201206742 六、發明說明： 【發明所屬之技術領域】 本發明是關於搬運車系統，特別是關於使用可將分歧 導引滾輪在導引位置和非導引位置之間進行切換的搬運車 之搬運車系統。 【先前技術】 用來搬運大型化的玻璃基板或收納有複數片玻璃基板 之收容盒（cassette)之搬運車是已知的。搬運車，是在工廠 內的無塵室內自動行走，而在處理裝置間搬運物品。 搬運車所行走的軌道，例如是從頂棚懸吊之軌道。在 此情況’軌道及搬運車所行走的空間，是成爲與外部阻隔 之無塵室。 搬運車在左右兩側具有車輪，一方的車輪成爲驅動輪 ，另一方的車輪成爲從動輪。在驅動輪連接著馬達。搬運 車進一步具有：抵接於左右的導引軌道之導引滾輪。 搬運車進一步具有：在軌道的分歧部切換成往左右任 —個軌道前進之分歧機構。分歧機構係具有：設置成可抵 接於左右的導引軌道之分歧導引滾輪、以及可將分歧導引 滾輪在導引位置和非導引位置間進行切換之分歧導引滾輪 驅動部。分歧導引滾輪驅動部，是在分歧部，讓配置於分 歧目的側之分歧導引滾輪從非導引位置移動至導引位置， 而使搬運車移動至分歧目的側（例如參照專利文獻丨）。 〔專利文獻1〕日本特開2005-219643號公報 201206742 【發明內容】 作爲讓分歧導引滾輪移動的方式係包括：讓支承分歧 導引滾輪的構件沿旋轉中心線的延伸方向移動的方式，或 是讓支承分歧導引滾輪的構件以其一端爲中心而轉動的方 式。 後者的方式的情況，例如若有水平方向的外力作用於 分歧導引滾輪，會有大的力矩荷重作用於將支承構件予以 轉動自如地支承的部分。因此，必須提高轉動支承部的強 度，如此會導致成本上昇。 本發明的課題在於，在搬運車系統中，爲了減低分歧 導引時將分歧導引滾輪可轉動自如地支承之轉動支承部上 所作用的力矩荷重。 以下說明用來解決課題的手段之複數個態樣》該等態 樣可按照需要而任意地組合。 搬運車系統係具備：軌道、行走車、分歧導引滾輪機 構以及驅動機構。軌道，是在分歧部具有分歧導引軌道， 在該分歧導引軌道設置在鉛直方向具有既定長度的導引面 。行走車是沿著軌道行走。分歧導引滾輪機構係具有：分 歧導引滾輪、支承分歧導引滾輪之支承構件、以及將支承 構件可轉動自如地支承於行走車之轉動支承部。驅動機構 係設置於行走車，用來驅動分歧導引滾輪機構，而將分歧 導引滾輪相對於分歧導引軌道在導引位置和非導引位置之 間進行切換。分歧導引滾輪，在導引位置能以朝鉛直方向 -6- 201206742 延伸的旋轉軸爲中心進行旋轉，而配置成與導引面的側方 抵接或接近。轉動支承部之轉動中心的高度位置，在分歧 導引軌道的導引面上，是位於分歧導引滾輪在導引位置可 接觸的部分之上下方向的寬度內。 在此系統，行走車沿著軌道行走。若行走車到達分歧 部，驅動機構會驅動支承構件，而將分歧導引滾輪相對於 分歧側之分歧導引軌道切換至導引位置。藉此，行走車， 是在分歧部藉由分歧導引軌道導引至分歧側的軌道。 轉動支承部之轉動中心的高度位置，是位於分歧導引 滾輪在導引位置與分歧導引軌道接觸的部分之上下方向的 寬度內。因此，例如分歧導引時，不會有大的力矩荷重作 用於轉動支承部。結果，不須提高轉動支承部的強度，又 不須增大旋轉驅動的保持力，因此可降低成本。 分歧導引滾輪機構亦可進一步具備：設置於行走車兩 側之第1分歧導引滾輪機構和第2分歧導引滾輪機構、以 及將第1分歧導引滾輪機構和第2分歧導引滾輪機構連結 成可互相連動之連結構件。轉動支承部係具有：設置於第 1分歧導引滾輪機構之第1轉動支承部、以及設置於前述 第2分歧導引滾輪機構之第2轉動支承部。 在此情況’藉由連結構件將第1分歧導引滾輪機構和 第2分歧導引滾輪機構連結成可互相連動，因此可獲得以 下的效果。亦即，在將第1分歧導引滾輪及第2分歧導引 滾輪之一方從導引位置切換成非導引位置時，另一方的重 量可發揮配重（counterweight)的作用。因此，驅動機構賦 201206742 予第1分歧導引滾輪機構及第2分歧導引滾輪機構的荷重 可設定成較小。 搬運車系統亦可進一步具備：被檢測構件、檢測器以 及判定部。被檢測構件是設置於分歧導引軌道。檢測器係 設置於支承構件，當分歧導引滾輪位於導引位置時可檢測 出被檢測構件。判定部，在分歧導引滾輪位於導引位置的 情況’如果接收到來自檢測器的檢測訊號的話，就判定分 歧導引滾輪已移動至正確的導引位置。 在此情況，檢測器當分歧導引滾輪位於導引位置時可 檢測出被檢測構件，當分歧導引滾輪位於導引位置的情況 ’判定部如果接收到來自檢測器的檢測訊號的話，就判定 分歧導引滾輪已移動至正確的導引位置。如此般可更正確 地進行分歧導引滾輪的控制。 軌道的行走面之高度位置，亦可接近轉動支承部之高 度位置。 在此情況，可減低在分歧導引時從分歧導引滾輪機構 作用於行走車之轉矩。 本發明搬運車系統，轉動支承部之轉動中心的高度位 置’是位在分歧導引軌道之分歧導引滾輪在導引位置可接 觸的部分之上下方向的寬度內。因此，在分歧導引時，不 會有大的力矩荷重作用於轉動支承部。結果，不須提高轉 動支承部的強度，又不須增大旋轉驅動的保持力，因此可 降低成本。 201206742 【實施方式】 (1)搬運車系統 使用第1圖〜第3圖來說明本發明的一實施形 運車系統。第1圖係本發明的一實施形態之搬運車 俯視圖。第2圖係搬運車3的槪略俯視圖。第3圖 車的槪略側視圖。 搬運車系統1係具有軌道2、以及在軌道2上 搬運車3。在本實施形態，軌道2是從頂棚懸吊， 的周圍成爲無塵室。 軌道2如第2圖所示，係具有行走軌道4及導 6 〇 行走軌道4,是由左右一對的第1行走軌道4a 行走軌道4b所構成。第1行走軌道4a及第2行走3 具有平坦的行走面4d。 導引軌道6係具有第1導引軌道6a及第2導 6b。第1導引軌道6a及第2導引軌道6b是分別設 1行走軌道4a及第2行走軌道4b的外側端。第1 道6a及第2導引軌道6b是往上方延伸，而具有內彳 及外側面6 d。 此外，沿著第2行走軌道4b ’如第1圖所示設 供電線10a及第2供電線10b。在第1供電線10a 供電線10b的一端設置電力供應裝置（未圖示）。電 裝置是對第1供電線1 〇a及第2供電線1 Ob供應高 態之搬 的槪略 係搬運 行走之 軌道2 引軌道 及第2 仇道4b 引軌道 置於第 導引軌 則面6 c 置第1 及第2 力供應 頻電力 -9 - 201206742 (2)軌道布局配置 使用第6圖來說明軌道2的布局配置。第6圖 車系統的軌道布局配置之槪略俯視圖。 在第6圖中，軌道2係具有：第1直線部201 部206、從分歧部206往圖右側彎曲之曲線部203 從分歧部206維持直線狀延伸之第2直線部202。 軌道2係具有：第3直線部204、第4直線部205 流部207。第3直線部204是朝曲線部203的前方 第4直線部205是連續於第3直線部204，在其與 2 0 3之間形成合流部2 0 7。 第1行走軌道4a和第2行走軌道4b，是設置 直線部2 01 '分歧部2 0 6 '曲線部2 0 3、第2直線部 第3直線部204、第4直線部205、合流部207各個 在分歧部2 06 ’是從第1直線部201至曲線部 續地形成第1導引軌道6a，但並未設置第2導引車 。在分歧部2 〇 6，是從第1直線部2 01至第2直線 連續地形成第2導引軌道6b，但並未設置第1導 6 a ° 將從第1直線部2 0 1轉移到分歧部2 0 6的地點 分歧地點206a，將分歧地點206a附近的導引軌道 爲分歧導引軌道部分6e。 第1導引軌道6a及第2導引軌道6b分別設置 部 203。 係搬運 、分歧 、以及 再者， 以及合 延伸。 曲線部 於第1 202 ' 〇 203連 t道6b 部202 引軌道 設定爲 6設定 在曲線 -10- 201206742 在合流部2 07，是從曲線部203至第3直線部204連 續地形成第1導引軌道6a ’但並未設置第2導引軌道6b 。在合流部207，是從第4直線部205至第3直線部204 連續地形成第2導引軌道6b，但並未設置第1導引軌道 (3)搬運車 使用第1圖〜第3圖來說明搬運車3。 搬運車3係具有載置部11及行走部12。 載置部11，係具有用來載置物品17的構造。載置部 1 1係具有：在行走方向前後兩端朝左右兩側延伸之一對的 載置構件13、以及爲了連結一對的支承構件而朝行走方向 前後延伸之複數個連結構件14。載置構件13係具有：朝 左右方向延伸的載置部13a、從載置部的左右方向兩端往 下延伸之柱部13b、以及用來將柱部13b的下端彼此連結 之朝左右方向延伸的連結部13c。連結構件14是將載置構 件13之連結部13c彼此連結。連結構件14是由四根構件 所構成’其等包含一對的左右方向外側構件和一對的左右 方向內側構件。 行走部1 2係具有驅動行走部1 8及從動行走部1 9。驅 動行走部1 8及從動行走部丨9，是相對於載置部n分別安 裝成可轉動自如的轉向台車。 (3 -1)驅動行走部 -11 - 201206742 使用第4圖來說明驅動行走部1 8。第4圖係驅動行走 部的俯視圖。 驅動行走部18主要具有：主體框架20、第1驅動輪 單元21、第2驅動輪單元22、固定導引滾輪機構23、以 及分歧導引滾輪機構24。 主體框架20,是用來支承各構件之薄板狀構件。主體 框架20是朝左右方向長長地延伸，在中心部分設置軸承 35，該軸承35是用來支承從載置部11延伸之軸（未圖示） 〇 第1驅動輪單元2 1是裝設於主體框架20的右側端部 ’且具有：第1驅動輪25、第1馬達26、第1減速機27 及第1編碼器96。第1驅動輪25，是載置於第1行走軌 道4a的行走面4d上。第1馬達26是透過第1減速機27 連結於第1驅動輪25。第1編碼器96是測定第1馬達26 的旋轉，而發送脈衝訊號。藉此可獲得第1馬達26的旋 轉速度及旋轉次數。 第2驅動輪單元22是裝設於主體框架20的左側端部 ’且具有：第2驅動輪28、第2馬達29、第2減速機30 及第2編碼器97»第2驅動輪28，是載置於第2行走軌 道4b的行走面4d上。第2馬達29是透過第2減速機30 .連結於第2驅動輪28。第2編碼器97是測定第2馬達29 的旋轉’而發送脈衝訊號。藉此可獲得第2馬達29的旋 轉速度及旋轉次數。 固定導引滾輪機構23係具有：第1固定導引滾輪31 -12- 201206742 '第2固定導引滾輪32、第3固定導引滾輪33 定導引滾輪3 4。 弟1固疋導引滾輪31及第2固定導引滾輪 在行走方向前後分離的方式配置於主體框架20 部。更具體的說’第1固定導引滾輪31及第2 滾輪32，是分離配置於第1驅動輪25之行走方 側’且與第1導引軌道6a的內側面6c始終抵接 第3固定導引滾輪33及第4固定導引滾輪34, 走方向前後分離的方式配置於主體框架20的左 更具體的說’第3固定導引滾輪33及第4固定 34，是分離配置於第2驅動輪28之行走方向前 且與第2導引軌道6b的內側面6c始終抵接或接 分歧導引滾輪機構24，是用來在分歧部206 動作的機構。分歧導引滾輪機構24係具有··第 引滾輪36、第2分歧導引滾輪37、第3分歧導 '第4分歧導引滾輪39以及分歧導引滾輪驅動榜 第1分歧導引滾輪36及第2分歧導引滾輪 應於第1固定導引滾輪31及第2固定導引滾輪 。分歧導引滾輪機構24進一步具有第1可動臂 ’第1分歧導引滾輪36及第2分歧導引滾輪37 自如地連結於該第1可動臂1 〇】。 第3分歧導引滾輪38及第4分歧導引滾輪 應於第3固定導引滾輪33及第4固定導引滾輪 。分歧導引滾輪機構24進一步具有第2可動臂 及第4固 3 2，是以 的右側端 固定導引 向前後兩 或接近。 是以在行 側端部。 導引滾輪 後兩側， 近。 進行分歧 1分歧導 引滾輪38 !構 40。 37，是對 3 2而配置 1 0 1 (後述） 是可轉動 39，是對 3 4而配置 1 0 3 (後述） -13- 201206742 ’第3分歧導引滾輪38及第4分歧導引滾輪39是可轉動 自如地連結於該第2可動臂103。 分歧導引滾輪驅動機構40，是用來改變第1分歧導引 滾輪36、第2分歧導引滾輪37、第3分歧導引滾輪38、 第4分歧導引滾輪39的位置之機構。分歧導引滾輪驅動 機構40係具有··第1氣缸42、第1軸43、第2軸44及 第1連結軸4 5。 第1氣缸42是電動缸，配置成可在左右方向產生推 進力。第1氣缸42是藉由耳軸（trunnion)方式支承。 第1軸43,是設置於第1分歧導引滾輪36及第2分 歧導引滾輪3 7側。第1軸43朝前後方向延伸，被主體框 架20可旋轉自如地支承。此外，第1軸43，是藉由第1 氣缸42的桿件而能朝左右方向移動。 第1可動臂101係具有：朝前後方向延伸的托架47、 從托架47的兩端往左右方向內側延伸之一對的臂主體48 、以及從臂主體48的端部往上延伸之一對的連結部49。 托架47是形成截面L字形。在托架47的前後方向兩端， 如前述般可旋轉自如地連結著第1分歧導引滾輪3 6及第2 分歧導引滾輪37» 連結部49的前端是構成轉動支承部51。轉動支承部 51是;被支承成，相對於主體框架20能以朝前後方向延伸 的軸爲中心轉動自如。連結部49的前端是可轉動自如地 連結於第1軸43。因此，第1軸43，若藉由第1氣缸42 朝左右方向驅動，會以轉動支承部51爲中心而轉動。 -14 _ 201206742 依據以上構造，若第1軸43朝左右方向移動，第1 可動臂1 0 1會以轉動支承部5 1爲中心而轉動。因此，使 第1分歧導引滾輪36及第2分歧導引滾輪37在導引位置 (與第1導引軌道6a的外側面6d抵接或接近）和非導引位 置（離開第1導引軌道6a的外側面6d)之間移動。 第2軸44，是設置於第3分歧導引滾輪38及第4分 歧導引滾輪3 9側。第2軸44朝前後方向延伸，被主體框 架20可旋轉自如地支承。此外，第2軸44可朝左右方向 移動。 第1連結軸45，是朝左右方向延伸，而將第1軸43 和第2軸44予以連結。更詳細的說，第1連結軸45的端 部是可轉動自如地連結於第1軸43和第2軸44。 第2可動臂103係具有：朝前後方向延伸的托架52、 從托架52的兩端往左右方向內側延伸之一對的臂主體53 、以及從臂主體53的端部往上延伸之一對的連結部54。 托架52是形成截面L字形。在托架52的前後方向兩端， 如前述般可旋轉自如地連結著第3分歧導引滾輪38及第4 分歧導引滾輪39。 連結部54的前端是構成轉動支承部55。轉動支承部 55是被支承成，相對於主體框架20能以朝前後方向延伸 的軸爲中心轉動自如。臂主體5 3的前端是可轉動自如地 連結於第2軸44。因此，第2軸44，若藉由第1連結軸 4 5朝左右方向驅動’會以轉動支承部5 5爲中心而轉動。 依據以上構造’若第2軸44朝左右方向移動，第2 -15- 201206742 可動臂103會以轉動支承部55爲中心而轉動。因此，使 第3分歧導引滾輪38及第4分歧導引滾輪39在導引位置 (與第2導引軌道6b的外側面6d抵接或接近）和非導引位 置（離開第2導引軌道6b的外側面6d)之間移動。 如第11圖所示，轉動支承部51之轉動中心C之高度 位置，是位於導引軌道6之第1分歧導引滾輪36在導引 位置可接觸的部分之上下方向寬度H1內。此外，第1分 歧導引滾輪36可接觸的部分，是比第1分歧導引滾輪36 整體的高度方向距離H3更短。因此，在分歧導引時，不 會有大的力矩荷重作用於轉動支承部51。結果，不須提高 轉動支承部5 1的強度，而能降低成本。例如，像習知那 樣轉動支承部之轉動中心的高度位置是位於與分歧導引滾 輪可接觸的部分大爲不同的高度位置時，若離心力作用於 分歧導引滾輪，除了水平方向的荷重，還會有較大的力矩 荷重作用於轉動支承部。 又在本實施形態，轉動支承部51之轉動中心C的高 度位置，是位於導引位置之分歧導引滾輪的上下方向寬度 內，也是位於分歧導引軌道6之上下方向寬度內。 再者，如第U圖所示，軌道2之行走軌道4的行走 面4d的高度位置，是接近轉動支承部51之高度位置。因 此，在分歧導引時，可減低從第1分歧導引滾輪機構1 2 1 或第2分歧導引滚輪機構122作用於行走車之轉矩。更具 體的說，從行走面4d至轉動支承部51的轉動中心C之高 度方向距離H2非常短’例如比前述的上下方向寬度H1 -16- 201206742 稍長，且與第1分歧導引滾輪36整體的高度方向距離H3 同樣的程度。 以上構造如果用其他表現來說明的話’是由分歧導引 滾輪（36〜39)、第1可動臂1〇1及第2可動臂iO〗、轉動 支承部51、55以及分歧導引滾輪驅動機構4〇’來實現分 歧導引滾輪機構24。分歧導引滾輪機構24係具有：第1 分歧導引滾輪機構121、第2分歧導引滾輪機構122以及 分歧導引滾輪驅動機構。第1分歧導引滾輪機構121， 是由第1分歧導引滾輪36、第2分歧導引滾輪37及第i 可動臂101所構成。第2分歧導引滾輪機構122，是由第 3分歧導引滾輪38、第4分歧導引滾輪39及第2可動臂 103所構成。分歧導引滾輪驅動機構40是用來驅動第1分 歧導引滾輪機構121及第2分歧導引滾輪機構122的機構 。分歧導引滾輪驅動機構40係具有：作爲動力源之第！ 氣缸42、以及將第1分歧導引滾輪機構121和第2分歧導 引滾輪機構122連結成可連動之第1連結軸45。 針對第1分歧導引滾輪機構121及第2分歧導引滾輪 機構122的動作進行說明。第1分歧導引滾輪36及第2 分歧導引滾輪37、和第3分歧導引滾輪38及第4分歧導 引滾輪39，是對稱地改變位置。藉由分歧導引滾輪驅動機 構40改變之第〗分歧導引滾輪36及第2分歧導引滾輪37 、和第3分歧導引滾輪38及第4分歧導引滾輪39的位置 關係，有以下三種。 第1 〇圖係顯示分歧導引滾輪的第〗狀態之槪略前視 -17- 201206742 圖°第1 1圖係顯示分歧導引滾輪的第2狀態之槪略前視 圖°第12圖係顯示分歧導引滾輪的第3狀態之槪略前視 圖。 在第1狀態，如第10圖所示，第1分歧導引滾輪機 構121位於第]非導引位置，第2分歧導引滾輪機構122 位於第1非導引位置。具體而言，第1分歧導引滾輪36 及第2分歧導引滾輪37是離開第丨導引軌道6a，第3分 歧導引滾輪38及第4分歧導引滾輪39是離開第2導引軌 道6b。 在第2狀態，如第11圖所示，第1分歧導引滾輪機 構121位於導引位置，第2分歧導引滾輪機構122位於第 2非導引位置。具體而言，第1分歧導引滾輪36及第2分 歧導引滾輪37是抵接或接近第1導引軌道6a，第3分歧 導引滚輪38及第4分歧導引滾輪39是離開第2導引軌道 6b ° 在第3狀態，如第1 2圖所示，第1分歧導引滾輪機 構121位於第2非導引位置，第2分歧導引滾輪機構122 位於導引位置。具體而言，第1分歧導引滾輪36及第2 分歧導引滾輪37是離開第1導引軌道6a，第3分歧導引 滾輪38及第4分歧導引滾輪39是抵接或接近第2導引軌 道6b。 在以上所述的驅動動作中，第1連結軸45是將第1 分歧導引滾輪機構121和第2分歧導引滾輪機構122連結 成可互相連動，因此可獲得以下的效果。亦即，在將第1 -18- 201206742 分歧導引滾輪機構121及第2分歧導引滾輪機構122的一 方從導引位置切換成第1非導引位置時’另—方可發揮配 重的作用。因此，第1氣缸42賦予第1分歧導引滾輪機 構121和第2分歧導引滾輪機構122的荷重，可設定成較 /J、〇 又在驅動行走部1 8設有：爲了從第1供電線1 〇a及 第2供電線l〇b獲得高頻電力之第1拾取單元79a及第2 拾取單元79b。 (3-2)從動行走部 使用第5圖來說明從動行走部19。第5圖係從動行走 部1 9的俯視圖。 從動行走部19主要具有：主體框架57、第1從動輪 單元58、第2從動輪單元59、固定導引滾輪機構60、以 及分歧導引滾輪機構61。 主體框架57’是用來支承各構件之薄板狀構件。主體 框架57是朝左右方向長長地延伸，在中間部分設置軸承 74’該軸承74是用來支承從載置部11延伸之軸（未圖示） 〇 第1從動輪單元5 8是裝設於主體框架5 7的右側端部 ’且具有第1從動輪62。第1從動輪62，是載置於第1 行走軌道4a的行走面4d上。第1從動輪62是藉由固定 於主體框架57之軸98可旋轉自如地支承。 第2從動輪單元59是裝設於主體框架57的左側端部 -19- 2 201206742 ’且具有第2從動輪63。第2從動輪63，是載置於第 行走軌道4b的行走面4d上。第2從動輪63是藉由固 於主體框架5 7之軸99可旋轉自如地支承。 固定導引滾輪機構60係具有：第1固定導引滾輪 、第2固定導引滾輪66、第3固定導引滾輪67及第4 定導引滾輪68。 由於固定導引滾輪機構60是與固定導引滾輪機構 相同，省略以下的說明。 分歧導引滾輪機構61，是用來在分歧部206進行分 動作的機構。分歧導引滾輪機構61係具有：第1分歧 引滾輪69、第2分歧導引滾輪70、第3分歧導引滾輪 '第4分歧導引滾輪72以及分歧導引滾輪驅動機構73· 分歧導引滾輪驅動機構73，是用來改變第1分歧導 滾輪69、第2分歧導引滾輪70、第3分歧導引滾輪71 第4分歧導引滾輪72的位置之機構。分歧導引滾輪驅 機構73係具有：第2氣缸91、第3軸92、第4軸93 第2連結軸94。 又由於分歧導引滾輪機構61是與分歧導引滾輪機 24相同，省略以下的說明》 (4)被檢測部及感測器 針對也設置於軌道2之被檢測部和設置於搬運車3 感測器進行說明。 使用第6圖來說明沿著行走軌道4設置之複數種的 定 65 固 23 歧 導 71 引 動 及 構 之 被 -20- 201206742 檢測部。被檢測部是包括：反射帶體1 〇4、鐵板1 05、條 碼106。