the pinion up and down. And the track is a curved section that changes horizontally from vertical to vertical or from vertical to horizontal, and has a curved track provided with a running gear that meshes with the pinion and the horizontal traveling wheel, and is in the section along the continuous curve. The vertical section is provided with a vertical rail provided with a rack that meshes with the pinion gear and a running surface of the vertical traveling wheel. In the curved section, the horizontal traveling wheel and the pinion are supported by curved tracks in the continuous curve section. In the vertical section, the vertical walking wheel and pinion are supported by vertical rails, and the trolley can be walked horizontally at any time. Further, in the bogie according to the third example of the above publication, the pinion gear is provided coaxially on the same phase of the intermediate portion of the left and right side surfaces, and includes a horizontal traveling wheel provided at the bottom of the vehicle, and the small The upper and lower vertical traveling wheels provided in pairs of the rotating shaft of the gear are held up in pairs. Further, the track is a curved section that changes horizontally from the horizontal direction to the vertical direction or from the vertical direction, and includes a curved rack that is meshed with the pinion gear and a walking surface that guides the vertical -6-201043508 traveling wheel. a curved track, and a short vertical section along the short section of the curve, having a short vertical rail that is provided with a short rack that meshes with the pinion and a running surface of the vertical traveling wheel. In the curved section, the pinion is Supported by the curved rack and the horizontal traveling wheel is supported on the curved track. In the short vertical section along the continuous curve section, the pinion and the vertical running wheel are by the vertical orbit of the short rack Support, so that the trolley can walk in a horizontal position at any time. In the above-described transport system proposed by the applicant of the present invention, the posture of the container stacked on the bogie can be maintained in a horizontal posture integrally with the bogie at any time without the turning means, and the direction in which the rail can be reduced can be changed. The curvature of the section of the section has the advantage that the entire handling system can be constructed lightly. [PRIOR ART DOCUMENT] [Patent Document 1] [Patent Document 1] PCT International Application Publication No. WO2008/ 〇 012 989 [Summary of the Invention] (Problems to be Solved by the Invention) An object of the present invention is to provide a trolley for maintaining at any time. The transportation system that is held in a horizontal position can improve the structure of the transportation system in which the trolley proposed by the prior applicant can be moved in a horizontal posture at any time, whereby the installation work of the transportation system can be performed more easily, and the movement can be further improved (walking action) ) the reliability. 201043508 (Means for Solving the Problem) The carrier conveyance system of the conveyance system of the present invention for solving the above-described problems includes a rack rail having rack teeth formed in a vertical portion between the upper and lower end portions, and a parallel arrangement a guide rail, a lower horizontal rail connected to the horizontal portion of the rack rail and the end, an upper horizontal rail connected to the horizontal portion of the upper end of the tooth rail, a pinion gear meshed with the teeth, and a rotational movement on the guide rail The trolley is provided with a pinion gear at the intersection of the left and right sides and at the intersection of the imaginary erect corners, and has four guide wheels that are horizontal and perpendicular to the apex of the square. The rack rail and the vertical portion are provided between the two portions. a pair of guides arranged in a curved section, the guide rail is disposed on the upper and lower horizontal portions of the rack rail, and the rack rails in the curved section between the vertical portion and the vertical portion, and the lower and front and rear positions And the vertical portion and the curved section in the guiding track are: a gap for passing the leading guide wheel, and a gap between the horizontal portions for the aforementioned preceding traveling wheel A diagonal position of the wheel by a gap. In