WO2020031465A1 - 天井走行車システム - Google Patents
天井走行車システム Download PDFInfo
- Publication number
- WO2020031465A1 WO2020031465A1 PCT/JP2019/020885 JP2019020885W WO2020031465A1 WO 2020031465 A1 WO2020031465 A1 WO 2020031465A1 JP 2019020885 W JP2019020885 W JP 2019020885W WO 2020031465 A1 WO2020031465 A1 WO 2020031465A1
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- WIPO (PCT)
- Prior art keywords
- track
- traveling vehicle
- overhead traveling
- space
- unit
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
-
- 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
- H01L21/67733—Overhead conveying
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/31—Charging columns specially adapted for electric vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B13/00—Other railway systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B13/00—Other railway systems
- B61B13/04—Monorail systems
- B61B13/06—Saddle or like balanced type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B3/00—Elevated railway systems with suspended vehicles
- B61B3/02—Elevated railway systems with suspended vehicles with self-propelled vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C3/00—Electric locomotives or railcars
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- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0457—Storage devices mechanical with suspended load carriers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
- B60K2001/0455—Removal or replacement of the energy storages
- B60K2001/0494—Removal or replacement of the energy storages with arrangements for sliding
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0297—Wafer cassette
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
Definitions
- the present invention relates to an overhead traveling vehicle system.
- an overhead traveling vehicle system that transports articles such as a FOUP that accommodates a semiconductor wafer or a reticle Pod that accommodates a reticle by an overhead traveling vehicle is used.
- a battery for traveling drive is mounted on the overhead traveling vehicle, and a charging facility for charging the battery while the overhead traveling vehicle traveling on the track is stopped is proposed ( Patent Document 1).
- a terminal of a charging facility disposed further above the charging electrode is lowered and brought into contact with a charging electrode disposed above the traveling wheel in the overhead traveling vehicle, The battery is being charged.
- An object of the present invention is to provide an overhead traveling vehicle system capable of suppressing a decrease in space efficiency in a building by allowing a track of an overhead traveling vehicle to be arranged near a ceiling.
- At least a top surface of the main body portion has a rectangular shape in plan view, and traveling wheels that are provided at four corners of the top surface of the main body portion and roll on the traveling surface of the track.
- An overhead traveling vehicle system comprising: a ceiling traveling vehicle in which the main body is disposed below the track by a connecting member extending downward from the traveling wheel.
- the overhead traveling vehicle has a charging electrode on an upper surface of the main body.
- the charging device is disposed in a space above the traveling surface, at least partially overlapping the traveling space of the traveling wheel in a side view, and not overlapping the traveling space in a plan view.
- the track includes a first track provided along the first direction and a second track provided along a second direction intersecting the first direction, and the overhead traveling vehicle moves from the first track to the first track.
- the charging device may be disposed at an intersection between the first track and the second track, the vehicle being able to travel after shifting to the second track or from the second track to the first track.
- the track is a lattice track in which a plurality of first tracks and a plurality of second tracks are orthogonal to each other and a plurality of cells are adjacent to each other in a plan view.
- the charging device includes at least a power supply unit and a terminal unit. The power supply unit and the terminal unit may be separately arranged in adjacent cells.
- the first track and the second track may be provided along the same or substantially the same horizontal plane.
- the terminal unit may be able to move up and down between a connection position in contact with the charging electrode and a standby position separated from the charging electrode.
- the charging device may include a control unit that controls the power supply unit and the terminal unit, and the control unit may be disposed in a cell different from the cell in which the power supply unit and the terminal unit are disposed.
- the power supply unit, the terminal unit, and the control unit may be electrically connected to each other by wiring, and the wiring may be disposed above the moving space.
- the overhead traveling vehicle may include a steering mechanism that rotates the traveling wheel around a vertical axis, and the charging device may be disposed in a space that does not overlap with the turning space of the traveling wheel in plan view.
- the charging electrode may be arranged in a portion that does not overlap with the turning space of the steering mechanism in plan view.
