S1：GS1 A7 B7 經濟部中央標準局員工消費合作社印製 五、發明説明（） 1 本發明係關於運送工作件用之高架行走車，特別是關 於備有一對台車之高架行走車。本發明係特別關於，同步 控制共計至少兩個馬達，並同步控制捲揚單元之至少兩個 馬達。 在工廠等要運送未完成品或製成品（工作件），使用 高架行走車。高架行走車係沿著例如敷設在建築物天板之 軌道行走。而藉設在本體之捲揚單元捲上或捲下吊運車， 從例如地面站裝上運道對象物之工作件，將工作件送至 其他地面站等處再卸下。 申請人對在高架行走車設一對台車，利用例如樞軸連 結在本體之方式進行檢討。如此，高架行走車便很容易在 曲道上轉彎，能夠配設曲率半徑較小之曲道，並可減少工 作件在曲道上搖擺。然而，如此按排時必須能夠同步控制 設在各台車之行走馬達。同步控制之基本手法是，在每一 行走馬達配設旋轉編碼器等之編碼器以檢測轉數。惟，如 此便需要一對編碼器，而且發明人又發現以一對編碼器進 行轉數之監視對同步控制並不有效》 本發明之課題是， 1 )要以簡單之電路確實對一對行走馬達進行同步控 制（申請專利範圍第1〜3項）， 2)要能以一個編碼器控制備有兩個行走馬達之高架 行走車之位置與速度（申請專利範圍第2項）， 3 )要能以兩個驅動器控制一對行走馬達與一對捲揚 馬達之共計四個馬達（申請專利範圍第3項）。 (请先閲讀背面之注意事項再填寫本頁) -裝< 訂 線J-丨· 本紙張尺度適用中國國家標準（CNS ) Μ規格（210x297公釐） 312681_ %_ 五、發明説明（） 2 本發明係備有，支持在行走軌道而行走之至少一對台 車。支撐在上述台車之本體，設在本體下部之捲揚單元， 以及’由該捲揚單元使其昇降之吊運車之高架行走車，其 特徵在於’在上述各台車設行走馬達，並配設可以測量各 行走馬達之输出轉矩之測量機構，及控制行走馬達，使各 行走馬達之輸出轉矩大致上相互一致之至少一對驅動器（ 申請專利範圍第1項）。一對台車係使用例如樞軸連結在 本體。 最好是僅在上述行走馬達中之一個馬達連接可以測量 其轉數之編碼器。 經濟部中央標準局員工消費合作社印製 (請先閱讀背面之注意事項再填寫本頁) 更好是，在上述捲揚單元配設一對捲揚馬達，及測量 各捲揚馬達之輸出轉矩之測量機構，並配設可在上述至少 —對行走馬達，與至少一對捲揚馬達之間，切換上述至少 一對驅動器用之至少一對開關，在上述各台車之行走時將 上述各驅動屬連接在各行走馬達，上述捲揚單元之昇降時 ’將上述各驅動器連接在上述各捲揚馬達，進行控制，使 各捲揚馬達之輸出轉矩大致上相互一致（申請專利範圍第 3項）。 行走馬達或捲揚馬達之輸出轉矩，可以測量電流驅動 時之負載電流，電壓驅動時之馬達電壓，或截波控制時之 載波頻率即可。行走馬達或捲揚馬達之轉數，則可以測量 ，例如馬達軸之轉數*連接在馬達之車軸或捲揚鼓輪等之 轉數等。再者，馬達之轉數並不代表其輸出轉矩。例如是 一對行走馬達，當將其連接在行走車輪之車軸時，若馬達 本紙張尺度適用中國國家標準（CNS ) A4規格（2丨0X297公釐） A7 B7 i、發明説明（） 3 軸與車軸間無滑動時，轉數會相同。因此不能由轉數判斷 ~~對行走馬達之負載是如何分配的。 本發明係使用樞軸將高架行走車連結在至少一對台車 。因此’高架行走車要在彎道轉彎比較容易。因而各台車 至少需要一個行走馬達，需同步控制至少兩個行走馬達》 因此在各行走馬達配設驅動器與測量行走馬達之輸出轉矩 之測量機構。表示輸出轉矩之量有，例如行走馬達之負載 電流，電壓驅動時之驅動電壓，或截波控制時之載波頻率 等。而由主控制器等向驅動器供給表示對應此等輸出轉矩 之量之目標值，將此值與測量機構實際測量之量作比較， 而回授控制，令輸出轉矩大致上與目標值一致，例如在士 5 %以內相互一致。如此，至少一對行走馬達便能夠以大 致上相等之輸出轉矩來驅動，進行同步控制。 藉上述架構便可以同步控制一對行走馬達，但關係台 車之速度或行走距離則成爲開路控制。因此在一對行走馬 達中之一個馬達配設用以測量其轉數之編碼器。表示馬達 之轉數之量爲，例如馬達軸之轉數，或接在此馬達之車輪 之轉數。而只要知道馬達之轉數，便可以知道台車之速度 ，累計則可算出台車之行走距離。如此則可以用一個編碼 器正確測量備有一對行走馬達之高架行走車之速度與位置 (申請專利範圍第2項）。 最好是將上述驅動器兼用作捲揚單元之捲揚馬達之控 制與行走馬達之控制。因此在一對驅動器之各方連接開關 ，藉切換開關，在行走馬達與捲揚馬達之間切換驅動器之 本紙張尺度適用中國國家標率（CNS)A4規格（210x297公董） I--------—ti (請先閲讀背面之注意事項再填寫本頁) 訂 線·i! 經濟部中央標準局員工消費合作社印製 -6 - 五、發明説明（） 4 連接便可以。在各捲揚馬達配設可測量其輸出轉矩之測量 機構，由驅動器來驅動各捲揚馬達使各捲揚馬達之輸出轉 矩大致上相互一致。（申請專利範圍第3項）。而在這種 場合，最好是僅在一對捲揚馬達之一方配設編碼器，而使 其能監視其轉數。 第1圖〜第11圖表示實施例之高架行走車。首先表 示高架行走車之整體構造與台車之構造。第1圖表示高架 行走車2之整體構造。0 1係沿著無塵室或工廠等建築物 之天板敷設之軌道，0 2係軌道部，〇 3係高架行走車2 與管理中心間之通信電纜。高架行走車2備有兩台之台車 4 ’ 4 ’各台車4備有緩衝器6。台車4，4係藉第2〜 第4圖所示之樞軸3 2連結在本體8，本體8下部有捲揚 單元1 0。而捲揚單元1 0使吊運車1 2昇降，由吊運車 1 2保持收容有半導體基板之SM I F筒等之工作件〇 4 ，加以運送，1 3 ’ 1 4係一對防止掉落構件，捲上吊運 車1 2運送工作件〇 4時，防止工作件〇 4掉落。 經濟部中央標準局員工消费合作社印製 (請先閲讀背面之注意事項再填寫本頁) 第2圖表示從垂直於高架行走車2之前進方向之方向 所視之台車4，4之構造。第3圖表示從天板側所視之台 車4 ’ 4之構造。第4圖表示垂直於軌道之方向之台 車4之截面。此等圖式均表示卸下台車4，4之外罩之情 形。可參照第4圖，瞭解在軌道〇 1上之台車4，4之安 裝情形。0 5係軌道0 1之支持體，具有軌道〇 }之高度 調節機能，被覆有外罩0 6，08係向高架行走車2供電 $ 2 $線，〇 9係向高架行走車2傳遞停車位置等之標記 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） ~ 12651 五、發明説明（） 5 A7 B7 經濟部中央標準局負工消費合作社印裝 如 第 2 第 4 圖 所 示 軌 道 0 1 之 方 向 ) 大 致 達 1 6 » 1 7 0 其 馬 達 軸 平 面 在 土 1 0 度 之 範 圍 0 > 電 磁 剎 車 等 制 動 器 1 8 器 1 8 之 制 動 器 軸 2 2 連 換 9 0 度 > 轉 動 行 走 軸 2 行 走 車 輪 2 6 之 轉 動 面 爲 各 台 車 4 脫 出 軌 道 0 1 用 示 > 在 每 台 車 4 各 設 八 、廖- 刖 端 也 設 導 輥 2 8 9 2 8 順 暢 行 走 〇 3 0 係 在 垂 直 線 0 8 受 電 > 供 給 行走 馬 3 2 3 2 係 樞 軸 > 結 果 > —— 對 台 車 4 4 對 3 4 係 用 以 將 緩 衝 器 6 > 連 結 在 台 車 4 » 4 之 外 罩 2 8 在 軌 道 部 0 2 上 行 走 方 向 〇 緩 衝 器 6 6 之 > 刖 方 行 走 之 行 走 車 或 障 礙 物 讀 取 用 檢 測 器 可 輔 助 設 止 位 置 〇 再 說 明 台 車 4 4 之 本紙張尺度通用中國國家標準（CNS ) A4規格（210X 297公釐） ，沿台車4之長度方向（平行於 水平狀配設每一台車4之行走馬 2 0大體上呈水平，而例如對水 行走馬達1 6，1 7不設制動器 設在另處。將馬達軸2 0與制動 接在戟齒輪2 4，將轉動方向變 5，驅動行走車輪26。在此之 垂直，但水平亦可》2 8係防止 之導輥，如第3圖，第4圖所例 個導輥28。同時，在緩衝器6 ，使緩衝器6能夠在軌道部0 2 軸周圍轉動自如之集電子，從架 達1 6，1 7等。 將台車4，4連結在本體8。其 本體8成爲轉向台車。而3 4， 6連結在台車4，4之樞軸，係 15，15。緩衝器6藉導輥 ，可藉樞軸3 4對台車4改變其 端設有檢測器3 6，可檢出在前 等。3 6係面向標記0 9配設之 在本體8內之控制資料，檢出停 特徵。在無塵室等處使用之高架 (請先閱讀背面之注意事項再填寫本頁) 經濟部中央標準局員工消费合作社印袈 A7 ____B7_ 五、發明説明（） 6 行走車2之容積必須很小。台車4因爲沿軌道01之長度 方向之空間是分配給高架行走車2，因此，很重要的是對 軌道0 1之台車4，4之寬度或高度必須很小》實施例係 在沿各台車4之長度方向之中心部附近有行走車輪2 6， 其一側有行走馬達16，17，另一方有制動器18。而 行走馬達16 ’ 17有一部分從台車4突出。馬達軸20 或制動器軸2 2大致上呈水平，例如在對水平面之± 1 〇 度範圍內，其方向與台車4之前進方向平行。因此，馬達 1 6 ，1 7或制動器1 8之長度方向與軌道〇 1之長度方 向平行，台車4，4之高度或寬度可縮小。馬達軸2 0或 制動器軸2 2連接在戟齒輪2 4，直角變換轉軸之方向而 驅動行走車輪2 6。再者，戟齒輪2 4之軸方向與馬達軸 2 0，制動器軸2 2之軸方向不相交，例如在第2圖，馬 達軸2 0與制動器軸2 2之方向不重叠，只是配置成平行 狀。而使用戟齒輪2 4時，能夠以較斜齒輪薄之齒輪確實 傳遞動力，因此能夠減少齒輪部之厚度，減低台車4，4 之高度。 行走馬達1 6，1 7與制動器1 8分開，以行走車輪 2 6爲中心配置成面對面狀。因爲馬達1 6，1 7與制動 器1 8分開，因此可以縮小馬達之體積，這些負載可分散 行走車輪2 6之兩側而穩定化。如果制動器1 8與行走馬 達1 6 ，1 7爲一體，馬達會變大，而且必須將行走車輪 2 6配置在台車4之大致中央部位，因此台車4會大形化 。同時負載會集中在台車4之一方而不穩定。__ 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） 裝~ 訂 線_-(請先閱讀背面之注意事項再填寫本頁) -9 - 經濟部中央標準局員工消費合作社印製 A7 _____B7 五、發明説明（） 7 其次’對本體8分開設兩部台車4，4，以樞軸加以 連結。因爲每一台車4均設有馬達1 6，1 7等，因此馬 達16，17或制動器18之徑變小，台車4，4之高度 及寬度均可減小。同時因爲用樞軸連結台車4，4與本體 8，因此如第5圖所示，高架行走車2可以在曲道順利轉 彎不致於滑動，工作件0 4之搖擺輕微。又因用樞軸3 4 將前後緩衝器6，6連結在台車4，4，因此緩衝器6， 6可沿著軌道0 1之方向對台車4轉彎，而藉檢測器3 6 確實檢出先行之其他高架行走車。而在碰撞時，亦可防止 台車4直接碰撞。若不以樞軸將緩衝器6，及6連結在台 車4，4，檢測器3 6之方向將固定成爲台車4之方向， 有時無法檢出在曲通前方行走之行走車2。 第6圖〜第8圖表示實施例之捲揚單元1 0 »捲揚單 元1 0支持在本體8之下部。4 0係捲揚單元基板，其底 面配置有3個捲揚鼓輪4 2。各捲揚鼓輪4 2分成兩個部 分，可藉個鼓輪4 2捲起兩條繩索或皮帶等》而以共計 六條繩索8 0捲上吊運車1 2。而捲揚鼓輪4 2係例如沿 著正三角形之各邊配置，在從單元1 0之中心部所視之鼓 輪4 2之外側設有防脫滾子4 4，以防止繩索8 0脫離鼓 輪4 2。 4 6，4 7係兩組捲揚馬達，而將電磁剎車等之制動 器48分開配置之。50係馬達軸，52係制動器軸，與 軸方向大致成水平，例如配置在水平面之±10度範圍內 _-結果是，可以將馬達46 ，47及制動器48配置在與 本紙張尺度適用中國國家標準（CNS ) A4規格（2I0X 297公釐） !111 裝《 — — — 訂 II 線^I {請先閱讀背面之注意事項再填寫本頁) 一 10 - 經濟部中央標準局員工消費合作杜印製 A7 B7 五、發明説明（） 8 鼓輪4 2大致同高之位置，並配置成水平狀。在捲揚單元 1 0之中心部，即在三個鼓輪4 2構成之三角形之中心， 配設戟齒輪5 4等之驅動齒輪，在共同軸5 5裝設傳動用 之平齒輪5 6。戟齒輪5 4將馬達46，47之以水平方 向爲中心之轉動變換成以高度方向爲中心之轉動。雖然使 用斜齒輪等也可以，但是戟齒輪5 4較薄，且可確實傳遞 動力，較爲理想。平齒輪5 6介由鼓輪4 2側之平齒輪 5 8 ’驅動鼓輪4 2。在平齒輪5 8之轉軸設斜齒輪6 0 ，轉動鼓輪4 2之斜齒輪6 2。也可以使用螺旋齒輪等以 取代平齒輪58，58。64係與吊運車1 2之定位用導 梢。 再參照第7圖說明捲揚單元1 〇之動作，在吊運車 1 2之點，例如點p安裝繩索8 0，從各點將繩索8 0分 成兩路延伸向上方，而以配置在三角形兩邊之兩個鼓輪 42 ’ 42加以捲取。在吊運車12下降到最低點之位置 ，繩索8 0在鼓輪4 2之內側，捲揚動作進行後，捲取位 置向鼓輪4 2之外側移動。其結果，以各點p爲頂點，繩 索8 0在兩等邊三角形上，兩個鼓輪4 2，4 2之捲取位‘ 置之間隔會隨著吊運車1 2之上昇而減少。