反射帶體104，是用來檢測在曲線部203之搬運 車3的位置之構件，圖中，是在曲線部203配置於第1行 走軌道4a的內側。鐵板1 05是用來檢測搬運車停止位置 1 18、曲線部203的開始位置、分歧地點206a等之構件。 鐵板1 05，是在圖中之分歧部206的分歧地點206a的前方 ，配置於第1行走軌道4a的內側，且在搬運車停止位置 1 1 8的前方配置於第1行走軌道4a的內側。條碼1 06，是 作爲行走軌道4之原點標記及複數個基準標記，圖中是在 第2行走軌道4b的內側配置複數個。 驅動行走部18具有第1光電感測器75及第2光電感 測器76。第1光電感測器75是用來檢測第1行走軌道4a 上所貼附的反射帶體1 04，特別是用來在行走於右曲線部 時檢測反射帶體1 04。第2光電感測器76是用來檢測第2 行走軌道4b上所貼附的反射帶體（未圖示），特別是用來在 行走於左曲線部時檢測反射帶體（未圖示）。 從動行走部1 9係具有線性標度77以及條碼讀取器78 。線性標度77是用來檢測第1行走軌道4a上所貼附的鐵 板105。條碼讀取器78是用來檢測第2行走軌道4b上所 貼附的條碼1 0 6。 第1 3圖係顯示光纖感測器及放大器。如第1 3圖所示 ’在導引軌道6的外側面6d貼附反射貼紙3 0 1。具體而言 ，反射貼紙301僅貼附於分歧導引軌道部分6e。作爲其他 實施例，在可讓分歧導引滾輪下降至導引位置的場所之導 -21 - 201206742 引軌道6上，也貼附反射貼紙3 0 1亦可。 光纖感測器302，例如設置於第1可動臂101及第2 可動臂103，當分歧導引滾輪（36〜39)位於導引位置時可 檢測出反射貼紙301。更具體的說’光纖感測器3 02例如 是設置於第1可動臂1〇1之托架47的下面’且朝向斜內 側。 光纖感測器3 02是透過放大器303連接於控制部87。 放大器303如第13圖所示，是安裝於第1可動臂1〇1之 托架47的上面。如此般將放大器3 03安裝於托架47，放 大器不是可動而能固定住，因此可減少光纖被切斷的可能 性。 (5)控制構造 第7圖係顯示本發明的一實施形態之搬運車系統1的 控制構造之方塊圖。 搬運車系統1係具有搬運車控制器8 0以及CAD系統 81 = 搬運車控制器80，是用來管理複數台搬運車3的行走 之控制器。搬運車控制器8 0和搬運車3可進行通訊。搬 運車控制器80係具有控制器主體82以及第1記憶體83。 控制器主體82是由CPU、RAM、ROM等構成之用來執行 程式之電腦。在第1記憶體83內儲存路線地圖（route map)。 路線地圖，是記載有行走路線的配置、原點位置 '以 -22- 201206742 原點爲基準之基準位置以及移載位置的座標之地圖。座標 ’是將離原點的行走距離換算成搬運車的編碼器之輸出脈 衝數等而獲得。 搬運車3，是一邊比較路線地圖所記載的座標和本身 的內部座標（藉由編碼器求出的座標）一邊繼續行走。 CAD系統8 1，是用來設計並儲存行走路線的系統。 CAD系統8 1係具有系統主體84以及第2記憶體85。系 統主體84是由CPU、RAM、ROM等構成之用來執行程式 之電腦。系統主體84，是設計行走路線，以那時的資料作 爲布局配置地圖而儲存於第2記憶體85。又CAD系統81 是藉由搬運車控制器80來實現亦可。 搬運車3係具有控制部8 7和第3記憶體90。控制部 87是由CPU、RAM、ROM等構成之用來執行程式之電腦 。控制部8 7連接於行走控制部8 8。行走控制部8 8，是根 據來自控制部87的指令而發送用來驅動第1馬達26和第 2馬達29的訊號。控制部87進一步連接於分歧控制部89 。分歧控制部8 9 ’是根據來自控制部8 7的指令而發送用 來驅動第1氣缸42及第2氣缸91的訊號。 再者，在控制部87連接著第〗編碼器96、第2編碼 器97、第1光電感測器75、第2光電感測器76、線性標 度77、條碼讀取器78以及光纖感測器302 '導引感測器 3 04。導引感測器304，是用來檢測分歧導引滾輪是位於導 引位置、第1非導引位置及第2非導引位置當中哪一個的 感測器。 23- 201206742 在第3記憶體90內儲存路線地圖。搬運車3，是根 該路線地圖上的現在位置的座標和目的位置的座標之差 算出行走距離，藉此產生行走速度的模式。此外，搬運 3是藉由第1編碼器96及第2編碼器97求出內部座標 算出到達目的地爲止之剩餘行走距離，若該値爲既定値 下則藉由行走控制部88進行減速處理。第1編碼器96 第2編碼器97的値，若檢測出原點則重置爲原點座標 若檢測出基準標記則變更爲基準座標。 (6)分歧動作 第8圖係顯示在分歧部之搬運車的控制動作之流程 。在此，主要是說明搬運車控制器80所進行的控制動 〇 在步驟S 1，等待搬運車3到達分歧部206的前方 點。在該判斷中，搬運車控制器80是利用來自線性標 77的檢測結果和來自第1編碼器96及第2編碼器97的 測結果。又在直線部行走時，如第1 〇圖所示，分歧導 滾輪（3 6〜39及69〜72)配置於非導引位置。 在步驟S2，判斷第1編碼器96及第2編碼器97 資訊是否正常。在正常的情況，轉移至步驟S 3，核對 自來自線性標度77的檢測結果和來自第1編碼器96及 2編碼器97的檢測結果，確認現在位置。在此情況，根 來自線性標度77的檢測結果將第1編碼器96及第2編 器97的値予以修正亦可。在異常的情況，轉移至步驟 據 來 車 以 及 圖 作 地 度 檢 引 的 來 第 據 碼 S4 -24- 201206742 ’僅根據來自線性標度77的檢測結果確認現在位置。這 時’接下來要轉移到曲線部2 0 3的情況，開始進行搬運車 3的減速。 在步驟S 5，等待搬運車3到達分歧地點2 0 6 a。當未 到達的情況返回步驟S 2，若到達則轉移至步驟S 6。 在步驟S 6，要往曲線部2 0 3側分歧的情況，是驅動 第1氣缸42而使第1分歧導引滾輪36及第2分歧導引滾 輪37下降。進一步驅動第2氣缸91而使第1分歧導引滾 輪69及第2分歧導引滾輪7〇下降。結果，使前述的分歧 導引滾輪抵接於第1導引軌道6a之分歧導引軌道部分6e 。要往第2直線部2〇2側分歧的情況，是驅動第丨氣缸42 而使第3分歧導引滾輪38及第4分歧導引滾輪39下降。 進一步驅動第2氣缸91而使第3分歧導引滾輪71及第4 分歧導引滾輪72下降。結果，使前述的分歧導引滾輪7 抵接於第2導引軌道6b之分歧導引軌道部分6e。 在步驟S7，等待搬運車3通過分歧地點206a。縱使 通過分歧地點2〇6a，下降後的分歧導引滾輪仍舊保持卡合 於導引軌道6的狀態。作爲其他例子，驅動第1氣缸42 及第2氣缸9 1 ’如第1 〇圖所示般使下降後的分歧導引滾 輪從導引軌道6脫離亦可》 當分歧目的側爲直線部的情況，轉移至步驟S9實施 直線控制。 當分歧目的側爲曲線部的情況，轉移至步驟S 1 0實施 曲線控制。 -25- 201206742 (7) 曲線控制 第9圖係顯示在曲線部之搬運車的控制動作之流程圖 。在此’主要說明搬運車控制器8 〇所進行的控制動作。 在步驟S11’判斷第1編碼器96及第2編碼器97的 資訊是否正常。在正常的情況，轉移至步驟S12，核對來 自來自第1光電感測器75或第2光電感測器76的檢測結 果和來自第1編碼器96及第2編碼器97的檢測結果，確 認現在位置。在此情況，例如在反射帶體1 04彼此間利用 第1編碼器96及第2編碼器97的位置資訊進行內插，可 連續地確認在曲線部之搬運車的位置。在異常的情況，轉 移至步驟S4，僅根據來自第1光電感測器75或第2光電 感測器76的檢測結果確認現在位置。 在步驟S 1 4，根據現在位置資訊，透過行走控制部8 8 驅動第1馬達26及第2馬達29以產生適當的左右速度差 〇 在步驟S 1 5，等待搬運車3到達曲線部之結束地點。 當未到達的情況返回步驟S 1 1。 (8) 分歧導引滾輪之切換方向判定 接著說明，在分歧導引滾輪移動至導引位置時，判斷 其動作本身是否正確之搬運車3的控制。該控制，例如是 在搬運車3行走於分歧部206、曲線部203、合流部207 時實施。 -26- 201206742 在此情況，光纖感測器3 02，當分歧導弓 39)位於導引位置時可檢測出反射帶體301。當 輪位於導引位置的情況，控制部87如果未接 纖感測器302的檢測訊號的話，就判定分歧導 到錯誤的導引位置。如此使分歧導引滾輪（36 -更正確。 以下進行更具體的說明。控制部8 7，藉由 304來掌握是哪一個的分歧導引滾輪下降至導 制部8 7，根據是否有來自光纖感測器3 02的檢 斷分歧導引滾輪是否下降至正確側。在此情況 的模式。 1) 當搬運車3要從第1直線部201往第2 移動時，在分歧地點206a，如果第2分歧導 122 (第2可動臂103、第3分歧導引滾輪38及 引滾輪39)下降至導引位置的話，就從光纖感} 控制部8 7發送檢測訊號。藉此，控制部8 7判 滾輪下降至正確側。 2) 當搬運車3要從第1直線部201往第2 移動時，在分歧地點206a，如果第1分歧導 121(第1可動臂101、第！分歧導引滾輪36及 引滾輪37)下降至導引位置的話，光纖感測器 往控制部8 7發送檢測訊號。藉此，控制部8 7 引滾輪下降至錯誤側。在此情況，控制部8 7 引滾輪的切換、停止行走等的異常處理。 丨滾輪（36〜 分歧導引滾 收到來自光 引滾輪移動 -39)的控制 導引感測器 引位置。控 測訊號，判 ，包含以下 直線部202 引滾輪機構 第4分歧導 II器3 02往 斷分歧導引 直線部202 引滾輪機構 第2分歧導 3〇2就不會 判斷分歧導 實施分歧導 -27- 201206742 3) 當搬運車3要從第1直線部201往曲線部203移動 時，在分歧地點206a，如果第1分歧導引滾輪機構121下 降至導引位置的話，就從光纖感測器3 02往控制部8 7發 送檢測訊號。藉此，控制部87判斷分歧導引滾輪下降至 正確側。 4) 當搬運車3要從第1直線部201往曲線部2 03移動 時，在分歧地點206a，如果第2分歧導引滾輪機構122下 降至導引位置的話，光纖感測器3 02就不會往控制部87 發送檢測訊號。藉此，控制部8 7判斷分歧導引滾輪下降 至錯誤側。在此情況，控制部8 7實施分歧導引滾輪的切 換、停止行走等的異常處理。 5) 當搬運車3要從曲線部203往第3直線部204移動 時，在合流部2 07，如果第1分歧導引滾輪機構121下降 至導引位置的話，就從光纖感測器3 02往控制部87發送 檢測訊號。藉此，控制部8 7判斷分歧導引滾輪下降至正 確側。 6) 當搬運車3要從曲線部203往第3直線部204移動 時，在合流部207，如果第2分歧導引滾輪機構122下降 至導引位置的話，光纖感測器302就不會往控制部87發 送檢測訊號。藉此，控制部87判斷分歧導引滾輪下降至 錯誤側。在此情況，控制部87實施分歧導引滾輪的切換 、停止行走等的異常處理。 7) 當搬運車3要從第4直線部2 0 5往第3直線部2 0 4 移動時，在合流部207，如果第2分歧導引滾輪機構122 -28- 201206742 下降的話，就從光纖感測器3 02往控制部87發送檢測訊 號。藉此’控制部8 7判斷分歧導引滾輪下降至正確側° 8)當搬運車3要從第4直線部205往第3直線部2 04 移動時，在合流部207 ’如果第1分歧導引滾輪機構121 下降的話，光纖感測器3 02就不會往控制部8 7發送檢測 訊號。藉此，控制部8 7判斷分歧導引滾輪下降至錯誤側 。在此情況’控制部87實施分歧導引滾輪的切換 '停止 行走等的異常處理。 (9)特徵 上述實施形態，能夠用以下方式來表現。以下，針對 搬運車，以驅動行走部1 8爲中心進行說明。 搬運車系統1，係具備軌道2、行走車、分歧導引滾 輪機構以及分歧導引滾輪驅動機構40。軌道2，是在分歧 部2 06具有分歧導引軌道部分6e，在該分歧導引軌道6e 設置在鉛直方向具有既定長度的外側面6d。行走車是沿著 軌道2行走。分歧導引滾輪機構係具有：分歧導引滾輪 (36〜39)、支承分歧導引滾輪（36〜39)之第1可動臂1〇1 及第2可動臂1〇3、以及將第1可動臂1〇1及第2可動臂 103可轉動自如地支承於行走車之轉動支承部5i、55。分 歧導引滾輪驅動機構4 0係設置於行走車，用來驅動分歧 導引滾輪機構，而將分歧導引滾輪（36〜39)相對於分歧導 引軌道部分6e在導引位置和非導引位置之間進行切換。 分歧導引滾輪’在導引位置能以朝鉛直方向延伸的旋轉軸 -29- 201206742 爲中心進行旋轉，而配置成與導引面的側方抵接或接近。 轉動支承部5 1、5 5之轉動中心C的高度位置’在分歧導 引軌道部分6e的外側面6d上，是位於分歧導引滾輪（36 〜39)在導引位置可接觸的部分之上下方向的寬度H1內。 在此系統，行走車沿著軌道2行走。若行走車到達分 歧部206，分歧導引滾輪驅動機構40會驅動第1可動臂 101或第2可動臂103，而將分歧導引滾輪（3 6〜39)相對於 分歧側之分歧導引軌道部分6e切換至導引位置。藉此， 行走車在分歧部206藉由導引軌道6導引至分歧側的軌道 〇 轉動支承部51、55之轉動中心C的高度位置，在分 歧導引軌道部分6e，是位於分歧導引滾輪（36〜3 9)在導引 位置可接觸的部分之上下方向的寬度H1內。因此，在分 歧導引時，不會有大的力矩荷重作用於轉動支承部51、55 。結果，不須提高轉動支承部5 1、5 5的強度，又不須增 大旋轉驅動的保持力，因此可降低成本。 分歧導引滾輪機構24，係進一步具有：設置於行走車 的兩側之第1分歧導引滾輪機構121和第2分歧導引滾輪 機構122、以及將第1分歧導引滾輪機構121和第2分歧 導引滾輪機構1 22連結成互相連動之第1連結軸45。轉動 支承部係具有：設置於第1分歧導引滾輪機構之第1轉動 支承部、以及設置於前述第2分歧導引滾輪機構之第2轉 動支承部。轉動支承部51、55，是將第1分歧導引滾輪機 構121和第2分歧導引滾輪機構122可轉動自如地支承。 -30- 201206742 在此情況’由於第1連結軸45將第1分歧導引滾輪 機構121和第2分歧導引滾輪機構122連結成互相連動， 因此可獲得以下的作用。亦即，當第1分歧導引滾輪機構 121及第2分歧導引滾輪機構i22之一方從導引位置切換 至非導引位置時’另一方發揮配重的作用。因此，第丨氣 缸42賦予第1分歧導引滾輪機構ι21及第2分歧導引滾 輪機構122的荷重可設定成較小。 (10)其他實施形態 以上是針對本發明的一實施形態進行說明，但本發明 並不限定於上述實施形態，在不脫離發明要旨的範圍內可 進行各種變更。特別是本說明書所記載之複數個實施形態 及變形例，可按照需要而予以任意地組合。 在前述實施形態，搬運車雖是行走於從頂棚懸吊的軌 道上，但本發明並不限定於此。軌道亦可設置於地上，搬 運車是懸吊於軌道亦可。 被檢測部及感測器的組合種類及檢測目的，並不限定 於前述實施形態。 被檢測部的設置位置及數目，並不限定於前述實施形 態。 本發明能廣泛適用於’使用可將分歧導引滾輪在導引 位置和非導引位置之間進行切換的搬運車之搬運車系統。 【圖式簡單說明】 -31 - 201206742 第1圖係本發明的一實施形態之搬運車的槪略俯視圖。 第2圖係搬運車的槪略俯視圖。 第3圖係搬運車的槪略側視圖。 第4圖係驅動行走部的俯視圖。 第5圖係從動行走部的俯視圖。 第6圖係搬運車系統之軌道布局配置的槪略俯視圖。 第7圖係顯示本發明的一實施形態之搬運車系統的控 制構造之方塊圖。 第8圖係顯示在分歧部之搬運車的控制動作之流程圖。 第9圖係顯示在曲線部之搬運車的控制動作之流程圖。 第1〇圖係顯示分歧導引滾輪的第1狀態之槪略前視 圖。 第〗1圖係顯示分歧導引滾輪的第2狀態之槪略前視 圖。 第12圖係顯示分歧導引滾輪的第3狀態之槪略前視 圖。 第13圖係顯示光纖感測器及放大器的圖。 【主要元件符號說明】 1 :搬運車系統 2 :軌道 3 :搬運車 4 :行走軌道 4a :第1行走軌道 -32- 201206742 4b :第2行走軌道 4d :行走面 6 :導引軌道 6a :第1導引軌道 6b :第2導引軌道 6 c :內側面 6d :外側面（導引面） 6e :分歧導引軌道部分（分歧導引軌道） 1 〇 a :第1供電線 1 0 b :第2供電線 1 1 :載置部 1 2 :行走部 1 3 :載置構件 1 3 a :載置部 1 3 b :柱部 1 3 c :連結部 1 4 :連結構件 1 7 :物品 1 8 :驅動行走部 1 9 :從動行走部 2 0、5 7 :主體框架 2 1 :第1驅動輪單元 22:第2驅動輪單兀 23、60 :固定導引滾輪機構 -33- 201206742 2 4、 25 ： 26 ： 27 ： 28 ： 29 : 30 ： 3 1、 3 2、 33、 34、 35、 36、 37、 38、 39、 40 > 42 ： 43 : 44 ： 45 ： 47、 48、 49、 61 :分歧導引滾輪機構 第1驅動輪 第1馬達 第1減速機 第2驅動輪 第2馬達 第2減速機 65 :第1固定導引滾輪 66 :第2固定導引滾輪 67 :第3固定導引滾輪 68 :第4固定導引滾輪 74 :軸承 69 :第1分歧導引滾輪 70 :第2分歧導引滾輪 71 :第3分歧導引滾輪 72:第4分歧導引滾輪 73 :分歧導引滾輪驅動機構 第1氣缸 第1軸 第2軸 第1連結軸（連結構件） 52 :托架 53 :臂主體 5 4 :連結部 -34 201206742 5 1、5 5 :轉動支承部 5 8 :第1從動輪單元 59 :第2從動輪單元 62 :第1從動輪 63 :第2從動輪 75 :第1光電感測器 76 :第2光電感測器 7 7 :線性標度 7 8 :條碼讀取器 79a:第1拾取單元 7 9b :第2拾取單元 80 :搬運車控制器 8 1 : C A D系統 82 :控制器主體 8 3 :第1記憶體 84 :系統主體 8 5 :第2記憶體 8 7 :控制部（判定部） 8 8 :行走控制部 8 9 :分歧控制部 90 :第3記憶體 91 :第2氣缸 92 :第3軸 93 :第4軸 -35 201206742 94 ： 96 ： 97 ： 98、 101: 103 ： 104 ： 105: 106 ： 118： 12 1： 122： 201 ： 202 ： 203 ： 204 ： 205 ： 206 ： 206a 207 ： 301 : 3 02 ： 3 03 ： 3 04 ： 第2連結軸 第1編碼器 第2編碼器 99 :軸 第1可動臂 第2可動臂 反射帶體 鐵板 條碼 搬運車停止位置 第1分歧導引滾輪機構 第2分歧導引滾輪機構 第1直線部 第2直線部 曲線部 第3直線部 第4直線部 分歧部 :分歧地點 合流部 反射帶體 光纖感測器 放大器 導引感測器 -36201206742 VI. Description of the Invention: [Technical Field] The present invention relates to a truck system, and more particularly to a truck using a truck that can switch a divergent guide roller between a guided position and a non-guided position. system. [Prior Art] A carrier for transporting a large-sized glass substrate or a storage case in which a plurality of glass substrates are housed is known. The transport vehicle automatically travels in a clean room in the factory and transports items between the processing devices. The track on which the truck travels is, for example, a track suspended from the ceiling. In this case, the space in which the track and the vehicle travel is a clean room that is blocked from the outside. The truck has wheels on the left and right sides, one of the wheels becomes the drive wheel, and the other wheel becomes the driven wheel. The motor is connected to the drive wheel. The truck further has a guide roller that abuts on the left and right guide rails. The truck further has a branching mechanism that switches between the branch portions of the track and the left and right rails. The branching mechanism has a branching guide