WO2019231081A1

WO2019231081A1 - Conveyor system

Info

Publication number: WO2019231081A1
Application number: PCT/KR2019/002762
Authority: WO
Inventors: 장인배; 안정우; 김혁
Original assignee: 에이피에스홀딩스 주식회사
Priority date: 2018-05-31
Filing date: 2019-03-08
Publication date: 2019-12-05
Also published as: KR20190136736A; KR102058945B1

Abstract

A conveyor system according to an embodiment of the present invention comprises: a guide rail including multiple sections comprising a horizontal section parallel to the ground and an inclined section having a gradient with respect to the ground; and a driving apparatus which includes a driving wheel for horizontal movement and a driving wheel for inclined movement, disposed on a concentric shaft and having different sizes, and enables horizontal and inclined movements along the guide rail, wherein the driving wheel for horizontal movement and the driving wheel for inclined movement are capable of selectively moving on the horizontal section and the inclined section.

Description

Conveying system

The present invention relates to a transport system, and more particularly, to a transport system capable of high-speed running in the horizontal section and stable travel in the inclined section.

In recent years, logistics volume has increased greatly not only in the semiconductor and display related industries but also in general logistics or hospital / pharmacy logistics.

In general, the industrial site is provided with a transport system for mounting a transport object to transport to a suitable place, such a transport system is composed of a traveling device that can be carried along the rail and the rail, and the transport object.

Conventional driving devices that drive with wheels are capable of high-speed traveling in the horizontal direction, but cannot travel in the vertical direction. In addition, the traveling devices that can run vertically may travel in the vertical direction, but have a problem in that they travel at a lower speed than the traveling devices that can travel at high speeds through the wheels during horizontal driving.

Accordingly, there is a demand for a transfer system that enables a horizontal movement at a high speed while solving a limitation in which driving cannot be performed due to the influence of gravity on vertical movement on a wall with a large slope or horizontal movement on a ceiling surface.

(Patent Document 1) Korean Patent Publication No. 10-2016-0060183

The present invention provides a transport system capable of stable running in the inclined section including a high-speed running in the horizontal section and a vertical inclined section.

A conveying system according to an embodiment of the present invention includes a guide rail including a plurality of sections including a horizontal section parallel to the ground and a slope section having an inclination with respect to the ground; And a traveling device including a horizontal traveling wheel and an inclined traveling wheel provided on the concentric shaft in different sizes, wherein the traveling device enables horizontal traveling and inclined traveling along the guide rail. May selectively travel in the horizontal section and the inclined section.

The guide rail may include a first rail unit on which the horizontal traveling wheel travels; And a second rail part on which the inclined travel wheel travels, wherein the first rail part and the second rail part have different heights.

The horizontal traveling wheel is larger than the inclined traveling wheel, the inclined traveling wheel is formed of a cog wheel, the surface of the second rail portion may have a concave-convex structure corresponding to the cog wheel.

At least one of both ends of the second rail portion may include an unevenness having at least one of a corner rounded to a height, a narrow width, and a small curvature lower than that of the central portion of the second rail portion.

The guide rail may include a support part provided with the first rail part and the second rail part; Sidewall portions provided on both sides of the support portion; And a flange portion protruding inwardly from the side wall portion to face the support portion.

The traveling device includes a body portion to which the horizontal traveling wheel and the inclined traveling wheel are connected; And an auxiliary guide member extending from the body portion toward at least one of the side wall portion and the flange portion.

The auxiliary guide member may include a rolling member provided at an end and contacting the flange part in a vertical inclined section of the inclined section.

The traveling device includes: an accommodation portion provided on the body portion and having an internal space for receiving a transfer object; And a rotation shaft member connecting the body portion and the accommodation portion, wherein the rotation shaft member may be spaced apart from the bottom of the accommodation portion than the center of gravity of the accommodation portion.

The guide rail may further include an inversion section in which the flange portion is disposed toward the ground at a height different from that of the horizontal section.

The inclined driving wheel may travel on the second rail unit in the inversion section.

The inversion section may include a flange protrusion that protrudes from the flange toward the support, and the horizontal traveling wheel may travel on the flange protrusion in the inversion section.

The flange protrusion may protrude to a height equal to or greater than half the width of the end of the auxiliary guide member.

A height difference between the first rail part and the second rail part may be greater than a radius difference between the horizontal travel wheel and the inclined travel wheel.

The guide rail further includes a curved section connecting the horizontal section and the inclined section, wherein the second rail extends from the end of the horizontal section connected to the curved section to the curved section and the inclined section. At least one of both ends of the second rail portion may have an inclined surface that gradually increases.

The traveling device may include a sensor unit configured to sense a position of at least one of both ends of the second rail unit; And a speed controller configured to control the speed of the traveling device according to the detection by the sensor unit.

The horizontal traveling wheel and the inclined traveling wheel constitute a wheel assembly, and the traveling device includes a plurality of the wheel assemblies, and each of the wheel assemblies may independently control a rotation speed.

The horizontal section and the inclined section include at least one of a straight section, a curved section, and an intersection, respectively, and at least one wheel of the plurality of wheel assemblies during rotation of the traveling device at the curved section and the intersection. The rotational speed of the assembly may be different than the rotational speed of the remaining wheel assemblies.

The guide rail may further include an auxiliary second rail spaced apart from the second rail part provided along the sidewall part, and provided along an lateral rotation path of the traveling device at an intersection of the inclined section part.

The conveying system according to the embodiment of the present invention selectively travels in the horizontal section and the inclined section through the horizontal travel wheel and the inclined travel wheel, so that the traveling device can travel at a high speed in the horizontal section, Not only can the driving speed be improved, but also vertical driving (or traveling in the vertical direction) may be possible in the vertical slope section.

In addition, the horizontal traveling wheel can be made larger than the inclined traveling wheel to improve the horizontal traveling speed (or traveling in the horizontal direction) of the traveling device, and the inclined traveling wheel having a smaller size than the horizontal traveling wheel is configured as a cog wheel. The wheel can mesh well with the uneven structure of the surface of the second rail portion. As a result, the traveling device can stably run vertically.

And the flange of the guide rail and the auxiliary guide member of the traveling device can prevent overturning (or disengagement) of the traveling device during vertical travel of the traveling device, at least at both ends of the second rail portion through the sensor of the traveling device The speed of the traveling device may be controlled when the inclined travel wheel enters the second rail by sensing one position.

Further, at least one of both ends of the second rail portion has at least one of the height of the unevenness lower than the center portion of the second rail portion, the width of the narrow unevenness, and the rounded unevenness with a small curvature, and have a gradually increasing slope. As a result, when the inclined traveling wheel enters the second rail portion, damage due to the collision of the inclined traveling wheel and the second rail portion can be suppressed or prevented, and the inclined traveling wheel can enter the second rail portion without any sense of heterogeneity.

And by connecting the body portion and the receiving portion of the traveling device through the rotating shaft member and the position of the rotating shaft member to be spaced apart from the center of gravity of the receiving portion from the bottom surface of the receiving portion, even when the traveling device is traveling by the inclined section is accommodated by gravity It is possible to maintain the same position (ie, horizontal) with respect to the additional rotational shaft member, and to prevent or suppress shaking, spilling, etc. of the transfer object accommodated in the accommodation portion.