the present invention, the trolley is provided with a traveling wheel and a driving wheel for horizontal rails, and the driving wheel can be forcibly rotated by the trolley. Moreover, with the present invention, the upper and lower horizontal track structures are the self-propelled horizontal portion in which the lower track of the rack track guide track and the guide wheel of the rack and the aforementioned rack are opposite to the front shape. The parallel arrangement of the lines is in the horizontal section, and the respective pairs and the levels are respectively formed by the positioning of the upper guide rails, and between the respective shapes and the curved sections. The drive mechanism is provided with a guide that is parallel to the track-8-201043508. The trolley is preferably a supplemental guide wheel that is configured to hold and rotate the guide. Further, in the present invention, the guide rail disposed on the front side of the rack rail is a guide rail of the lower horizontal portion of the rack rail, a guide rail of the vertical portion, a guide rail of the upper curved section, and an upper portion. The guiding track of the horizontal portion is formed. Further, between the guide rails of the vertical portion and the guide rails of the upper curved section, and between the guide rails of the upper curved section and the guide rails of the upper horizontal section of the upper portion, the guide wheels of the trolley are arranged for passage. Clearance. On the other hand, the guide rails disposed on the rear side of the rack rail are guided rails of the lower horizontal portion, guide rails of the lower curved section, guide rails of the vertical portion, and guide rails of the upper horizontal portion. Composition. Further, between the guide rails of the lower horizontal portion and the guide rails of the lower curved section and between the guide rails of the lower curved section and the guide rails of the vertical section, a gap for guiding the guide wheels of the trolley is disposed. Also. Further, in the present invention, the rack rail and the guide rail are cut at least in a vertical portion in front of a curved section that enters the lower portion, and the other rack rails and the guide rail are made straight toward the vertical portion. a vertical rack rail portion and a vertical guide rail portion that are connected to each other, and the rack rail and the guide rail of the front curved section and the other vertical rack rail portion and the vertical guide rail portion that are cut off It is also possible to selectively move between the rack rail and the guide rail of the cutting portion. [Effects of the Invention] -9-201043508 The transport system of the present invention is a transport system for a self-propelled trolley, and includes a rack rail having rack teeth with a horizontal portion forming a vertical portion at the upper and lower end portions thereof and a guide rail disposed in parallel with the rack rail, a lower horizontal rail connected to the horizontal portion of the rack rail and the lower end of the guide rail, and a horizontal portion connected to the upper end of the rack rail and the guide rail An upper horizontal rail, a pinion gear meshing with the rack tooth, and a guide wheel rotatably moving on the guide rail, wherein the bogie is provided at an intersection of diagonal sides of the imaginary erecting quadrilateral on the left and right sides thereof a pinion gear and four guide wheels arranged horizontally and vertically in parallel with the apex of the square. The rack track has a curved section between the horizontal portion and the vertical portion and the two portions, and the guide rail is The rack rails of the upper and lower horizontal and vertical portions and the curved portion between the horizontal portion and the vertical portion in the rack track are respectively located above, below, and behind A pair of guiding tracks are disposed in a positional manner, and are formed between the vertical portion and the curved section in the guiding track, respectively: a gap for leading the guide wheel, and a horizontal portion and a curved portion. For the aforementioned preceding traveling wheel, the trailing guide wheel passes the gap, so when the trolley moves from horizontal to vertical, the pinion meshes with the rack teeth to lift and lower the trolley. The guide wheel rotates on the outer side of the guide rail in the horizontal and vertical sections, and passes the gap between the leading guide wheel and the trailing guide wheel at a position diagonal to the preceding guide wheel in the curved section. It is possible to change the trolley from horizontal movement to vertical movement. Therefore, the overall structure of the conveyance system, more specifically, the structure of the direction changing unit that smoothly and accurately performs the direction changing operation can be made simpler, and the construction work can be performed more easily, and the walking reliability can be improved. 