TWI745605B - Article transport facility - Google Patents

Article transport facility Download PDF

Info

Publication number
TWI745605B
TWI745605B TW107124649A TW107124649A TWI745605B TW I745605 B TWI745605 B TW I745605B TW 107124649 A TW107124649 A TW 107124649A TW 107124649 A TW107124649 A TW 107124649A TW I745605 B TWI745605 B TW I745605B
Authority
TW
Taiwan
Prior art keywords
traveling
rail
track
branch
article transport
Prior art date
Application number
TW107124649A
Other languages
Chinese (zh)
Other versions
TW201910234A (en
Inventor
衣川知孝
Original Assignee
日商大福股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 日商大福股份有限公司 filed Critical 日商大福股份有限公司
Publication of TW201910234A publication Critical patent/TW201910234A/en
Application granted granted Critical
Publication of TWI745605B publication Critical patent/TWI745605B/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
    • H01L21/67706—Mechanical details, e.g. roller, belt
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/67005—Apparatus not specifically provided for elsewhere
    • H01L21/67242—Apparatus for monitoring, sorting or marking
    • H01L21/67259—Position monitoring, e.g. misposition detection or presence detection
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
    • H01L21/67724—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations by means of a cart or a vehicule

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Condensed Matter Physics & Semiconductors (AREA)
  • General Physics & Mathematics (AREA)
  • Manufacturing & Machinery (AREA)
  • Computer Hardware Design (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Power Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Platform Screen Doors And Railroad Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)

Abstract

行走軌道具備第一行走軌道、第二行走軌道、迂迴用行走軌道、第一分歧軌道、第二分歧軌道、第一合流軌道、及第二合流軌道，第一分歧軌道是從第一行走軌道分歧且合流於迂迴用行走軌道，第二分歧軌道是從第二行走軌道分歧且合流於迂迴用行走軌道，第一合流軌道是從迂迴用行走軌道分歧且合流於第一行走軌道，第二合流軌道是從迂迴用行走軌道分歧且合流於第二行走軌道，物品搬送車可於迂迴用行走軌道上朝第一方向及第二方向之雙方向行走。The traveling track includes a first traveling rail, a second traveling rail, a roundabout traveling rail, a first branch rail, a second branch rail, a first merging rail, and a second merging rail. The first branch rail is branched from the first traveling rail. And merge into the detour running track, the second diverging track diverges from the second running track and merges with the detour running track, the first merging track diverges from the detour running track and merges with the first running track, the second merging track It diverges from the roundabout traveling track and merges into the second traveling track, and the article transport vehicle can travel in both directions of the first direction and the second direction on the roundabout traveling track.

Description

物品搬送設備Item handling equipment

發明領域 Field of invention

本發明是有關於一種具備有沿著行走軌道行走之物品搬送車的物品搬送設備。 The present invention relates to an article transport equipment provided with an article transport vehicle that runs along a walking track.

發明背景 Background of the invention

所述物品搬送設備的以往的例子已記載在日本專利特開2016-196359號公報(專利文獻1)中。在專利文獻1的物品搬送設備中，是以沿著第一主路徑4A、第二主路徑4B、第一連接路徑21、及第二連接路徑22的每一個之狀態而設置有行走軌道。第一連接路徑21是以從第一主路徑分歧且合流於第二主路徑的狀態而設置，第二連接路徑22是以從第二主路徑分歧且合流於第一主路徑的狀態而設置。並且，在此物品搬送設備中，是形成為行走於第一主路徑的物品搬送車，在該物品搬送車的前方有其他物品搬送車停止的情況下，可以藉由在第一連接路徑、第二主路徑、及第二連接路徑上行走並迂迴的作法，來超過其他的物品搬送車。再者，物品搬送車是在第一主路徑及第二主路徑上朝相同方向行走。 The conventional example of the article transport equipment is described in Japanese Patent Laid-Open No. 2016-196359 (Patent Document 1). In the article transport facility of Patent Document 1, a traveling rail is installed along each of the first main path 4A, the second main path 4B, the first connection path 21, and the second connection path 22. The first connection path 21 is provided in a state where it diverges from the first main path and merges with the second main path, and the second connection path 22 is installed in a state where it diverges from the second main path and merges with the first main path. In addition, in this article transport facility, an article transport vehicle is formed to travel on the first main path. When another article transport vehicle is stopped in front of the article transport vehicle, the article transport vehicle can be moved through the first connection path and the second The method of walking and detouring on the second main path and the second connecting path to overtake other goods transport vehicles. Furthermore, the article transport vehicle travels in the same direction on the first main path and the second main path.

發明概要 Summary of the invention

課題、用以解決課題之手段 Problem, the means to solve the problem

在像這樣的物品搬送設備中，所考慮的是設成具備下述二組：物品搬送車在第一主路徑4A、第二主路徑4B、第一連接路徑21、及第二連接路徑22上朝第一方向行走之組、以及物品搬送車朝與第一方向為相反方向之第二方向行走之組，並使物品搬送車朝第一方向與第二方向之雙方向行走，且讓朝第一方向行走的物品搬送車與朝第二方向行走的物品搬送車之雙方可以迂迴。但是，因為藉由具備二組第一主路徑4A、第二主路徑4B、第一連接路徑21、及第二連接路徑22而使路徑增加，所以會有沿著該路徑而設置的行走軌道的設置空間變大的問題。 In such an article transport facility, it is considered to be equipped with the following two groups: article transport vehicles on the first main path 4A, the second main path 4B, the first connection path 21, and the second connection path 22 The group that travels in the first direction and the group that the article transport vehicle travels in a second direction opposite to the first direction, and the article transport vehicle travels in both directions of the first direction and the second direction, and allows the article transport vehicle to travel in both directions of the first direction and the second direction. Both the article transport vehicle traveling in one direction and the article transport vehicle traveling in the second direction can detour. However, because the path is increased by having two sets of the first main path 4A, the second main path 4B, the first connection path 21, and the second connection path 22, there will be a running track along the path. The problem of larger setting space.

於是，所期望的是使朝第一方向行走的物品搬送車與朝第二方向行走的物品搬送車之雙方可以迂迴，並且能夠將行走軌道的設置空間設得較小之物品搬送設備的實現。 Therefore, it is desirable to realize an article transport facility that allows both the article transport vehicle traveling in the first direction and the article transport vehicle traveling in the second direction to be bypassed, and the installation space of the traveling rail can be set small.

有鑒於上述內容之物品搬送設備的特徵構成之點在於：具備沿著行走軌道行走之物品搬送車， 前述行走軌道具備第一行走軌道、第二行走軌道、迂迴用行走軌道、第一分歧軌道、第二分歧軌道、第一合流軌道、及第二合流軌道，前述第二行走軌道是以相對於前述第一行走軌道並行的狀態來設置，將行走於前述第一行走軌道的前述物品搬送車的行走方向設為第一方向，且將行走於前述第二行走軌道的前述物品搬送車的行走方向設 為第二方向，前述第一方向與前述第二方向互相為相反方向，前述迂迴用行走軌道是設置於前述第一行走軌道與前述第二行走軌道之間，且具備第一分歧合流部與第二分歧合流部，其中該第二分歧合流部是比該第一分歧合流部更位於前述第一方向側，前述第一分歧軌道是以從前述第一行走軌道的第一分歧部分歧且合流於前述迂迴用行走軌道的前述第一分歧合流部的狀態來設置，前述第二分歧軌道是以從前述第二行走軌道的第二分歧部分歧且合流於前述迂迴用行走軌道的前述第二分歧合流部的狀態來設置，前述第一合流軌道是以從前述迂迴用行走軌道的前述第二分歧合流部分歧且合流於前述第一行走軌道的第一合流部的狀態來設置，前述第二合流軌道是以從前述迂迴用行走軌道的前述第一分歧合流部分歧且合流於前述第二行走軌道的第二合流部的狀態來設置，前述物品搬送車可於前述迂迴用行走軌道上朝前述第一方向及前述第二方向之雙方向行走。 In view of the above content, the characteristic structure of the article transport equipment is that it has an article transport vehicle that runs along a walking track, The running rail includes a first running rail, a second running rail, a roundabout running rail, a first branch rail, a second branch rail, a first merging rail, and a second merging rail. The second running rail is relative to the aforementioned The first traveling rail is installed in a parallel state, the traveling direction of the article transport vehicle traveling on the first traveling rail is set to the first direction, and the traveling direction of the article transport vehicle traveling on the second traveling rail is set to The second direction is the second direction, the first direction and the second direction are opposite to each other, the detour running track is provided between the first running track and the second running track, and is provided with a first branch junction and a first Two branch confluence parts, wherein the second branch confluence part is located on the first direction side than the first branch confluence part, and the first branch track is branched from the first branch part of the first running track and merges at The detour running track is installed in the state of the first branch confluence part, and the second branch track is the second branch confluence that diverges from the second branch part of the second running track and merges with the detour running track The first merging track is installed in a state of diverging from the second branch merging part of the detour running track and merging at the first merging portion of the first running track, and the second merging track It is installed in a state where it is branched from the first branch junction part of the detour running track and merges at the second junction of the second running track. Travel in both directions and the aforementioned second direction.

根據該等特徵構成，行走於第一行走軌道的物品搬送車，可以在第一分歧部與第一合流部之間有其他的物品搬送車存在的情況下，依第一分歧軌道、迂迴用行走軌道、第一合流軌道的順序來行走，藉此超過存在於第一分歧部與第一合流部之間的其他的物品搬送車。又，行走於第二行走軌道的物品搬送車，可以在第二行走軌道的第二分歧部與第二合流部之間有其他的物品搬送車存在的情況下，依第二分歧軌道、迂迴用行走軌道、第二合流 軌道的順序來行走，藉此超過存在於第二分歧部與第二合流部之間的其他的物品搬送車。 According to these features, the article transport vehicle running on the first traveling track can travel on the first branch track or detour when there are other article transport vehicles between the first branch and the first junction. The rails and the first merging rail travel in this order, thereby overtaking other article transport vehicles existing between the first branch portion and the first merging portion. In addition, the article transport vehicle that runs on the second traveling track can be used for detours and detours when there are other article transport vehicles between the second branch part and the second junction of the second traveling track. Walking track, second confluence The rails travel in order, thereby overtaking other article transport vehicles existing between the second branching part and the second merging part.

藉由像這樣使物品搬送車行走，物品搬送車即可在迂迴用行走軌道上朝第一方向及第二方向之雙方向行走，而能夠作為在第一行走軌道上朝第一方向行走的物品搬送車的迂迴路來使用，並且能夠作為在第二行走軌道上朝第二方向行走的物品搬送車的迂迴路來使用。 By moving the article transport vehicle like this, the article transport vehicle can travel in both the first direction and the second direction on the roundabout traveling rail, and can be used as an article traveling in the first direction on the first traveling rail. The detour of the transport vehicle is used, and it can be used as the detour of the article transport vehicle traveling in the second direction on the second traveling rail.

並且，因為藉由像這樣讓在第一行走軌道上朝第一方向行走的物品搬送車、以及在第二行走軌道上朝第二方向行走的物品搬送車來兼用迂迴用行走軌道，而變得不需要對應於第一行走軌道與第二行走軌道的每一個來各別地設置迂迴用行走軌道，所以可以減少迂迴用行走軌道的數量。從而，使朝第一方向行走的物品搬送車與朝第二方向行走的物品搬送車之雙方可以迂迴，並且能夠將行走軌道的設置空間設得較小。 In addition, because the article transport vehicle that travels in the first direction on the first traveling rail and the article transport vehicle that travels in the second direction on the second traveling rail are both used as the detour traveling rail in this way, it becomes It is not necessary to separately provide the detour running rails corresponding to each of the first running rail and the second running rail, so the number of detour running rails can be reduced. Therefore, both the article transport vehicle traveling in the first direction and the article transport vehicle traveling in the second direction can be bypassed, and the installation space of the traveling rail can be made small.

1:行走路徑 1: walking path

2:行走軌道 2: walking track

2A:軌道部 2A: Track part

3:物品搬送車 3: Item transport vehicle

11:行走部 11: Walking part

11A:第一行走部 11A: The first walking part

11B:第二行走部 11B: Second walking part

12:本體部 12: Body part

13:連結部 13: Connection part

14:支撐部 14: Support

15:蓋體 15: Lid

16:第一馬達 16: The first motor

17:行走輪 17: walking wheel

18:引導輪 18: Guide wheel

19:引導輔助輪(被引導體) 19: Guide auxiliary wheel (guided body)

20:第二馬達(驅動部) 20: The second motor (drive part)

21:引導軌道 21: Guide track

23:被檢測體 23: Subject

31:第一行走軌道 31: The first walking track

32:第二行走軌道 32: Second walking track

33:迂迴用行走軌道 33: Roundabout walking track

34:第一分歧軌道 34: The first divergent track

35:第一合流軌道 35: The first confluence track

36:第二分歧軌道 36: The second divergence track

37:第二合流軌道 37: Second Confluence Orbit

41:第一行走路徑 41: The first walking path

42:第二行走路徑 42: Second walking path

43:迂迴用路徑 43: roundabout path

44:第一分歧路徑 44: The first divergent path

45:第一合流路徑 45: The first confluence path

46:第二分歧路徑 46: Second divergent path

47:第二合流路徑 47: Second Confluence Path

51:第一分歧部 51: The first branch

52:第一合流部 52: The first confluence

53:第二分歧部 53: The second branch

54:第二合流部 54: The second confluence

55:第一分歧合流部 55: The first branch confluence department

56:第二分歧合流部 56: The second branch confluence department

59:切換部 59: Switching part

60:進入防止體 60: Entry prevention body

61:檢測裝置 61: detection device

62:發送接收裝置 62: Transmitting and receiving device

63:接收裝置 63: receiving device

64:發送接收部 64: Sending and receiving part

65:顯示體 65: display body

66:方向感測器 66: Orientation sensor

66A:第一感測器 66A: The first sensor

66B:第二感測器 66B: second sensor

67:通訊裝置 67: Communication device

71:第一分歧引導軌道(第一引導軌道) 71: The first branch guide track (the first guide track)

72:第一合流引導軌道 72: The first confluence guide track

73:第二分歧引導軌道(第二引導軌道) 73: The second branch guide track (the second guide track)

74:第二合流引導軌道 74: The second confluence guide track

75:第一分歧合流引導軌道 75: The first branch confluence guide track

76:第二分歧合流引導軌道 76: The second branch confluence guide track

78:迂迴用引導軌道 78: Roundabout guide track

E:管理區域 E: Management area

E1:第一停止區域 E1: The first stop area

E2:第二停止區域 E2: second stop area

H:控制裝置 H: Control device

H1:第一控制部 H1: The first control unit

H2:第二控制部 H2: The second control unit

H3:第三控制部 H3: The third control unit

X:路徑長度方向 X: Path length direction

X1:第一方向 X1: first direction

X2:第二方向 X2: second direction

Y:路徑寬度方向 Y: Path width direction

Y1:路徑寬度方向第一側 Y1: The first side in the width direction of the path

Y2:路徑寬度方向第二側 Y2: The second side of the path width direction

Z:上下方向 Z: Up and down direction

圖1是顯示物品搬送設備的行走軌道與物品搬送車的平面圖。 Fig. 1 is a plan view showing a traveling rail of the article transport equipment and an article transport vehicle.