Meanwhile, the height difference between the first rail part and the second rail part may be greater than the radius difference between the horizontal travel wheel and the inclined travel wheel so that the traveling device may travel only with the horizontal travel wheel or the inclined travel wheel. This prevents the horizontal driving wheel and / or the inclined traveling wheel from turning away due to the rotation speed difference between the horizontal traveling wheel and the inclined traveling wheel due to the simultaneous driving of the horizontal traveling wheel and the inclined traveling wheel. It is possible to drive stably along the guide rail.

1 is a schematic view showing a transport system according to an embodiment of the present invention.

2 is a conceptual diagram for explaining horizontal driving and inclined driving according to an embodiment of the present invention.

3 is a conceptual diagram illustrating a horizontal traveling wheel and an inclined traveling wheel according to an embodiment of the present invention.

4 is a conceptual view illustrating the uneven shape of the second rail unit according to an embodiment of the present invention.

5 is a conceptual diagram illustrating an inversion section according to an embodiment of the present invention.

6 is a conceptual view for explaining the installation form of the guide rail according to an embodiment of the present invention.

7 is a conceptual view for explaining the inclined surface of the end of the second rail portion according to an embodiment of the present invention.

8 is a conceptual diagram illustrating a horizontal section and an inclined section according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings will be described an embodiment of the present invention in more detail. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in various forms, and only the embodiments are intended to complete the disclosure of the present invention, and to those skilled in the art to fully understand the scope of the invention. It is provided to inform you. In the description, like reference numerals refer to like elements, and the drawings may be partially exaggerated in size in order to accurately describe embodiments of the present invention, and like reference numerals refer to like elements in the drawings.

1 is a schematic view showing a transport system according to an embodiment of the present invention, Figure 2 is a conceptual diagram illustrating a horizontal driving and inclined driving according to an embodiment of the present invention, Figure 2 (a) is a horizontal driving It is a front sectional view with respect to the city travel direction, and FIG. 2 (b) is a front sectional view with respect to the travel direction at the time of inclination driving.

1 and 2, a transport system 100 according to an embodiment of the present invention includes a plurality of horizontal sections 111 parallel to the ground and a slope section 112 having an inclination with respect to the ground. Guide rail 110 made of a section of; And a horizontal traveling wheel 121 and an inclined traveling wheel 122 provided on the concentric shaft in different sizes, and the traveling device 120 capable of horizontal traveling and inclined traveling along the guide rail 110. It may include.

The guide rail 110 may include a plurality of sections including a horizontal section 111 parallel to the ground and an inclined section 112 having an inclination with respect to the ground. In addition, the driving apparatus 120 may be supported to move forward or backward (that is, driving), and may provide a driving route of the driving apparatus 120. The horizontal section 111 may be parallel to the ground, and may be composed of a plurality of spaced apart in the vertical direction or horizontal direction. Here, the horizontal may include not only completely parallel to the ground (or no slope) but also having a predetermined slope (eg, ± 5 °) within a tolerance range, and the predetermined range within the tolerance range. The inclination of is sufficient if the inclination of the traveling device 120 does not slide down due to friction with the support surface.

The inclined section 112 may include a vertical inclined section, and may have a slope greater than the predetermined slope with respect to the ground. In this case, the inclined section 112 may be formed of a plurality of inclined sections having different inclinations.

On the other hand, when configuring the inclined section 112 only in the vertical inclined section length of the guide rail 110 for vertical movement of the traveling device 120 can be reduced, space utilization can be improved, The size of the overall transfer system 100 can be minimized. In addition, the horizontal section 111 may be disposed along the ground, the inclined section 112 may be disposed along the wall, the horizontal section 111 is supported on the ground without any configuration and the slope section 112 may be supported on the wall.

The traveling device 120 may include a horizontal traveling wheel 121 and an inclined traveling wheel 122 provided on the concentric shaft in different sizes, and may be capable of horizontal traveling and inclined traveling along the guide rail 110. have. For example, the traveling device 120 may be contactably supported to travel inside the guide rail 110.

In addition, the horizontal traveling wheel 121 and the inclined traveling wheel 122 may selectively travel in the horizontal section 111 and the inclined section 112. Through this, it is possible to drive at high speed in the horizontal section 111, and the inclined driving wheel 122 in the vertical inclined section of the inclined section 112 is lost due to the rotational speed difference with the horizontal traveling wheel 121 Can be prevented, and vertical driving (or traveling in the vertical direction) of the traveling device 120 may be possible. For example, the horizontal section 111 may travel with only the horizontal traveling wheel 121, and the vertical section of the inclined section 112 may travel with only the inclined travel wheel 122. In the inclined section of the inclined section portion 112 (for example, 5 to 45 °), the inclined section 112 may travel using both the horizontal travel wheel 121 and the inclined travel wheel 121, or the inclined section ( In the inclined section of the steep slope (for example, 45 ~ 90 °) of 112 may be driven only by the inclined driving wheel 121.

In addition, the guide rail 110 may include a first rail portion 114 on which the horizontal traveling wheel 121 travels; And a second rail part 115 on which the inclined travel wheel 122 travels, and the first rail part 114 and the second rail part 115 may have a step difference from each other. The first rail unit 114 may travel with the horizontal driving wheel 121 and may provide a flat driving surface for high speed driving. For example, the first rail unit 114 may be an inner bottom surface of the guide rail 110.

The inclined traveling wheel 122 may travel in the second rail unit 115, and may prevent or suppress the traveling device 120 from sliding down to the lower side (or the rear side) by gravity in the inclined section 112. It can be made of a structure. For example, the inclined driving wheel 122 is formed on the surface of the second rail unit 115 in a state in which a concave-convex structure is formed or the constrained driving wheel 122 is restrained by a magnetic force while maintaining a predetermined distance from the inclined traveling wheel 122. ) Can be run.

The first rail unit 114 and the second rail unit 115 may have different heights, may have a step (or height difference), and the horizontal traveling wheel 121 and the inclined driving having different sizes. The wheel 122 may travel through each of the first rail part 114 and the second rail part 115. For example, the height hr2 of the second rail unit 115 may be higher than the height hr1 of the first rail unit 114, and the first rail unit may be formed in the plurality of sections of the guide rail 110. The horizontal traveling wheel 121 and the inclined traveling wheel 122 may be selectively driven through the presence of the 114 or the second rail unit 115. As a result, the traveling device 120 may travel at a high speed by traveling only with the horizontal traveling wheel 121 in the horizontal section 111. In the vertical inclination section of the inclined section 112, the vehicle may travel only with the inclined travel wheels 122, and thus, the inclined travel wheels 122 may be prevented from turning due to the difference in rotational speed with the horizontal travel wheels 121. The traveling device 120 can stably run vertically.

3 is a conceptual view illustrating a horizontal traveling wheel and an inclined traveling wheel according to an embodiment of the present invention. FIG. 3A is a side view illustrating a horizontal traveling wheel that travels a first rail part, and FIG. (b) is a front view which shows the horizontal traveling wheel which drives a 1st rail part, (c) of FIG. 3 is a side view which shows the inclination driving wheel which runs a 2nd rail part, and (d) of FIG. It is a front view which shows the inclination driving wheel.