10-201043508 handling system. [Embodiment] [Embodiment 1] Figs. 1 to 7 are diagrams showing an example of the implementation of the transport system of the present invention. The transport system of the present invention is provided with a trolley as a transport body as shown in Figs. 10. A rail 20 having rack teeth that are laid in a vertical portion inside the building and a portion that changes from the vertical portion toward the horizontal portion, and upper and lower horizontal rails 41 and 42 that are connected to the rail 20. The carriage 10 is provided with a casing 11 that forms a container. The casing 11' is provided with an openable upper cover 1 2 at its upper portion, and can be housed inside the casing from the formed opening conveyance by opening the upper cover 1 2 . The lower portion of the frame 1 1 is formed on the vehicle platform. The traveling wheels 13a and 13b and the drive rim 16 are disposed on the lower surface of the carriage 10, and the pinion gears 17 and the four guide wheels 18a, 18b, 19a, and 19b are disposed on both left and right sides in the traveling direction. The traveling wheels 13a and 13b are formed by grouping the left and right traveling wheels in front and rear of the lower side of the bogie 10. At the intermediate position of the traveling wheels 1 3 a and 1 3 b, the drive wheels 16 are disposed under the trolley 10 and coupled to a drive mechanism incorporated in the interior of the carriage. The two auxiliary guide wheels 14 for linear travel that act on the upper and lower horizontal rails 41 and 42 are the front and rear sides of the trolley 10, and the axes of the traveling wheels 13a and 13b and the axes in the right-angle direction, that is, the rotating shaft The axles are held on the platform -11 - 201043508 in a vertical and spaced manner. The interval between the auxiliary guide wheels 14 is the cross-sectional width of the guide 41a corresponding to the upper and lower horizontal rails 4 1 and 42. The pinion gear 17' is disposed at a slightly intermediate position in the lower left and right sides of the carriage 10, and is rotated by a drive mechanism inside the carriage. Further, the four guide wheels 18a, 18b, 19a, and 19b' are imaginary erected quadrangular ridges (vertices) that are rotatably disposed so that the position of the pinion gear 17 is the intersection of the diagonal lines. Although only the right side surface is described for the four guide wheels 18a to 19b, the pinion gears 17 and the four guide wheels 1 8 a, 1 8 b, 1 9a, and 19b are similarly shown in FIG. Group into the left side. The rails 20 including the rack rails 25 having the rack teeth and the guide rails 21a, 21b to 32a, 32b, and 33 which are distributed along the rails 25 are schematically shown in the first to third figures. The bogie 10 is laid out from the horizontal plane of the floor of a certain floor to the level of the upper floor (floor, etc.) using the trolley 10 to move the conveyed object in a horizontal posture. In other words, as shown in FIGS. 1 to 3, the rails 20 including the rack rails 25 and the respective guide rails 21a are arranged in a pair on the left and right sides in the traveling direction of the carriage 10, and are parallel to each other. The ground is configured. Each of the rail members constituting the track 20 is illustrated as floating in the air in the first to seventh figures, but is actually fixedly supported by a floor, a wall, or the like by an appropriate member, a stand, or the like. The rack rail 25 constituting the rail 20 is a rack tooth 25a that is meshed with the pinion 17 of the carriage 1 . The rack rail 25' is a vertical portion that is disposed between the upper and lower horizontal portions and the two horizontal portions that are connected to the two upper and lower end portions that are arranged in parallel, and is disposed, for example, along the curved section. 