圖2是物品搬送車的側視圖。 Fig. 2 is a side view of the article transport vehicle.

圖3是物品搬送車的前視圖。 Fig. 3 is a front view of the article transport vehicle.

圖4是顯示物品搬送設備的行走軌道與引導軌道的平面圖。 Fig. 4 is a plan view showing a traveling rail and a guide rail of the article conveying equipment.

圖5是第一分歧部、第二合流部、及第一分歧合流部。 Fig. 5 shows the first branching part, the second merging part, and the first branching merging part.

圖6是顯示物品搬送車朝第一方向行走的情況之進入 防止體的圖。 Figure 6 shows the entry of the article transport vehicle traveling in the first direction Prevent the figure of the body.

圖7是顯示物品搬送車朝第二方向行走的情況之進入防止體的圖。 Fig. 7 is a diagram showing the entry preventing body when the article transport vehicle is traveling in the second direction.

圖8是顯示物品搬送車在迂迴用行走軌道上朝第一方向行走之情況的圖。 Fig. 8 is a diagram showing a state where the article transport vehicle is traveling in the first direction on the roundabout traveling track.

圖9是顯示物品搬送車在迂迴用行走軌道上朝第二方向行走之情況的圖。 Fig. 9 is a diagram showing a state where the article transport vehicle is traveling in the second direction on the roundabout traveling track.

圖10是顯示物品搬送車停止於第一停止區域之情況的圖。 Fig. 10 is a diagram showing a situation where the article transport vehicle stops in the first stop area.

圖11是顯示物品搬送車停止於第二停止區域之情況的圖。 Fig. 11 is a diagram showing a situation where the article transport vehicle stops in the second stop area.

圖12是控制方塊圖。 Figure 12 is a control block diagram.

圖13是顯示其他實施形態之行走軌道與引導軌道的圖。 Fig. 13 is a diagram showing a walking rail and a guide rail of another embodiment.

用以實施發明之形態 The form used to implement the invention

1.實施形態 1. Implementation form

根據圖式來說明物品搬送設備的實施形態。 The embodiment of the article conveying equipment will be explained based on the drawings.

如圖1所示，物品搬送設備具備有沿著行走路徑1設置的行走軌道2、及沿著行走軌道2行走的物品搬送車3。如圖2所示，行走軌道2具備有左右一對之軌道部2A。物品搬送車3是在行走軌道2上沿著行走路徑1行走以搬送物品。再者，在本實施形態中，是將收容半導體基板的FOUP(前開式晶圓傳送盒，Front Opening Unified Pod)作為物品， 物品搬送車3是在從天花板所懸吊支撐的行走軌道2上沿著行走路徑1行走以搬送FOUP。 As shown in FIG. 1, the article transport facility includes a traveling rail 2 provided along a traveling path 1 and an article transport vehicle 3 that runs along the traveling rail 2. As shown in FIG. 2, the traveling rail 2 is equipped with the rail part 2A of a pair of left and right. The article transport vehicle 3 travels along the traveling path 1 on the traveling rail 2 to transport articles. Furthermore, in this embodiment, a FOUP (Front Opening Unified Pod) containing a semiconductor substrate is used as an article. The article transport vehicle 3 travels along the traveling path 1 on the traveling rail 2 suspended and supported from the ceiling to transport the FOUP.

[物品搬送車] [Item transport vehicle]

接著，針對物品搬送車3進行說明。 Next, the article transport vehicle 3 will be described.

再者，說明物品搬送車3時，將物品搬送車3之前後方向稱為行走方向，並將物品搬送車3之橫寬方向(左右方向)稱為車體橫寬方向來說明。又，是在從物品搬送車3之後方往前方觀看的狀態下，特定左右方向來說明。 In the description of the article transport vehicle 3, the front and rear direction of the article transport vehicle 3 is referred to as the traveling direction, and the lateral width direction (left-right direction) of the article transport vehicle 3 is referred to as the vehicle body lateral width direction. In addition, the description is given in the left and right directions in a state of looking forward from the rear of the article transport vehicle 3.

如圖2及圖3所示，物品搬送車3具備有：在行走軌道2上沿著該行走軌道2行走的行走部11、位於左右一對之行走軌道2的下方並保持物品的本體部12、及位於左右一對之軌道部2A之間且連結行走部11與本體部12的連結部13。於本體部12上具備有：支撐部14，以懸吊狀態來支撐物品；及蓋體15，覆蓋支撐部14及被該支撐部14所支撐的物品的行走方向之兩側及上方。 As shown in Figures 2 and 3, the article transport vehicle 3 is provided with a walking portion 11 that walks along the walking rail 2 on the walking rail 2, and a body portion 12 that is located below the pair of left and right walking rails 2 and holds articles. , And the connecting portion 13 located between the pair of left and right rail portions 2A and connecting the walking portion 11 and the main body portion 12. The main body portion 12 is provided with a supporting portion 14 for supporting the article in a suspended state, and a cover 15 covering the supporting portion 14 and both sides and above in the traveling direction of the article supported by the supporting portion 14.

如圖2所示，行走部11是以在行走方向上排列的狀態而具備有第一行走部11A與第二行走部11B。第一行走部11A及第二行走部11B的每一個是在連結部13連結成以繞著沿上下方向Z的縱軸心的方式一體旋轉。並且，前後一對之連結部13的每一個是繞著沿上下方向Z的縱軸心旋轉自如地連結於本體部12。連結部13相對於本體部12而繞著縱軸心地旋轉，藉此讓第一行走部11A及第二行走部11B相對於本體部12而繞著縱軸心地旋轉。如圖3所示，前後一對之連結部13是位於左右一對之軌道部2A 之間。 As shown in FIG. 2, the walking portion 11 is provided with a first walking portion 11A and a second walking portion 11B in a state aligned in the walking direction. Each of the first running portion 11A and the second running portion 11B is connected at the connecting portion 13 so as to rotate integrally around the longitudinal axis in the vertical direction Z. In addition, each of the pair of front and rear connection portions 13 is rotatably connected to the main body portion 12 around the longitudinal axis in the vertical direction Z. The connecting portion 13 rotates about the longitudinal axis with respect to the main body 12, thereby allowing the first traveling portion 11A and the second traveling portion 11B to rotate about the longitudinal axis with respect to the main body 12. As shown in Fig. 3, the connecting portion 13 of a pair of front and rear is located in a pair of rail portions 2A on the left and right. between.

如圖2所示，於第一行走部11A上，具備有第一馬達16、及被第一馬達16所旋轉驅動的左右一對之行走輪17。該左右一對之行走輪17的每一個，是以在左右一對之軌道部2A的每一個的上表面行走的方式而設置在第一行走部11A。 As shown in FIG. 2, the first traveling portion 11A is provided with a first motor 16 and a pair of left and right traveling wheels 17 that are rotationally driven by the first motor 16. Each of the left and right pair of traveling wheels 17 is installed in the first traveling portion 11A so as to travel on the upper surface of each of the left and right pair of rail portions 2A.

又，在第一行走部11A上，裝備有以繞著沿上下方向Z的縱軸心的方式旋轉自如的左右一對之引導輪18。該左右一對之引導輪18是以位於左右一對之軌道部2A之間且在左右一對之軌道部2A中的內側面滾動的方式裝備在第一行走部11A。左右一對之引導輪18是以排列於行走方向的狀態在第一行走部11A上裝備有2組。 In addition, the first walking portion 11A is equipped with a pair of left and right guide wheels 18 that are rotatable around the vertical axis in the vertical direction Z. The left and right pair of guide wheels 18 are located between the left and right pair of rail parts 2A and are equipped on the first running part 11A so as to roll on the inner surface of the left and right pair of rail parts 2A. The left and right pair of guide wheels 18 are arranged in the traveling direction and are equipped with two sets on the first traveling portion 11A.

第二行走部11B和第一行走部11A同樣地，具備有1個第一馬達16、1組左右一對之行走輪17、及2組左右一對之引導輪18。 The second traveling portion 11B, like the first traveling portion 11A, is provided with one first motor 16, one pair of left and right traveling wheels 17, and two sets of left and right pair of guide wheels 18.

物品搬送車3是藉由第一行走部11A的引導輪18及第二行走部11B的引導輪18被一對行走軌道2所引導，而使路徑寬度方向Y上的位置受到限制，並且藉由將第一行走部11A的行走輪17及第二行走部11B的行走輪17旋轉驅動，而沿著行走路徑1行走。 The article transport vehicle 3 is guided by the guide wheels 18 of the first traveling portion 11A and the guide wheels 18 of the second traveling portion 11B by the pair of traveling rails 2, so that the position in the path width direction Y is restricted, and by The traveling wheels 17 of the first traveling portion 11A and the traveling wheels 17 of the second traveling portion 11B are rotationally driven to travel along the traveling path 1.

又，物品搬送車3是藉由相對於本體部12讓第一行走部11A及第二行走部11B相對於本體部12繞著縱軸心地旋轉，而變得即使行走路徑1為圓弧狀，也可以沿著行走路徑1行走。 In addition, the article transport vehicle 3 rotates the first traveling portion 11A and the second traveling portion 11B about the longitudinal axis with respect to the main body 12 with respect to the main body 12, so that even if the traveling path 1 is in an arc shape, You can also walk along the walking path 1.

如圖2所示，第一行走部11A具備有繞著沿上下方向Z的縱軸心地旋轉的前後一對之引導輔助輪19、以及使前後一對之引導輔助輪19一體地朝車體橫寬方向移動的驅動部即第二馬達20。前後一對之引導輔助輪19與第2馬達40是以位於比行走輪17更上方的方式而設置於第一行走部11A。 As shown in FIG. 2, the first traveling portion 11A includes a pair of front and rear guide auxiliary wheels 19 that rotate around a longitudinal axis in the vertical direction Z, and a pair of front and rear guide auxiliary wheels 19 integrally facing the vehicle body. The driving part that moves in the width direction is the second motor 20. The pair of front and rear guide auxiliary wheels 19 and the second motor 40 are provided in the first running portion 11A so as to be located above the running wheels 17.

於第二行走部11B上，是和第一行走部11A同樣地具備有前後一對之引導輔助輪19與1個第二馬達20。 In the second running section 11B, similar to the first running section 11A, a pair of front and rear guide auxiliary wheels 19 and a second motor 20 are provided.

並且，如圖4所示，設置有對引導輔助輪19進行引導的引導軌道21。如圖3所示，此引導軌道21是設置成在比行走軌道2更上方並比在該行走軌道2上滾動的行走輪17更上方，且在上下方向Z視角下位於左右一對之行走軌道2的中央部。 In addition, as shown in FIG. 4, a guide rail 21 that guides the guide auxiliary wheel 19 is provided. As shown in FIG. 3, the guide rail 21 is arranged above the walking rail 2 and above the walking wheels 17 rolling on the walking rail 2, and is located in a pair of walking rails in the vertical direction Z viewing angle The central part of 2.

如圖3所示，第一行走部11A是構成為：藉由第二馬達20的驅動，使前後一對之引導輔助輪19的位置移動至右引導位置(相當於第一位置，在圖3中以假想線表示的位置)與左引導位置(相當於第二位置，在圖3中以實線表示的位置)。右引導位置是前後一對之引導輔助輪19位於比第一行走部11A的車體橫寬方向的中央更右側且對引導軌道21從右側抵接的位置。左引導位置是前後一對之引導輔助輪19位於比第一行走部11A的車體橫寬方向的中央更左側且對引導軌道21從左側抵接的位置。 As shown in FIG. 3, the first walking portion 11A is configured to move the position of the front and rear pair of guide auxiliary wheels 19 to the right guide position (corresponding to the first position, in FIG. 3) by the driving of the second motor 20 The position indicated by the imaginary line in the middle) and the left guide position (corresponding to the second position, the position indicated by the solid line in FIG. 3). The right guide position is a position where the front and rear pair of guide auxiliary wheels 19 are located on the right side of the center of the first running portion 11A in the vehicle body width direction and abut the guide rail 21 from the right side. The left guide position is a position where the front and rear pair of guide auxiliary wheels 19 are located on the left side of the center of the first running portion 11A in the vehicle body width direction and contact the guide rail 21 from the left side.

再者，引導輔助輪19相當於被引導體，第二馬達20相當於使引導輔助輪19朝左右方向移動並移動到第一位置 與第二位置的驅動部。 Furthermore, the guide auxiliary wheel 19 is equivalent to the body to be guided, and the second motor 20 is equivalent to moving the guide auxiliary wheel 19 in the left-right direction and to the first position. And the drive part of the second position.

於第一行走部11A所具備的前後一對之引導輔助輪19、以及於第二行走部11B所具備的前後一對之引導輔助輪19是以同步的狀態來移動到相同的引導位置。 The pair of front-rear guide wheels 19 provided in the first running portion 11A and the pair of front-rear guide wheels 19 provided in the second running portion 11B move to the same guide position in a synchronized state.