因此，吊運車 1 2在下方位置時，捲取位置之間隔較大，吊運車1 2上 昇後’捲取位置之間隔變小，而能夠使固定在同一點之兩 根繩索8 0間之角度不論吊運車1 2之昇降恆維持大致上 —定大小。因此能夠不論高度位置如何，將吊運車1 2保 持穩定’而且捲揚所需之轉矩大致上維持一定大小。亦即 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） ----------裝<-----訂------線丄- (請先聞讀背面之注意事項再填寫本頁) -11 - A7 B7S1: GS1 A7 B7 Printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economy V. Description of the invention () 1 The present invention relates to an elevated walking vehicle for transporting work pieces, especially about an elevated walking vehicle equipped with a pair of trolleys. The present invention is particularly concerned with synchronously controlling at least two motors in total, and synchronously controlling at least two motors of the winch unit. To transport unfinished products or finished products (workpieces) at factories, etc., use overhead traveling vehicles. The overhead traveling vehicle travels along, for example, a track laid on a building roof. On the other hand, the hoisting unit on the main body is used to roll up or down the hoisting truck to load the work piece of the transportation object from the ground station, for example, and then send the work piece to other ground stations for unloading. The applicant conducted a review on the way of setting a pair of trolleys on an overhead traveling vehicle, using, for example, a pivot connected to the body. In this way, the overhead traveling vehicle can easily turn on the curve, and can configure a curve with a small radius of curvature, and can reduce the swing of the work piece on the curve. However, in such a row, it is necessary to be able to control the traveling motors provided in each trolley synchronously. The basic method of synchronous control is that an encoder such as a rotary encoder is provided for each traveling motor to detect the number of revolutions. However, this requires a pair of encoders, and the inventors found that the monitoring of the number of revolutions with a pair of encoders is not effective for synchronous control. The subject of the present invention is that 1) a simple circuit must indeed be used for a pair of walking Synchronous control of motors (Patent application items 1 to 3), 2) To be able to control the position and speed of an overhead traveling vehicle equipped with two traveling motors with one encoder (Patent application patent item 2), 3) It can control a total of four motors of a pair of traveling motors and a pair of hoisting motors with two drives (application patent scope item 3). (Please read the precautions on the back before filling out this page) -Install & Thread J- 丨 · The paper size is applicable to the Chinese National Standard (CNS) Μ Specification (210x297mm) 312681_% _ V. Description of invention () 2 The invention provides at least one pair of trolleys that support walking on the walking track. Supported on the body of the above-mentioned trolley, the hoisting unit provided in the lower part of the body, and the 'elevated trolley of the trolley that is lifted and lowered by the hoisting unit, characterized in that' the above-mentioned trolleys are provided with a walking motor and equipped with A measuring mechanism that can measure the output torque of each travel motor, and at least one pair of drivers that control the travel motors so that the output torque of each travel motor is substantially consistent with each other (item 1 of the patent application). A pair of trolleys are connected to the body using, for example, a pivot. Preferably, only one of the above walking motors is connected to an encoder that can measure the number of revolutions. Printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs (please read the precautions on the back before filling in this page). Preferably, a pair of hoisting motors are equipped on the above hoisting units and the output torque of each hoisting motor is measured The measuring mechanism is also provided with at least one pair of switches for switching the at least one pair of drivers between the at least one pair of traveling motors and at least one pair of hoisting motors, and driving each of the above-mentioned trolleys while traveling It is connected to each traveling motor, and when the lifting unit is raised and lowered, the above drivers are connected to each of the winding motors to control so that the output torques of the winding motors are substantially consistent with each other. ). The output torque of the walking motor or the hoisting motor can measure the load current during current driving, the motor voltage during voltage driving, or the carrier frequency during cutting control. The rotation speed of the walking motor or the winding motor can be measured, for example, the rotation speed of the motor shaft * the rotation speed of the axle or the winding drum connected to the motor. Furthermore, the number of revolutions of the motor does not represent its output torque. For example, a pair of walking motors, when connected to the axles of the walking wheels, if the motor's paper size is in accordance with the Chinese National Standard (CNS) A4 specifications (2 丨 0X297mm) A7 B7 i, invention description () 3 axis and When there is no slip between the axles, the number of revolutions will be the same. Therefore, it is impossible to judge by the number of revolutions how the load to the walking motor is distributed. The present invention uses a pivot to connect the overhead traveling vehicle to at least one pair of trolleys. Therefore, it ’s easier for the 'elevated wagon to turn around a curve. Therefore, at least one traveling motor is required for