roller that is disposed to be abuttable to the left and right guide rails, and a branching guide roller driving portion that can switch the branching guide roller between the guiding position and the non-guided position. The branch guide roller drive unit moves the branch guide roller disposed on the branch side of the branch from the non-guide position to the guide position in the branching portion, and moves the transport vehicle to the side of the branch (see, for example, Patent Document) . [Patent Document 1] Japanese Laid-Open Patent Publication No. 2005-219643 No. 201206742 [Description of the Invention] The method for moving the branch guide roller includes: a method of moving a member supporting the branch guide roller in a direction in which the rotation center line extends, or It is a method of rotating a member that supports the branch guide roller around its one end. In the latter case, for example, if a horizontal external force acts on the branch guide roller, a large moment load acts on a portion that rotatably supports the support member. Therefore, it is necessary to increase the strength of the rotary support portion, which causes an increase in cost. An object of the present invention is to reduce the moment load acting on the rotation support portion that rotatably supports the branch guide roller during the diversion guidance in the transport vehicle system. In the following, a plurality of aspects of means for solving the problems will be described. These aspects can be arbitrarily combined as needed. The truck system is equipped with a rail, a traveling vehicle, a divergent guide roller mechanism, and a drive mechanism. The track has a branch guide track at the branch portion, and the branch guide track is provided with a guide surface having a predetermined length in the vertical direction. The walking vehicle is walking along the track. The branch guide roller mechanism has a distraction guide roller, a support member that supports the branch guide roller, and a rotation support portion that rotatably supports the support member to the traveling vehicle. The drive mechanism is disposed on the traveling vehicle for driving the divergent guide roller mechanism, and switches the divergent guide roller between the guided position and the non-guided position with respect to the divergent guide track. The branch guide roller is rotatable about a rotation axis extending in the vertical direction -6-201206742 at the guiding position, and is disposed to abut or approach the side of the guide surface. The height position of the center of rotation of the rotation support portion is located on the guide surface of the branch guide rail in a width above and below the portion where the branch guide roller is contactable at the guide position. In this system, the walking vehicle walks along the track. If the traveling vehicle reaches the branching portion, the driving mechanism drives the supporting member, and the branching guide roller is switched to the guiding position with respect to the branching guide rail on the branch side. Thereby, the traveling vehicle is guided to the branch side on the branch side by the branch guiding track at the branching portion. The height position of the center of rotation of the rotation support portion is within the width of the upper and lower directions of the portion where the branch guide roller contacts the branch guide rail at the guiding position. Therefore, for example, when the divergence is guided, there is no large moment load for rotating the support portion. As a result, it is not necessary to increase the strength of the rotary support portion, and it is not necessary to increase the holding force of the rotational drive, so that the cost can be reduced. The differential guide roller mechanism may further include: a first branch guide roller mechanism and a second branch guide roller mechanism provided on both sides of the traveling vehicle, and a first branch guide roller mechanism and a second branch guide roller mechanism Linked into interlocking members that can be interlocked with each other. The rotation support portion has a first rotation support portion provided to the first branch guide roller mechanism and a second rotation support portion provided to the second branch guide roller mechanism. In this case, the first branch guide roller mechanism and the second branch guide roller mechanism are coupled to each other by the connecting member, so that the following effects can be obtained. In other words, when one of the first branch guide roller and the second branch guide roller is switched from the guidance position to the non-guide position, the other weight can function as a counterweight. Therefore, the load of the drive mechanism 201206742 to the first branch guide roller mechanism and the second branch guide roller mechanism can be set to be small. The transport vehicle system may further include: a member to be detected, a detector, and a determination unit. The detected member is disposed on the branch guiding track. The detector is disposed on the support member to detect the member to be inspected when the branch guide roller is in the guiding position. The judging section judges that the distracting guide roller has moved to the correct guiding position if the detecting signal from the detector is received when the branching guide roller is at the guiding position. In this case, the detector can detect the detected member when the branch guide roller is at the guiding position, and when the branching guide roller is at the guiding position, the determining unit determines if the detecting signal from the detector is received. The diverging guide roller has moved to the correct guiding position. In this way, the control of the divergent guide rollers can be performed more correctly. The height of the running surface of the track can also be close to the height of the rotating support. In this case, the torque acting on the traveling vehicle from the branch guide roller mechanism during the divergence guidance can be reduced. In the carriage system of the present invention, the height position of the center of rotation of the rotary support portion is within the width of the upper and lower portions of the portion of the branch guide rail which is divergently guided by the guide guide roller at the guide position. Therefore, when the divergence is guided, no large moment load acts on the rotation support portion. As a result, it is not necessary to increase the strength of the rotary support portion, and it is not necessary to increase the holding force of the rotary drive, so that the cost can be reduced. [2012] [Embodiment] (1) Transport vehicle system An embodiment of the present invention will be described with reference to Figs. 1 to 3. Fig. 1 is a plan view of a transport vehicle according to an embodiment of the present invention. The second drawing is a schematic plan view of the transport vehicle 3. Figure 3 A side view of the car. The truck system 1 has a rail 2 and a transport vehicle 3 on the rail 2. In the present embodiment, the rail 2 is suspended from the ceiling and becomes a clean room around the ceiling. As shown in Fig. 2, the rail 2 has a traveling rail 4 and a guide rail 4, and is composed of a pair of left and right first traveling rails 4a running rails 4b. The first traveling rail 4a and the second traveling 3 have a flat running surface 4d. The guide rail 6 has a first guide rail 6a and a second guide 6b. The first guide rail 6a and the second guide rail 6b are respectively provided at the outer ends of the one traveling rail 4a and the second traveling rail 4b. The first track 6a and the second guide rail 6b extend upward and have an inner side and an outer side surface 6d. Further, as shown in Fig. 1, the power supply line 10a and the second power supply line 10b are provided along the second traveling rail 4b'. A power supply device (not shown) is provided at one end of the first power supply line 10a power supply line 10b. The electric device is a track for the first power supply line 1 〇a and the second power supply line 1 Ob to be transported in a high state, and the track 2 guide track and the second hate track 4b are placed on the guide rail. 6 c Setting the 1st and 2nd Force Supply Frequency Power-9 - 201206742 (2) Track layout configuration Use Figure 6 to illustrate the layout configuration of Track 2. Figure 6 is a schematic top view of the track layout configuration of the car system. In the sixth diagram, the track 2 includes a first straight portion 201 portion 206, and a curved portion 203 that is bent from the branch portion 206 toward the right side of the drawing, and a second straight portion 202 that linearly extends from the branch portion 206. The track 2 has a third straight portion 204 and a fourth straight portion 205 flow portion 207. The third straight portion 204 is toward the front of the curved portion 203. The fourth straight portion 205 is continuous with the third straight portion 204, and a merging portion 207 