又，左右一對之引導輔助輪19會藉由圖外之限制部而使往比右引導位置更右側之移動或往比左引導位置更左側之移動受到限制。因此，例如，即使前後一對之引導輔助輪19在位於右引導位置之狀態下受到引導軌道21朝右側按壓之情況下，仍可藉由限制部的限制，將前後一致之引導輔助輪19維持在右引導位置。但是，前後一對之引導輔助輪19在位於右引導位置之狀態下朝左側被按壓之情況下，左右一對之引導輔助輪19會朝向左引導位置移動。 In addition, the left and right pair of guide auxiliary wheels 19 are restricted from moving to the right side of the right guiding position or moving to the left side of the left guiding position by the restriction part not shown in the figure. Therefore, for example, even if the front and rear pair of guide auxiliary wheels 19 are pressed to the right by the guide rail 21 in the state of the right guiding position, the guide auxiliary wheels 19 that are aligned in the front and rear can be maintained by the restriction of the restriction portion. In the right guide position. However, when the pair of front and rear guide auxiliary wheels 19 are pressed to the left in the state where they are located at the right guide position, the pair of left and right guide auxiliary wheels 19 move toward the left guide position.

如圖3所示，物品搬送車3在相對於車體寬度方向的中心而偏向一側的位置上具備有被檢測體23。在本實施形態中，被檢測體23是設置在蓋體15的上表面中的相對於車體寬度方向的中心而偏向右側的位置上。像這樣設置的被檢測體23是位於左右一對之軌道部2A當中的右側之軌道部2A的正下方。又，在本實施形態中，是使用磁鐵來作為被檢測體23。 As shown in FIG. 3, the article conveyance vehicle 3 is equipped with the to-be-detected body 23 in the position deviated to one side with respect to the center of a vehicle body width direction. In the present embodiment, the object 23 to be detected is provided on the upper surface of the cover 15 at a position deviated to the right with respect to the center in the width direction of the vehicle body. The object to be detected 23 installed in this way is located directly below the rail portion 2A on the right side of the pair of left and right rail portions 2A. In addition, in this embodiment, a magnet is used as the object 23 to be detected.

[行走軌道] [Walking track]

如圖1所示，行走軌道2具備有第一行走軌道31、第二行走軌道32、迂迴用行走軌道33、第一分歧軌道34、第一合流軌道35、第二分歧軌道36、及第二合流軌道37。再者，在說明行走路徑1時，將行走路徑1之沿著迂迴用行走軌道 33的方向稱為路徑長度方向X，且將在上下方向Z視角下對該路徑長度方向X正交的方向稱為路徑寬度方向Y來說明。 As shown in FIG. 1, the traveling rail 2 includes a first traveling rail 31, a second traveling rail 32, a detour traveling rail 33, a first branch rail 34, a first merge rail 35, a second branch rail 36, and a second Confluence track 37. Furthermore, when describing the walking path 1, the walking path 1 will be along the detour walking track The direction of 33 is referred to as the path length direction X, and the direction orthogonal to the path length direction X in the vertical direction Z viewing angle is referred to as the path width direction Y for description.

第一行走軌道31是沿著行走路徑1的第一行走路徑41而設置。第二行走軌道32是沿著行走路徑1的第二行走路徑42而設置。迂迴用行走軌道33是沿著行走路徑1的迂迴用路徑43而設置。第一分歧軌道34是沿著行走路徑1的第一分歧路徑44而設置。第一合流軌道35是沿著行走路徑1的第一合流路徑45而設置。第二分歧軌道36是沿著行走路徑1的第二分歧路徑46而設置。第二合流軌道37是沿著行走路徑1的第二合流路徑47而設置。 The first traveling rail 31 is provided along the first traveling path 41 of the traveling path 1. The second traveling rail 32 is provided along the second traveling path 42 of the traveling path 1. The detour travel rail 33 is provided along the detour path 43 of the travel route 1. The first branch rail 34 is provided along the first branch path 44 of the traveling path 1. The first merging rail 35 is provided along the first merging path 45 of the traveling path 1. The second branch rail 36 is provided along the second branch path 46 of the traveling path 1. The second merging rail 37 is provided along the second merging path 47 of the traveling path 1.

第一行走軌道31是以相對於第二行走軌道32而並行的狀態來設置。又，第一行走軌道31是相對於第二行走軌道32而設置於路徑寬度方向第一側Y1。迂迴用行走軌道33在上下方向視角下，是設置於第一行走軌道31與第二行走軌道32之間。亦即，相對於迂迴用行走軌道33在路徑寬度方向第一側Y1設置有第一行走軌道31，且相對於迂迴用行走軌道33在路徑寬度方向第二側Y2設置有第二行走軌道32。第一行走軌道31、第二行走軌道32、及迂迴用行走軌道33是以彼此平行狀的方式設置。 The first traveling rail 31 is provided in a parallel state with respect to the second traveling rail 32. In addition, the first traveling rail 31 is provided on the first side Y1 in the path width direction with respect to the second traveling rail 32. The detour traveling rail 33 is provided between the first traveling rail 31 and the second traveling rail 32 when viewed in the vertical direction. That is, the first traveling rail 31 is provided on the first side Y1 in the path width direction with respect to the detour traveling rail 33, and the second traveling rail 32 is provided on the second side Y2 in the path width direction with respect to the traveling rail 33 for detouring. The first traveling rail 31, the second traveling rail 32, and the roundabout traveling rail 33 are provided in parallel to each other.

將行走於第一行走軌道31的物品搬送車3的行走方向設為第一方向X1，且將行走於第二行走軌道32的物品搬送車3的行走方向設為第二方向X2，第一方向 X1與第二方向X2互相為相反方向。亦即，行走於第一行走軌道31的物品搬送車3與行走於第二行走軌道32的物品搬送車3，是行走方向成為相反方向，物品搬送車3是在第一行走軌道31與第二行走軌道32當中行走於從自身車來看位於右側的行走軌道2。 The traveling direction of the article transport vehicle 3 walking on the first traveling rail 31 is set to the first direction X1, and the traveling direction of the article transport vehicle 3 traveling on the second traveling rail 32 is set to the second direction X2, the first direction X1 and the second direction X2 are opposite to each other. That is, the article transport vehicle 3 traveling on the first traveling rail 31 and the article transport vehicle 3 traveling on the second traveling rail 32 are in opposite directions, and the article transport vehicle 3 is on the first traveling rail 31 and the second traveling rail 31. Among the traveling rails 32, the traveling rail 2 that is located on the right side as viewed from the own vehicle travels.

第一行走軌道31具備有第一分歧部51與第一合流部52，其中該第一合流部52是比該第一分歧部51更位於第一方向X1側。第二行走軌道32具備有第二分歧部53與第二合流部54，其中該第二合流部54是比該第二分歧部53更位於第二方向X2側。第一分歧部51與第二合流部54是在路徑長度方向X上設置於相同的位置上，第二分歧部53與第一合流部52是在路徑長度方向X上設置於相同的位置上。 The first traveling rail 31 is provided with a first diverging portion 51 and a first merging portion 52, wherein the first merging portion 52 is located on the side of the first direction X1 than the first diverging portion 51. The second traveling rail 32 is provided with a second diverging portion 53 and a second merging portion 54, wherein the second merging portion 54 is located on the second direction X2 side than the second diverging portion 53. The first diverging portion 51 and the second merging portion 54 are provided at the same position in the path length direction X, and the second diverging portion 53 and the first merging portion 52 are provided at the same position in the path length direction X.

迂迴用行走軌道33具備有第一分歧合流部55與第二分歧合流部56，其中該第二分歧合流部56是比該第一分歧合流部55更位於第一方向X1側。第一分歧合流部55是比第一分歧部51或第二合流部54更位於第一方向X1側，第二分歧合流部56是比第二分歧部53或第一合流部52更位於第二方向X2側。 The detour running rail 33 is provided with a first branch merging part 55 and a second branch merging part 56, wherein the second branch merging part 56 is located on the side of the first direction X1 than the first branch merging part 55. The first branch junction 55 is located on the X1 side in the first direction than the first branch 51 or the second junction 54, and the second branch junction 56 is located on the second side than the second branch 53 or the first junction 52. Direction X2 side.

第一分歧軌道34是以從第一行走軌道31的第一分歧部51分歧且合流於迂迴用行走軌道33的第一分歧合流部55的狀態來設置。 The first branch rail 34 is provided in a state of branching from the first branch portion 51 of the first traveling rail 31 and merging with the first branch merging portion 55 of the detour traveling rail 33.

第一合流軌道35是以從迂迴用行走軌道33的第二分歧合流部56分歧且合流於第一行走軌道31的第一合流部52的狀態來設置。 The first merging rail 35 is provided in a state of diverging from the second diverging merging portion 56 of the detour traveling rail 33 and merging with the first merging portion 52 of the first traveling rail 31.

第二分歧軌道36是以從第二行走軌道32的第二分歧部53分歧且合流於迂迴用行走軌道33的第二分歧合流部56的狀態來設置。 The second branch rail 36 is provided in a state of branching from the second branch portion 53 of the second traveling rail 32 and merging with the second branch converging portion 56 of the detour traveling rail 33.

第二合流軌道37是以從迂迴用行走軌道33的第一分歧合流部55分歧且合流於第二行走軌道32的第二合流部54的狀態來設置。 The second merging rail 37 is provided in a state of diverging from the first diverging merging portion 55 of the detour traveling rail 33 and merging with the second merging portion 54 of the second traveling rail 32.

沿著第一行走軌道31朝第一方向X1行走的物品搬送車3會在第一分歧部51直進行走或分歧行走。已於第一分歧部51直進行走的物品搬送車3會照原樣沿著第一行走軌道31行走。在第一分歧部51上朝第一分歧軌道34分歧行走的物品搬送車3，在依第一分歧軌道34、迂迴用行走軌道33、第一合流軌道35的順序行走後，是在第一合流部52中轉移到第一行走軌道31，且在其後沿著第一行走軌道31行走。像這樣使物品搬送車3於迂迴用行走軌道33行走的情況下，物品搬送車3是在迂迴用行走軌道33上朝第一方向X1行走。又，像這樣使物品搬送車3於第一分歧軌道34及第一合流軌道35行走的情況下，也是視為物品搬送車3朝第一方向X1行走。 The article transport vehicle 3 that travels along the first traveling rail 31 in the first direction X1 will go straight or diverging in the first branch portion 51. The article transport vehicle 3 that has traveled straight at the first branch portion 51 travels along the first traveling rail 31 as it is. The article transport vehicle 3 that diverges toward the first diverging rail 34 on the first diverging part 51 travels in the order of the first diverging rail 34, the detour running rail 33, and the first merging rail 35, and then is in the first merging The part 52 transfers to the first traveling rail 31 and then walks along the first traveling rail 31 thereafter. When the article transport vehicle 3 travels on the detour traveling rail 33 in this way, the article transport vehicle 3 travels in the first direction X1 on the detour traveling rail 33. In addition, when the article transport vehicle 3 travels on the first branch rail 34 and the first merging rail 35 in this way, it is also regarded as the article transport vehicle 3 traveling in the first direction X1.

沿著第二行走軌道32朝第二方向X2行走的物品搬送車3會在第二分歧部53直進行走或分歧行走。已於第二分歧部53直進行走的物品搬送車3會照原樣沿著第二行走軌道32行走。在第二分歧部53上朝第二分歧軌道36分歧行走的物品搬送車3，在依第二分歧軌道36、迂迴用行走軌道33、第二合流軌道37的順序行走後，是在第二合流部54 中轉移到第二行走軌道32，且在其後沿著第二行走軌道32行走。像這樣使物品搬送車3於迂迴用行走軌道33行走的情況下，物品搬送車3是在迂迴用行走軌道33上朝第二方向X2行走。又，像這樣使物品搬送車3於第二分歧軌道36及第二合流軌道37行走的情況下，也是視為物品搬送車3朝第二方向X2行走。 The article transport vehicle 3 that travels along the second traveling rail 32 in the second direction X2 will go straight or branched in the second branch part 53. The article transport vehicle 3 that has traveled straight at the second branch portion 53 travels along the second traveling rail 32 as it is. The article transport vehicle 3 that diverges toward the second diverging rail 36 on the second diverging part 53 travels in the order of the second diverging rail 36, the detouring traveling rail 33, and the second merging rail 37, and then moves on the second merging rail. Department 54 Transfer to the second walking rail 32 in the middle, and then walk along the second walking rail 32 thereafter. When the article transport vehicle 3 travels on the detour traveling rail 33 in this way, the article transport vehicle 3 travels in the second direction X2 on the detour traveling rail 33. In addition, when the article transport vehicle 3 travels on the second branch rail 36 and the second merging rail 37 in this way, it is also regarded as the article transport vehicle 3 traveling in the second direction X2.

亦即，物品搬送車3是於迂迴用行走軌道33上朝第一方向X1及第二方向X2之雙方向行走。 That is, the article transport vehicle 3 travels in both directions of the first direction X1 and the second direction X2 on the roundabout traveling rail 33.

[引導軌道] [Guide Track]

如圖4所示，引導軌道21是對應於第一分歧部51、第一合流部52、第二分歧部53、第二合流部54、第一分歧合流部55、及第二分歧合流部56的每一個而設置。如此，引導軌道21是設置在行走路徑1中的2個路徑連接的部分。 As shown in FIG. 4, the guide rail 21 corresponds to the first diverging part 51, the first merging part 52, the second diverging part 53, the second merging part 54, the first diverging merging part 55, and the second diverging merging part 56 Set for each of them. In this way, the guide rail 21 is a part where the two paths provided in the traveling path 1 are connected.