each trolley, and at least two traveling motors need to be synchronously controlled. Therefore, a driving mechanism and a measuring mechanism for measuring the output torque of the traveling motor are provided for each traveling motor. The quantity indicating the output torque is, for example, the load current of the walking motor, the driving voltage when the voltage is driven, or the carrier frequency during the clipping control. The main controller, etc. supplies the drive with a target value representing the amount of output torque, and compares this value with the amount actually measured by the measuring mechanism, and the feedback control makes the output torque roughly match the target value , For example, within 5% of each other. In this way, at least one pair of traveling motors can be driven with substantially equal output torque for synchronous control. With the above structure, a pair of traveling motors can be controlled synchronously, but the speed or traveling distance of the trolley becomes open circuit control. Therefore, a motor in a pair of walking motors is equipped with an encoder for measuring the number of revolutions. The quantity representing the number of revolutions of the motor is, for example, the number of revolutions of the motor shaft or the number of revolutions of the wheels connected to the motor. As long as you know the number of revolutions of the motor, you can know the speed of the trolley, and the cumulative distance can be calculated. In this way, an encoder can be used to accurately measure the speed and position of an overhead traveling vehicle equipped with a pair of traveling motors (item 2 of the patent application). It is preferable to use the above driver as both the control of the winding motor of the winding unit and the control of the travel motor. Therefore, connect the switch to each side of a pair of drives, and use the switch to switch the original paper standard of the drive between the walking motor and the winch motor. The China National Standard (CNS) A4 specification (210x297 company) I ---- ----— ti (please read the precautions on the back before filling in this page) Ordering line! I! Printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs-6-V. Description of the invention () 4 Connect it. Each winding motor is provided with a measuring mechanism that can measure its output torque, and each winding motor is driven by a driver so that the output torques of the winding motors are substantially consistent with each other. (Item 3 of the patent application scope). In this case, it is better to arrange the encoder only on one of the pair of winding motors so that it can monitor the number of revolutions. Figures 1 to 11 show the overhead traveling vehicle of the embodiment. First, the overall structure of the overhead traveling vehicle and the structure of the trolley are shown. Fig. 1 shows the overall structure of the overhead traveling vehicle 2. 0 1 is a track laid along the roof of a clean room or factory building, 0 2 is a track section, and 3 is a communication cable between the overhead traveling vehicle 2 and the management center. The overhead traveling vehicle 2 is equipped with two trolleys 4 ′ 4 ′ Each trolley 4 is equipped with a buffer 6. The trolleys 4 and 4 are connected to the main body 8 through the pivot 32 shown in Figures 2 to 4. The lower part of the main body 8 has a hoist unit 10. The hoisting unit 10 raises and lowers the trolley 12 and holds the SM IF tube containing semiconductor substrates and other work pieces by the trolley 12 to be transported. The 1 3 '1 4 is a pair to prevent falling Components, roll up the trolley 12 to transport the work piece 〇4, to prevent the work piece 〇4 from falling. Printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs (please read the precautions on the back before filling in this page) Figure 2 shows the structure of the trolleys 4, 4 viewed from the direction perpendicular to the forward direction of the elevated trolley 2. Fig. 3 shows the structure of the trolley 4 '4 viewed from the top plate side. Figure 4 shows a cross section of the trolley 4 perpendicular to the direction of the track. These figures show the situation when the trolleys 4 and 4 are removed. Refer to Figure 4 for the installation of trolleys 4 and 4 on track 〇1. 0 5 series track 0 1 support body with the height adjustment function of the track ○}, covered with a cover 0 6,08 series supply power to the overhead traveling vehicle 2 $ 2 $ line, 〇 9 series to the overhead traveling vehicle 2 transfer parking position, etc. The size of the paper for marking is applicable to the Chinese National Standard (CNS) A4 specification (210X297 mm) ~ 12651 V. Description of the invention () 5 A7 B7 Printed by the National Bureau of Standards of the Ministry of Economic Affairs, the Negative Work Consumer Cooperative as shown in Figure 2 and Figure 4 0 1 direction) roughly 1 6 »1 7 0 The motor shaft plane is within the range of soil 10 degrees 0 > electromagnetic brakes and other brakes 1 8 The brake shaft 2 of the device 1 8 2 2 consecutive 9 0 degrees > The rotating surface of the axle 2 running wheels 2 6 is for each trolley 4 to get out of the track. 