is formed between the third straight portion 204 and the second straight portion 204. The first traveling rail 4a and the second traveling rail 4b are provided with a straight portion 201' divergent portion 2 0 6 'curve portion 2 0 3, a second straight portion third straight portion 204, a fourth straight portion 205, and a confluent portion 207. Each of the branch portions 2 06 ' is formed by the first guide rail 6a from the first straight portion 201 to the curved portion, but the second guided vehicle is not provided. In the branching portion 2 〇6, the second guiding track 6b is continuously formed from the first straight portion 209 to the second straight line, but the first guide 6 a ° is not provided, and the first straight portion is shifted from the first straight portion 2 0 1 to The location divergence point 206a of the divergent portion 206 is the diverging guide track portion 6e near the divergent point 206a. The first guide rail 6a and the second guide rail 6b are respectively provided with a portion 203. Department handling, divergence, and further, and extension. In the first part, the first part is continuously formed from the curved portion 203 to the third straight portion 204 in the merging portion 2 07 in the first portion of the curved portion from the curved portion 203 to the third straight portion 204. The lead rail 6a' is not provided but the second guide rail 6b is not provided. In the merging portion 207, the second guide rail 6b is continuously formed from the fourth straight portion 205 to the third straight portion 204. However, the first guide rail is not provided. (3) The transport vehicle is used in the first to third figures. To explain the truck 3. The transport vehicle 3 has a mounting portion 11 and a traveling portion 12. The placing portion 11 has a structure for placing the article 17. The mounting portion 1 1 has a mounting member 13 that extends in the pair of right and left sides in the traveling direction toward the left and right sides, and a plurality of connecting members 14 that extend forward and backward in the traveling direction in order to connect the pair of supporting members. The mounting member 13 has a mounting portion 13a extending in the left-right direction, a column portion 13b extending downward from both ends in the left-right direction of the mounting portion, and a left-right direction extending to connect the lower ends of the column portions 13b to each other. Connection portion 13c. The connecting member 14 connects the connecting portions 13c of the placing member 13 to each other. The connecting member 14 is composed of four members. The pair of right and left outer members and a pair of right and left inner members are included. The traveling portion 12 has a driving traveling portion 18 and a driven traveling portion 19. The driving traveling portion 18 and the driven traveling portion 丨9 are steered carts that are rotatably mounted with respect to the placing portion n. (3 -1) Driving the traveling portion -11 - 201206742 The driving traveling portion 18 will be described using Fig. 4 . Figure 4 is a plan view of the driving walk. The drive traveling portion 18 mainly includes a main body frame 20, a first drive wheel unit 21, a second drive wheel unit 22, a fixed guide roller mechanism 23, and a branch guide roller mechanism 24. The main body frame 20 is a thin plate-shaped member for supporting each member. The main body frame 20 extends long in the left-right direction, and a bearing 35 for supporting a shaft (not shown) extending from the mounting portion 11 is provided at a central portion. The first driving wheel unit 2 1 is mounted. The first drive wheel 25, the first motor 26, the first reduction gear 27, and the first encoder 96 are provided at the right end portion ' of the main body frame 20. The first drive wheel 25 is placed on the running surface 4d of the first traveling rail 4a. The first motor 26 is coupled to the first drive wheel 25 via the first reduction gear 27 . The first encoder 96 measures the rotation of the first motor 26 and transmits a pulse signal. Thereby, the rotation speed and the number of rotations of the first motor 26 can be obtained. The second drive wheel unit 22 is mounted on the left end portion ' of the main body frame 20 and includes a second drive wheel 28, a second motor 29, a second reduction gear 30, and a second encoder 97»second drive wheel 28. It is placed on the running surface 4d of the second traveling rail 4b. The second motor 29 is transmitted through the second reduction gear 30. It is connected to the second drive wheel 28. The second encoder 97 measures the rotation of the second motor 29 and transmits a pulse signal. Thereby, the rotation speed and the number of rotations of the second motor 29 can be obtained. The fixed guide roller mechanism 23 has: The first fixed guide roller 31 -12-201206742 'the second fixed guide roller 32, The third fixed guide roller 33 guides the guide roller 34. The first solid guide roller 31 and the second fixed guide roller are disposed on the main body frame 20 so as to be separated from each other in the traveling direction. More specifically, the first fixed guide roller 31 and the second roller 32, The first fixed guide roller 33 and the fourth fixed guide roller 34 are disposed in contact with the inner side surface 6c of the first guide rail 6a. The walking direction is separated from the left and right of the main body frame 20, more specifically, the third fixed guiding roller 33 and the fourth fixing 34, It is disposed before the traveling direction of the second driving wheel 28, and is always in contact with or in contact with the inner side surface 6c of the second guiding rail 6b. It is a mechanism for operating in the branching unit 206. The differential guide roller mechanism 24 has a first guide roller 36, The second branch guide roller 37, The third branch guide roller 39 and the branch guide roller drive table The first branch guide roller 36 and the second branch guide roller are applied to the first fixed guide roller 31 and the second fixed guide roller. The branch guide roller mechanism 24 further includes a first movable arm ′. The first branch guide roller 36 and the second branch guide roller 37 are freely coupled to the first movable arm 1 . The third branch guide roller 38 and the fourth branch guide roller are applied to the third fixed guide roller 33 and the fourth fixed guide roller. The branch guide roller mechanism 24 further has a second movable arm and a fourth solid 3 2, The right end of the fixed guide is oriented two or more front and rear. It is at the end of the line side. Guide the rear sides of the roller, near. Make a difference 1 divergent guide roller 38! Structure 40. 37, Yes for 3 2 and 1 0 1 (described later) is rotatable 39, In the case of the third movable arm 103, the third branching guide roller 38 and the fourth branching guide roller 39 are rotatably coupled to the second movable arm 103. a differential guide roller drive mechanism 40, Is used to change the first branch guide roller 36, The second branch guide roller 37, The third branch guide roller 38, The fourth branch is a mechanism for guiding the position of the roller 39. The branch guide roller drive mechanism 40 has a first cylinder 42, The first axis 43, The second shaft 44 and the first connecting shaft 45. The first cylinder 42 is an electric cylinder. It is configured to generate a pushing force in the left and right direction. The first cylinder 42 is supported by a trunnion type. The first axis 43, It is provided on the side of the first branch guide roller 36 and the second branch guide roller 37. The first shaft 43 extends in the front-rear direction. The main body frame 20 is rotatably supported. In addition, The first axis 43, It is movable in the left-right direction by the rod of the first cylinder 42. The first movable arm 101 has: a bracket 47 extending in the front-rear direction, One pair of arm bodies 48 extending from the both ends of the bracket 47 to the inner side in the left-right direction, And a connecting portion 49 that extends upward from the end of the arm body 48. The bracket 47 is formed in an L-shaped cross section. At both ends of the bracket 47 in the front and rear direction, As described above, the first branch guide roller 3 6 and the second branch guide roller 37 are rotatably coupled to each other to form a pivot support portion 51. The rotation support portion 51 is; Supported, The main body frame 20 is rotatable about an axis extending in the front-rear direction. The front end of the connecting portion 49 is rotatably coupled to the first shaft 43. therefore, The first axis 43, If the first cylinder 42 is driven in the left-right direction, The rotation support unit 51 is rotated about the center. -14 _ 201206742 Based on the above structure, When the first shaft 43 moves in the left and right direction, The first movable arm 1 0 1 is rotated about the rotation support portion 51. therefore, The first branch guide roller 36 and the second branch guide roller 37 are guided at a guiding position (abutting or approaching the outer side surface 6d of the first guiding rail 6a) and a non-guide position (away from the first guiding rail 6a) The outer side 6d) moves between. 