Referring to FIG. 3, the horizontal travel wheel 121 may be larger than the inclined travel wheel 122, the inclined travel wheel 122 may be formed of a cog wheel, and the surface of the second rail unit 115 may be a tooth. It may have a concave-convex structure corresponding to the wheel. The horizontal driving wheel 121 may be larger than the inclined driving wheel 122. When the horizontal traveling wheel 121 is enlarged, the moving distance that can be moved in one rotation may increase, and when a power source (for example, a motor, etc.) having the same rotational speed per unit time is used, The traveling distance per unit time can be increased, and the speed of horizontal traveling (or traveling in the horizontal direction) of the traveling device 120 can be improved.

The inclined driving wheel 122 may be formed of a cog wheel, and the surface of the second rail unit 115 may have an uneven structure (eg, cogwheel) corresponding to the cog wheel. Here, the uneven structure may include a convex portion and a concave portion. For example, when the inclined traveling wheel 122 is a pinion, the second rail unit 115 may be a rack, and when the inclined traveling wheel 122 is a sprocket, the second rail unit 115 may be a rack. The rail unit 115 may be a chain. As the teeth of the inclined traveling wheel 122 and the unevenness (or uneven structure) of the surface of the second rail portion 115 are engaged with each other, the traveling device 120 can travel without slipping down from the inclined section 112. . In addition, when the inclined traveling wheel 122 is small, the force required for the rotation of the inclined traveling wheel 122 may be reduced, and the rotational force of the inclined traveling wheel 122 is transmitted to the second rail unit 115 to be inclined. The rotational movement of the travel wheels 122 can be well converted to the linear movement (or vertical movement) of the traveling device 120, and the traveling device 120 can be effectively inclined travel (or vertical travel). This may also improve the speed of vertical movement (or transfer) of the object to be conveyed.

4 is a conceptual view illustrating the uneven shape of the second rail unit according to an embodiment of the present invention. FIG. 4A illustrates a second rail unit in which the height of the unevenness is changed, and FIG. Denotes a second rail portion in which the width of the unevenness changes, and FIG. 4C illustrates a second rail portion in which the edge of the unevenness changes.

Referring to FIG. 4, at least one of both ends of the second rail portion 115 is rounded at a height h, a narrow width w, and a small curvature lower than the unevenness of the central portion of the second rail portion 115. Unevenness having at least one of the rounded corners may be provided. If the height h1 of the unevenness (or the convex portion) becomes high at at least one of both ends of the second rail portion 115 that the inclined traveling wheel 122 enters the second rail portion 115, the inclined traveling wheel As the 122 enters the second rail unit 115, the teeth of the inclined traveling wheel 122 may not mesh well with the unevenness of the surface of the second rail unit 115, or the teeth of the inclined traveling wheel 122 are second. The teeth of the inclined traveling wheel 122 and / or the unevenness of the surface of the rail portion 114 may be damaged by hitting (or colliding with) unevenness of the surface of the rail portion 115. In addition, even when the width w1 of the unevenness is wide, the teeth of the inclined traveling wheel 122 entering the second rail portion 115 are less likely to be engaged with the unevenness of the surface of the second rail portion 115, and the inclined traveling wheel Collisions (or bumps) or friction between the teeth of the teeth 122 and the surface of the second rail portion 115 may damage the teeth of the inclined traveling wheel 122 and / or the unevenness of the surface of the rail portion 114. . In addition, when the corners of the uneven corner have a large curvature of the uneven corner, the inclined traveling wheel 122 may be caused by friction or collision between the teeth of the inclined traveling wheel 122 and the uneven surface of the surface of the second rail unit 115. ) And / or wear and / or damage of the unevenness of the surface of the rail portion 114 may be facilitated, and the teeth of the inclined traveling wheel 122 entering the second rail portion 115 may be the second rail portion. (115) It may be difficult to engage the surface irregularities.

However, in the transfer system 100 according to the present invention, at least one of the height h1 of the unevenness, the width w1 of the unevenness, and the curvature of the unevenness corner is at least one of the two ends of the second rail portion 115. Since the inclined traveling wheel 122 enters the second rail portion 115 smaller than the central portion of the portion 115, the teeth of the inclined traveling wheel 122 may be well engaged with the unevenness of the surface of the second rail portion 115. In addition, the inclined traveling wheel 122 may enter the second rail unit 115 without any sense of heterogeneity. In addition, when the inclined traveling wheel 122 enters the second rail portion 115, damage (or friction) due to a collision (or friction) between the teeth of the inclined traveling wheel 122 and the unevenness of the surface of the second rail portion 115 may occur. Wear) can be suppressed or prevented.

For example, the height h of the unevenness may gradually increase from at least one of both ends of the second rail portion 115 to the center portion of the second rail portion 115, and at one end of the second rail portion 115. From h1, h2,… The height h of the unevenness may be gradually increased, and the height of the unevenness of the center portion of the second rail part 115 may be equal to hc. In addition, the width w of the unevenness may gradually increase (or widen) from at least one of both ends of the second rail portion 115 to the center portion of the second rail portion 115, and the second rail portion 115. From one end of w1, w2,… The width of the unevenness of the furnace may be gradually increased, and the width of the unevenness of the center portion of the second rail part 115 may be equal to wc. In addition, the curvature of the uneven corner may be gradually increased from at least one of both ends of the second rail portion 115 to the center portion of the second rail portion 115.

In addition, the guide rail 110 may include a support part 116 on which the first rail part 114 and the second rail part 115 are provided; Side wall portions 117 provided on both sides of the support portion 116; And a flange portion 118 protruding inwardly from the side wall portion 117 to face the support portion 116. The support part 116 may be provided with a first rail part 114 and a second rail part 115, and may be supported on the ground (or bottom), wall, or ceiling surface, and support the support part 116. It may be supported by a support frame (not shown). Here, the support part 116 may provide a support surface (or a running surface) of the horizontal traveling wheel 121 and the inclined traveling wheel 122. In this case, the first rail unit 114 may be a surface of the support unit 116 on which the horizontal traveling wheel 121 may travel, and the second rail unit 115 may allow the inclined traveling wheel 122 to travel. It may be a rack or a chain provided on the support 116.

The side wall part 117 may be provided at both sides of the support part 116, and the guard rail may allow the traveling device 120 to stably travel along the guide rail 110 without departing from both sides of the support part 116. guard rail). Here, the side wall portion 117 may be formed in plural on both sides of the support portion 116.

The flange portion 118 may protrude inwardly from the side wall portion 117 and may face the support portion 116. Here, the flange portion 118 may be formed in a plurality, may protrude inward toward each other from each of the side wall portions 117 provided on both sides of the support portion 116, and inward from the end of the side wall portion 117 They may protrude to oppose the support portions 116, respectively. The flange portion 118 may prevent the traveling device 120 from being detached in a direction perpendicular to the support part 116, and may prevent the traveling device 120 from overturning when the traveling device 120 runs vertically. Can be. In this case, each of the flange parts 118 may be spaced apart from each other so that at least a part of the traveling device 120 is exposed to the outside of the guide rail 110.