作為引導軌道21而設置的有：對應於第一分歧部51而設置的第一分歧引導軌道71、對應於第一合流部52而設置的第一合流引導軌道72、對應於第二分歧部53而設置的第二分歧引導軌道73、對應於第二合流部54而設置的第二合流引導軌道74、對應於第一分歧合流部55而設置的第一分歧合流引導軌道75、及對應於第二分歧合流部56而設置的第二分歧合流引導軌道76。 Provided as the guide rail 21 are: a first branch guide rail 71 provided corresponding to the first branch portion 51, a first merge guide rail 72 provided corresponding to the first merging portion 52, and a first merging guide rail 72 corresponding to the second branch portion 53 The second branch guide rail 73 is provided, the second merging guide rail 74 is provided corresponding to the second merging portion 54, the first branch merging guide rail 75 is provided corresponding to the first branch merging portion 55, and the The second branch merging guide rail 76 is provided for the two branch merging part 56.

第一分歧引導軌道71是因應於引導輔助輪19的位置而將物品搬送車3引導到第一行走軌道31或第一分歧軌道34。若追加說明，即第一分歧引導軌道71是以沿著第一行走路徑41設置的引導軌道21、以及沿著第一 分歧路徑44設置的引導軌道21所構成，且在上下方向Z視角下配置成Y字形。並且，藉由在引導輔助輪19位於右引導位置的狀態下讓物品搬送車3進入第一分歧部51，物品搬送車3會藉由沿著第一行走路徑41設置的引導軌道21而被引導成沿著第一行走軌道31行走。又，藉由在引導輔助輪19位於左引導位置的狀態下讓物品搬送車3進入第一分歧部51，物品搬送車3會藉由沿著第一分歧路徑44設置的引導軌道21而被引導成沿著第一分歧軌道34行走。 The first branch guide rail 71 guides the article transport vehicle 3 to the first traveling rail 31 or the first branch rail 34 in accordance with the position of the guide auxiliary wheel 19. If added, the first branch guide rail 71 is the guide rail 21 provided along the first travel path 41 and along the first The guide rails 21 provided in the branch path 44 are formed, and are arranged in a Y-shape in the vertical direction Z viewing angle. In addition, by allowing the article transport vehicle 3 to enter the first branch portion 51 with the guide auxiliary wheel 19 at the right guiding position, the article transport vehicle 3 is guided by the guide rail 21 provided along the first traveling path 41 The person walks along the first traveling track 31. In addition, by allowing the article transport vehicle 3 to enter the first branch portion 51 with the guide auxiliary wheel 19 at the left guiding position, the article transport vehicle 3 is guided by the guide rail 21 provided along the first branch path 44 Cheng walks along the first branch track 34.

沿著第一分歧路徑44、第一合流路徑45、第二分歧路徑46、及第二合流路徑47而設置的引導軌道21在長度方向的途中具備有切換部59，該切換部59可切換引導輔助輪19的位置。如圖5所示，若此切換部59是沿著第一分歧路徑44(參照圖1)設置的引導軌道21的切換部59，是對引導輔助輪19從左側接觸而使引導輔助輪19的位置從左引導位置移動到右引導位置。 The guide rail 21 provided along the first diverging path 44, the first merging path 45, the second diverging path 46, and the second merging path 47 is provided with a switching part 59 on the way in the longitudinal direction, and the switching part 59 can switch the guidance The position of the auxiliary wheel 19. As shown in FIG. 5, if the switching part 59 is the switching part 59 of the guide rail 21 provided along the first branch path 44 (refer to FIG. 1), it contacts the guide auxiliary wheel 19 from the left side to make the guide auxiliary wheel 19 The position moves from the left guide position to the right guide position.

於第一分歧合流引導軌道75的第一方向X1側之端部上設置有進入防止體60。此進入防止體60是防止在迂迴用行走軌道33上朝第二方向X2行走的物品搬送車3，在引導輔助輪19位於左引導位置的狀態下進入第一分歧合流引導軌道75的路徑寬度方向第一側Y1之情形。又，進入防止體60是將該進入防止體60的第二方向X2側之端部以繞著沿上下方向Z的軸心且擺動自如的方式連結於第一分歧合流引導軌道75的第一方向X1側之端部。又，進入防止體60是藉由圖外的賦與勢能構件的賦與勢 能力而被賦與勢能成朝路徑寬度方向第一側Y1擺動，並且藉由圖外的限制構件來限制：從越朝第一方向X1側越朝路徑寬度方向第一側Y1傾斜的姿勢(如圖6的假想線或圖7所示的姿勢)更進一步地往路徑寬度方向第一側Y1擺動之情形。 An entry preventing body 60 is provided at the end of the first branching and merging guide rail 75 on the X1 side in the first direction. This entry preventing body 60 prevents the article transport vehicle 3 from traveling in the second direction X2 on the detour traveling rail 33, and enters the path width direction of the first branch converging guide rail 75 with the guide auxiliary wheel 19 at the left guide position The situation of the first side Y1. In addition, the entry preventing body 60 connects the end of the entry preventing body 60 on the X2 side in the second direction to the first direction of the first branch confluence guide rail 75 so as to oscillate around the axis in the vertical direction Z. The end on the X1 side. In addition, the entry preventing body 60 is the given potential by the given potential energy component outside the figure The ability is given potential energy to swing toward the first side Y1 in the width direction of the path, and is restricted by the restriction member outside the figure: from the side in the first direction X1 toward the first side Y1 in the path width direction (such as The imaginary line in FIG. 6 or the posture shown in FIG. 7) further swings to the first side Y1 in the path width direction.

如圖6所示，在第一分歧合流部55上朝第一方向X1行走的物品搬送車3是藉由引導輔助輪19來推動進入防止體60以於第一分歧合流部退出。並且，如圖7所示，構成為進入第一分歧合流部55的物品搬送車3的引導輔助輪19為位於左引導位置的情況下，可藉由進入防止體60來將引導輔助輪19從左引導位置引導到右引導位置。 As shown in FIG. 6, the article transport vehicle 3 traveling in the first direction X1 on the first branch merging part 55 pushes the entry preventing body 60 by guiding the auxiliary wheel 19 to exit at the first branch merging part. And, as shown in FIG. 7, when the guide auxiliary wheel 19 of the article transport vehicle 3 that is configured to enter the first branch junction 55 is located at the left guide position, the guide auxiliary wheel 19 can be removed from the entry prevention body 60 The left guide position is guided to the right guide position.

再者，第二分歧合流引導軌道76的第二方向X2側之端部上也同樣地設置有進入防止體60。 In addition, an entry preventing body 60 is similarly provided at the end portion of the second branching and merging guide rail 76 on the X2 side in the second direction.

[方向感測器] [Direction Sensor]

如圖1、圖3、及圖4所示，於物品搬送設備上具備有方向感測器66，該方向感測器66是用以檢測行走於迂迴用行走軌道33的物品搬送車3的行走方向。方向感測器66是沿著迂迴用行走軌道33而設置。方向感測器66具備有第一感測器66A與第二感測器66B。第一感測器66A是安裝於第一軌道部2A，該第一軌道部2A是左右一對之軌道部2A中的相對於第一方向X1而位於右側(相對於第二方向X2為左側)的軌道部2A。第二感測器66B是安裝於第二軌道部2A，該第二軌道部2A是左右一對之軌道部2A中的相對於第一方向X1而位於左側(相對於第二方向X2為右側)的 軌道部2A。 As shown in FIGS. 1, 3, and 4, the article conveying equipment is provided with a direction sensor 66, which is used to detect the movement of the article conveying vehicle 3 walking on the roundabout traveling track 33 direction. The direction sensor 66 is provided along the traveling rail 33 for detours. The direction sensor 66 includes a first sensor 66A and a second sensor 66B. The first sensor 66A is mounted on the first rail portion 2A, and the first rail portion 2A is located on the right side with respect to the first direction X1 (left side with respect to the second direction X2) of the pair of left and right rail portions 2A的rail part 2A. The second sensor 66B is mounted on the second rail portion 2A, and the second rail portion 2A is located on the left side with respect to the first direction X1 (right side with respect to the second direction X2) of the pair of left and right rail portions 2A of Rail part 2A.

第一感測器66A是安裝於第一軌道部2A的下表面，且在物品搬送車3於迂迴用行走軌道33上朝第一方向X1行走的情況下，讓物品搬送車3的被檢測體23通過第一感測器66A的正下方。因此，可以藉由第一感測器66A來檢測出物品搬送車3的被檢測體23。如此，第一感測器66A是安裝於左右一對之軌道部2A的一邊(第一軌道部2A)，以檢測在迂迴用行走軌道33上朝前述第一方向行走的物品搬送車3的被檢測體23。 The first sensor 66A is installed on the lower surface of the first rail portion 2A, and when the article transport vehicle 3 travels in the first direction X1 on the detour running rail 33, the object to be detected of the article transport vehicle 3 23 passes directly below the first sensor 66A. Therefore, the object 23 of the article transport vehicle 3 can be detected by the first sensor 66A. In this way, the first sensor 66A is installed on one side of the left and right pair of rail portions 2A (first rail portion 2A) to detect the movement of the article transport vehicle 3 traveling in the first direction on the detour traveling rail 33. Detector 23.

第二感測器66B是安裝於第二軌道部2A的下表面，且在物品搬送車3於迂迴用行走軌道33上朝第二方向X2行走的情況下，讓物品搬送車3的被檢測體23通過第二感測器66B的正下方。因此，可以藉由第二感測器66B來檢測出物品搬送車3的被檢測體23。如此，第二感測器66B是安裝於左右一對之軌道部2A的另一邊，以檢測在迂迴用行走軌道33上朝第二方向X2行走的物品搬送車3的被檢測體23。 The second sensor 66B is installed on the lower surface of the second rail portion 2A, and when the article transport vehicle 3 travels in the second direction X2 on the detour running rail 33, the object to be detected of the article transport vehicle 3 23 passes directly below the second sensor 66B. Therefore, the object 23 of the article transport vehicle 3 can be detected by the second sensor 66B. In this way, the second sensor 66B is attached to the other side of the pair of left and right rails 2A to detect the object 23 of the article transport vehicle 3 traveling in the second direction X2 on the detour running rail 33.

再者，在本實施形態中，方向感測器66除了沿著迂迴用行走軌道33而設置的部分之外，還具備有沿著第一分歧軌道34、第一合流軌道35、第二分歧軌道36、及第二合流軌道37的每一個而設置的部分。 Furthermore, in the present embodiment, the direction sensor 66 is provided along the first branch rail 34, the first confluence rail 35, and the second branch rail in addition to the part provided along the detour running rail 33. 36. The part provided for each of the second confluence rail 37.

沿著第一分歧軌道34或第一合流軌道35而設置的部分僅具備有第一感測器66A與第二感測器66B當中的第一感測器66A。沿著第二分歧軌道36或第二合流軌道37而設 置的部分僅具備有第一感測器66A與第二感測器66B當中的第二感測器66B。 The portion provided along the first branch track 34 or the first merge track 35 only includes the first sensor 66A among the first sensor 66A and the second sensor 66B. Along the second branch track 36 or the second confluence track 37 The placed part only has the second sensor 66B among the first sensor 66A and the second sensor 66B.

[控制構成] [Control composition]

如圖12所示，物品搬送車3具備有檢測裝置61、發送接收裝置62、接收裝置63、及第三控制部H3。 As shown in FIG. 12, the article transport vehicle 3 includes a detection device 61, a transmission and reception device 62, a reception device 63, and a third control unit H3.

檢測裝置61可檢測沿著行走路徑1設置的顯示體65(參照圖4等)。在顯示體65中顯示有位址資訊，該位址資訊是顯示設置有顯示體65的位置，檢測裝置61是構成為檢測顯示體65並且讀取於該顯示體65所示的位址資訊。顯示體65是沿著行走路徑1而設置有複數個，且設置於第一分歧部51及第二分歧部53的每一個的上游側、以及第一合流部52及第二合流部54的每一個的下游側。 The detection device 61 can detect the display body 65 (refer to FIG. 4 etc.) installed along the walking path 1. Address information is displayed on the display body 65, and the address information shows the position where the display body 65 is installed. The detection device 61 is configured to detect the display body 65 and read the address information shown on the display body 65. The display body 65 is provided in plural along the traveling path 1, and is provided on the upstream side of each of the first branching portion 51 and the second branching portion 53, and each of the first merging portion 52 and the second merging portion 54 One on the downstream side.

發送接收裝置62是接收從後述之第一控制部H1的發送接收部64所發送的資訊，並且將以檢測裝置61讀取的位址資訊發送至第一控制部H1的發送接收部64。接收裝置63是接收從後述之第二控制部H2的通訊裝置67所發送的資訊。 The transmitting and receiving device 62 receives the information transmitted from the transmitting and receiving unit 64 of the first control unit H1 described later, and transmits the address information read by the detecting device 61 to the transmitting and receiving unit 64 of the first control unit H1. The receiving device 63 receives information transmitted from the communication device 67 of the second control unit H2 described later.

第三控制部H3是依據藉由發送接收裝置62所接收的資訊(從第一控制部H1所接收的資訊)、以及藉由接收裝置63所接收的資訊(從第二控制部H2所接收的資訊)，來控制物品搬送車3。 The third control unit H3 is based on the information received by the transmitting and receiving device 62 (the information received from the first control unit H1) and the information received by the receiving device 63 (the information received from the second control unit H2). Information) to control the item transport vehicle 3.

如圖4所示，第一分歧部51及第二分歧部53的每一個的上游側設置有朝向物品搬送車3的接收裝置63發送資訊的通訊裝置67。通訊裝置67是相對於第一分歧 部51而設置於第二方向X2側，且相對於第二分歧部53而設置於第一方向X1側。將物品搬送車3的行走路徑1中的下述的範圍設為管理區域E：從設置於第一分歧部51的上游側的通訊裝置67的上游端到第一合流引導軌道72的下游端之範圍、以及從設置於第二分歧部53的上游側的通訊裝置67的上游端到第二合流引導軌道74的下游端之範圍。又，將第一分歧部51的第二方向X2側的設置有通訊裝置67的範圍設為第一停止區域E1，將第二分歧部53的第一方向X1側的設置有通訊裝置67的範圍設為第二停止區域E2。 As shown in FIG. 4, a communication device 67 that transmits information to the receiving device 63 of the article transport vehicle 3 is provided on the upstream side of each of the first branching part 51 and the second branching part 53. The communication device 67 is relative to the first branch The portion 51 is provided on the second direction X2 side, and is provided on the first direction X1 side with respect to the second branch portion 53. The following range in the travel path 1 of the article transport vehicle 3 is set as the management area E: from the upstream end of the communication device 67 provided on the upstream side of the first branch portion 51 to the downstream end of the first confluence guide rail 72 The range and the range from the upstream end of the communication device 67 provided on the upstream side of the second branch portion 53 to the downstream end of the second confluence guide rail 74. In addition, the area where the communication device 67 is installed on the second direction X2 side of the first branching portion 51 is set as the first stop area E1, and the area where the communication device 67 is installed on the first direction X1 side of the second branching portion 53 Set as the second stop area E2.