12- 201043508 The vertical walls of the building are laid. For each of the guide rails disposed along the rack rail 25, it will be described below. The guide rail 21a located in front of the rack rail 25 in the vertical portion (front side) is located inside the two rack rails 25 (refer to FIG. 3), and is disposed in parallel with the rack rail 25. Further, guide rails 22a and 22b and the same 32a and 32b' are disposed in the horizontal portion of the rack rail 25, and a guide Q track is disposed on the rear (back side) of the vertical portion of the rack rail 25. 21b, guide rails 23, 33 are arranged in the upper and lower curve sections. Further, in the guide rail 21b located behind the rack rail 25, the above-described guide rails 22b, guide rails 23, and guide rails 32b are located on a continuous traveling path. The guide rails 22a and 22b of the lower horizontal portion are disposed in parallel on the inner side of the horizontal portion of the rack rail 25. The upper side faces of the guide rails 22a and 22b correspond to the widths seen from the left and right guide wheels 18a and 18b of the carriage 10 or the traveling directions of the guide wheels 19b and 19b (refer to Fig. 3). The left and right guide rails 23 of the curved section of the crotch portion are disposed on the left and right guide rails 21b on the back side of the vertical portion of the rack rails 25, and below the horizontal portion of the rack rails 25. The left and right curve sections between the side guide rails 22b. The left and right guide rails 23 of the lower curved section are formed in a slightly L shape which is reversed left and right, and one end is disposed on the guide rail 22b of the lower horizontal portion, and the other end is disposed toward the guide rail 24b of the vertical portion. The outer side surface is disposed so as to be continuous with the outer side surfaces of the guide rails 22b and 22b of the lower horizontal portion. The curve ' of the outer side surface of the track 23 is formed by sharing the center of curvature with the curve section of the rack rail 25, -13-201043508 but having a large radius of curvature. The widths of the left and right outer side faces of the guide rails 21a and 21b of the vertical portion of the rack rail 25 are the widths of the guide wheels 18a and 18b of the carriage 10 or the traveling directions of the guide wheels 19a and 19b (third Figure reference). In the rack rail 25, the guide rails 33 of the upper curved section are arranged to be connected to the upper end portions of the guide rails 21a and 21a of the vertical portion. The guide rail 33 in the upper curved section is a slightly L-shaped inverted shape, and the lower end side faces the vertical guide rail 2 1 a, and the front end portion is arranged toward the upper horizontal guide rail 3 2a. The side surface is disposed so as to be continuous with the vertical section guide rail 21a and the upper surface of the upper horizontal section guide rail 32a. The outer side surface of the guide rail 32 is shared with the curved section above the rack rail 25, but has a large radius of curvature. The guide rails 32a and 32b of the upper horizontal portion of the rack rail 25 are disposed, for example, at a position to be an upper floor. The widths of the pair of left and right guide rails 32a, 32b in the upper horizontal portion of these are corresponding to the width seen from the front faces of the guide wheels 18a, 18b of the carriage 10 or the guide wheels 19a, 19b (the traveling direction Width left and right). The guide rails 21a, 21b in the vertical portion of the rack rail 25 are between the guide rails 21b of the vertical portion and the guide rails 23 in the curved section of the lower portion, which are the upper right of the guide wheels forming the carriage 10. The gap 3 6 through which the guide wheel 18a passes is between the upper horizontal guide rail 3 2 b and the guide section 3 3 of the upper curved section, and the guide wheel 18 a and the diagonal direction are formed. The clearance of the guide wheel 1 9 b is 3 8 °, that is, the guide rail 22b of the lower horizontal portion and the gap 3 5 between the guide rails 2 of the lower curve-14-201043508 section are the trolleys. The guide wheel 19b of the rear row in the lower left of the 可 can pass, and the gap 3 6 between the guide rail 23 of the lower curved section and the guide rail 2 1 b of the vertical section is the preceding upper right guide wheel 18a can pass. Further, the gap 38 between the guide rail 33 of the upper curved section and the guide rail 32a of the upper horizontal portion is a guide rail 33 which forms a curved upper right upper guide wheel 18a, and an upper curved section. The gap 37 between the guide rails 