The traveling device 120 includes a body part 123 to which the horizontal traveling wheel 121 and the inclined traveling wheel 122 are connected; And an auxiliary guide member 124 extending from the body portion 123 toward at least one of the side wall portion 117 and the flange portion 118. The body 123 may be connected to the horizontal traveling wheel 121 and the inclined traveling wheel 122, and may form a body (or a vehicle body) of the traveling device 120. For example, the body portion 123 may be formed in a box shape of a rectangular parallelepiped, and an accommodation space may be formed in the body portion 123. The body 123 may be made of a metal material or a high strength engineering plastic in order to prevent or suppress breakage due to external force or impact. Here, the power supply unit may be disposed in the storage space of the body portion 123, and the power supply unit may include a battery charged by an external commercial power source. In addition, a control unit connected to the power unit, a location recognition camera connected to the control unit, a wireless communication unit connected to the control unit, and the like may be disposed in the storage space of the body unit 123. The controller may control the overall operation of the driving device 120, and the location recognition camera photographs a specific recognition mark (eg, a barcode or a QR code) outside the body 123 to the controller. By providing, the controller can recognize the current position of the body portion 123 and / or the position to move.

That is, the body 123 is a structure for mounting a controller of various devices or systems of the traveling device 120, a controller for driving control, an automation module, a portable power supply, a safety device, an additional device, and the like, and the body 123 itself. Uses very lightweight structural materials (eg, aluminum profiles, etc.), but can be fabricated to have a design structure that resists torsion or deformation. For example, between the left and right shaft members of the body portion 123, a plurality of crossbars, including the front side crossbars, may be fastened across the element element so that the assembly of the torsional body portion 123 may be possible. The body 123 is a component for mounting or installing various body parts 123 including the receiving part 125 to various equipment, devices, and sensors by using a fixing groove formed on its surface and a separate fixing bolt and nut. It can be mounted freely. In addition, the body portion 123 may be formed on the upper surface or the side of the plurality of legs for storage or the like, it may be formed a plurality of handles for carrying and the like.

The auxiliary guide member 124 may extend from the body portion 123 toward at least one of the side wall portion 117 and the flange portion 118, and at least one of the side wall portion 117 and the flange portion 118. The contact of the vehicle may be prevented from being separated from the traveling device 120, and the traveling device 120 may be stably driven along the guide rail 110. In this case, the auxiliary guide member 124 may always be in contact with at least one of the side wall part 117 and the flange part 118, and the side wall part may be at only a limited time (or moment) at which the traveling device 120 tries to break out. It may be in contact with at least one of the portion 117 and the flange portion 118. Friction of the auxiliary guide member 124 with at least one of the side wall portion 117 and the flange portion 118 when the auxiliary guide member 124 is in contact with at least one of the side wall portion 117 and the flange portion 118. Due to wear and / or particles of at least one of the side wall portion 117 and the flange portion 118 and / or the auxiliary guide member 124 may occur, the auxiliary guide member 124 is temporarily limited to the side wall It may be desirable to contact at least one of the portion 117 and the flange portion 118. In this case, when the traveling device 120 tries to deviate, the traveling device 120 may include a vertical driving and a curved section driving of the traveling device 120, and the horizontal traveling wheel 121 and / or the inclination due to the shaking of the traveling device 120. The driving wheel 122 may be out of the first rail part 114 and / or the second rail part 115.

For example, the auxiliary guide member 124 is in contact with the vertical guide member 124a and the side wall portion 117 that contact the flange portion 118 when the traveling device 120 runs vertically, so that It may include a horizontal guide member 124b for guiding the horizontal movement. The vertical guide member 124a may extend toward the flange portion 118, may be in contact with the flange portion 118 when the traveling device 120 runs vertically, and may be supported by the flange portion 118 to support the traveling device. It is possible to prevent the traveling device 120 from overturning during the vertical travel of the 120, and the inclined traveling wheel 122 is in close contact with the second rail portion 115 so that the teeth and the second of the inclined traveling wheel 122 are inclined. Unevenness of the surface of the rail unit 115 may be well engaged.

The horizontal guide member 124b may extend toward the side wall portion 117 and may contact the side wall portion 117 to guide (or prevent) the left and right movement (or shaking) of the traveling device 120. The trackability of the traveling path of the traveling device 120 is improved through the horizontal guide member 124b so that the traveling device 120 can stably travel along the guide rail 110 without being separated.

In addition, the auxiliary guide member 124 may include a rolling member which is provided at the end to contact the flange portion 118 in the vertical inclined section of the inclined section 112. The rolling member may be provided at an end portion of the auxiliary guide member 124 extending toward the flange portion 118, and may contact the flange portion 118 in a vertical inclined section of the inclined portion 112. As a result, the traveling apparatus 120 may be prevented from overturning when the traveling apparatus 120 runs vertically, and the inclined traveling wheel 122 may be brought into close contact with the second rail unit 115, thereby The teeth and the unevenness of the surface of the second rail portion 115 may be meshed well. Here, the rolling member may include a roller, a pulley, a wheel, a ball, or the like, and may be in contact with the flange 118 to move (or travel) the traveling device 120. It is enough if we can rotate by). The rolling member may roll in accordance with the movement of the traveling device 120 by the rotation of the inclined driving wheel 122, thereby reducing the frictional force due to the contact between the auxiliary guide member 124 and the flange portion 118, Particle generation due to friction between the guide member 124 and the flange 118 can be reduced.

In this case, the rolling member (or the end of the auxiliary guide member) may have a surface of a soft (or elastic). In this case, the auxiliary guide member 124 can buffer the pressure for pressing the flange portion 118, and can suppress or prevent abrasion due to friction between the auxiliary guide member 124 and the flange portion 118. .

FIG. 5 is a conceptual diagram illustrating an inversion section according to an embodiment of the present invention. FIG. 5A illustrates a transport system including an inversion section, and FIG. 5B illustrates driving in the inversion section. 6 is a schematic cross-sectional view of a direction, and FIG. 6 is a conceptual view illustrating an installation form of a guide rail according to an embodiment of the present invention.

5 and 6, the traveling device 120 is provided on the body portion 123 and includes an accommodation portion 125 having an internal space for receiving a transfer object; And it may further include a rotating shaft member 126 connecting the body portion 123 and the receiving portion 125. The receiving part 125 may be provided on the body part 123 and may have an inner space for receiving a transfer object. For example, the accommodating part 125 may be provided in a box shape or a bucket having an internal space so that the object to be transported can be accommodated.

The rotating shaft member 126 may connect the body portion 123 and the receiving portion 125, and the receiving portion 125 is hinged by coupling the body portion 123 and the receiving portion 125 to the rotating shaft member. The shaft 126 can be rotated about a center (or rotation axis).

Here, the rotation shaft member 126 may be located farther from the bottom (or ground) of the receiving portion 125 than the center of gravity of the receiving portion 125. In this case, since the center of gravity of the receiving portion 125 is located below (or close to the ground) the rotation shaft member 126, even if the position of the body portion 123 relative to the rotation shaft member 126 is changed By the center of gravity of the receiving portion 125 is always positioned below the rotating shaft member 126, the receiving portion 125 can maintain the same position (that is, horizontal) with respect to the rotating shaft member 126. . That is, even when the traveling device 120 travels the inclined section 112, the receiving part 125 may be level with the ground by gravity, and the shaking, pouring, etc. of the object to be transported accommodated in the receiving part 125 may be achieved. Can be prevented or suppressed. At this time, the center portion of the bottom surface of the receiving portion 125 may be convex so that the change in the position of the center of gravity of the receiving portion 125 by the transfer object accommodated in the receiving portion 125 is small (or less). It is possible to increase the weight of the bottom center portion of the receiving portion 125 than the other portion so that the bottom center portion of the 125 is heavier than the other portion.