0 1 For the purpose of illustration> Each trolley 4 is provided with eight, and the guide rollers are also provided at the end of the car. 2 8 9 2 8 Smooth walking 〇3 0 Vertical line 0 8 Received power > supplied to the walking horse 3 2 3 2 system pivot > result >-to the trolley 4 4 to 3 4 is used to connect the buffer 6 > to the trolley 4 4 Outer cover 2 8 Traveling direction on the track section 0 2 Buffer 6 6 of > The traveling vehicle or obstacle reading detector of the walking side can assist in setting the stop position. The paper size of the trolley 4 4 will be explained again General Chinese National Standard (CNS) A4 specification (210X 297mm), along the length direction of the trolley 4 (parallel to the horizontal, the walking horses 20 of each trolley 4 are generally horizontal, and for example, the water walking motor 1 6, 1 7 No brake is provided elsewhere. Connect the motor shaft 20 and the brake to the halberd gear 24, change the direction of rotation to 5 to drive the walking wheel 26. Here it is vertical, but it can also be horizontal. The guide rollers to be prevented are the guide rollers 28 as shown in Figure 3 and Figure 4. At the same time, the buffer 6 enables the buffer 6 to rotate freely around the 0 2 axis of the rail portion to collect electrons from the rack to 16 , 1 7 etc. The trolleys 4, 4 are connected to the body 8. The body 8 becomes a steering trolley. The 3, 4 and 6 are connected to the pivots of the trolleys 4, 4 and are connected to 15, 15. The buffer 6 is provided by guide rollers. Change the end of the trolley 4 by pivot 3 4 Detector 36, and the like can be detected in the front. 3 6 is the control data in the body 8 assigned to the marker 0 9 and the stop feature is detected. Elevation for use in clean rooms and other places (please read the precautions on the back before filling in this page) Employee Co-op of the Central Standards Bureau of the Ministry of Economy A7 ____B7_ V. Description of invention () 6 The volume of the trolley 2 must be very small. The trolley 4 is allocated to the overhead traveling vehicle 2 along the length of the track 01. Therefore, it is very important that the width or height of the trolley 4 on the track 0 1 and 4 must be very small. Near the center in the longitudinal direction, there are walking wheels 26, on one side of which there are running motors 16, 17 and on the other side there is a brake 18. On the other hand, a part of the travel motors 16 '17 protrudes from the trolley 4. The motor shaft 20 or the brake shaft 2 2 is substantially horizontal, for example, within ± 10 degrees to the horizontal, and its direction is parallel to the forward direction of the trolley 4. Therefore, the length direction of the motors 16 and 17 or the brake 18 is parallel to the length direction of the track 〇1, and the height or width of the trolleys 4 and 4 can be reduced. The motor shaft 20 or the brake shaft 22 is connected to the halberd gear 24, and the direction of the rotating shaft is changed at a right angle to drive the traveling wheels 26. Furthermore, the axis direction of the halberd gear 24 does not intersect with the motor shaft 20 and the axis direction of the brake shaft 2 2. For example, in FIG. 2, the directions of the motor shaft 20 and the brake shaft 2 2 do not overlap, but are arranged parallel shape. When the halberd gear 24 is used, it is possible to transmit power with a gear thinner than the helical gear. Therefore, the thickness of the gear portion can be reduced and the height of the trolleys 4 and 4 can be reduced. The travel motors 16, 17 are separated from the brake 18, and are arranged face-to-face with the travel wheels 26 as the center. Since the motors 16 and 17 are separated from the brake 18, the size of the motor can be reduced, and these loads can be dispersed and stabilized on both sides of the traveling wheels 26. If the brake 18 and the walking motors 16 and 17 are integrated, the motor will become larger, and the walking wheels 26 must be arranged in the approximate center of the trolley 4, so the trolley 4 will become larger. At the same time, the load will be concentrated on one side of the trolley 4 and unstable. __ This paper scale is applicable to the Chinese National Standard (CNS) A4 specification (210X297mm) Packing ~ Stranding _- (please read the precautions on the back before filling this page) -9-Printed by the Employee Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs A7 _____B7 5. Description of the invention () 7 Secondly, two trolleys 4 and 4 are set on the body 8 and connected by a pivot. Since each trolley 4 is provided with motors 16, 17, etc., the diameter of the motor 16, 17 or brake 18 becomes smaller, and the height and width of the trolleys 4, 4 can be reduced. At the same time, since the trolleys 4, 4 and the body 8 are connected by a pivot, as shown in Fig. 5, the overhead traveling vehicle 2 can turn smoothly on the curve without slipping, and the work piece 0 4 swings slightly. Since the pivots 3 4 are used to connect the front and rear buffers 6, 6 to the trolleys 4, 4, the buffers 6, 6 can turn the trolley 4 along the direction of the track 0 1, and the detector 3 6 can be used to detect the advance. Of other elevated walking vehicles. In the event of a collision, the trolley 4 can also be prevented from directly colliding. If the buffers 6 and 6 are not pivotally connected to the trolleys 4, 4, the direction of the detector 36 will be fixed to the direction of the trolley 4, and sometimes the trolley 2 walking in front of Qutong cannot be detected. FIGS. 6 to 8 show that the hoisting unit 10 »the hoisting unit 10 of the embodiment is supported under the body 8. The 4 0 series winding unit substrate is equipped with three winding drums 42 on the bottom. Each winch drum 42 is divided into two parts, and a drum drum 42 can be used to wind up two ropes or belts, etc., and a total of six ropes 80 can be wound on the trolley 12. The winch drum 4 2 is, for example, arranged along the sides of a regular triangle, and the anti-roll roller 44 is provided outside the drum 4 2 viewed from the center of the unit 10 to prevent the rope 80 from coming off. Drum wheel 4 2. 