21a of the vertical portion is shaped to allow the guide wheels 19b in the lower left row to pass. A lower horizontal rail 41 is laid on the floor of the building and in the horizontal portion close to the floor. The lower horizontal rail 41 is slightly overlapped with the guide rails 22a and 22b of the lower horizontal portion of the rack rail 25, and the left end side of the horizontal rail 41 (not shown) is extended toward the platform in the floor. . On the other hand, in the upper floor, an upper horizontal rail 42 for rotationally moving the drive wheels 16 and the traveling wheels 13a, 13b is laid. The upper horizontal rail 42 is slightly overlapped with the guide rails 32a, Q3 2b of the upper horizontal portion of the rack rail 25, and the right end side of the rail 42 is omitted, which is toward the floor. Platform extension. Among the upper and lower horizontal rails 41 and 42, the guides 41a and 42a for the rotational movement of the auxiliary guide wheels 14 of the bogie 10 are provided at the center in the longitudinal direction, so that the carriage 10 can linearly move. The trolley 10 is self-propelled on the lower horizontal rail 41 from the platform located in the lower floor by the drive wheels 16 and the traveling wheels 13a, 13b' and along the lower horizontal rail 41 by the auxiliary guide wheels 14 traveling in a straight line. The guide 41a is moved until the end portion of the lower horizontal rail 41. When the vicinity of the end portion of the horizontal rail 41 is reached, 'first guide -15-201043508, the wheels 18a, 18b are in contact with the upper surfaces of the guide rails 22a, 22b of the lower horizontal portion, and the pinion 17 is the rack with a slight travel. The teeth 25a are indented. The carriage 10 is raised by the pinion gear 17 and the rack 25a as shown in Fig. 4, and the guide wheel 18a is in contact with the side surface of the guide rail 24b of the vertical portion, and the guide wheel 18b is in the lower curve section. The outer side of the guide rail is in contact, and the trolley 1 〇 is held in a horizontal posture, and the vehicle is bent horizontally at a vertical angle of 90°. Thus, the guide wheels 19a, 19b of the rear (the left side of FIG. 4) of the carriage 10 entering the lower portion of the rack rail 25 are in contact with the outer side surface of the vertical guide rail 2 1 a and are freely rotatable. The wheels 1 8a 18b are in contact with the outer side surface of the vertical section guide rail 24b and are freely rotated, and the trolley 10 is raised straight (vertical), as shown in Fig. 5, and moved up to the upper curved section. When the carriage 10 is in the curved section that enters the upper portion, the guide wheel 19a of the carriage 10 is connected to the outer side surface of the guide rail 33 of the upper curved section, and the trolley 1 is bent and bent at a horizontal angle of 90° from the vertical direction. 1 9a is in contact with the outer side surface of the guide rail 32a of the upper horizontal portion, and the guide wheel 19b is in contact with the outer side surface of the upper horizontal portion guide rail 32b through the gap 37. Further, the guide wheel 18a is rotationally moved by the gap 38 on the upper side surface of the horizontal portion guide rail 32a, and the upper side of the upper horizontal section guide rail 3 2b of the guide wheel 18b is rotationally moved. When the guide wheels 18a, 18b, 19a, and 19b of the carriage 10 are the ends of the guide rails 32a, 32b reaching the upper flat portion, the gear 17 is detached from the rack teeth 25a at almost the same time, and the trolley 10 of the walking wheel 1 side of the outer tooth 23 from the turn of the turn of the turn, the water is small 3 a -16- 201043508, 13b is the contact with the upper horizontal track 42 and the drive wheel 16 of the trolley is driven by the drive mechanism It is rotated to move the trolley 10 horizontally. Thereby, the carriage 10 is horizontally moved from the lower floor to the upper floor via the rack rail 25, and after reaching the platform in the floor, the movement stops. In the above description, the transport of the bogie 10 from the lower floor to the upper floor has been described. However, when the transport is directly moved vertically from a certain place on the lower floor to a place on the upper floor, for example, from a certain floor of a floor. When the conveyance is directly moved to a certain place on the third floor, the rack rail 25 is configured as shown in, for example, FIG. By cutting the vicinity of the guide rail 23 in the lower curved section of the guide rail 21a' 21b of the vertical portion of the rack rail 25, the moving body 43 is switched by the walking indicated by the imaginary line of FIG. Similarly to 44, the movement is selectively performed between the rack rails 25, 125 and the guide rails 21a, 21b, 121a, 121b of the vertical portion. That is, in Fig. 7, the lower rack rail 125 is connected to the lower end of the vertical portion of the rack rail Q 25, and the guide rail portions 121a, 121b of the lower vertical portion are guide rails with the upper vertical portion. 