如圖12所示，物品搬送設備具備有控制物品搬送車3的控制裝置H。 As shown in FIG. 12, the article conveyance facility is equipped with the control apparatus H which controls the article conveyance vehicle 3. As shown in FIG.

此控制裝置H具備有第一控制部H1、第二控制部H2、及第三控制部H3。第一控制部H1是控制包含管理區域E之行走路徑1整體中的物品搬送車3的行走。第二控制部H2是控制管理區域E中的物品搬送車3的行走。第一控制部H1及第二控制部H2是例如以固定狀態而設置成不會在地板面上等移動。第三控制部H3是設置在行走於行走路徑1的物品搬送車3的每一個中。 This control device H includes a first control unit H1, a second control unit H2, and a third control unit H3. The first control unit H1 controls the traveling of the article transport vehicle 3 in the entire traveling path 1 including the management area E. The second control unit H2 controls the traveling of the article transport vehicle 3 in the management area E. The first control unit H1 and the second control unit H2 are installed in a fixed state so as not to move on the floor surface or the like, for example. The third control unit H3 is provided in each of the article transport vehicles 3 traveling on the traveling path 1.

第一控制部H1是依據來自上位的控制器(圖未示)的搬送指令，而顯示對應於搬送物品的搬送目的地之目標停止位置的資訊等。於此搬送資訊中包含顯示搬送路徑的路徑資訊，該搬送路徑是使物品搬送車3朝向搬送目的地行走的路徑。目標停止位置在第一路徑中的第一分 歧部51與第二分歧部53之間存在目標停止位置的情況下、或目標停止位置位於第一合流部52的下游側且物品搬送車3被設想為第一路徑中的第一分歧部51與第一合流部52之間未存在其他的物品搬送車3的情況下，是設定在第一分歧部51直進之形式的搬送路徑。又，目標停止位置位於第一合流部52的下游側且物品搬送車3被設想為在第一路徑中的第一分歧部51與第一合流部52之間存在其他的物品搬送車3的情況下，是設定從第一分歧部51分歧至第一分歧軌道34且於迂迴用行走軌道33迂迴的搬送路徑。 The first control unit H1 displays the information of the target stop position corresponding to the transport destination of the transported article and the like in accordance with the transport instruction from the upper controller (not shown). The transportation information includes path information indicating the transportation path, which is a path for the article transportation vehicle 3 to travel toward the transportation destination. The first point of the target stop position in the first path When there is a target stop position between the branch portion 51 and the second branch portion 53, or the target stop position is located on the downstream side of the first merging portion 52 and the article transport vehicle 3 is assumed to be the first branch portion 51 in the first path When there is no other article transport vehicle 3 between the first merging section 52 and the first merging section 52, the transport path is set in the first branch section 51 to go straight. Also, the target stop position is located on the downstream side of the first merging portion 52 and the article transport vehicle 3 is assumed to be a case where there is another article transport vehicle 3 between the first branch portion 51 and the first merging portion 52 in the first path Next, a conveyance path that branches from the first branch portion 51 to the first branch rail 34 and detours on the detour traveling rail 33 is set.

又，第一控制部H1是依據位址資訊(位置資訊)來掌握物品搬送車3的位置，其中該位址資訊是從行走於行走路徑1的物品搬送車3所發送之顯示該物品搬送車3的行走位置的資訊。 In addition, the first control unit H1 grasps the position of the article transport vehicle 3 based on address information (location information), where the address information is sent from the article transport vehicle 3 walking on the traveling path 1 to indicate the article transport vehicle 3. Information on the walking position.

第三控制部H3是依據搬送資訊來執行行走控制，該行走控制是使物品搬送車3行走到對應於物品的搬送目的地之目標停止位置的控制。在行走控制中，是將在物品搬送車3的行走中以檢測裝置61所讀取到的位址資訊發送至第一控制部H1。 The third control unit H3 executes traveling control based on the conveying information. The traveling control is a control for causing the article transport vehicle 3 to travel to a target stop position corresponding to the transport destination of the article. In the traveling control, the address information read by the detection device 61 during the traveling of the article transport vehicle 3 is sent to the first control unit H1.

控制裝置H於在迂迴用行走軌道33上朝第二方向X2行走的物品搬送車3存在的情況下，會限制行走於第一行走軌道31的物品搬送車3進入第一分歧軌道34，於在迂迴用行走軌道33上朝第一方向X1行走的物品搬送車3存在的情況下，會限制行走於第二行走軌道32的物品搬 送車3進入第二分歧軌道36。 The control device H restricts the article transport vehicle 3 traveling on the first traveling rail 31 from entering the first branch rail 34 when there is the article transport vehicle 3 traveling in the second direction X2 on the detour traveling rail 33. If there is an article transport vehicle 3 traveling in the first direction X1 on the detour traveling rail 33, the article transporting on the second traveling rail 32 is restricted. The car 3 enters the second branch track 36.

詳細來說，控制裝置H在藉由方向感測器66檢測到在迂迴用行走軌道33上朝第二方向X2行走的物品搬送車3之情況下，會對欲從第一行走軌道31的第一分歧部51進入第一分歧軌道34的物品搬送車3發送停止訊號，在藉由方向感測器66檢測到在迂迴用行走軌道33上朝第一方向X1行走的物品搬送車3之情況下，會對欲從第二行走軌道32的第二分歧部53進入第二分歧軌道36的物品搬送車3發送停止訊號。 In detail, when the control device H detects by the direction sensor 66 that the article transport vehicle 3 traveling in the second direction X2 on the roundabout traveling rail 33, it will A branch part 51 enters the article transport vehicle 3 of the first branch track 34 and sends a stop signal, when the article transport vehicle 3 traveling in the first direction X1 on the detour traveling track 33 is detected by the direction sensor 66 , It sends a stop signal to the article transport vehicle 3 that intends to enter the second branch rail 36 from the second branch 53 of the second traveling rail 32.

具體而言，在迂迴用行走軌道33上朝第二方向X2行走的物品搬送車3存在的情況下，可藉由第二感測器66B檢測該物品搬送車3。又，在第二分歧軌道36及第二合流軌道37上存在物品搬送車3的情況下，也可藉由第二感測器66B檢測出該物品搬送車3。第二控制部H2在藉由第二感測器66B檢測到物品搬送車3的情況下，是從第一停止區域E1的通訊裝置67發送停止訊號。 Specifically, when the article transport vehicle 3 traveling in the second direction X2 on the detour traveling rail 33 exists, the article transport vehicle 3 can be detected by the second sensor 66B. In addition, when the article transport vehicle 3 exists on the second branch rail 36 and the second junction rail 37, the article transport vehicle 3 can also be detected by the second sensor 66B. The second control unit H2 transmits a stop signal from the communication device 67 in the first stop area E1 when the article transport vehicle 3 is detected by the second sensor 66B.

又，在迂迴用行走軌道33上朝第一方向X1行走的物品搬送車3存在的情況下，可藉由第一感測器66A檢測該物品搬送車3。又，在第一分歧軌道34及第一合流軌道35上存在物品搬送車3的情況下，也可藉由第一感測器66A檢測出該物品搬送車3。第二控制部H2在藉由第一感測器66A檢測到物品搬送車3的情況下，是從第二停止區域E2的通訊裝置67發送停止訊號。 Moreover, when there is the article transport vehicle 3 traveling in the first direction X1 on the detour traveling rail 33, the article transport vehicle 3 can be detected by the first sensor 66A. In addition, when the article transport vehicle 3 exists on the first branch rail 34 and the first merging rail 35, the article transport vehicle 3 can also be detected by the first sensor 66A. The second control unit H2 transmits a stop signal from the communication device 67 in the second stop area E2 when the article transport vehicle 3 is detected by the first sensor 66A.

物品搬送車3的第三控制部H3是依據搬送資 訊而行走於行走路徑1。 The third control unit H3 of the article transfer vehicle 3 is based on the transfer fee Announce and walk on walking path 1.

第三控制部H3在行走於第一行走軌道31，且於在第一分歧部51直進的情況下，是將第二馬達20控制成在進入第一分歧部51之前使引導輔助輪19位於右引導位置。第三控制部H3於在第一分歧部51直進的情況下即使從第一停止區域E1的通訊裝置67接收到停止訊號，仍然會行走成不停止而進入第一分歧部51。 The third control unit H3 is walking on the first traveling rail 31 and when the first branch 51 is moving straight forward, it controls the second motor 20 to position the guide auxiliary wheel 19 on the right before entering the first branch 51. Guide position. The third control unit H3 will continue to walk without stopping and enter the first branch 51 even if it receives a stop signal from the communication device 67 in the first stop area E1 when the first branch 51 is moving straight.

如圖8所示，第三控制部H3在行走於第一行走軌道31，且從第一分歧部51進入第一分歧軌道34的情況下，是將第二馬達20控制成在進入第一分歧部51之前使引導輔助輪19位於左引導位置。第三控制部H3在要從第一分歧部51進入第一分歧軌道34時已從第一停止區域E1的通訊裝置67接收到停止訊號的情況下，如圖10所示，會使物品搬送車3停止於第一停止區域E1。 As shown in FIG. 8, when the third control unit H3 is walking on the first traveling rail 31 and entering the first branch rail 34 from the first branch part 51, it controls the second motor 20 to enter the first branch rail 34. The guide auxiliary wheel 19 is positioned at the left guide position before the portion 51. When the third control unit H3 has received a stop signal from the communication device 67 in the first stop area E1 when it is about to enter the first branch track 34 from the first branch 51, as shown in FIG. 3 Stop at the first stop area E1.

第三控制部H3在行走於第二行走軌道32，且於在第二分歧部53上直進的情況下，是將第二馬達20控制成在進入第二分歧部53之前使引導輔助輪19位於右引導位置。第三控制部H3於在第二分歧部53上直進的情況下即使從第二停止區域E2的通訊裝置67接收到停止訊號，仍然會行走成不停止而進入第二分歧部53。 When the third control unit H3 is walking on the second running rail 32 and moving straight on the second branch portion 53, it controls the second motor 20 to position the guide auxiliary wheel 19 before entering the second branch portion 53 Right guide position. When the third control unit H3 travels straight on the second branching part 53, even if it receives a stop signal from the communication device 67 in the second stop area E2, it still walks without stopping and enters the second branching part 53.

如圖9所示，第三控制部H3在行走於第二行走軌道32，且從第二分歧部53進入第二分歧軌道36的情況下，是將第二馬達20控制成在進入第二分歧部53之前使引導輔助輪19位於左引導位置。第三控制部H3在要從第二分歧部 53進入第二分歧軌道36時已從第二停止區域E2的通訊裝置67接收到停止訊號的情況下，如圖11所示，會使物品搬送車3停止於第二停止區域E2。 As shown in FIG. 9, when the third control unit H3 is walking on the second traveling rail 32 and entering the second branch rail 36 from the second branch part 53, it controls the second motor 20 to enter the second branch rail 36. The guide auxiliary wheel 19 is positioned at the left guide position before the part 53. The third control unit H3 is going from the second branch When 53 enters the second branch track 36 and has received a stop signal from the communication device 67 in the second stop area E2, as shown in FIG. 11, the article transport vehicle 3 is stopped in the second stop area E2.

2.其他的實施形態 2. Other implementation forms

接著，針對物品搬送設備的其他實施形態進行說明。 Next, another embodiment of the article transport facility will be described.

(1)在上述實施形態中，雖然是將方向感測器66安裝在左右一對之軌道部2A上，但是也可以適當地變更方向感測器66的安裝位置。具體而言，如圖13所示，沿著迂迴用行走軌道33具備有迂迴用引導軌道78，該迂迴用引導軌道78是限制引導輔助輪19從第一位置與第二位置的其中一個位置往另一個位置的移動，在迂迴用引導軌道78中的左右方向(路徑寬度方向Y)的一側安裝第一感測器66A，且在迂迴用引導軌道78中的左右方向的另一側安裝第二感測器66B。第一感測器66A可檢測被檢測體23，該被檢測體23是位於在迂迴用行走軌道33上朝第一方向X1行走的物品搬送車3中的左右方向之第一行走軌道31側(路徑寬度方向第一側Y1)。第二感測器66B可檢測被檢測體23，該被檢測體23是位於朝迂迴用行走軌道33中的第二方向X2行走的物品搬送車3中的左右方向之第二行走軌道32側(路徑寬度方向第二側Y2)。 (1) In the above embodiment, although the direction sensor 66 is mounted on the pair of left and right rail portions 2A, the mounting position of the direction sensor 66 may be changed appropriately. Specifically, as shown in FIG. 13, a guide rail 78 for a detour is provided along the traveling rail 33 for a detour, and the guide rail 78 for a detour restricts the guide auxiliary wheel 19 from one of the first and second positions. To move the other position, install the first sensor 66A on one side of the detour guide rail 78 in the left-right direction (path width direction Y), and install the first sensor 66A on the other side of the detour guide rail 78 in the left-right direction. The second sensor 66B. The first sensor 66A can detect the detected object 23 which is located on the side of the first traveling rail 31 in the left-right direction in the article transport vehicle 3 traveling in the first direction X1 on the detour traveling rail 33 ( The first side of the path width direction Y1). The second sensor 66B can detect the subject 23, which is located on the second traveling rail 32 side ( The second side of the path width direction Y2).