The guide rail 110 may further include an inversion section 119 in which the flange 118 is disposed toward the ground at a height different from that of the horizontal section 111. The inversion section 119 may be positioned at a different height from the horizontal section 111, and the flange 118 may be disposed to face the ground. In this case, the inversion section 119 may be disposed to be symmetrically arranged up and down with the horizontal section 111, may be arranged in a direction parallel to or cross the horizontal section 111, the flange portion 118 is ground It is sufficient if the traveling device 120 can be disposed to face the guide rail 110 to travel. As shown in (a) of FIG. 5, the traveling device 120 is mounted on the guide rail 110 at a position higher than the ground surface at the time of the inner driving that is bent (or bent) in the direction of the flange portion 118 in the inclined section 112. 6, the traveling device 120 may travel in the support part 116 at a position higher than the ground during the outgoing bend in the direction of the support part 116 in the inclined section 112 as shown in FIG. 6. . On the other hand, in the horizontal section 111, the body 123 can travel while the support device 125 is supported by the lower portion of the receiving portion 125, the inversion section 119 is accommodated The traveling device 120 may travel by hanging the lower part 125 from the lower part of the body part 123.

In the inversion section 119, the inclined driving wheel 122 may travel on the second rail unit 115. As the auxiliary guide member 124 is supported by the flange portion 118, the inclined traveling wheel 122 travels on the second rail portion 115 along the second rail portion 115, whereby the traveling device 120 guides. Hanging on the rail 110 can run stably. The traveling device 120 may travel on the ceiling surface through the inversion section 119.

In this case, the inversion section 119 may be different from the horizontal section 111. In the horizontal section 111, since the traveling device 120 should be supported by the flange 118 instead of the support 116, the horizontal section 111 may have a different shape, a structure, and the like. When the 119 and the horizontal section 111 are the same, driving from the inclined section 112 to the inverted section 119 may be possible. It may be impossible.

Accordingly, at least one portion of the inversion section 119 may have at least one of the support section 116 and the flange section 118 thicker than the horizontal section section 111, and at least one of the flange sections 118 of the inversion section section 119. Some may be thicker than the flange portion 118 of the horizontal section 111. Through this, the horizontal traveling wheel 121 may be driven in contact with the flange portion 118 and / or the support portion 116. At this time, a slope is formed in a portion (or an end portion of the inversion section portion) that enters the inclination section portion 112 from the inversion section portion 119 so that the inclined travel wheel 122 is connected to the second rail portion 115. By entering (or coming into close contact with), driving from the inversion section 119 to the inclined section 112 may also be possible.

For example, the inversion section 119 may include a flange protrusion 118a protruding from the flange portion 118 toward the support portion 116, and in the inversion section 119, the horizontal traveling wheel 121 may be formed. It can travel on the flange protrusion 118a. The flange protrusion 118a may protrude from the flange portion 118 toward the support portion 116 and form a third rail 118b that provides a running surface of the horizontal traveling wheel 121. By supporting the horizontal driving wheel 121 can be driven. At this time, the end of the flange protrusion 118a may be formed with a slope so that the entry of the horizontal traveling wheel 121 can be easily.

In the inversion section 119, the horizontal traveling wheel 121 may travel on the flange protrusion 118a along the flange protrusion 118a. As the flange protrusion 118a protrudes from the flange portion 118 toward the support portion 116, the inclined traveling wheel 122 leaves the second rail portion 115 while the horizontal traveling wheel 121 is free from the flange protrusion (without falling down). Natural contact with 118a, and may run over flange protrusion 118a along flange protrusion 118a. Accordingly, even when the traveling device 120 hangs in the inversion section 119, high speed travel can be performed.

At this time, the thickness of the flange portion 118 of the portion where the horizontal traveling wheel 121 is located and the thickness of the flange portion 118 of the portion where the auxiliary guide member 124 is located is different so that only the horizontal traveling wheel 121 plan The auxiliary guide member 124 may be supported by the flange portion 118, and the horizontal driving wheel 121 may be in contact with the support portion 116 to travel to the branch portion 118. In this case, when the horizontal traveling wheel 121 travels in contact with the flange portion 118, the rotating direction of the horizontal traveling wheel 121 is opposite to the rotating direction of the horizontal traveling wheel 121 in the horizontal section 111. Can be.

For example, the flange protrusion 118a may protrude to a height equal to or greater than half the width of the end of the auxiliary guide member 124 (that is, the rolling member). When the flange protrusion 118a protrudes lower than the half width of the end of the auxiliary guide member 124, the auxiliary guide member 124 may contact the flange portion 118, and the auxiliary guide member 124 and the flange portion ( The running speed of the traveling device 120 may be reduced by the friction of the 118, and the high speed traveling of the traveling device 120 may be disturbed. When the flange protrusion 118a protrudes too low, the inclined travel wheel 122 moves out of the second rail portion 115 and the horizontal travel wheel 121 is moved due to the drop (or the height difference) of the flange protrusion 118a. And it is spaced apart from the first rail portion 114, the traveling device 120 can not run. Accordingly, the flange protrusion 118a may protrude to a height greater than or equal to half the width of the end portion of the auxiliary guide member 124. As a result, the inclined traveling wheel 122 moves out of the second rail portion 115 while the horizontal traveling wheel 121 ) May naturally contact the flange protrusion 118a without dropping, and may allow the horizontal traveling wheel 121 to travel at high speed along the flange protrusion 118a.

In addition, the height difference between the first rail unit 114 and the second rail unit 115 may be greater than the radius difference between the horizontal traveling wheel 121 and the inclined traveling wheel 122. Accordingly, the traveling device 120 may be selectively driven only by the horizontal traveling wheel 121 or the inclined traveling wheel 122 according to a plurality of sections of the guide rail 110 including the horizontal section 111 and the inclined section 112. It is possible to drive, and because the horizontal traveling wheel 121 and the inclined traveling wheel 122 traveling at the same time a rotation speed difference occurs between the horizontal traveling wheel 121 and the inclined traveling wheel 122, the horizontal traveling wheel 121 And / or the inclined traveling wheel 122 may be prevented from being misused, and the traveling device 120 may be stably traveled along the guide rail 110.

The guide rail 110 may further include a curved section 113 connecting the horizontal section 111 and the inclined section 112. The curved section portion 113 may connect the horizontal section portion 111 and the inclined section portion 112, and a tangent at one end of the curved section portion 113 may coincide with the horizontal section portion 111. The tangent at the other end of the section 113 may coincide with the inclined section 112. If there is no curved section 113, the angle is at an inflection point where the horizontal section 111 and the inclined section 112 meet, such that the traveling device 120 has the inclined section 112 at the horizontal section 111. Alternatively, the horizontal section 111 cannot be smoothly entered from the inclined section 112 to the horizontal section 111, in particular, when the horizontal section 111 is directly connected to the vertical inclined section of the inclined section 112. ), It is impossible to enter the traveling device 120 into the horizontal section 111 in the vertical inclined section or the vertical inclined section.