- the charging device overlaps with the traveling space of the traveling wheel in a side view, and further, the charging device is arranged in a space that does not overlap with the traveling space of the traveling wheel in a plan view. Therefore, it is possible to prevent the traveling wheels from interfering with the charging device and to suppress the space for disposing the charging device above the track. As a result, the track can be arranged near the ceiling, so that the space efficiency in the building can be prevented from lowering.
- the track includes a first track provided along a first direction and a second track provided along a second direction intersecting the first direction, and the overhead traveling vehicle moves from the first track to the first track.
- the charging device is arranged at the intersection of the first track and the second track, the vehicle can travel after shifting to the second track or to the first track from the second track. Since the device is arranged, both the overhead traveling vehicle traveling on the first track and the overhead traveling vehicle traveling on the second track can easily access the charging device.
- the track is a lattice track in which a plurality of first tracks and a plurality of second tracks are orthogonal to each other and a plurality of cells are adjacent to each other in a plan view
- the charging device includes at least a power supply unit and a terminal unit.
- the power supply unit and the terminal unit are provided separately in adjacent cells
- the power supply unit and the terminal unit of the charging device are provided separately in different cells.
- the size of each unit in the height direction can be reduced, and the space in the charging device in the vertical direction can be reduced.
- both the first track and the second track can be arranged near the ceiling while the charging device is arranged.
- the terminal unit can be moved up and down between a connection position in contact with the charging electrode and a standby position separated from the charging electrode, by setting the terminal unit to the standby position when not charging, the overhead traveling vehicle Can be prevented from interfering with the terminal unit.
- the charging device includes a control unit that controls the power supply unit and the terminal unit, and the control unit is disposed in a cell different from the cell in which the power supply unit and the terminal unit are disposed, the control unit may be a different cell. , The size of each unit in the height direction can be further reduced, and the space in the vertical direction in the charging device can be further reduced.
- the traveling wheels may interfere with the wiring when the overhead traveling vehicle travels. Can be reliably prevented.
- the overhead traveling vehicle is provided with a steering mechanism for turning the traveling wheels around a vertical axis and the charging device is arranged in a space that does not overlap with the turning space of the traveling wheels in plan view
- the overhead traveling vehicle is When the steering mechanism is driven, it is possible to prevent the traveling wheels from interfering with the charging device.
- the charging electrode is arranged in a portion that does not overlap with the turning space of the steering mechanism in plan view, it is possible to prevent the steering mechanism from interfering with the charging electrode when the steering mechanism is driven.
- FIG. 5 is a front view of the overhead traveling vehicle shown in FIG. 4.
- FIG. 5 is a plan view of the overhead traveling vehicle shown in FIG. 4.
- FIG. 4 is a diagram illustrating an example of a connection configuration between units in the charging device. It is a figure showing an example of a terminal unit.
- FIG. 4A is a diagram illustrating a state in which the terminal of the terminal unit is separated from the charging electrode, and FIG.
- the traveling direction of the overhead traveling vehicle 100 can be changed from the state shown in the following drawings to another direction, and for example, the traveling direction may be along a curved direction.
- a direction perpendicular to the XY plane is referred to as a Z direction.
- the direction indicated by the arrow in the drawing is the + direction
- the direction opposite to the direction indicated by the arrow is the-direction.
- the rotation direction around the Z axis is referred to as a ⁇ Z direction.
- FIG. 1 is a perspective view showing an example of the overhead traveling vehicle system SYS according to the present embodiment.
- FIG. 2 is a plan view of the overhead traveling vehicle system SYS shown in FIG.
- FIG. 3 is a side view of the overhead traveling vehicle system SYS shown in FIG.
- the overhead traveling vehicle system SYS shown in FIGS. 1 to 3 is a system for transporting an article M such as a FOUP accommodating a semiconductor wafer or a reticle Pod accommodating a reticle, for example, in a clean room of a semiconductor manufacturing factory.
- the overhead traveling vehicle system SYS includes a lattice track R, an overhead traveling vehicle 100, and a charging device 50.
- the lattice-shaped orbit R is one form of an orbit.
- the lattice track R is laid near the ceiling T (see FIG. 3) of the clean room.
- the lattice-shaped orbit R has a first orbit R1, a second orbit R2, and a partial orbit R3.