(2)在上述實施形態中，雖然是將被檢測體23設置於本體部12的上表面，但是也可以將被檢測體23設置在本體部12的側面或行走部11等之本體部12的上表面以外的部位。 (2) In the above embodiment, although the subject 23 is provided on the upper surface of the main body 12, the subject 23 may be provided on the side of the main body 12 or on the main body 12 such as the walking section 11. Parts other than the upper surface.

將被檢測體23設置於行走部11的情況下，也可於行走部11上設置成藉由第二馬達20使其與引導輔助輪19一體地朝左右方向移動。 When the object 23 to be detected is installed on the walking portion 11, the walking portion 11 may be installed on the walking portion 11 so that it can be moved in the left-right direction integrally with the guide auxiliary wheel 19 by the second motor 20.

(3)在本實施形態中，雖然除了將方向感測器66沿著迂迴用行走軌道33而設置的部分以外，還具備有將方向感測器66沿著第一分歧軌道34、第一合流軌道35、第二分歧軌道36、及第二合流軌道37的每一個而設置的部分，但是亦可將方向感測器66僅沿著迂迴用行走軌道33而設置，且亦可除了沿著迂迴用行走軌道33而設置的部分以外，還沿著第一分歧軌道34、第一合流軌道35、第二分歧軌道36、及第二合流軌道37當中的一部分的軌道而配備。 (3) In this embodiment, in addition to the portion where the direction sensor 66 is installed along the detour running rail 33, the direction sensor 66 is also provided along the first branch rail 34 and the first confluence The rail 35, the second branch rail 36, and the second merging rail 37 are provided in each part, but the direction sensor 66 may be provided only along the detour running rail 33, and other than along the detour In addition to the part provided by the running rail 33, it is also provided along some rails among the first branch rail 34, the first merging rail 35, the second diverging rail 36, and the second merging rail 37.

(4)在上述實施形態中，雖然是將被檢測體23設為磁鐵，但是亦可將被檢測體23設為反射板、條碼、IC標籤等之磁鐵以外的物體。 (4) In the above embodiment, although the object 23 to be detected is a magnet, the object 23 to be detected may be an object other than a magnet such as a reflector, a barcode, or an IC tag.

(5)再者，在上述之各實施形態中所揭示的構成，只要沒有發生矛盾，也可與在其他的實施形態中所揭示的構成組合而應用。關於其他的構成，在本說明書中所揭示的實施形態在全部之點上均只不過是例示。因此，在不脫離本發明的主旨之範圍內，可進行適當的、各種的改變。 (5) Furthermore, the configuration disclosed in each of the above-mentioned embodiments can be applied in combination with the configuration disclosed in other embodiments as long as there is no contradiction. Regarding other configurations, the embodiments disclosed in this specification are merely illustrative in all points. Therefore, appropriate and various changes can be made without departing from the gist of the present invention.

3.上述實施形態之概要 3. Outline of the above-mentioned embodiment

以下，針對在上述所說明之物品搬送設備的概要進行說明。 Hereinafter, the outline of the article conveying equipment described above will be described.

一種物品搬送設備，具備沿著行走軌道行走之物品搬送車， 前述行走軌道具備第一行走軌道、第二行走軌道、迂迴用行走軌道、第一分歧軌道、第二分歧軌道、第一合流軌道、及第二合流軌道，前述第二行走軌道是以相對於前述第一行走軌道並行的狀態來設置，將行走於前述第一行走軌道的前述物品搬送車的行走方向設為第一方向，且將行走於前述第二行走軌道的前述物品搬送車的行走方向設為第二方向，前述第一方向與前述第二方向互相為相反方向，前述迂迴用行走軌道是設置於前述第一行走軌道與前述第二行走軌道之間，並且具備第一分歧合流部與第二分歧合流部，其中前述第二分歧合流部是比該第一分歧合流部更位於前述第一方向側，前述第一分歧軌道是以從前述第一行走軌道的第一分歧部分歧且合流於前述迂迴用行走軌道的前述第一分歧合流部的狀態來設置，前述第二分歧軌道是以從前述第二行走軌道的第二分歧部分歧且合流於前述迂迴用行走軌道的前述第二分歧合流部的狀態來設置，前述第一合流軌道是以從前述迂迴用行走軌道的前述第二分歧合流部分歧且合流於前述第一行走軌道的第一合流部的狀態來設置，前述第二合流軌道是以從前述迂迴用行走軌道的前述第一分歧合流部分歧且合流於前述第二行走軌道的第二合流部的狀態來設置，前述物品搬送車可於前述迂迴用行走軌道上朝前述第一方向及前述第二方向之雙方向行走。 An article conveying equipment, which is equipped with article conveying vehicles that walk along a walking track, The running rail includes a first running rail, a second running rail, a roundabout running rail, a first branch rail, a second branch rail, a first merging rail, and a second merging rail. The second running rail is relative to the aforementioned The first traveling rail is installed in a parallel state, the traveling direction of the article transport vehicle traveling on the first traveling rail is set to the first direction, and the traveling direction of the article transport vehicle traveling on the second traveling rail is set to The second direction is the second direction, the first direction and the second direction are opposite to each other, the detour running track is provided between the first running track and the second running track, and is provided with a first branch junction and a second Two branch confluence parts, wherein the second branch confluence part is located on the first direction side than the first branch confluence part, and the first branch track is branched from the first branch part of the first running track and merges at The detour running track is installed in the state of the first branch confluence part, and the second branch track is the second branch confluence that diverges from the second branch part of the second running track and merges with the detour running track The first merging track is installed in a state of diverging from the second branch merging part of the detour running track and merging at the first merging portion of the first running track, and the second merging track It is installed in a state where it is branched from the first branch junction part of the detour running track and merges at the second junction of the second running track. Travel in both directions and the aforementioned second direction.

根據此構成，行走於第一行走軌道的物品搬送車，可以在第一分歧部與第一合流部之間有其他物品搬送車存在的情況下，依第一分歧軌道、迂迴用行走軌道、第一合流軌道的順序來行走，藉此超過存在於第一行走軌道的第一分歧部與第一合流部之間的其他的物品搬送車。又，行走於第二行走軌道的物品搬送車，可以在第二行走軌道的第二分歧部與第二合流部之間有其他的物品搬送車存在的情況下，依第二分歧軌道、迂迴用行走軌道、第二合流軌道的順序來行走，藉此超過存在於第二分歧部與第二合流部之間的其他的物品搬送車。 According to this structure, the article transport vehicle traveling on the first traveling track can follow the first branch track, the detour traveling track, and the It travels in the order of a merging rail, thereby overtaking other article transport vehicles existing between the first branch portion and the first merging portion of the first traveling rail. In addition, the article transport vehicle that runs on the second traveling track can be used for detours and detours when there are other article transport vehicles between the second branch part and the second junction of the second traveling track. The traveling rail and the second merging rail travel in this order, thereby overtaking other article transport vehicles existing between the second branch portion and the second merging portion.

藉由像這樣使物品搬送車行走，物品搬送車即可在迂迴用行走軌道上朝第一方向及第二方向之雙方向行走，而能夠作為在第一行走軌道上朝第一方向行走的物品搬送車的迂迴路來使用，並且能夠作為在第二行走軌道上朝第二方向行走的物品搬送車的迂迴路來使用。 By moving the article transport vehicle like this, the article transport vehicle can travel in both the first direction and the second direction on the roundabout traveling rail, and can be used as an article traveling in the first direction on the first traveling rail. The detour of the transport vehicle is used, and it can be used as the detour of the article transport vehicle traveling in the second direction on the second traveling rail.

並且，因為藉由像這樣以在第一行走軌道上朝第一方向行走的物品搬送車、以及在第二行走軌道上朝第二方向行走的物品搬送車來兼用迂迴用行走軌道，就變得不需要對應於第一行走軌道與第二行走軌道的每一個來各別地設置迂迴用行走軌道，所以可以減少迂迴用行走軌道的數量。從而，使朝第一方向行走的物品搬送車與朝第二方向行走的物品搬送車之雙方可以迂迴，並且能夠將行走軌道的設置空間設得較小。 And, because the article transport vehicle that travels in the first direction on the first traveling rail and the article transport vehicle that travels in the second direction on the second traveling rail are used as the detour traveling rail in this way, it becomes It is not necessary to separately provide the detour running rails corresponding to each of the first running rail and the second running rail, so the number of detour running rails can be reduced. Therefore, both the article transport vehicle traveling in the first direction and the article transport vehicle traveling in the second direction can be bypassed, and the installation space of the traveling rail can be made small.

在此，較理想的是，更具備有控制前述物 品搬送車的行走之控制裝置，前述控制裝置在前述迂迴用行走軌道上朝前述第二方向行走的前述物品搬送車存在的情況下，會限制行走於前述第一行走軌道的前述物品搬送車進入前述第一分歧軌道，在前述迂迴用行走軌道上朝前述第一方向行走的前述物品搬送車存在的情況下，會限制行走於前述第二行走軌道的前述物品搬送車進入前述第二分歧軌道。 Here, it is better to have the control of the foregoing A control device for the traveling of the article transport vehicle, the control device restricts the entry of the article transport vehicle traveling on the first traveling track when the article transport vehicle that travels in the second direction on the detour traveling track exists In the first branch rail, when the article transport vehicle traveling in the first direction on the detour traveling rail is present, the article transport vehicle traveling on the second traveling rail is restricted from entering the second branch rail.

根據此構成，在迂迴用行走軌道上存在朝第二方向行走的物品搬送車的情況下，可限制朝第一方向行走的物品搬送車進入迂迴用行走軌道的情形。又，在迂迴用行走軌道上存在朝第一方向行走的物品搬送車的情況下，可限制朝第二方向行走的物品搬送車進入迂迴用行走軌道的情形。因此，可以將朝第一方向行走的物品搬送車與朝第二方向行走的物品搬送車在迂迴用行走軌道上相面對的情形防範於未然。 According to this configuration, when there is an article transport vehicle traveling in the second direction on the detour traveling rail, the article transport vehicle traveling in the first direction can be restricted from entering the detour traveling rail. Moreover, when there is an article transport vehicle traveling in the first direction on the detour traveling track, the article transport vehicle traveling in the second direction can be restricted from entering the detour traveling track. Therefore, it is possible to prevent the situation where the article transport vehicle traveling in the first direction and the article transport vehicle traveling in the second direction face each other on the detour traveling rail.

又，較理想的是，更具備方向感測器，前述方向感測器可檢測行走於前述迂迴用行走軌道的前述物品搬送車的行走方向，前述方向感測器是沿著前述迂迴用行走軌道而設置，前述控制裝置在藉由前述方向感測器檢測到在前述迂迴用行走軌道上朝前述第二方向行走的前述物品搬送車之情況下，會對欲從前述第一行走軌道的前述第一分歧部進入前述第一分歧軌道的前述物品搬送車發送停止訊號，在藉由前述方向感測器檢測到在前述迂迴用行走軌道上朝前述第一方向行走的前述物品搬送車之情況 下，會對欲從前述第二行走軌道的前述第二分歧部進入前述第二分歧軌道的前述物品搬送車發送停止訊號。 Furthermore, it is more desirable that the direction sensor is further provided, and the direction sensor can detect the traveling direction of the article transport vehicle traveling on the detour traveling track, and the direction sensor is along the detour traveling track In addition, when the control device detects the article transport vehicle traveling in the second direction on the detour traveling track by the direction sensor, it will respond to the first traveling track from the first traveling track. The article transport vehicle that enters the first branch track at a branch portion sends a stop signal, and the article transport vehicle traveling in the first direction on the detour traveling track is detected by the direction sensor. Next, a stop signal is sent to the article transport vehicle that intends to enter the second branch track from the second branch portion of the second walking track.

根據此構成，欲從第一行走軌道的第一分歧部進入至第一分歧軌道的物品搬送車，在於迂迴用行走軌道上存在朝第二方向行走的物品搬送車的情況下，可以藉由接收停止訊號而停止。欲從第二行走軌道的第二分歧部進入第二分歧軌道的物品搬送車，在於迂迴用行走軌道上存在朝第一方向行走的物品搬送車的情況下，可以藉由接收停止訊號而停止。如此，控制裝置可以依據方向感測器的檢測資訊來發送停止訊號，藉此使物品搬送車停止，而將物品搬送車彼此在迂迴用行走軌道中相面對的情形防範於未然。 According to this structure, the article transport vehicle that intends to enter the first branch track from the first branch of the first running track can be received by receiving an article transport vehicle that travels in the second direction on the detour running track. Stop the signal and stop. The article transport vehicle that intends to enter the second branch track from the second branch portion of the second traveling track can be stopped by receiving a stop signal when there is an article transport vehicle traveling in the first direction on the detour traveling track. In this way, the control device can send a stop signal according to the detection information of the direction sensor, thereby stopping the article transport vehicle, and prevent the situation that the article transport vehicles face each other in the winding track.

又，較理想的是，前述迂迴用行走軌道具備左右一對之軌道部，前述物品搬送車在相對於左右方向的中心而偏向一側的位置上具備被檢測體，前述方向感測器具備第一感測器與第二感測器，前述第一感測器是安裝於前述左右一對之軌道部的其中一邊，以檢測在前述迂迴用行走軌道上朝前述第一方向行走的前述物品搬送車的前述被檢測體，前述第二感測器是安裝於前述左右一對之軌道部的另一邊，以檢測在前述迂迴用行走軌道上朝前述第二方向行走的前述物品搬送車的前述被檢測體。 Furthermore, it is preferable that the detour traveling rail includes a pair of left and right rail parts, the article transport vehicle includes a detected object at a position deviated from the center in the left and right direction, and the direction sensor includes a first A sensor and a second sensor. The first sensor is installed on one side of the left and right pair of rails to detect the conveyance of the article traveling in the first direction on the detouring track For the detected body of the vehicle, the second sensor is installed on the other side of the left and right pair of rails to detect the covered object of the article transport vehicle traveling in the second direction on the detour running track. Test body.