2nd axis 44, It is disposed on the third branch guide roller 38 and the fourth branch guide roller 39 side. The second shaft 44 extends in the front-rear direction. The main body frame 20 is rotatably supported. In addition, The second shaft 44 is movable in the left-right direction. The first connecting shaft 45, It is extending in the left and right direction. The first shaft 43 and the second shaft 44 are coupled to each other. In more detail, The end of the first connecting shaft 45 is rotatably coupled to the first shaft 43 and the second shaft 44. The second movable arm 103 has: a bracket 52 extending in the front-rear direction, One pair of arm bodies 53 extending from the both ends of the bracket 52 to the inner side in the left-right direction, And a pair of connecting portions 54 extending upward from the end of the arm main body 53. The bracket 52 is formed in a cross-sectional L shape. At both ends of the bracket 52 in the front and rear direction, The third branch guide roller 38 and the fourth branch guide roller 39 are rotatably coupled as described above. The front end of the coupling portion 54 constitutes a rotation support portion 55. The rotation support portion 55 is supported so that The main body frame 20 is rotatable about an axis extending in the front-rear direction. The front end of the arm main body 53 is rotatably coupled to the second shaft 44. therefore, 2nd axis 44, When the first connecting shaft 45 is driven in the right and left direction, the rotation is supported around the rotation support portion 55. According to the above structure, if the second axis 44 moves in the left-right direction, 2nd to 15th, 201206742 The movable arm 103 rotates around the rotation support portion 55. therefore, The third branch guide roller 38 and the fourth branch guide roller 39 are at a guiding position (abutting or approaching the outer side surface 6d of the second guiding rail 6b) and a non-guide position (away from the second guiding rail 6b) The outer side 6d) moves between. As shown in Figure 11, Rotating the height position of the center of rotation C of the support portion 51, It is located in the upper and lower width H1 of the portion where the first branch guide roller 36 of the guide rail 6 is contactable at the guiding position. In addition, The portion of the first dissimilar guide roller 36 that can be contacted, It is shorter than the height direction distance H3 of the entire first branch guide roller 36. therefore, When guiding differences, There is no large moment load acting on the rotation support portion 51. result, It is not necessary to increase the strength of the rotation support portion 51, And can reduce costs. E.g, As is conventionally known, the height position of the center of rotation of the rotating support portion is at a position substantially different from the portion in contact with the branching guide roller. If centrifugal force acts on the divergent guide roller, In addition to the load in the horizontal direction, There will also be a large torque load acting on the rotating support. In this embodiment, Rotating the height position of the center of rotation C of the support portion 51, Is located in the vertical width of the divergent guide roller at the guiding position, It is also located in the width below the divergent guide track 6. Furthermore, As shown in Figure U, The height position of the running surface 4d of the traveling track 4 of the track 2, It is a height position close to the rotation support portion 51. Therefore, When guiding differences, The torque acting on the traveling vehicle from the first branch guide roller mechanism 1 2 1 or the second branch guide roller mechanism 122 can be reduced. More specifically, The height direction distance H2 from the running surface 4d to the rotation center C of the rotation support portion 51 is very short', for example, slightly longer than the above-described vertical width H1 - 16 - 201206742. Further, the height direction of the entire first branch guide roller 36 is the same as the distance H3. If the above structure is explained by other performances, it is guided by the divergent guide rollers (36 to 39). The first movable arm 1〇1 and the second movable arm iO〗, Rotating the support portion 51, 55 and the differential guide roller drive mechanism 4'' implement the distraction guide roller mechanism 24. The differential guide roller mechanism 24 has: The first branch guide roller mechanism 121, The second branch guide roller mechanism 122 and the branch guide roller drive mechanism. The first branch guide roller mechanism 121, Is the first branch guide roller 36, The second branch guide roller 37 and the i-th movable arm 101 are configured. The second branch guide roller mechanism 122, Is the third branch guide roller 38, The fourth branch guide roller 39 and the second movable arm 103 are formed. The branch guide roller drive mechanism 40 is a mechanism for driving the first difference guide roller mechanism 121 and the second branch guide roller mechanism 122. The differential guide roller drive mechanism 40 has: As the power source! Cylinder 42, And the first branch guide roller mechanism 121 and the second branch guide roller mechanism 122 are coupled to each other to be coupled to the first connecting shaft 45. The operation of the first branch guide roller mechanism 121 and the second branch guide roller mechanism 122 will be described. a first branch guide roller 36 and a second branch guide roller 37, And the third branch guide roller 38 and the fourth branch guide roller 39, It is to change the position symmetrically. The divergent guide roller 36 and the second branch guide roller 37 are changed by the divergent guide roller driving mechanism 40, And the positional relationship between the third branch guide roller 38 and the fourth branch guide roller 39, There are the following three. The first diagram shows the outline of the diverging guide roller. -17- 201206742 Fig. 1 1 shows the schematic view of the second state of the divergent guide roller. Figure 12 shows A schematic front view of the third state of the divergent guide roller. In the first state, As shown in Figure 10, The first branch guide roller mechanism 121 is located at the second unguided position. The second branch guide roller mechanism 122 is located at the first non-guide position. in particular, The first branch guide roller 36 and the second branch guide roller 37 are separated from the second guide rail 6a. The third branch guide roller 38 and the fourth branch guide roller 39 are separated from the second guide rail 6b. In the second state, As shown in Figure 11, The first branch guide roller mechanism 121 is located at the guiding position. The second branch guide roller mechanism 122 is located at the second non-guide position. in particular, The first branch guide roller 36 and the second branch guide roller 37 abut or approach the first guide rail 6a. The third branching guide roller 38 and the fourth branching guide roller 39 are separated from the second guiding rail 6b in the third state. As shown in Figure 12, The first branch guide roller mechanism 121 is located at the second non-guide position. The second branch guide roller mechanism 122 is located at the guiding position. in particular, The first branch guide roller 36 and the second branch guide roller 37 are separated from the first guide rail 6a. The third branch guide roller 38 and the fourth branch guide roller 39 abut or approach the second guide track 6b. In the driving action described above, The first connecting shaft 45 connects the first branching guide roller mechanism 121 and the second branching guide roller mechanism 122 so as to be interlocked with each other. Therefore, the following effects can be obtained. that is, When one of the first guide roller mechanism 121 and the second branch guide roller mechanism 122 of the first -18 to 201206742 is switched from the guidance position to the first non-guide position, the weight can be exerted. therefore, The first cylinder 42 is biased to the first branch guide roller mechanism 121 and the second branch guide roller mechanism 122. Can be set to be /J, 〇 In the drive walking section 18, there are: The first pick-up unit 79a and the second pick-up unit 79b for obtaining high-frequency power from the first power supply line 1a and the second power supply line 100b. (3-2) Follower running portion The driven traveling portion 19 will be described using Fig. 5 . Fig. 5 is a plan view of the driven traveling portion 19. The driven walking portion 19 mainly has: Main frame 57, The first driven wheel unit 58, The second driven wheel unit 59, Fixed guide roller mechanism 60, And the differential guide roller mechanism 61. The main body frame 57' is a thin plate-like member for supporting