- the lattice track R is provided in a state of being suspended from a ceiling T via a suspension member H.
- the suspension member H includes a first portion H1 for suspending the first track R1, a second portion H2 for suspending the second track R2, and a third portion H3 for suspending the partial track R3. Having.
- the first portion H1 and the second portion H2 are respectively provided at two places with the third portion H3 interposed therebetween.
- a plurality of first tracks R1 are provided along the X direction (first direction).
- a plurality of second trajectories R2 are provided along the Y direction (second direction).
- the first direction along the first trajectory R1 is orthogonal to the second direction along the second trajectory R2.
- the partial trajectory R3 is arranged at an intersection between the first trajectory R1 and the second trajectory R2.
- a gap D which will be described later, is provided between the first track R1 and the partial track R3 and between the second track R2 and the partial track R3.
- the lattice-shaped orbit R is in a state where a plurality of cells C are adjacent to each other in a plan view because the first orbit R1 and the second orbit R2 are orthogonal to each other.
- One cell C is a region or space surrounded by two first orbits R1 adjacent in the Y direction and two second orbits R2 adjacent in the X direction.
- the first track R1, the second track R2, and the partial track R3 have running surfaces R1a, R2a, and R3a on which running wheels 21 of the overhead traveling vehicle 100 run, respectively, respectively.
- the gap D between the first track R1 and the partial track R3 and the gap D between the second track R2 and the partial track R3 are determined by the overhead traveling vehicle 100 traveling along the first track R1 and passing through the second track R2.
- the gap D is provided with a width that allows the connecting portion 30 to pass through.
- the first trajectory R1, the second trajectory R2, and the partial trajectory R3 are provided along the same or substantially the same horizontal plane.
- the first trajectory R1, the second trajectory R2, and the partial trajectory R3 are arranged on the same or substantially the same horizontal plane as the running surfaces R1a, R2a, R3a.
- the charging device 50 supplies power to a battery 16 of the overhead traveling vehicle 100 described below.
- the charging device 50 is above the running surfaces R1a, R2a, R3a of the lattice track R, and at least partially overlaps with a moving space K1 of running wheels 21 of the overhead running vehicle 100 described later in a side view (see FIG. 3), and is arranged in a space S1 that does not overlap with the moving space K1 in plan view (see FIG. 2).
- the charging device 50 includes a power supply unit 51, a terminal unit 52, and two control units 53.
- the power supply unit 51 is supported by the frame 51a.
- the frame 51a is fixed to one or both of the first track R1 and the second track R2, but is not limited to this configuration, and may be suspended from the ceiling T, for example.
- the terminal unit 52 is supported by the frame 52a.
- the frame 52a is fixed to the first track R1, but is not limited to this configuration.
- the frame 52a may be fixed to the second track R2 or may be suspended from the ceiling T.
- the control unit 53 is supported by the frame 51a.
- the frame 51a is fixed to one or both of the first track R1 and the second track R2, but is not limited to this configuration, and may be suspended from the ceiling T, for example. The details of the charging device 50 will be described later.
- FIG. 4 is a perspective view showing an example of the overhead traveling vehicle 100.
- FIG. 5 is a front view of the overhead traveling vehicle 100 shown in FIG.
- the overhead traveling vehicle 100 has a main body 10, a traveling section 20, a connecting section 30, and a control section 40.
- the overhead traveling vehicle 100 moves along a lattice track R and conveys an article M such as a FOUP or a reticle Pod.
- a plurality of overhead traveling vehicles 100 may be used in the lattice track R, or one overhead traveling vehicle 100 may be used. By transporting the articles M by the plurality of overhead traveling vehicles 100, the transport efficiency of the articles M can be improved.
- the main body 10 is disposed below ( ⁇ Z side) the lattice track R.
- the main body 10 is formed, for example, in a rectangular shape in plan view. Therefore, the upper surface 10a of the main body 10 is rectangular and has four corners.
- the main body 10 is formed to have a size that can be accommodated in one cell C in the lattice track R in plan view. For this reason, the overhead traveling vehicles 100 traveling adjacently on the lattice track R do not interfere with each other.