4 6, 4 7 are two sets of hoisting motors, and the brakes 48 such as electromagnetic brakes are arranged separately. 50 series motor shafts, 52 series brake shafts, which are approximately horizontal to the shaft direction, for example, within ± 10 degrees of the horizontal plane _- As a result, the motors 46, 47 and brakes 48 can be configured in accordance with this paper standard for China Standard (CNS) A4 specification (2I0X 297 mm)! 111 Pack "— — — Order II line ^ I (please read the precautions on the back before filling this page) 10-10-Employee consumption cooperation Duin of the Central Standards Bureau of the Ministry of Economic Affairs System A7 B7 V. Description of the invention () 8 The drum 4 is approximately at the same height and is arranged horizontally. At the center of the winch unit 10, that is, at the center of the triangle formed by the three drums 42, a drive gear such as a halberd gear 54 is arranged, and a flat gear 56 for transmission is arranged on a common shaft 55. The halberd gear 54 transforms the rotation of the motors 46 and 47 in the horizontal direction into the rotation in the height direction. Although a helical gear or the like may be used, the halberd gear 54 is thin and can transmit power reliably, which is ideal. The flat gear 5 6 drives the drum 4 2 via the flat gear 5 8 'on the side of the drum 4 2. A helical gear 60 is provided on the rotating shaft of the flat gear 58, and the helical gear 62 of the drum 42 is rotated. It is also possible to use helical gears or the like instead of the flat gears 58 and 58. The 64 series and the positioning guide for the trolley 12 are used. Referring to FIG. 7 again, the operation of the hoisting unit 10 will be described. At the point of the trolley 12, for example, a rope 80 is installed at point p, and the rope 80 is divided into two paths from each point and extends upward, and is arranged on both sides of the triangle. The two drums 42 '42 are wound up. At the position where the trolley 12 descends to the lowest point, the rope 80 is inside the drum 42. After the winding operation is performed, the winding position moves to the outside of the drum 42. As a result, with each point p as the apex, the rope 80 is on two equilateral triangles, and the winding position of the two drums 4 2 and 4 2 will decrease as the trolley 1 2 rises. Therefore, when the trolley 12 is in the lower position, the interval between the winding positions is larger, and the interval between the coiling positions after the crane 12 is raised becomes smaller, and two ropes 80 fixed at the same point can be made The angle of the lift remains constant at a fixed size regardless of the lift of the lift truck 1 2. Therefore, regardless of the height position, the trolley 12 can be kept stable and the torque required for hoisting can be maintained at a substantially constant level. That is to say, the size of this paper is applicable to the Chinese National Standard (CNS) A4 specification (210X297 mm) ---------- installed < ----- ordered ------ line --- (please first Read the notes on the back and fill out this page) -11-A7 B7
Gol 五、發明説明（） 9 ----------裝丄！ (請先閱讀背面之注意事項再填寫本頁) ，兩根繩索8 0，8 0間之角度愈大，愈能夠將吊運車 1 2保持穩定，但其反面，捲揚所需之轉矩會增加。而實 施例係不論高度如何，使兩根繩索間之角度接近一定大小 ，以大致上一定之轉矩使吊運車穩定昇降。同時，實施例 係使用六條繩索8 0使吊運車1 2昇降，因此，縱使有一 條繩索斷掉，吊運車1 2也不會傾斜，可穩定搬運工作件 0 4。 線 其次思考捲揚單元1 0之大小。從第6圖，第7圖可 以看出*對齊馬達4 8與鼓輪4 2之髙度方向之位置，配 置成大致水平狀。因此捲揚單元1 0之高度變低，且因爲 上下重疊戟齒輪5 4與平齒輪5 6，而得縮小此等所佔之 面積。再考量馬達46，47之轉動傳遞，則是以轉軸在 水平方向之馬達4 6 ，47之轉動之戟齒輪5 4直角方向 變換，而傳至平齒輪56，58，再以斜齒輪60，62 變換成水平方向之轉動，而傳至鼓輪4 2。 經濟部中央樣準局員工消費合作社印製 三個鼓輪4 2在正三角形之三邊上，而在連結其各頂 點位置與中心之戟齒輪5 4之線上會產生空間。馬達4 6 ，4 7以及制動器4 8配置在此線上，而可使單元1 0之 平面尺寸爲最小。同時因爲從各馬達4 6，4 7將制動器 48分離開，因此可縮小各馬達46，47之尺寸，而且 以戟齒輪5 4爲中心，均衡配置鼓輪4 2，馬達4 6， 4 7或制動器4 8，因此負載可均勻分散在捲揚單元1 0 。結果，後述之使用橫向移動軌道7 8之捲揚單元1 0之 橫方向移動會很容易。 本紙張尺度適用中國國家標準（CNS )M規格（210X297公釐） -12 - 經濟部中央標隼局員工消费合作杜印裝 A7 __B7_ 五、發明説明（） 10 再說明捲揚單元1 〇之橫向移動。在第6圖，第7圖 ’第9圖’ 7 0係使捲揚單元i 〇對本體8橫向移動之橫 向移動馬達’ 72係其制動器，74係帶輪，由馬達70 之轉動加以驅動。在帶輪7 0架設皮帶9 0，使附設螺紋 之軸92轉動。94，96係軸承，76係雌鋼珠螺栓。 此等構件之中，雌鋼珠螺栓7 6安裝在捲揚單元1 0， 其他構件則安裝在本體8。反之，亦可將雌鋼珠螺栓7 6 安裝在本體8 ’其他構件安裝在捲揚單元1 〇，但因捲揚 單元1 0之重量會增加，不很理想。這一些總稱爲捲揚機 構之移送機構。再者，也可以用單純之筒狀之雌螺栓取代 雌鋼珠螺栓7 6。並在本體8之底部設第6圖，第7圖所 示之橫向移動軌道78，78利用雌鋼珠螺栓76之前後 進，使捲揚單元1 0在軌道7 8上移動。 如此按排時，馬達7 0之轉動使雌鋼珠螺栓7 6對附 螺紋之軸9 2前後進，捲揚單元1 0則在橫向移動軌道 7 8上移動。因此可以處理行走軌道Ο 1下方以外之處所 之工作件0 4，可下幅度緩和對擺放工作件0 4位置之要 求。如此又可對未圖示之地面站之配置上放寬限制，表示 可以將地面站配置在所希望之位置。又可以增加行走軌道 0 1之配置上之自由度，可很容易敷設軌道〇 1。 捲揚單元1 0可對軌道Ο 1橫向移動之範圍由台車4 對重心位置之變化不會傾斜之範圍而定，若將台車4穩定 安裝在軌道0 1 ，可橫向移動之範圍便會隨之增加。而實 施例將本體8與台車4分開，因此將橫向移動軌道7 8設 本紙張尺度適用中國國家標準（CNS ) A4規格（210 X 297公釐） ---------裝1-----訂------線j (請先閲讀背面之注意事項再填寫本頁) -13 - 經濟部中央榡準局員工消费合作社印製 A7 —-_____B7 五、發明説明（） 11 在本體8 ’如果本體8與台車4是一體，則可在台車4之 底部設橫向移動軌道7 8。 第10圖表示行走馬達16，17及捲揚馬達4 6， 47等之控制。150係電源基板，由上述之架線〇8， 0 8供電，而由驅動馬達等之外部電源1 5 2，及驅動控 制電路之控制電源1 5 4之兩個部分所構成。而外部電源 1 5 2係例如2 8V之供應驅動行走馬達1 6，1 7及捲 揚馬達46 ’ 47之電源VI ，驅動橫向移動馬達70或 吊運車轉動馬達1 0 4之例如2 4V之電源V2，以及， 驅動各種檢測器之例如2 4 V之電源V 3。而控制電源 154係例如供應5V之電源V4。156係主控制器， 備有CPU及記憶器，1 5 8係通信用之數據機，1 6 0 係與通信電纜0 3之送收信用之結合器。1 6 2係輸入輸 出，例如從S 1〜S 3等各種檢測器輸入信號，同時接收 紅外線或超音波等之遙控信號。 164係伺服部，備有，以旋轉編碼器El，E2送 出之信號爲基本而算出速度之速度計算部1 6 6，累計速 度計算部1 6 6算出之速度而算出位置之位置計算部 1 6 8，以及，參照所算出之速度或位置以決定驅動電流 之目標值之目標電流決定部1 70。其中之旋轉編碼器 E 1可求出例如行走馬達1 6之馬達軸2 0之轉數，旋轉 編碼器E 2可求出捲揚馬達4 6之馬達軸5 0之轉數。伺 服部164連接兩個驅動器172，174，驅動器 1 7 2，1 7 4分別設有測量輸出電流（馬達之負載電流 本紙張尺度適用中國國家標準（CNS ) A4規格（2丨0X297公釐） 裝一 ！ I 訂 i I I I __ 線 A * (請先閲讀背面之注意事項再填寫本頁) -14 - 經濟部中央標準局t貝工消費合作社印製 31£68ί 五、發明説明（） 12 )用之電流檢測器176，178·而驅動器172， 174可介由開關180，182在行走馬達16，17 側及捲揚馬達4 6，47側切換接續。 