However, when the horizontal section 111 and the inclined section 112 are connected through the curved section 113, the traveling device 120 may be the inclined section 112 or the inclined section in the horizontal section 111. It is possible to smoothly enter the horizontal section portion 111 from the unit 112 without a sense of heterogeneity, and even when the inclined section 112 is a vertical inclined section, the traveling device 120 in the horizontal section 111 A vertical inclination section or the vertical inclination section may enter the horizontal section 111 without a sense of heterogeneity, and the traveling device 120 may travel stably along the guide rail 110.

Here, the second rail unit 115 may extend from the end of the horizontal section 111 connected to the curved section 113 to the curved section 113 and the inclined section 112, the second level At least one of both ends of the portion 115 may have a slope that gradually increases. The second rail portion 115 extends from the end of the horizontal section portion 111 connected to the curved section section 113 to the curved section section 113 and the inclined section section 112 to be inclined with the curved section section 113. It may be provided only at the end portion (or part) of the entire section portion and the horizontal section portion 111, the horizontal section portion 111 because it runs only with the horizontal traveling wheel 121 for high speed travel, the horizontal section The second rail unit 115 may not be provided in the unit 111. In this case, when the second rail unit 115 is not provided at the end of the horizontal section 111, the inclined traveling wheel 122 should directly enter the second rail unit 115 of the curved surface (or curve). Entry of the inclined traveling wheel 122 into the second rail portion 115 becomes difficult. However, when the inclined traveling wheel 122 enters the second rail unit 115 in the straight section by providing the end of the second rail unit 115 in the straight section of the horizontal section 111, the inclined travel wheel The 122 may easily enter the second rail unit 115, and the inclined traveling wheel 122 may run stably in the curved section 113 and the inclined section 112.

On the other hand, both ends of the traveling direction of the body portion 123 is a direction in which the concentric axes of the horizontal traveling wheel 121 and the inclined traveling wheel 122 are perpendicular to the traveling direction from the body portion 123 (or from the bottom surface of the body portion). (Or the normal direction of the bottom surface of the body portion) may be projected in the running direction with respect to the concentric axis less than a distance apart. That is, when both ends of the driving direction of the body portion 123 protrude in the driving direction than the concentric shaft, the length of the convex shaft protruding from the concentric shaft is spaced apart from the body portion 123 in the direction perpendicular to the traveling direction. It may be less than a distance, and in the case where the horizontal traveling wheel 121 and the inclined traveling wheel 122 each include a plurality, the both ends of the driving direction of the body portion 123 may be located between the plurality of concentric shafts. In this case, the length protruding from the concentric axis may be determined according to the curvature of the curved section 113. When both ends of the driving direction of the body portion 123 protrude longer than the distance from which the concentric shaft is spaced apart from the body portion 123 in a direction perpendicular to the traveling direction, the traveling device 120 is curved on the horizontal section 111. At least one of both ends of the traveling direction of the body portion 123 when entering the horizontal section portion 111 from the section portion 113, the inclined section portion 112 or the curved section portion 113 or the inclined section portion 112 Interfering or colliding with the guide rail 110 (that is, the first rail portion or the second rail portion), the traveling device 120 is the curved section portion 113 and / or the inclined section 112 You may not be able to drive.

However, if both ends of the driving direction of the body portion 123 are not protruded longer than the distance from which the concentric shaft is spaced apart from the body portion 123 in a direction perpendicular to the traveling direction, the traveling device 120 may have a horizontal section 111. In the curved section section 113, the slope section section 112 or the curved section section 113 or the slope section section 112 when entering the horizontal section section 111, both ends of the traveling direction of the body portion 123 is guided The rail 110 may not interfere with or collide with the rail 110, and the traveling device 120 may stably travel the curved section 113 and / or the inclined section 112.

In addition, an end portion of the auxiliary guide member 124 may also protrude in the travel direction with respect to the concentric shaft to a distance that is less than the distance from the position (or height) of the auxiliary guide member 124 in the direction perpendicular to the travel direction. Can be. In this case, the length protruding from the concentric axis may be determined according to the curvature of the curved section 113. For example, when the horizontal traveling wheel 121 and the inclined traveling wheel 122 each include a plurality of auxiliary guide members 124 located below the body 123, the curvature of the curved section 113 An end of the auxiliary guide member 124 may be located on a straight line (or an imaginary line) connecting the center and each of the concentric axes, and the curvature of the curved section portion 113 when the auxiliary guide member 124 is plural in number. An end of each of the auxiliary guide members 124 may be positioned on a straight line connecting the center and the respective concentric shafts. When the end of the auxiliary guide member 124 protrudes longer than the distance the concentric shaft is spaced apart from the position of the auxiliary guide member 124 in a direction perpendicular to the traveling direction, the traveling device 120 is a horizontal section 111 When the curved section section 113, the slope section section 112 or the curved section section 113 or the slope section section 112 enters the horizontal section section 111, the end of the auxiliary guide member 124 is guide rail Interfering with or colliding with 110 (ie, the first rail portion or the second rail portion), the traveling device 120 may travel the curved section portion 113 and / or the inclined section 112. It can become impossible.

However, if the end of the auxiliary guide member 124 does not protrude longer than the distance the concentric shaft is spaced apart from the position of the auxiliary guide member 124 in the direction perpendicular to the running direction, the traveling device 120 is a horizontal section ( When the curved section section 113 or the slope section section 112 or the curved section section 113 or the slope section section 112 enters the horizontal section section 111, the end of the auxiliary guide member 124 is The guide rail 110 may not interfere with or collide with the guide rail 110, and the traveling device 120 may stably run the curved section 113 and / or the inclined section 112.

7 is a conceptual view for explaining an inclined surface of the end portion of the second rail unit according to an embodiment of the present invention.

Referring to FIG. 7, at least one of both ends of the second rail portion 115 may have an inclined surface that gradually increases at an end (or a starting point of the second rail portion) of both ends of the second rail portion 115. The second rail unit 115 may be higher than the first rail unit 114. At this time, the inclined surface may be formed by adjusting the height h of the unevenness of the surface of the second rail part 115, and the up and down position (or height) of the unevenness is adjusted while the height h of the unevenness is kept the same. To form an inclined surface. At least one of both ends of the second rail portion 115 has an inclined surface that gradually increases from the start point of the second rail portion 115, so that the inclined traveling wheel 122 is inclined when entering the second rail portion 115. It is possible to suppress or prevent damage due to the collision (or hit) of the traveling wheel 122 and the second rail portion 115, so that the inclined traveling wheel 122 smoothly enters the second rail portion 115 without any discomfort. can do.

In addition, the driving device 120 may include a sensor unit (not shown) that senses a position of at least one of both ends of the second rail unit 115; And a speed controller (not shown) for controlling the speed of the traveling device 120 according to the detection by the sensor unit (not shown). The sensor unit (not shown) may sense the position of at least one of both ends of the second rail unit 115, may directly detect the starting point or the end point of the second rail unit 115, or the guide rail 110. A specific recognition mark such as a bar code or a QR code provided at may be recognized to detect a start point or an end point of the second rail unit 115.