- the main body 10 includes an article holding unit 13 that holds the article M, a lifting drive unit 14 that vertically moves the article holding unit 13 up and down, and a lateral movement mechanism 11 that moves the lifting drive unit 14.
- the article holding unit 13 suspends and holds the article M by gripping a flange portion Ma provided on an upper part of the article M.
- the article holding portion 13 is, for example, a chuck having a claw portion 13a that can move in the horizontal direction.
- the article holding portion 13 is caused to enter below the flange portion Ma of the article M, and the article holding section 13 is raised. M is suspended and held.
- the article holding unit 13 is connected to a lower end of a hanging member 13b such as a wire or a belt.
- the lifting drive unit 14 is, for example, a hoist, and lowers the article holding unit 13 by pulling out the hanging member 13b, and raises the article holding unit 13 by winding up the hanging member 13b.
- the lifting drive unit 14 is controlled by the control unit 40 and lowers or raises the article holding unit 13 at a predetermined speed. Further, the lifting drive unit 14 is controlled by the control unit 40, and holds the article holding unit 13 at a target height.
- the lateral projection mechanism 11 has, for example, a plurality of movable plates that are arranged so as to overlap in the Z direction. The movable plate is movable in the Y direction.
- the lifting drive unit 14 is attached to the lowermost movable plate.
- the lateral movement mechanism 11 can move the movable plate by a driving device (not shown), and can laterally move the lifting drive unit 14 and the article holding unit 13 attached to the lowermost movable plate in the traveling direction.
- Rotating section 12 has a rotating member 12a and a rotating drive section 12b.
- the rotating member 12a is provided so as to be rotatable around the Z axis.
- the rotating member 12a supports the laterally extending mechanism 11.
- the rotation drive unit 12b uses an electric motor or the like, and rotates the rotation member 12a around the axis in the Z direction.
- the rotation unit 12 rotates the rotation member 12a by the driving force from the rotation drive unit 12b, and rotates the side-projecting mechanism 11 (the lifting drive unit 14 and the article holding unit 13) around the axis in the Z direction. be able to.
- the lifting drive unit 14 and the article holding A rotation unit for controlling the attitude of the unit 13 in the horizontal plane may be further provided.
- the main body 10 includes a battery 16 and a charging electrode 17.
- Battery 16 is arranged inside main body 10.
- the battery 16 stores electric power to be supplied to the traveling unit 20 of the overhead traveling vehicle 100, the rotation driving unit 12b, the elevation driving unit 14, and the like.
- a secondary battery such as a lithium ion battery is used.
- the capacity of the battery 16 is determined by the power used in the overhead traveling vehicle 100, the operating time, and the like.
- the charging electrode 17 is held by a holder 18 and is arranged on the upper surface 10 a of the main body 10.
- the charging electrodes 17 are provided side by side at two places on the upper surface side of the holder 18. One of the two charging electrodes 17 is electrically connected to the + terminal of the battery 16.
- the other charging electrode 17 is electrically connected to the negative terminal of the battery 16. Power is supplied to the battery 16 from the charging device 50 via the charging electrode 17.
- the traveling unit 20 has traveling wheels 21 and auxiliary wheels 22.
- the traveling wheels 21 are respectively arranged at four corners of the upper surface 10 a of the main body 10.
- Each of the traveling wheels 21 is rotatably supported by the connecting portion 30 by a rotating shaft (not shown). This rotation axis is provided in parallel or substantially parallel along the XY plane (horizontal plane). Therefore, the traveling wheel 21 is rotatable around the axis of the rotating shaft along the horizontal direction.
- Each of the traveling wheels 21 is rotationally driven by a driving force of a traveling drive unit 33 described later.
- Each of the traveling wheels 21 rolls on the traveling surfaces R1a, R2a, R3a of the first orbit R1, the second orbit R2, and the partial orbit R3 on the lattice-shaped orbit R, and causes the overhead traveling vehicle 100 to travel.
- the configuration is not limited to the case where all the four traveling wheels 21 are rotationally driven by the driving force of the traveling driving unit 33, and a configuration in which some of the four traveling wheels 21 are rotationally driven may be employed.