1 8 4係控制橫向移動馬達7 0之驅動器，E 3係檢 出橫向移動馬達7 0之轉數同之旋轉編碼器。1 8 6係由 主控制器1 5 6控制吊運車控制部1 8 8之電纜，從主控 制器1 5 6向吊運車控制部1 8 8傳送控制信號，同時連 接電源V 2。 再參照第1 1圖說明行走馬達1 6，1 7與捲揚馬達 46 ，47之控制動作。行走馬達16，17及捲揚馬達 46，47不含同時驅動。台車4，4在行走時捲揚馬達 46，47在停止狀態。因此，伺服部164將因主控制 器1 5 6之信號，檢査有無行走指令。有行走指令時，切 換開關180，182，將行走馬達16連接在驅動器 1 72，將行走馬達1 7連接在驅動器1 74。並依目標 速度，將對應目標電流值大小之信號輸入驅動器1 7 2， 174。驅動器172，174之增益已調整好，可以補 正行走馬達1 6，1 7間之少許之輸出特性之偏移，而由 驅動器172，174向馬達16，17供應相同大小之 驅動電流。而以電流檢測器1 7 6，1 7 8監視此項驅動 電流，即馬達1 6，1 7之負載電流，將其回授到驅動器 172，174，以控制行走馬達16，17。 兩個行走馬達1 6，1 7之負載電流相等，表示馬達 1 6，1 7之輸出轉矩相等。而這又是表示，高架行走車 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） ----------裝 i I. (請先閲讀背面之注意事項再填寫本頁) 訂 15 - 經濟部中央標準局員工消費合作社印製 A7 B7 五、發明説明（） 13 之行走負載均等分配給兩個行走馬達1 6，1 7取得同步 〇 旋轉編碼器E 1可檢出行走馬達1 6之轉數，此係馬 達軸2 0之轉數。而對行走馬達1 7則不設編碼器》編碼 器E 1送出之信號係輸入伺服部1 6 4之速度計算部 1 6 6，由速度計算部1 6 6將其換算成高架行走車之速 度。另一方面，位置計算部1 6 8累計算出高架行走車之 速度，換算成行走距離。由此則可清楚高架行走車之行走 狀況，亦即速度與位置，而當接近目標位置時，目標電流 決定部1 7 0便減少目標電流，使其減速，接著在目標位 置附近驅動制動器1 8，1 8，使高架行走車停下來。 當高架行走車到達目標位置時，藉捲揚單元1 0使吊 運車1 2下降。吊運車1 2之昇降指令由主控制器1 5 6 輸入伺服部164，切換開關180，182，將驅動器 1 7 2連接在捲揚馬達4 6，將驅動器1 7 4連接在捲揚 馬達4 7。而以旋轉編碼器E 2讀進捲揚馬達4 6之轉數 ，此爲馬達軸5 0之轉數，對捲揚馬達4 7則不設編碼器 。因爲行走馬達16，17與捲揚馬達46，47均由共 同之電源V 1加以驅動，因此可以兼用驅動器1 7 2， 17 4。 昇降係從捲下吊運車1 2開始。而由伺服部1 6 4向 驅動器1 72 * 1 74輸入目標電流值。驅動器172 ’ 1 7 4已預先完成調整，可以補正捲揚馬達4 6，4 7間 之微妙之输出特性之差異》而從驅動器1 7 2，1 7 4供 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） 装丄-----訂------線一I- (請先閱讀背面之注意事項再填寫本頁) -16 - 經濟部中央標準局員工消費合作社印製 A7 B7 五、發明説明（） 14 應驅動電流。而以電流檢測器1 7 6，1 7 8檢出此驅動 電流（負載電流），回授控制驅動器172，174。旋 轉編碼器E 2檢出捲揚馬達4 6之轉數，在速度計算部 1 6 6算出捲下速度，在位置計算部1 6 8算出吊運車 12之位置，進行控制。當吊運車12接近停止目標位置 時，伺服部1 6 4便變更目標電流值，將吊運車1 2減速 後令其停下來，使用未圖示之夾鉗機構裝卸工作件。完成 工作件之裝卸後將吊運車1 2捲上去，而這時之控制動作 則與捲上吊運車12時之控制動作完全相同。 圖式之簡單說明 第1圖係實施例之高架行走車之斜視圖* 第2圖係實施例之高架行走車之台車部之主要部分正 面圖。 第3圖係實施例之高架行走車之台車部之主要部分平 面圖。 第4圖係實施例之髙架行走車之台車部之垂直面主要 部分截面圖。 第5圖係表示實施例之高架行走車之台車部在彎道之 行走狀態之圖。 第6圖係實施例之捲揚單元之主要部分正面圖。 第7圖係實施例之捲揚單元之底面圖。 第8圖係表示實施例之捲揚單元之馬達，制動器’戟 齒輪之連接圖。___ 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） ----------裝-<-----訂------線丄 (請先閱讀背面之注意事項再填寫本頁) -17 - A7 B7五、發明説明（） 15 第9圖係表示實施例之捲揚單元之高度方向之分解狀 態之圖。 第1 0圖係實施例之高架行走車之控制方塊圖。 第11圖係實施例之高架行走車之動作流程圖。 ----------裝J------訂------線I ~ (請先閱讀背面之注意事項再填寫本頁) 經濟部中央標準局員工消費合作社印製 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） 18 _Gol 5. Description of the invention () 9 ---------- Pretend! (Please read the precautions on the back before filling in this page), the greater the angle between the two ropes 80, 80, the more stable the crane 1 2 will be, but on the opposite side, the required torque will be hoisted. Will increase. However, regardless of the height, the angle between the two ropes is close to a certain size, and the crane is raised and lowered with a substantially constant torque. At the same time, the embodiment uses six ropes 80 to raise and lower the trolley 12, so even if one rope breaks, the trolley 12 will not tilt, and the work piece can be stably transported. Line Next consider the size of the winch unit 10. It can be seen from Fig. 6 and Fig. 7 that * is aligned with the position of the high direction of the motor 48 and the drum 42, and is arranged substantially horizontally. Therefore, the height of the hoisting unit 10 becomes lower, and because the halberd gear 54 and the flat gear 56 are overlapped up and down, the area occupied by these can be reduced. Considering the rotation transmission of the motors 46 and 47, the rotation of the halberd gear 54 and the rotation of the motor 4 6 and 47 in the horizontal direction at right angles is transmitted to the flat gears 56 and 58 and the helical gears 60 and 62. It is transformed into a horizontal rotation and passed to the drum 42. Printed by the Employee Consumer Cooperative of the Central Bureau of Samples of the Ministry of Economic Affairs, three drums 4 2 are on the three sides of the equilateral triangle, and space will be created on the line connecting each vertex position with the center halberd gear 5 4. The motors 4 6, 4 7 and the brake 4 8 are arranged on this line, and the plane size of the unit 10 can be minimized. At the same time, since the brake 48 is separated from each motor 46, 47, the size of each motor 46, 47 can be reduced, and the drum 42, the motor 4 6, 4 7 or The brake 48, so the load can be evenly distributed in the winch unit 10. As a result, the lateral movement of the hoisting unit 10 using the lateral movement rail 78 will be easy as described later. This paper scale is applicable to the Chinese National Standard (CNS) M specification (210X297mm) -12-The Ministry of Economic Affairs Central Standard Falcon Bureau Employee Consumption Cooperation Du Printing Set A7 __B7_ V. Invention Description () 10 Then explain the horizontal direction of the winch unit 1 〇 mobile. In FIG. 6, FIG. 7, FIG. 9 and FIG. 9 are a horizontal moving motor that moves the hoisting unit i 0 to the body 8 horizontally. 72 is a brake, 74 is a pulley, and is driven by the rotation of the motor 70. The belt 90 is erected on the pulley 70 to rotate the shaft 92 with a screw thread. 