The speed control unit (not shown) may control the speed of the traveling device 120 according to the detection by the sensor unit (not shown), and the high-speed driving with the horizontal traveling wheel 121 is performed in the horizontal section 111. When the inclined driving wheel 122 enters the second rail unit 115 to enter the curved section 113 or the inclined section 112, the speed of the traveling device 120 may be reduced. When the inclined traveling wheel 122 enters the second rail portion 115 at a high speed (or high speed), the teeth of the inclined traveling wheel 122 and the uneven surface of the second rail portion 115 may not be engaged well. The inclined travel wheel 122 and / or the second rail part 115 may be damaged by the collision between the inclined travel wheel 122 and the second rail part 115. When the inclined traveling wheel 122 enters the second rail unit 115, the inclination traveling wheel 122 is reduced to the second rail unit 115 at a low speed (or low speed) by reducing the speed of the traveling device 120. When entering, the inclined traveling wheel 122 smoothly enters the second rail portion 115 so that the teeth of the inclined traveling wheel 122 and the unevenness of the surface of the second rail portion 115 can be meshed well, When the wheel 122 enters the second rail unit 115, the amount of impact due to contact or friction between the inclined traveling wheel 122 and the second rail unit 115 is reduced compared to the amount of impact generated by a collision due to high speed travel. The damage of the inclined traveling wheel 122 and / or the second rail portion 115 can be suppressed or prevented.

The horizontal traveling wheel 121 and the inclined traveling wheel 122 may form a wheel assembly W. The traveling device 120 may include a plurality of wheel assemblies W. Each of the wheel assemblies W may include a plurality of wheel assemblies. The rotation speed can be controlled independently. The horizontal traveling wheel 121 and the inclined traveling wheel 122 may constitute the wheel assembly W, and may rotate together by the same power source.

The traveling device 120 may include a plurality of wheel assemblies W, and may change the steering (angle) of at least one of the plurality of wheel assemblies W to rotate the traveling device 120 to the left or the right. In addition, the rotation speed of each of the wheel assemblies W may be adjusted to rotate the driving device 120 to the left or the right. For example, by controlling the rotation direction and the rotation speed of each wheel assembly (W), it is possible to enable the traveling device 120 to be rotated in the forward, backward and left and right directions.

Here, each of the wheel assemblies W may be independently controlled in rotation speed, and the driving device 120 may be rotated left or right by adjusting the rotation speed of each wheel assembly W. FIG. At this time, each drive source of the wheel assembly (W) in the wheel, such as an in-wheel motor (In-wheel motor) so that the rotational speed of each of the wheel assembly (W) can be independently controlled, but also the space efficiency and cost efficiency is excellent. It may be a motor that is integrally mounted to. For example, the driving device 120 may use four wheel assemblies W, and in the case of using an in-wheel motor, four wheel-driven may be possible, and a device for separate steering ( For example, no further actuators may be needed.

Meanwhile, the wheel assembly W in front of the travel device 120 and the wheel assembly W in the rear end of the travel device 120 may have different rotation speeds or rotation directions in at least a part of the inversion section 119. When the horizontal traveling wheel 121 is in contact with the flange protrusion 118a of the flange portion 118 in the inversion section 119, the driving direction is reversed with respect to the rotation of the horizontal traveling wheel 121, and the horizontal When rotating in the same direction as the section 111 and / or the inclined section 112, the traveling device 120 in the direction opposite to the traveling direction of the horizontal section 111 and / or the inclined section 112 You will drive. Therefore, when the horizontal travel wheel 121 is in contact with the flange protrusion 118a of the flange portion 118 in the inversion section 119, the direction of rotation of the horizontal travel wheel 121 is horizontal section 111 And / or the direction of rotation of the horizontal travel wheel 121 in the inclined section 112.

In this case, the flange protrusion 118a of the flange portion 118 may be formed from a point where the second rail portion 115 ends (or an end point of the second rail portion), and the second rail portion 115 ends. The third rail 118b may be provided from the point to allow the horizontal traveling wheel 121 to contact the flange protrusion 118a of the flange portion 118 to travel. When the wheel assembly W of the traveling device 120 enters the third rail 118b out of the second rail unit 115, the rotation direction of the wheel assembly W should be changed, and the traveling device 120 Since the wheel assembly W at the rear end of the traveling device 120 may be located (or remain) at the second rail portion 115 even if the wheel assembly W at the front side is out of the second rail portion 115, The rotation speed or direction of rotation of the wheel assembly W in front of the device 120 and the wheel assembly W in the rear end of the traveling device 120 may be different.

For example, the wheel assembly W in front of the traveling device 120 stops the rotational drive so that the wheel assembly W is freely rotated by the rotational drive of the wheel assembly W at the rear end of the traveling device 120, thereby the front of the traveling device 120. The rotation speed or the rotation direction of the wheel assembly W of the wheel assembly W and the wheel assembly W at the rear end of the traveling device 120 may be different, and the rotation direction of the wheel assembly W in front of the traveling device 120 may be changed. The rotation speed or the direction of rotation of the wheel assembly W at the front of the traveling device 120 and the wheel assembly W at the rear end of the traveling device 120 may be different from the wheel assembly W at the rear end. It may be. Here, in order to change the rotational direction of the stable (or smooth) wheel assembly W, the rotational driving of the wheel assembly W in front of the traveling device 120 is stopped so that the wheel assembly W of the rear end of the traveling device 120 is stopped. It may be desirable to allow the wheel assembly W in front of the traveling device 120 to rotate freely by rotational drive.

8 is a conceptual diagram illustrating a horizontal section and an inclined section according to an embodiment of the present invention. FIG. 8A illustrates a horizontal branch running of the horizontal section, and FIG. 8B illustrates a horizontal section of the horizontal section. FIG. 8C shows the vertical branch running of the inclined section, and FIG. 8D shows the vertical rotation running in the light section.

Referring to FIG. 8, the horizontal section 111 and the slope section 112 may each include at least one of a straight section, a curved section, and an intersection. The horizontal section 111 may have not only a straight section but also a curved section, and there may be an intersection branched into a plurality of sections or joined in the plurality of sections. As a result, the traveling device 120 may freely move (or travel) horizontally in the horizontal section 111. Here, the traveling device 120 may travel freely on the ground (or floor) as well as on the guide rail 110, and position information of the guide rail 110 through the sensor unit (not shown) or a separate sensor. And by obtaining the position and the driving direction (or attitude) of the traveling device 120 may allow the traveling device 120 to enter the guide rail 110 while running freely on the ground. In this case, a line tracer, a laser sensor, an image sensor, an ultrasonic sensor, or the like may be used as a sensor for obtaining location information.

In addition, the slope section 112 may also have a curved section as well as a straight section, there may be an intersection branched into a plurality of sections or joined in the plurality of sections. As a result, the traveling device 120 may move freely in the inclined section 112 and may travel freely on a wall surface having a large inclination, such as horizontal driving.

Here, at the time of rotation (or lateral rotation) of the traveling device 120 at the curved section and the intersection, the rotation speed of at least one wheel assembly W of the plurality of wheel assemblies W is the remaining wheel assembly W. ) May be different from the rotational speed. By controlling the rotation speed of each wheel assembly (W), it is possible to cause the traveling device 120 to rotate in the left and right directions in the curved section and the intersection. For example, when the rotation speed of the wheel assembly W located on the left side is increased and the rotation speed of the wheel assembly W located on the right side is relatively slowed, the driving device 120 may rotate to the left side and the right side. The driving device 120 may rotate to the right when the rotation speed of the wheel assembly W located at a high speed and the rotation speed of the wheel assembly W at a left side are relatively slow.