each member. The main body frame 57 extends long in the left-right direction. A bearing 74' is provided in the intermediate portion for supporting a shaft extending from the mounting portion 11 (not shown). The first driven wheel unit 58 is attached to the right end portion of the main body frame 57 and has The first driven wheel 62. The first driven wheel 62, It is placed on the running surface 4d of the first traveling rail 4a. The first driven wheel 62 is rotatably supported by a shaft 98 fixed to the main body frame 57. The second driven wheel unit 59 is attached to the left end portion -19-2 201206742' of the main body frame 57 and has a second driven wheel 63. The second driven wheel 63, It is placed on the running surface 4d of the first traveling rail 4b. The second driven wheel 63 is rotatably supported by a shaft 99 fixed to the main body frame 57. The fixed guide roller mechanism 60 has: The first fixed guide roller, The second fixed guide roller 66, The third fixed guide roller 67 and the fourth fixed guide roller 68. Since the fixed guide roller mechanism 60 is the same as the fixed guide roller mechanism, The following description is omitted. a differential guide roller mechanism 61, It is a mechanism for performing the branching operation in the branching unit 206. The differential guide roller mechanism 61 has: The first divergence The second branch guide roller 70, The third branch guide roller 'the fourth branch guide roller 72 and the branch guide roller drive mechanism 73 · the branch guide roller drive mechanism 73, Is used to change the first divergent guide roller 69, The second branch guide roller 70, The third branch guide roller 71 is a mechanism for the position of the fourth branch guide roller 72. The differential guide roller drive mechanism 73 has: The second cylinder 91, The third axis 92, The fourth shaft 93 is the second connecting shaft 94. Further, since the branch guide roller mechanism 61 is the same as the branch guide roller machine 24, The following description is omitted: (4) The detected portion and the sensor are described with respect to the detected portion that is also provided on the rail 2 and the sensor provided in the transport vehicle 3. The Fig. 6 is used to illustrate a plurality of types of fixed and fixed guides 71 arranged along the traveling rail 4, and the detection unit is -20-201206742. The detected department is: Reflective strip body 〇4, Iron plate 1 05, Bar code 106. Reflective strip body 104, It is a member for detecting the position of the transport vehicle 3 at the curved portion 203. In the picture, The curved portion 203 is disposed inside the first row of traveling tracks 4a. The iron plate 05 is used to detect the stopping position of the truck. The starting position of the curve portion 203, Components of the divergent location 206a, etc. Iron plate 1 05, It is in front of the divergent point 206a of the divergent portion 206 in the figure. Disposed on the inner side of the first traveling rail 4a, Further, it is disposed on the inner side of the first traveling rail 4a in front of the transport stop position 1 1 8 . Barcode 1 06, Yes as the origin mark of the walking track 4 and a plurality of reference marks, In the figure, a plurality of them are arranged inside the second traveling rail 4b. The drive traveling unit 18 has a first photodetector 75 and a second photodetector 76. The first photodetector 75 is for detecting the reflective strip body 104 attached to the first traveling rail 4a, In particular, it is used to detect the reflection strip body 104 while walking on the right curve portion. The second photodetector 76 is for detecting a reflective strip (not shown) attached to the second traveling rail 4b. In particular, it is used to detect a reflective strip (not shown) when walking on the left curve. The driven traveling portion 19 has a linear scale 77 and a bar code reader 78. The linear scale 77 is for detecting the iron plate 105 attached to the first traveling rail 4a. The bar code reader 78 is for detecting the bar code 1 0 6 attached to the second traveling track 4b. Figure 13 shows the fiber optic sensor and amplifier. As shown in Fig. 1 3, a reflective sticker 300 is attached to the outer side surface 6d of the guide rail 6. in particular , The reflective sticker 301 is attached only to the divergent guide track portion 6e. As other embodiments, On the guide rail 6 in the place where the divergent guide roller can be lowered to the guiding position, Also attached a reflective sticker 3 0 1 also. Fiber optic sensor 302, For example, it is provided in the first movable arm 101 and the second movable arm 103, The reflective sticker 301 can be detected when the branch guide rollers (36 to 39) are in the guiding position. More specifically, the optical fiber sensor 301 is disposed, for example, on the lower surface of the bracket 47 of the first movable arm 〇1 and faces the oblique inner side. The optical fiber sensor 312 is connected to the control unit 87 through the amplifier 303. The amplifier 303 is as shown in Fig. 13, It is attached to the upper surface of the bracket 47 of the first movable arm 1〇1. The amplifier 303 is mounted to the bracket 47 in such a manner. The amplifier is not movable and can be fixed. Therefore, the possibility that the optical fiber is cut off can be reduced. (5) Control structure Fig. 7 is a block diagram showing a control structure of the transport vehicle system 1 according to the embodiment of the present invention. The truck system 1 has a truck controller 80 and a CAD system 81 = truck controller 80, It is a controller for managing the movement of a plurality of trucks 3. The truck controller 80 and the truck 3 can communicate. The transport vehicle controller 80 has a controller main body 82 and a first memory 83. The controller body 82 is composed of a CPU, RAM, A computer such as a ROM that is used to execute a program. A route map is stored in the first memory 83. Route map, It is recorded that there is a configuration of the walking route, Origin position 'Map of the base position based on the origin of -22- 201206742 and the coordinates of the transfer position. The coordinate ' is obtained by converting the travel distance from the origin to the number of output pulses of the encoder of the transport vehicle. Truck 3, It is to continue walking while comparing the coordinates recorded on the route map with its internal coordinates (coordinates obtained by the encoder). CAD system 8 1, It is a system for designing and storing walking routes. The CAD system 8.1 has a system main body 84 and a second memory 85. The system main body 84 is composed of a CPU, RAM, A computer such as a ROM that is used to execute a program. System body 84, Is designing the walking route, The data is stored in the second memory 85 as a layout map at that time. Further, the CAD system 81 can be realized by the truck controller 80. The transport vehicle 3 has a control unit 87 and a third memory 90. The control unit 87 is composed of a CPU, RAM, A computer such as a ROM that is used to execute a program. The control unit 87 is connected to the travel control unit 888. Walking control unit VIII The signal for driving the first motor 26 and the second motor 29 is transmitted in accordance with an instruction from the control unit 87. The control unit 87 is further connected to the branch control unit 89. The divergence control unit 8 9 ' transmits a signal for driving the first cylinder 42 and the second cylinder 91 in response to an instruction from the control unit 87. Furthermore, The control unit 87 is connected to the encoder 96, The second encoder 97, The first photo-inductance detector 75, The second optical detector 76, Linear scale 77, The bar code reader 78 and the fiber optic sensor 302' guide the sensor 3 04. Guide sensor 304, Is used to detect that the divergent guide roller is located at the guide position, Which of the first non-guided position and the second non-guided position is the sensor. 