根據此構成，藉由將左右一對之軌道部利用於安裝第一感測器與第二感測器，就不需要為了安裝第一感測器或第二感測器而另外準備構件。因此，可以謀求 第一感測器或第二感測器的安裝構造之簡單化。又，在物品搬送車朝第一方向行走的情況下與物品搬送車朝第二方向行走的情況下，被檢測體的位置為在左右方向上不同。因此，只要將第一感測器與第二感測器在左右方向上錯開來設置，就可以藉由第一感測器與第二感測器來適當地檢測物品搬送車的行走方向。 According to this configuration, by using the left and right pair of rails for mounting the first sensor and the second sensor, it is not necessary to separately prepare components for mounting the first sensor or the second sensor. Therefore, one can seek The installation structure of the first sensor or the second sensor is simplified. In addition, when the article transport vehicle is traveling in the first direction and when the article transport vehicle is traveling in the second direction, the position of the object to be detected is different in the left-right direction. Therefore, as long as the first sensor and the second sensor are staggered in the left-right direction, the first sensor and the second sensor can be used to appropriately detect the traveling direction of the article transport vehicle.

又，較理想的是，前述物品搬送車具備有被引導體、被檢測體、及驅動部，前述驅動部是使前述被引導體及前述被檢測體一體地朝左右方向移動，且使前述被引導體及前述被檢測體移動至第一位置與第二位置，其中前述第二位置是比前述第一位置更位於右側的位置，前述第一分歧部具備第一引導軌道，該第一引導軌道是因應於前述被引導體的位置而將前述物品搬送車引導到前述第一行走軌道或前述第一分歧軌道，前述第二分歧部具備第二引導軌道，前述第二引導軌道是因應於前述被引導體的位置而將前述物品搬送車引導到前述第二行走軌道或前述第二分歧軌道，沿著前述迂迴用行走軌道設置有迂迴用引導軌道，該迂迴用引導軌道是限制前述被引導體從前述第一位置與前述第二位置的其中一方往另一方的移動，前述方向感測器具備第一感測器與第二感測器，前述第一感測器是安裝於前述迂迴用引導軌道中的左右方向的其中一側，以檢測位於在前述迂迴用行走軌道上朝前述第一方向行走的前述物品搬送車中的前述左右方向的前述第一行走軌道側之前述被檢測體，前述第二感測器是安裝於前述迂 迴用引導軌道中的左右方向的另一側，以檢測位於在前述迂迴用行走軌道上朝前述第二方向行走的前述物品搬送車中的前述左右方向的前述第二行走軌道側之前述被檢測體。 Furthermore, it is preferable that the article transport vehicle is provided with a guided body, a detected body, and a driving part, and the driving part moves the guided body and the detected body integrally in the left and right directions, and causes the covered body to move in the left-right direction. The guide body and the detected body move to a first position and a second position, wherein the second position is a position on the right side than the first position, the first branch portion is provided with a first guide rail, and the first guide rail According to the position of the guided body, the article transport vehicle is guided to the first traveling rail or the first branch rail, the second branch part is equipped with a second guide rail, and the second guide rail is in response to the The position of the guide body guides the article transport vehicle to the second traveling rail or the second branch rail, and a detour guide rail is provided along the detour traveling rail, and the detour guide rail restricts the guided body from The movement of one of the first position and the second position to the other, the direction sensor includes a first sensor and a second sensor, and the first sensor is mounted on the guide rail for detouring One side of the left and right direction in the circumstance is used to detect the detected object located on the side of the first traveling rail in the left and right direction in the article transport vehicle traveling in the first direction on the detour traveling rail, and the first The second sensor is installed in the aforementioned circuit The other side in the left-right direction of the guide rail for recirculation is used to detect the detected side of the second running rail in the left-right direction in the article transport vehicle traveling in the second direction on the detour running rail body.

根據此構成，藉由驅動部使被引導體移動到第一位置或第二位置，藉此就可以在第一分歧部或第二分歧部中切換物品搬送車行走的方向。並且，因為藉由使被檢測體和被引導體一體地朝左右方向移動，就不需要具備使被檢測體朝左右方向移動之專用的驅動部，所以可以謀求物品搬送車的構成之簡單化。又，因為藉由在限制被引導體移動的迂迴用行走軌道中安裝第一感測器或第二感測器，就不需要為了安裝第一感測器或第二感測器而另外準備構件，所以可以謀求第一感測器或第二感測器的安裝構造的簡單化。 According to this configuration, the driving part moves the guided body to the first position or the second position, whereby the direction in which the article transport vehicle travels can be switched in the first branch part or the second branch part. In addition, since the detected body and the guided body are moved in the left-right direction integrally, there is no need to provide a dedicated drive unit for moving the detected body in the left-right direction, so the structure of the article transport vehicle can be simplified. In addition, because the first sensor or the second sensor is installed in the detouring track that restricts the movement of the guided body, it is not necessary to prepare additional components for installing the first sensor or the second sensor. Therefore, the installation structure of the first sensor or the second sensor can be simplified.

又，較理想的是，前述方向感測器除了沿著前述迂迴用行走軌道而設置的部分之外，還具備有沿著前述第一分歧軌道、前述第一合流軌道、前述第二分歧軌道、及前述第二合流軌道的每一個而設置的部分。 In addition, it is preferable that the direction sensor is provided along the first branch rail, the first converging rail, the second branch rail, and the part provided along the detour running track. And the part provided for each of the aforementioned second confluence tracks.

根據此構成，可以藉由方向感測器中的沿著第一分歧軌道、第一合流軌道、第二分歧軌道、或第二合流軌道的每一個而設置的部分，以檢測在這些第一分歧軌道、第一合流軌道、第二分歧軌道、及第二合流軌道上行走的物品搬送車。控制裝置是依據此方向感測器的檢測資訊來限制物品搬送車進入第一分歧軌道的情形或進入第 二分歧軌道的情形，藉此易於適當地限制物品搬送車彼此在相同軌道上相面對之情形。 According to this configuration, the part of the direction sensor provided along each of the first diverging track, the first merging track, the second diverging track, or the second merging track can be used to detect the Article transport vehicles running on rails, first merging rails, second branch rails, and second merging rails. The control device is based on the detection information of the direction sensor to restrict the article transport vehicle from entering the first branch track or entering the second track. In the case of two diverging tracks, it is easy to appropriately restrict the situation where the article conveying vehicles face each other on the same track.

產業上之可利用性 Industrial availability

本揭示之技術可以利用在具備有沿著行走軌道行走之物品搬送車的物品搬送設備上。 The technology of the present disclosure can be used in an article transport facility equipped with an article transport vehicle that runs along a traveling track.

1‧‧‧行走路徑 1‧‧‧Walking path

2‧‧‧行走軌道 2‧‧‧Walking track

3‧‧‧物品搬送車 3‧‧‧Item transport vehicle

31‧‧‧第一行走軌道 31‧‧‧The first walking track

32‧‧‧第二行走軌道 32‧‧‧Second walking track

33‧‧‧迂迴用行走軌道 33‧‧‧Circular walking track

34‧‧‧第一分歧軌道 34‧‧‧The first divergence track

35‧‧‧第一合流軌道 35‧‧‧First Confluence Orbit

36‧‧‧第二分歧軌道 36‧‧‧Second divergent track

37‧‧‧第二合流軌道 37‧‧‧Second Confluence Orbit

41‧‧‧第一行走路徑 41‧‧‧First walking path

42‧‧‧第二行走路徑 42‧‧‧Second walking path

43‧‧‧迂迴用路徑 43‧‧‧Circular route

44‧‧‧第一分歧路徑 44‧‧‧The first divergent path

45‧‧‧第一合流路徑 45‧‧‧The first confluence path

46‧‧‧第二分歧路徑 46‧‧‧Second divergent path

47‧‧‧第二合流路徑 47‧‧‧Second Confluence Path

51‧‧‧第一分歧部 51‧‧‧First Division

52‧‧‧第一合流部 52‧‧‧First Confluence Department

53‧‧‧第二分歧部 53‧‧‧Second Branch

54‧‧‧第二合流部 54‧‧‧Second Confluence Department

55‧‧‧第一分歧合流部 55‧‧‧First Division Confluence Department

56‧‧‧第二分歧合流部 56‧‧‧Second Confluence Division

65‧‧‧顯示體 65‧‧‧Display body

67‧‧‧通訊裝置 67‧‧‧Communication device

X‧‧‧路徑長度方向 X‧‧‧Path length direction

X1‧‧‧第一方向 X1‧‧‧First direction

X2‧‧‧第二方向 X2‧‧‧Second direction

Y‧‧‧路徑寬度方向 Y‧‧‧Path width direction

Y1‧‧‧路徑寬度方向第一側 Y1‧‧‧The first side of the path width direction

Y2‧‧‧路徑寬度方向第二側 Y2‧‧‧The second side of the path width direction

Claims (7)