94, 96 series bearings, 76 series female steel ball bolts. Among these components, female ball bolts 76 are mounted on the hoisting unit 10, and other components are mounted on the body 8. Conversely, the female steel ball bolts 7 6 can also be installed on the body 8 ′ and other components are installed on the hoisting unit 10, but the weight of the hoisting unit 10 will increase, which is not ideal. These are collectively referred to as the transfer mechanism of the winch mechanism. Furthermore, it is also possible to replace the female steel ball bolt 76 with a simple cylindrical female bolt. At the bottom of the main body 8, the lateral moving rails 78, 78 shown in Fig. 7 and Fig. 7 are moved forward and backward by using female steel ball bolts 76 to move the winding unit 10 on the rail 78. In such a row, the rotation of the motor 70 causes the female steel ball bolt 76 to move forward and backward against the threaded shaft 9 2, and the winch unit 10 moves on the lateral movement rail 78. Therefore, it is possible to process the work piece 0 4 in places other than below the walking track Ο1, and the lowering range can relax the requirement for the position of the work piece 0 4 to be placed. In this way, the restrictions on the configuration of the unillustrated ground station can be relaxed, indicating that the ground station can be arranged in a desired position. In addition, the degree of freedom in the configuration of the walking rail 0 1 can be increased, and the rail can be easily laid. The hoisting unit 1 0 can move to the track Ο 1. The range of lateral movement is determined by the range where the trolley 4 does not incline to the change of the position of the center of gravity. If the trolley 4 is stably installed on the track 0 1, the range of lateral movement will follow increase. The embodiment separates the body 8 from the trolley 4, so the horizontal movement track 78 is set to the paper size and the Chinese National Standard (CNS) A4 specification (210 X 297 mm) is applied. ---- order ------ line j (please read the precautions on the back before filling in this page) -13-A7 printed by the employee consumer cooperative of the Central Bureau of Economics of the Ministry of Economic Affairs —-_____ B7 V. Description of invention () 11 In the body 8 ', if the body 8 and the trolley 4 are integrated, a lateral moving rail 78 can be provided at the bottom of the trolley 4. Fig. 10 shows the control of the travel motors 16, 17 and the hoisting motors 46, 47, etc. The 150 series power supply board is powered by the above-mentioned wires 008 and 08, and is composed of two parts of an external power supply 152 for driving a motor and the like and a control power supply 154 for driving a control circuit. The external power supply 15 2 is a power supply VI such as 28 V for driving the walking motors 16, 17 and the hoisting motor 46'47, driving the lateral moving motor 70 or the trolley rotating motor 1 0 4 such as 24V The power supply V2, and, for example, the power supply V 3 that drives various detectors such as 24 V. The control power supply 154 is, for example, a power supply V4 supplying 5V. 156 is a main controller equipped with a CPU and a memory, 1 5 8 is a data modem for communication, and 1 6 0 is a combination of a communication cable 0 3 for sending and receiving credit Device. 1 6 2 is input and output, for example, input signals from various detectors such as S 1 ~ S 3, and also receives infrared or ultrasonic remote control signals. 164 is the servo unit, equipped with a speed calculation unit 1 6 6 that calculates the speed based on the signals sent by the rotary encoders El and E2, and a position calculation unit 1 6 that calculates the position by calculating the speed calculated by the speed calculation unit 1 6 6 8. And, the target current determining section 170 that determines the target value of the drive current with reference to the calculated speed or position. Among them, the rotary encoder E 1 can obtain the rotation speed of the motor shaft 20 of the traveling motor 16, for example, and the rotary encoder E 2 can obtain the rotation speed of the motor shaft 50 of the hoist motor 46. The servo unit 164 is connected to two drives 172, 174, and the drives 1 7 2 and 1 7 4 are respectively provided with a measurement output current (the load current of the motor. The paper standard is applicable to the Chinese National Standard (CNS) A4 specification (2 丨 0X297mm). I! I order i III __ Line A * (please read the notes on the back before filling in this page) -14-Printed by the Central Bureau of Standards of the Ministry of Economic Affairs of the Beigong Consumer Cooperative 31 £ 68ί 5. Description of invention () 12) The current detectors 176, 178 and the drivers 172, 174 can be switched and connected between the walking motor 16, 17 side and the winding motor 46, 47 side via the switches 180, 182. 1 8 4 is the driver that controls the traverse motor 70, and E 3 is a rotary encoder that detects the same rotation speed of the traverse motor 70. 1 8 6 is the main controller 1 5 6 that controls the cable of the crane control unit 1 8 8, transmits the control signal from the main controller 1 5 6 to the crane control unit 1 8 8, and is connected to the power supply V 2 at the same time. The control operations of the travel motors 16, 17 and the winch motors 46, 47 will be described with reference to FIG. 11 again. Walking motors 16, 17 and hoisting motors 46, 47 do not include simultaneous driving. When the trolleys 4, 4 are traveling, the hoisting motors 46, 47 are stopped. Therefore, the servo unit 164 will check whether there is a walking command based on the signal from the main controller 156. When there is a travel command, the switches 180 and 182 are switched, the travel motor 16 is connected to the driver 172, and the travel motor 17 is connected to the driver 174. And according to the target speed, input the signal corresponding to the target current value into the driver 1 7 2, 174. The gains of the drivers 172, 174 have been adjusted to compensate for a slight deviation in the output characteristics of the travel motors 16, 17 and the drivers 172, 174 