23- 201206742 Stores a route map in the third memory 90. Truck 3, Is the difference between the coordinates of the current position on the route map and the coordinates of the destination position. Calculate the distance traveled. Thereby a pattern of walking speed is generated. In addition, In the transport 3, the first encoder 96 and the second encoder 97 obtain the internal coordinates, and calculate the remaining travel distance until reaching the destination. If the 値 is a predetermined 値, the traveling control unit 88 performs the deceleration processing. The first encoder 96 is the second encoder 97, If the origin is detected, it is reset to the origin coordinate. If the reference mark is detected, it is changed to the reference coordinate. (6) Divergence action Fig. 8 shows the flow of the control operation of the truck in the branch. here, Mainly to explain the control action performed by the truck controller 80 in step S1. The truck 3 is waited for reaching the front point of the branching portion 206. In this judgment, The truck controller 80 uses the detection result from the linear marker 77 and the measurement results from the first encoder 96 and the second encoder 97. When walking in the straight line, As shown in Figure 1, The differential guide rollers (3 6 to 39 and 69 to 72) are disposed at the non-guide position. In step S2, It is judged whether or not the information of the first encoder 96 and the second encoder 97 is normal. In the normal situation, Transfer to step S 3, Checking the detection result from the linear scale 77 and the detection results from the first encoder 96 and the encoder 97, Confirm the current location. In this case, The detection result from the linear scale 77 may correct the 编码 of the first encoder 96 and the second encoder 97. In an abnormal situation, The process proceeds to the step S40 -24-201206742 ’ and the current position is confirmed based on the detection result from the linear scale 77. At this time, the next step is to shift to the curve part 2 0 3 . The deceleration of the truck 3 is started. In step S5, Wait for the truck 3 to reach the divergence location 2 0 6 a. When it does not arrive, return to step S 2, If it arrives, the process moves to step S6. At step S6 To divergence to the side of the curve 2 0 3, The first cylinder guide 42 is driven to lower the first branch guide roller 36 and the second branch guide roller 37. Further, the second cylinder 91 is driven to lower the first branch guide roller 69 and the second branch guide roller 7A. result, The divergent guide roller is abutted against the branch guide rail portion 6e of the first guide rail 6a. In the case of diverging to the side of the second straight portion 2〇2, The third cylinder guide 42 is driven to lower the third branch guide roller 38 and the fourth branch guide roller 39. Further, the second cylinder 91 is driven to lower the third branch guide roller 71 and the fourth branch guide roller 72. result, The branch guide roller 7 is abutted against the branch guide rail portion 6e of the second guide rail 6b. In step S7, Waiting for the truck 3 to pass through the divergence location 206a. Even through the divergent location 2〇6a, The descending guide roller remains in the state of being engaged with the guide rail 6. As another example, When the first cylinder 42 and the second cylinder 9 1 ' are driven, the descending guide rollers are separated from the guide rail 6 as shown in the first drawing, and the branching target side is a straight portion. Transfer to step S9 to implement linear control. When the target side of the divergence is the curve part, Transfer to step S10 to implement curve control. -25- 201206742 (7) Curve control Fig. 9 is a flow chart showing the control operation of the truck in the curve section. Here, the control operation performed by the truck controller 8 is mainly described. It is judged in step S11' whether or not the information of the first encoder 96 and the second encoder 97 is normal. In the normal situation, Transfer to step S12, The detection result from the first photodetector 75 or the second photodetector 76 and the detection results from the first encoder 96 and the second encoder 97 are checked, Confirm the current position. In this case, For example, the reflection band body 104 is interpolated by the position information of the first encoder 96 and the second encoder 97. The position of the truck in the curve section can be continuously confirmed. In an abnormal situation, Go to step S4, The current position is confirmed based only on the detection result from the first photodetector 75 or the second photo sensor 76. In step S1 4, Based on current location information, The first motor 26 and the second motor 29 are driven by the travel control unit 8 8 to generate an appropriate left-right speed difference 〇 in step S 15 5 Wait for the truck 3 to reach the end of the curve section. When it does not arrive, it returns to step S1 1. (8) Judging direction of switching direction of the divergent guide roller When the divergent guide roller moves to the guiding position, The control of the truck 3 is judged whether or not the action itself is correct. The control, For example, the transport vehicle 3 travels on the branching portion 206, Curve portion 203, The merging unit 207 is implemented. -26- 201206742 In this case, Fiber optic sensor 3 02, The reflective strip body 301 can be detected when the diverging guide bow 39) is in the guiding position. When the wheel is in the guiding position, If the control unit 87 does not detect the detection signal of the sensor 302, It is judged that the divergence leads to the wrong guiding position. This makes the diverging guide roller (36 - more correct. More specific explanations are given below. Control unit 87 By 304, it is grasped which of the divergent guide rollers is lowered to the guide portion 87. Whether or not the roller is lowered to the correct side depends on whether or not there is a deviation from the fiber sensor 302. The mode in this case. 1) When the transport vehicle 3 is to move from the first straight portion 201 to the second, At the divergent location 206a, If the second branch guide 122 (the second movable arm 103, When the third branch guide roller 38 and the guide roller 39) are lowered to the guiding position, The detection signal is transmitted from the optical fiber sensing unit 87. With this, The control unit 87 judges that the roller has descended to the correct side. 2) When the transport vehicle 3 is to move from the first straight portion 201 to the second, At the divergent location 206a, If the first divergent guide 121 (the first movable arm 101, The first! If the branch guide roller 36 and the guide roller 37) are lowered to the guiding position, The optical fiber sensor transmits a detection signal to the control unit 87. With this, The control unit 8 7 causes the roller to descend to the wrong side. In this case, The control unit 8 7 switches the scroll wheel, Stop abnormal processing such as walking. The 丨 roller (36~ divergent guide roller receives the movement from the light guide roller -39) controls the guidance sensor position. Control signal, Judgment The following linear portion 202 is included. The roller guide mechanism 4th branch guide device 3 02 is turned off the branch guide straight portion 202. The second guide guide 3〇2 of the roller guide mechanism does not judge the divergence guide to implement the divergence guide -27-201206742 3) When the transport vehicle 3 is to move from the first straight portion 201 to the curved portion 203, At the divergent location 206a, If the first branch guide roller mechanism 121 is lowered to the guiding position, The detection signal is sent from the optical fiber sensor 302 to the control unit 87. With this, The control unit 87 determines that the branch guide roller has descended to the correct side. 4) When the transport vehicle 3 is to move from the first straight portion 201 to the curved portion 2 03, At the divergent location 206a, If the second branch guide roller mechanism 122 is lowered to the guiding position, The optical fiber sensor 302 does not transmit a detection signal to the control unit 87. With this, The control unit 87 judges that the divergent guide roller has descended to the wrong side. In this case, The control unit 87 performs switching of the branch guide rollers, Stop abnormal processing such as walking. 5) When the transport vehicle 3 is to move from the curved portion 203 to the third straight portion 204, In the confluence section 2 07, If the first branch guide roller mechanism 121 is lowered to the guiding position, The detection signal is transmitted from the optical fiber sensor 302 to the control unit 87. With this, The control unit 87 judges that the divergent guide roller has descended to the correct side. 6) When the transport vehicle 3 is to move from the curved portion 203 to the third straight portion 204, At the confluence unit 207, If the second branch guide roller mechanism 122 is lowered to the guiding position, The optical fiber sensor 302 does not send a detection signal to the control unit 87. With this, The control unit 87 determines that the divergent guide roller has descended to the wrong side. In this case, The control unit 87 performs switching of the branch guide rollers, Stop abnormal processing such as walking. 