The guide rail 110 is spaced apart from the second rail portion 115 provided along the side wall portion 117, and is provided along the left and right rotation paths of the traveling device 120 at the intersection of the inclined sections 112. It may further include an auxiliary second rail (115a). The auxiliary second rail 115a may be spaced apart from the second rail part 115 provided along the side wall part 117, and may be an intersection of the inclined sections 112 along the left and right rotation paths of the traveling device 120. Can be provided. In this case, the inclined traveling wheel 122 may rotate in the left and right directions on the auxiliary second rail 115a, and thus, the left and right rotation of the traveling device 120 may be possible.

In the present invention, by traveling selectively in the horizontal section and the inclined section through the horizontal travel wheel and the inclined travel wheel can be a high speed travel in the horizontal section, the traveling speed in the inclined section can also be improved In addition, vertical driving (or driving in the vertical direction) may be possible in the vertical slope section. In addition, the horizontal traveling wheel can be made larger than the inclined traveling wheel to improve the horizontal traveling speed (or traveling in the horizontal direction) of the traveling device, and the inclined traveling wheel having a smaller size than the horizontal traveling wheel is configured as a cog wheel. The wheel can mesh well with the concave-convex structure of the surface of the second rail portion, whereby the traveling device can stably run vertically. And the flange of the guide rail and the auxiliary guide member of the traveling device can prevent overturning (or disengagement) of the traveling device during vertical travel of the traveling device, at least at both ends of the second rail portion through the sensor of the traveling device The speed of the traveling device may be controlled when the inclined travel wheel enters the second rail by sensing one position. Further, at least one of both ends of the second rail portion has at least one of the height of the unevenness lower than the center portion of the second rail portion, the width of the narrow unevenness, and the rounded unevenness with a small curvature, so as to have a gradually increasing slope. As a result, when the inclined traveling wheel enters the second rail portion, damage due to the collision of the inclined traveling wheel and the second rail portion can be suppressed or prevented, and the inclined traveling wheel can enter the second rail portion without any sense of heterogeneity. And by connecting the body portion and the receiving portion of the traveling device through the rotating shaft member and the position of the rotating shaft member to be spaced apart from the center of gravity of the receiving portion from the bottom surface of the receiving portion, even when the traveling device is traveling by the inclined section is accommodated by gravity It is possible to maintain the same position (ie, horizontal) with respect to the additional rotational shaft member, and to prevent or suppress shaking, spilling, etc. of the transfer object accommodated in the accommodation portion. Meanwhile, the height difference between the first rail part and the second rail part may be greater than the radius difference between the horizontal travel wheel and the inclined travel wheel so that the traveling device may travel only with the horizontal travel wheel or the inclined travel wheel. This prevents the horizontal driving wheel and / or the inclined traveling wheel from turning away due to the rotation speed difference between the horizontal traveling wheel and the inclined traveling wheel due to the simultaneous driving of the horizontal traveling wheel and the inclined traveling wheel. It is possible to drive stably along the guide rail.

Although the preferred embodiments of the present invention have been shown and described above, the present invention is not limited to the above-described embodiments, and the general knowledge in the field of the present invention belongs without departing from the gist of the present invention as claimed in the claims. Those skilled in the art will appreciate that various modifications and equivalent other embodiments are possible therefrom. Therefore, the technical protection scope of the present invention will be defined by the claims below.

Claims

A guide rail comprising a plurality of sections including a horizontal section parallel to the ground and an inclined section having an inclination with respect to the ground; And

And a horizontal driving wheel and an inclined traveling wheel provided on the concentric shaft in different sizes, and a traveling device capable of horizontal traveling and inclined traveling along the guide rail.

And the horizontal traveling wheel and the inclined traveling wheel selectively travel in the horizontal section and the inclined section.
The method according to claim 1,

The guide rail,

A first rail unit on which the horizontal traveling wheel travels; And

A second rail part on which the inclined travel wheel travels;

And the first rail portion and the second rail portion have different heights.
The method according to claim 1,

The horizontal traveling wheel is larger than the inclined traveling wheel,

The inclined driving wheel is made of a cog wheel,

The surface of the second rail portion transfer system having a concave-convex structure corresponding to the cog wheels.
The method according to claim 3,

At least one of both ends of the second rail portion has a concave-convex having at least one of a corner rounded to a height, narrow width, small curvature lower than the concave-convex portion of the second rail portion.
The method according to claim 2,

The guide rail,

A support part provided with the first rail part and the second rail part;

Sidewall portions provided on both sides of the support portion; And

And a flange portion projecting inwardly from the side wall portion to face the support portion.
The method according to claim 5,

The traveling device,

A body portion to which the horizontal traveling wheel and the inclined driving wheel are connected; And

And an auxiliary guide member extending from said body portion toward at least one of said side wall portion and said flange portion.
The method according to claim 6,

And the auxiliary guide member is provided at an end thereof and comprises a rolling member contacting the flange part in a vertical inclined section of the inclined section.
The method according to claim 6,

The traveling device,

An accommodation portion provided on the body portion and having an internal space for receiving a transfer object; And

Further comprising a rotating shaft member for connecting the body portion and the receiving portion,

The pivot shaft member is located farther from the bottom surface of the receiving portion than the center of gravity of the receiving portion.
The method according to claim 6,

And the guide rail further comprises an inversion section in which the flange portion is disposed toward the ground at a different height than the horizontal section portion.
The method according to claim 9,

And the inclined travel wheel travels on the second rail in the inversion section.
The method according to claim 9,

The inversion section includes a flange protrusion protruding from the flange toward the support,

And the horizontal traveling wheel travels on the flange protrusion in the inversion section.
The method according to claim 11,

And the flange protrusion protrudes at a height equal to or greater than half the width of the end of the auxiliary guide member.
The method according to claim 2,

And a height difference between the first rail part and the second rail part is greater than a radius difference between the horizontal travel wheel and the inclined travel wheel.
The method according to claim 2,

The guide rail further includes a curved section connecting the horizontal section and the inclined section,

The second rail portion extends from the end of the horizontal section portion connected to the curved section portion to the curved section portion and the inclined section portion,

At least one of both ends of the second rail portion has a gradually increasing slope.
The method according to claim 2,

The traveling device,

A sensor unit sensing a position of at least one of both ends of the second rail unit; And

And a speed controller configured to control the speed of the traveling device in response to the detection by the sensor unit.
The method according to claim 5,

The horizontal traveling wheel and the inclined traveling wheel constitute a wheel assembly,

The traveling device includes a plurality of the wheel assemblies,

Each of said wheel assemblies is independently controlled for rotational speed.
The method according to claim 16,

The horizontal section portion and the slope section include at least one of a straight section, a curved section, and an intersection,

And wherein the rotational speed of at least one wheel assembly of the plurality of wheel assemblies is different from the rotational speed of the remaining wheel assemblies during rotation of the traveling device at the curved section and at the intersection.
The method according to claim 17,

The guide rail further comprises an auxiliary second rail spaced apart from a second rail portion provided along the side wall portion, and provided along an lateral rotation path of the traveling device at an intersection of the inclined section portion.