21a, 21b connection configuration. The walking switching moving body 43' includes a lower curved section guiding rail 23, lower end portions 21a' and 21b of the vertical guiding guides 21a and 21b, and a part 25' of the rack rail 25. One of the switching movable bodies 44 is a guide rail 22a, 221b and a rack gear 225 having a vertical portion. The two switching movable bodies 43 and 44' are selectively on the upper and lower rack rails 25, 125 and up and down. The guide rails 21a, 21b, 121a, 1 2 1 b of the vertical portion move between. This horizontal movement ' can be performed, for example, by placing the switching movements -17-201043508 bodies 43 and 44 on the rails, and operating by hydraulic cylinders or the like. On the other hand, the movement of the carriage 10 from the platform on the second floor toward the platform on the first floor is to move the walking switching moving body 43 between the guide rails 21a, 21b, 121a, 121b of the vertical portion, and to guide the vertical portion. The rails 21a and 21b are moved, and thereafter, the switching movable body 43 is retracted, and when the moving body 44 is moved between the guiding rails 21a, 21b, 121a, and 121b of the vertical portion, the trolley can be lowered. In addition, the movement of the carriage 1 is a component group mounted on the movement switching movable body 43, and is reversed left and right and up and down in Fig. 7, that is, the guide rail 3 in which the upper curved section is assembled 3. The lower end 21a1, 21b' of the guide rails 21a, 21b of the vertical portion, and the third walkover shifting body of the portion 25' of the rack rail 25, between the guide rails 21a, 21b, 121a, 121b of the vertical portion By alternately moving with other switching moving bodies, it is not necessary to move the trolley 1 直接 directly by moving the horizontally of the trolley from the second floor to the first floor. [Industrial Applicability] The transportation system of the present invention is for the document 'mail' stationery in the office, the medical records in the hospital, the parts and products in the factory, and the contents of the samples and reagents. It is extremely useful because the trolley that is traveling in a state where the stowage is held in a horizontal posture can be automatically transported to the destination. [Brief Description of the Drawings] -18- 201043508 [Fig. 1] A perspective view showing an example of the implementation of the conveying system of the present invention as seen from the front side. [Fig. 2] A side view of the transport system of Fig. 1. [Fig. 3] A front view of the transport system of Fig. 1. [Fig. 4] A side view showing a state in which the transporting body in the transport system shown in Figs. 1 to 3 is shifted from the horizontal traveling to the vertical traveling. [Fig. 5] A side view showing a state in which the carrier moves from vertical walking to horizontal travel. [Fig. 6] A side view showing a state in which the transporting body in the transport system shown in Figs. 1 to 3 is shifted from the horizontal traveling to the vertical traveling. [Fig. 7] A side view showing a configuration example of another transport path based on the transport system shown in Figs. 1 to 6 . [Main component symbol description] 10 : Pallet 〇 11 : Frame 12 : Upper cover 13a, 13b : Walking rim : Sublimation guide wheel 1 6 : Drive wheel 1 7 : Pinion 18a = Guide wheel 1 8b : Guide wheel Ma : Guide wheel 19 - 201043508 19b : Guide wheel 20 : Tracks 21a', 21b': Lower end portions 21a, 21b, 121a, 121b: Guide bows [Tracks 22a, 22b: Guide track 23: Guide track 24b: guide track 2 5 ' : part 2 5, 1 2 5 : rack track 2 5 a : rack tooth 32 : guide track 32a, 32b : guide track 33 : guide track 3 5 : gap 3 6 : Clearance 3 7 : Clearance 3 8 : Clearance 4 1 : Lower horizontal rail 41a, 42a: Guide bow [42: Upper horizontal rail 43: Switching movable body 44: Switching movable body 221a, 221b: Guide rail 225: Rack and pinion gear -20-