一種物品搬送設備，具備沿著行走軌道行走之物品搬送車，前述物品搬送設備具有以下之特徵：前述行走軌道具備第一行走軌道、第二行走軌道、迂迴用行走軌道、第一分歧軌道、第二分歧軌道、第一合流軌道、及第二合流軌道，前述第二行走軌道是以相對於前述第一行走軌道並行的狀態來設置，將行走於前述第一行走軌道的前述物品搬送車的行走方向設為第一方向，且將行走於前述第二行走軌道的前述物品搬送車的行走方向設為第二方向，前述第一方向與前述第二方向互相為相反方向，前述迂迴用行走軌道是設置於前述第一行走軌道與前述第二行走軌道之間，並且具備第一分歧合流部與第二分歧合流部，其中前述第二分歧合流部是比該第一分歧合流部更位於前述第一方向側，前述第一分歧軌道是以從前述第一行走軌道的第一分歧部分歧且合流於前述迂迴用行走軌道的前述第一分歧合流部的狀態來設置，前述第二分歧軌道是以從前述第二行走軌道的第二分歧部分歧且合流於前述迂迴用行走軌道的前述第二分歧合流部的狀態來設置，前述第一合流軌道是以從前述迂迴用行走軌道的前 述第二分歧合流部分歧且合流於前述第一行走軌道的第一合流部的狀態來設置，前述第二合流軌道是以從前述迂迴用行走軌道的前述第一分歧合流部分歧且合流於前述第二行走軌道的第二合流部的狀態來設置，前述物品搬送車可於前述迂迴用行走軌道上朝前述第一方向及前述第二方向之雙方向行走，行走於前述第一行走軌道的前述物品搬送車可依第一分歧軌道、前述迂迴用行走軌道、前述第一合流軌道的順序來行走，行走於前述第二行走軌道的前述物品搬送車可依第二分歧軌道、前述迂迴用行走軌道、前述第二合流軌道的順序來行走。 An article conveying device is provided with an article conveying vehicle that runs along a traveling track. The article conveying device has the following characteristics: the traveling track includes a first traveling rail, a second traveling rail, a roundabout traveling rail, a first branch rail, and a second traveling rail. Two branch rails, a first merging rail, and a second merging rail. The second traveling rail is arranged in parallel with the first traveling rail, and the article transport vehicle traveling on the first traveling rail is moved The direction is set to the first direction, and the traveling direction of the article transport vehicle traveling on the second traveling rail is set to the second direction, the first direction and the second direction are opposite to each other, and the detour traveling rail is It is arranged between the first traveling rail and the second traveling rail, and is provided with a first branching merging portion and a second branching merging portion, wherein the second branching merging portion is located more on the first branching merging portion than the first branching merging portion On the direction side, the first branch rail is provided in a state of branching from the first branch portion of the first traveling rail and merges with the first branch merging portion of the detour traveling rail, and the second branch rail is set from The second branch portion of the second running track is arranged in a state where it is branched and merged at the second branch junction of the detour running track, and the first merging track is set from the front of the bypass running track The second branch confluence part is set in a state where it is branched and merged at the first confluence part of the first traveling track, and the second confluence track is branched from the first branch confluence part of the detour traveling track and merges into the The second merging part of the second running rail is installed, and the article transport vehicle can travel in both directions of the first direction and the second direction on the detour running rail, and travel on the first running rail. The article transport vehicle can travel in the order of the first branch track, the detour running track, and the first confluence track. The article transport vehicle that runs on the second travel track can follow the second branch track and the detour travel track. , Walk in the order of the aforementioned second confluence track. 如請求項1之物品搬送設備，其更具備控制前述物品搬送車的行走的控制裝置，前述控制裝置在前述迂迴用行走軌道上朝前述第二方向行走的前述物品搬送車存在的情況下，會限制行走於前述第一行走軌道的前述物品搬送車進入前述第一分歧軌道，在前述迂迴用行走軌道上朝前述第一方向行走的前述物品搬送車存在的情況下，會限制行走於前述第二行走軌道的前述物品搬送車進入前述第二分歧軌道。 For example, the article transport equipment of claim 1, which is further provided with a control device for controlling the traveling of the article transport vehicle, and the control device will be able to operate when the article transport vehicle that travels in the second direction on the detour running track exists The article transport vehicle that is restricted from traveling on the first traveling track enters the first branch track, and if the article transport vehicle that travels in the first direction on the detour traveling track exists, it is restricted from traveling on the second The article transport vehicle traveling on the track enters the second branch track. 如請求項2之物品搬送設備，其更具備方向感測器，前述方向感測器是檢測行走於前述迂迴用行走軌道的前述物品搬送車的行走方向， 前述方向感測器是沿著前述迂迴用行走軌道而設置，前述控制裝置在藉由前述方向感測器檢測到在前述迂迴用行走軌道上朝前述第二方向行走的前述物品搬送車之情況下，會對欲從前述第一行走軌道的前述第一分歧部進入前述第一分歧軌道的前述物品搬送車發送停止訊號，在藉由前述方向感測器檢測到在前述迂迴用行走軌道上朝前述第一方向行走的前述物品搬送車之情況下，會對欲從前述第二行走軌道的前述第二分歧部進入前述第二分歧軌道的前述物品搬送車發送停止訊號。 For example, the article transport equipment of claim 2, which is further equipped with a direction sensor, and the direction sensor detects the traveling direction of the article transport vehicle traveling on the detour traveling track, The direction sensor is provided along the detour traveling track, and the control device detects the article transport vehicle traveling in the second direction on the detour traveling track by the direction sensor. , It sends a stop signal to the article transport vehicle that intends to enter the first branch track from the first branch part of the first running track, and when the direction sensor detects that it is moving toward the aforementioned detouring track In the case of the article transport vehicle traveling in the first direction, a stop signal is sent to the article transport vehicle that intends to enter the second branch track from the second branch portion of the second travel rail. 如請求項3之物品搬送設備，其中前述迂迴用行走軌道具備左右一對之軌道部，前述物品搬送車在相對於左右方向的中心而偏向一側的位置上具備被檢測體，前述方向感測器具備第一感測器與第二感測器，前述第一感測器是安裝於前述左右一對之軌道部的其中一方，以檢測在前述迂迴用行走軌道上朝前述第一方向行走的前述物品搬送車的前述被檢測體，前述第二感測器是安裝於前述左右一對之軌道部的另一方，以檢測在前述迂迴用行走軌道上朝前述第二方向行走的前述物品搬送車的前述被檢測體。 Such as the article conveying equipment of claim 3, wherein the detour traveling rail is provided with a pair of left and right rail parts, the article conveying vehicle is provided with a detected body at a position deviated from the center in the left and right direction, and the direction sensing The device includes a first sensor and a second sensor, and the first sensor is installed on one of the left and right pair of rails to detect the movement in the first direction on the detour running track. In the object to be detected of the article transport vehicle, the second sensor is installed on the other side of the left and right pair of rails to detect the article transport vehicle traveling in the second direction on the detour running track The aforementioned subject. 如請求項3之物品搬送設備，其中前述物品搬送車具備有被引導體、被檢測體、及驅動部， 前述驅動部是使前述被引導體及前述被檢測體一體地朝左右方向移動，且使前述被引導體及前述被檢測體移動至第一位置與第二位置，其中前述第二位置是比前述第一位置更位於右側的位置，前述第一分歧部具備第一引導軌道，前述第一引導軌道是因應於前述被引導體的位置而將前述物品搬送車引導到前述第一行走軌道或前述第一分歧軌道，前述第二分歧部具備第二引導軌道，前述第二引導軌道是因應於前述被引導體的位置而將前述物品搬送車引導到前述第二行走軌道或前述第二分歧軌道，沿著前述迂迴用行走軌道設置有迂迴用引導軌道，前述迂迴用引導軌道是限制前述被引導體從前述第一位置與前述第二位置的其中一方往另一方的移動，前述方向感測器具備第一感測器與第二感測器，前述第一感測器是安裝於前述迂迴用引導軌道中的左右方向的其中一側，以檢測位於在前述迂迴用行走軌道上朝前述第一方向行走的前述物品搬送車中的前述左右方向的前述第一行走軌道側之前述被檢測體，前述第二感測器是安裝於前述迂迴用引導軌道中的左右方向的另一側，以檢測位於在前述迂迴用行走軌道上朝前述第二方向行走的前述物品搬送車中的前述左右方向的前述第二行走軌道側之前述被檢測體。 For example, the article transport equipment of claim 3, wherein the article transport vehicle is equipped with a guided body, a detected body, and a driving part, The drive unit moves the guided body and the detected body in the left-right direction integrally, and moves the guided body and the detected body to a first position and a second position, wherein the second position is higher than the aforementioned The first position is further on the right side, the first branch portion is provided with a first guide rail, and the first guide rail guides the article transport vehicle to the first traveling rail or the first guide rail according to the position of the guided body. A branch track, the second branch part is provided with a second guide track, and the second guide track guides the article transport vehicle to the second traveling track or the second branch track according to the position of the guided body. The detour guide rail is provided with the detour guide rail, the guide rail for detour restricts the movement of the guided body from one of the first position and the second position to the other, and the direction sensor includes a first A sensor and a second sensor. The first sensor is installed on one of the left and right sides of the detour guide rail to detect that it is located on the detour running track and travels in the first direction. In the article transport vehicle, the detected body on the side of the first traveling rail in the left-right direction, and the second sensor is installed on the other side of the guide rail for the detour in the left-right direction to detect that it is located at The object to be detected on the side of the second traveling rail in the left-right direction in the article transport vehicle traveling in the second direction on the traveling rail for detouring. 如請求項3至5中任一項之物品搬送設備， 其中前述方向感測器除了沿著前述迂迴用行走軌道而設置的部分之外，還具備有沿著前述第一分歧軌道、前述第一合流軌道、前述第二分歧軌道、及前述第二合流軌道的每一個而設置的部分。 Such as the item transport equipment of any one of claim 3 to 5, Wherein, the direction sensor is provided along the first branch track, the first merging track, the second branch track, and the second merging track in addition to the part provided along the detour running track. Of each set. 一種物品搬送設備，具備沿著行走軌道行走之物品搬送車，前述物品搬送設備具有以下之特徵：前述行走軌道具備第一行走軌道、第二行走軌道、迂迴用行走軌道、第一分歧軌道、第二分歧軌道、第一合流軌道、及第二合流軌道，前述第二行走軌道是以相對於前述第一行走軌道並行的狀態來設置，將行走於前述第一行走軌道的前述物品搬送車的行走方向設為第一方向，且將行走於前述第二行走軌道的前述物品搬送車的行走方向設為第二方向，前述第一方向與前述第二方向互相為相反方向，前述迂迴用行走軌道是設置於前述第一行走軌道與前述第二行走軌道之間，並且具備第一分歧合流部與第二分歧合流部，其中前述第二分歧合流部是比該第一分歧合流部更位於前述第一方向側，前述第一分歧軌道是以從前述第一行走軌道的第一分歧部分歧且合流於前述迂迴用行走軌道的前述第一分歧合流部的狀態來設置，前述第二分歧軌道是以從前述第二行走軌道的第二 分歧部分歧且合流於前述迂迴用行走軌道的前述第二分歧合流部的狀態來設置，前述第一合流軌道是以從前述迂迴用行走軌道的前述第二分歧合流部分歧且合流於前述第一行走軌道的第一合流部的狀態來設置，前述第二合流軌道是以從前述迂迴用行走軌道的前述第一分歧合流部分歧且合流於前述第二行走軌道的第二合流部的狀態來設置，前述物品搬送車可於前述迂迴用行走軌道上朝前述第一方向及前述第二方向之雙方向行走，前述物品搬送設備更具備控制前述物品搬送車的行走的控制裝置，前述控制裝置在前述迂迴用行走軌道上朝前述第二方向行走的前述物品搬送車存在的情況下，會限制行走於前述第一行走軌道的前述物品搬送車進入前述第一分歧軌道，在前述迂迴用行走軌道上朝前述第一方向行走的前述物品搬送車存在的情況下，會限制行走於前述第二行走軌道的前述物品搬送車進入前述第二分歧軌道，前述物品搬送設備更具備方向感測器，前述方向感測器是檢測行走於前述迂迴用行走軌道的前述物品搬送車的行走方向，前述方向感測器是沿著前述迂迴用行走軌道而設置，前述控制裝置在藉由前述方向感測器檢測到在前述 迂迴用行走軌道上朝前述第二方向行走的前述物品搬送車之情況下，會對欲從前述第一行走軌道的前述第一分歧部進入前述第一分歧軌道的前述物品搬送車發送停止訊號，在藉由前述方向感測器檢測到在前述迂迴用行走軌道上朝前述第一方向行走的前述物品搬送車之情況下，會對欲從前述第二行走軌道的前述第二分歧部進入前述第二分歧軌道的前述物品搬送車發送停止訊號。 An article conveying device is provided with an article conveying vehicle that runs along a traveling track. The article conveying device has the following characteristics: the traveling track includes a first traveling rail, a second traveling rail, a roundabout traveling rail, a first branch rail, and a second traveling rail. Two branch rails, a first merging rail, and a second merging rail. The second traveling rail is arranged in parallel with the first traveling rail, and the article transport vehicle traveling on the first traveling rail is moved The direction is set to the first direction, and the traveling direction of the article transport vehicle traveling on the second traveling rail is set to the second direction, the first direction and the second direction are opposite to each other, and the detour traveling rail is It is arranged between the first traveling rail and the second traveling rail, and is provided with a first branching merging portion and a second branching merging portion, wherein the second branching merging portion is located more on the first branching merging portion than the first branching merging portion On the direction side, the first branch rail is provided in a state of branching from the first branch portion of the first traveling rail and merges with the first branch merging portion of the detour traveling rail, and the second branch rail is set from The second of the aforementioned second walking track The branch portion is branched and merged in the state of the second branch confluence part of the detour running track, and the first confluence track is branched from the second branch confluence part of the detour running track and merges into the first It is installed in the state of the first merging part of the running rail, and the second merging rail is installed in the state of branching from the first branch merging part of the detour running rail and converging at the second merging part of the second running rail , The article transport vehicle can travel in both directions of the first direction and the second direction on the detour traveling track, the article transport equipment is further equipped with a control device for controlling the traveling of the article transport vehicle, and the control device is in the foregoing If there is the article transport vehicle traveling in the second direction on the detour running track, the article transport vehicle traveling on the first running track will be restricted from entering the first branch track and face on the detour running track. In the case where the article transport vehicle traveling in the first direction exists, the article transport vehicle traveling on the second traveling track will be restricted from entering the second branch track. The article transport equipment is further equipped with a direction sensor. The sensor detects the traveling direction of the article transport vehicle traveling on the detour traveling track, the direction sensor is installed along the detour traveling track, and the control device detects the travel direction by the direction sensor. Aforementioned In the case of the article transport vehicle traveling in the second direction on the detour running track, a stop signal is sent to the article transport vehicle that intends to enter the first branch track from the first branch portion of the first travel track, In the case where the article transport vehicle traveling in the first direction on the detour traveling track is detected by the direction sensor, it will enter the second branch from the second branch of the second traveling track. 2. The aforementioned article transport vehicle on the branch track sends a stop signal.
TW107124649A 2017-08-04 2018-07-17 Article transport facility TWI745605B (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017151906A JP6897407B2 (en) 2017-08-04 2017-08-04 Goods transport equipment
JP2017-151906 2017-08-04

Publications (2)

Publication Number Publication Date
TW201910234A TW201910234A (en) 2019-03-16
TWI745605B true TWI745605B (en) 2021-11-11

Family

ID=65366714

Family Applications (1)

Application Number Title Priority Date Filing Date
TW107124649A TWI745605B (en) 2017-08-04 2018-07-17 Article transport facility

Country Status (4)

Country Link
JP (1) JP6897407B2 (en)
KR (1) KR102565893B1 (en)
CN (1) CN109384000B (en)
TW (1) TWI745605B (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3098509B1 (en) * 2019-07-08 2021-06-25 Erba Diagnostics Ltd Biological sample transport vehicle comprising a guiding device
JP7501513B2 (en) 2021-12-20 2024-06-18 株式会社ダイフク Goods handling equipment
CN116453994B (en) * 2023-06-15 2023-09-08 上海果纳半导体技术有限公司 Crown block carrying device
KR102638654B1 (en) * 2023-07-21 2024-02-20 에이피티씨 주식회사 Device for transferring substrates capable of layer movement

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060230975A1 (en) * 2005-04-14 2006-10-19 Murata Kikai Kabushiki Kaisha Overhead traveling vehicle system
JP2009026265A (en) * 2007-07-24 2009-02-05 Hitachi Plant Technologies Ltd Automatic guided vehicle device
TW201100307A (en) * 2009-06-25 2011-01-01 Ihi Corp Unattended transporting apparatus and transporting route determining method for the same

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5532264U (en) * 1978-08-24 1980-03-01
FI80641C (en) * 1988-11-11 1990-07-10 Partek Ab A method of transferring a trailer from one track to another and the suspension system
JPH1153029A (en) * 1997-07-31 1999-02-26 Shinko Electric Co Ltd Carrier system
JP2002060006A (en) * 2000-08-11 2002-02-26 Murata Mach Ltd Rail-truck system
JP5263613B2 (en) * 2009-05-11 2013-08-14 株式会社ダイフク Goods transport equipment
JP5527619B2 (en) * 2011-11-24 2014-06-18 株式会社ダイフク Ceiling-mounted goods transport equipment
KR101341428B1 (en) * 2011-12-22 2013-12-13 주식회사 에스에프에이 BARNCHING AND JOINING SYSTEM OF OVER HOIST TRANSFER(or OverHead Shuttle) AND CONTROL METHOD THEREOF
JP6278341B2 (en) 2015-04-06 2018-02-14 株式会社ダイフク Goods transport equipment

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060230975A1 (en) * 2005-04-14 2006-10-19 Murata Kikai Kabushiki Kaisha Overhead traveling vehicle system
JP2009026265A (en) * 2007-07-24 2009-02-05 Hitachi Plant Technologies Ltd Automatic guided vehicle device
TW201100307A (en) * 2009-06-25 2011-01-01 Ihi Corp Unattended transporting apparatus and transporting route determining method for the same

Also Published As

Publication number Publication date
KR20190015130A (en) 2019-02-13
CN109384000A (en) 2019-02-26
KR102565893B1 (en) 2023-08-09
JP2019031137A (en) 2019-02-28
TW201910234A (en) 2019-03-16
JP6897407B2 (en) 2021-06-30
CN109384000B (en) 2021-07-27

Similar Documents

Publication Publication Date Title
TWI745605B (en) Article transport facility
CN107055019B (en) Article carrying apparatus
TWI772404B (en) Article transport facility
KR102408175B1 (en) Article transport facility
JP6520797B2 (en) Goods transport equipment
TWI436933B (en) Article transport facility
CN109693678B (en) Vehicle with a steering wheel
TWI694048B (en) Article transport facility
CN107804639B (en) Article conveying apparatus
TW202126520A (en) Article transport facility
TW201913595A (en) Transport system
JP2021167185A (en) Overhead hoist transfer apparatus and differential overhead trolley thereof
KR101503434B1 (en) Personal Rapid Transit Vehicle vertical transfer method using horizontal conveyor type
JP7006050B2 (en) Inspection system
JP5344366B2 (en) Transport system
JP5170190B2 (en) Transport vehicle system
JP5212228B2 (en) Automated transport system
KR20130072422A (en) Barnching and joining system of over hoist transfer(or overhead shuttle) and control method thereof
JP2023108873A (en) Article conveyance facility