supply the same amount of drive current to the motors 16, 17. The current detectors 1 7 6 and 1 7 8 monitor this drive current, that is, the load current of the motors 16 and 17 and feed them back to the drives 172 and 174 to control the walking motors 16 and 17. The load currents of the two traveling motors 16 and 17 are equal, which means that the output torques of the motors 16 and 17 are equal. And this is to indicate that the paper standard of the elevated walking car is applicable to the Chinese National Standard (CNS) A4 specification (210X297 mm) ---------- Install i I. (Please read the precautions on the back before filling in This page) Order 15-A7 B7 printed by the Staff Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs 5. Description of invention () 13 The travel load is equally distributed to the two travel motors 1 6 and 1 7 to obtain synchronization. The rotary encoder E 1 is detectable The rotation speed of the walking motor 16 is the rotation speed of the motor shaft 20. No encoder is provided for the walking motor 1 7 "The signal sent by the encoder E 1 is input to the speed calculation part 1 6 6 of the servo part 1 6 4 and the speed calculation part 1 6 6 converts it into the speed of the overhead traveling vehicle. . On the other hand, the position calculation unit 168 cumulatively calculates the speed of the overhead traveling vehicle and converts it into the traveling distance. This makes it possible to understand the running status of the overhead traveling vehicle, that is, the speed and position. When the target position is approached, the target current determination unit 170 reduces the target current and decelerates it, and then drives the brake 18 near the target position. , 18, to stop the overhead traveling vehicle. When the overhead traveling vehicle reaches the target position, the hoisting vehicle 12 is lowered by the hoisting unit 10. The lift command of the crane 1 2 is input to the servo unit 164 by the main controller 1 5 6, and the switches 180, 182 are connected, the drive 1 7 2 is connected to the hoist motor 4 6, and the drive 1 7 4 is connected to the hoist motor 4 7. The rotary encoder E 2 reads the number of revolutions of the hoist motor 4 6, which is the number of revolutions of the motor shaft 50, and the encoder is not provided for the hoist motor 47. Since the walking motors 16, 17 and the hoisting motors 46, 47 are driven by a common power source V1, the drivers 1 7 2, 17 4 can be used as well. The lifting system starts from rolling down the crane 12. The servo unit 164 inputs the target current value to the driver 1 72 * 1 74. The drive 172 '1 7 4 has been pre-adjusted to correct the subtle difference in output characteristics between the winch motors 4 6, 4 and 7 ”. The drive 1 7 2 and 1 7 4 are provided for this paper. The Chinese national standard (CNS ) A4 specification (210X297mm) Assembly ----- Ordered --- Line 1 I- (Please read the notes on the back before filling this page) -16-Employee Consumer Cooperative of Central Bureau of Standards Printed A7 B7 V. Description of the invention () 14 should drive current. The drive current (load current) is detected by the current detectors 176, 178, and the drivers 172, 174 are fed back. The rotary encoder E 2 detects the number of revolutions of the winding motor 46, calculates the unwinding speed in the speed calculation unit 166, and calculates the position of the trolley 12 in the position calculation unit 168 to control it. When the trolley 12 approaches the stop target position, the servo unit 164 changes the target current value, decelerates the trolley 12 and stops it, and uses a clamp mechanism (not shown) to load and unload the work piece. After the loading and unloading of the work piece, the crane 12 is rolled up, and the control action at this time is exactly the same as that when the crane 12 is rolled up. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of the overhead traveling vehicle of the embodiment * FIG. 2 is a front view of the main part of the trolley portion of the overhead traveling vehicle of the embodiment. Fig. 3 is a plan view of the main parts of the trolley portion of the overhead traveling vehicle of the embodiment. Fig. 4 is a cross-sectional view of the main part of the vertical plane of the trolley portion of the high-profile trolley of the embodiment. Fig. 5 is a diagram showing the traveling state of the trolley portion of the overhead traveling vehicle of the embodiment in a curve. Figure 6 is a front view of the main part of the hoisting unit of the embodiment. Fig. 7 is a bottom view of the hoisting unit of the embodiment. Fig. 8 is a connection diagram of the motor and brake gear of the winch unit of the embodiment. ___ This paper scale is applicable to China National Standard (CNS) A4 specification (210X297mm) ---------- installed- < ----- ordered ------ line (please read first (Notes on the back and then fill out this page) -17-A7 B7 5. Description of the invention () 15 Figure 9 is a diagram showing the decomposed state of the hoisting unit in the height direction of the embodiment. Fig. 10 is a control block diagram of the overhead traveling vehicle of the embodiment. Fig. 11 is a flowchart of the operation of the overhead traveling vehicle of the embodiment. ---------- installed J ------ ordered ------ line I ~ (please read the precautions on the back before filling in this page) Printed by Employee Consumer Cooperative of Central Bureau of Standards, Ministry of Economic Affairs The size of the paper used is in accordance with Chinese National Standard (CNS) A4 (210X297mm) 18 _