7) When the transport vehicle 3 is moving from the fourth straight portion 2 0 5 to the third straight portion 2 0 4 At the confluence unit 207, If the second branch guide roller mechanism 122 -28-201206742 falls, The detection signal is transmitted from the optical fiber sensor 302 to the control unit 87. Thereby, the control unit 87 judges that the branch guide roller has descended to the correct side. 8) When the transport vehicle 3 is to move from the fourth straight portion 205 to the third straight portion 2 04, When the first branch guide roller mechanism 121 is lowered at the merging portion 207', The optical fiber sensor 302 does not transmit a detection signal to the control unit 87. With this, The control unit 87 judges that the divergent guide roller has descended to the wrong side. In this case, the control unit 87 performs switching of the branch guide rollers to stop abnormal processing such as walking. (9) Features In the above embodiment, Can be expressed in the following ways. the following, For the van, The description will be centered on the driving traveling portion 18. Pallet system 1, With track 2 Walking car, The differential guide roller mechanism and the differential guide roller drive mechanism 40. Track 2, Is in the divergence section 2 06 has a divergent guide track section 6e, The branch guide rail 6e is provided with an outer side surface 6d having a predetermined length in the vertical direction. The walking vehicle is walking along the track 2. The differential guide roller mechanism has: Bias guide roller (36~39), Supporting the first movable arm 1〇1 and the second movable arm 1〇3 of the branch guide rollers (36 to 39), And the first movable arm 1〇1 and the second movable arm 103 are rotatably supported by the rotation support portion 5i of the traveling vehicle, 55. The distracting guide roller drive mechanism 40 is disposed on the traveling vehicle. Used to drive the divergence guide roller mechanism, The branch guide rollers (36 to 39) are switched between the guide position and the non-guide position with respect to the branch guide rail portion 6e. The branch guide roller ' can be rotated about the rotation axis -29-201206742 extending in the vertical direction at the guiding position, It is arranged to abut or approach the side of the guiding surface. Rotating the support portion 5 1 , The height position ' of the rotation center C of 5 5 is on the outer side surface 6d of the branch guide rail portion 6e, It is located in the width H1 of the branching guide roller (36 to 39) in the upper and lower directions of the contactable portion of the guiding position. In this system, The walking vehicle walks along the track 2. If the traveling vehicle reaches the disparity portion 206, The branch guide roller drive mechanism 40 drives the first movable arm 101 or the second movable arm 103, The branch guide rollers (36 to 39) are switched to the guide positions with respect to the branch guide rail portions 6e on the branch side. With this, The traveling vehicle is guided to the branch side of the branch side by the guide rail 6 at the branching portion 206, and the rotation support portion 51, The height position of the center of rotation C of 55, In the disparity guiding track portion 6e, It is located within the width H1 of the upper and lower directions of the portion where the branching guide rollers (36 to 39) are contactable at the guiding position. therefore, When guiding the difference, There is no large moment load acting on the rotation support portion 51, 55. result, It is not necessary to raise the rotation support portion 5 1 , 5 5 intensity, There is no need to increase the holding force of the rotary drive. Therefore, the cost can be reduced. a differential guide roller mechanism 24, The system further has: a first branch guide roller mechanism 121 and a second branch guide roller mechanism 122 provided on both sides of the traveling vehicle, And the first branching guide roller mechanism 121 and the second branching guide roller mechanism 1 22 are coupled to each other to be coupled to the first connecting shaft 45. The rotating support has: a first rotation support portion provided in the first branch guide roller mechanism, And a second rotation support portion provided in the second branch guide roller mechanism. Rotating the support portion 51, 55, The first branch guide roller mechanism 121 and the second branch guide roller mechanism 122 are rotatably supported. -30-201206742 In this case, the first connecting guide roller mechanism and the second branching guide roller mechanism 122 are coupled to each other by the first connecting shaft 45. Therefore, the following effects can be obtained. that is, When one of the first branch guide roller mechanism 121 and the second branch guide roller mechanism i22 is switched from the guidance position to the non-guide position, the other side functions as a weight. therefore, The load applied to the first branch guide roller mechanism ι21 and the second branch guide roller mechanism 122 by the first air cylinder 42 can be set small. (10) Other Embodiments The above is an embodiment of the present invention. However, the present invention is not limited to the above embodiment. Various changes can be made without departing from the spirit of the invention. In particular, the plurality of embodiments and modifications described in the present specification, They can be arbitrarily combined as needed. In the foregoing embodiment, Although the truck is walking on the track suspended from the ceiling, However, the invention is not limited thereto. The track can also be placed on the ground. The transporter can also be suspended from the track. The combination type and detection purpose of the detected part and the sensor, It is not limited to the above embodiment. The location and number of the detected parts, It is not limited to the foregoing embodiment. The present invention is widely applicable to the use of a truck system for a truck that can switch the divergent guide roller between a guided position and a non-guided position. BRIEF DESCRIPTION OF THE DRAWINGS -31 - 201206742 Fig. 1 is a schematic plan view of a transport vehicle according to an embodiment of the present invention. Figure 2 is a schematic plan view of the truck. Figure 3 is a schematic side view of the truck. Fig. 4 is a plan view of the driving traveling portion. Fig. 5 is a plan view of the driven traveling portion. Figure 6 is a schematic top view of the track layout configuration of the truck system. Fig. 7 is a block diagram showing a control structure of a transport vehicle system according to an embodiment of the present invention. Fig. 8 is a flow chart showing the control operation of the truck in the branching portion. Fig. 9 is a flow chart showing the control operation of the transport vehicle in the curved portion. The first diagram shows a schematic front view of the first state of the divergent guide roller. Fig. 1 is a schematic front view showing the second state of the divergent guide roller. Fig. 12 is a schematic front elevational view showing the third state of the divergent guide roller. Figure 13 shows a diagram of a fiber optic sensor and amplifier. [Main component symbol description] 1 : Pallet system 2 : Track 3: Truck 4 : Walking track 4a : The first walking track -32- 201206742 4b : 2nd walking track 4d: Walking surface 6 : Guide track 6a: First guiding track 6b: Second guiding track 6 c : Inner side 6d: Outer side (guide surface) 6e : Diverging guide track section (differential guide track) 1 〇 a : The first power supply line 1 0 b : The second power supply line 1 1 : Mounting part 1 2 : Walking part 1 3 : Mounting member 1 3 a : Mounting part 1 3 b : Column 1 3 c : Linkage 1 4 : Connecting member 1 7 : Item 1 8 : Drive the walking part 1 9 : Driven walking section 20 5 7 : Main frame 2 1 : First drive wheel unit 22: The second drive wheel is single. 60 : Fixed guide roller mechanism -33- 201206742 2 4. 25 : 26 : 27 : 28 : 29 : 30 : 3 1, 3 2. 33. 34. 35. 36. 37. 38. 39. 40 > 42 : 43 : 44 : 45 : 47. 48. 49. 61 : Bias guide roller mechanism 1st drive wheel 1st motor 1st reducer 2nd drive wheel 2nd motor 2nd reducer 65 : The first fixed guide roller 66: The second fixed guide roller 67: The third fixed guide roller 68: 4th fixed guide roller 74: Bearing 69 : The first branch guide roller 70: The second branch guide roller 71: The third branch guide roller 72: The fourth branch guide roller 73: Bias guide roller drive mechanism 1st cylinder 1st axis 2nd axis 1st connection shaft (connection member) 52 : Bracket 53 : Arm body 5 4 : Linkage -34 201206742 5 1. 5 5 : Rotating support 5 8 : First driven wheel unit 59: Second driven wheel unit 62: 1st driven wheel 63 : 2nd driven wheel 75 : 1st Photoelectric Detector 76: 2nd Photoelectric Detector 7 7 : Linear scale 7 8 : Barcode reader 79a: 1st pick unit 7 9b : The second picking unit 80: Pallet Truck Controller 8 1 : C A D system 82 : Controller body 8 3 : First memory 84: System main body 8 5 : 2nd memory 8 7 : Control unit (decision unit) 8 8 : Walking control unit 8 9 : Bifurcation control unit 90: Third memory 91: 2nd cylinder 92 : 3rd axis 93 : 4th axis -35 201206742 94 : 96 : 97 : 98, 101: 103 : 104 : 105: 106 : 118: 12 1: 122: 201 : 202 : 203: 204 : 205: 206 : 206a 207: 301: 3 02 : 3 03 : 3 04 : 2nd link axis 1st encoder 2nd encoder 99 : Axis first movable arm second movable arm reflection belt body iron plate barcode carrier stop position first branch guide roller mechanism second branch guide roller mechanism first straight portion second straight portion curve portion third straight portion fourth straight line Partiality: Divergence location Confluence Reflective strip Fiber optic sensor Amplifier Guide sensor -36