- the moving space K1 in which the traveling wheel 21 moves is formed on the traveling surfaces R1a, R2a, R3a in the first track R1 and the second track R2.
- the dimension of the moving space K1 in the height direction (Z direction) is the same as or approximately the same as the outer diameter of the traveling wheel 21.
- the traveling wheel 21 is provided so as to be able to turn in the ⁇ Z direction about a turning axis AX along the Z direction.
- the traveling wheel 21 can change the traveling direction from the first direction to the second direction or from the second direction to the first direction by turning in the ⁇ Z direction.
- One auxiliary wheel 22 is disposed before and after each of the traveling wheels 21 in the traveling direction.
- Each of the auxiliary wheels 22 is rotatable about the axis of a parallel or substantially parallel rotation axis along the XY plane, similarly to the traveling wheel 21.
- the lower end of the auxiliary wheel 22 is set to be higher than the lower end of the traveling wheel 21. Therefore, when the traveling wheels 21 are traveling on the traveling surfaces R1a, R2a, R3a, the auxiliary wheels 22 do not contact the traveling surfaces R1a, R2a, R3. Further, when the traveling wheel 21 passes through the gap D, the auxiliary wheel 22 comes into contact with the traveling surfaces R1a, R2a, R3 to suppress the falling of the traveling wheel 21.
- the present invention is not limited to providing two auxiliary wheels 22 on one traveling wheel 21.
- one traveling wheel 21 may be provided with one auxiliary wheel 22, or the auxiliary wheel 22 may not be provided. Is also good.
- the connecting part 30 connects the main body part 10 and the traveling part 20.
- the connecting portions 30 are provided at four corners of the upper surface 10a of the main body 10, respectively.
- the main body 10 is suspended by the connecting portion 30, and is disposed below the lattice track R.
- the connection part 30 has a support member 31 and a connection member 32.
- the support member 31 rotatably supports the rotation axis of the traveling wheel 21 and the rotation axis of the auxiliary wheel 22. The relative position between the traveling wheel 21 and the auxiliary wheel 22 is held by the support member 31.
- connection member 32 extends downward from the support member 31 and is connected to the upper surface 10a of the main body 10 to hold the main body 10.
- the connection member 32 includes therein a transmission mechanism that transmits a driving force of a traveling drive unit 33 described later to the traveling wheels 21.
- This transmission mechanism may be configured to use a chain or a belt, or may be configured to use a gear train.
- the connection member 32 is provided so as to be rotatable in the ⁇ Z direction about the pivot axis AX. By rotating the connection member 32 about the turning axis AX, the traveling wheel 21 can be turned in the ⁇ Z direction.
- the connecting section 30 is provided with a traveling drive section 33 and a steering mechanism 34.
- the traveling drive unit 33 is mounted on the connection member 32.
- the travel drive unit 33 is a drive source for driving the travel wheels 21, and for example, an electric motor or the like is used.
- the four traveling wheels 21 are each driven by the traveling driving unit 33 to become driving wheels.
- the four running wheels 21 are controlled by the control unit 40 so as to have the same or almost the same rotation speed.
- the steering mechanism 34 turns the traveling wheel 21 in the ⁇ Z direction by rotating the connection member 32 of the connecting portion 30 about the turning axis AX.
- the traveling direction of the overhead traveling vehicle 100 can be changed from the first direction to the second direction or from the second direction to the first direction.
- the steering mechanism 34 includes a drive source 35, a pinion gear 36, and a rack (toothed rail) 37.
- the drive source 35 is attached to a side surface of the traveling drive unit 33 that is separated from the turning axis AX.
- As the drive source 35 for example, an electric motor or the like is used.
- the pinion gear 36 is attached to the lower surface side of the drive source 35, and is driven to rotate in the ⁇ Z direction by the driving force generated by the drive source 35.
- the pinion gear 36 has a circular shape in a plan view, and has a plurality of teeth 36a in the circumferential direction of the outer periphery (see FIG. 6).
- the rack 37 is fixed to the upper surface 10a of the main body 10.
- the racks 37 are provided at four corners of the upper surface 10 a of the main body 10, respectively, and are provided in an arc shape around the turning axis AX of the traveling wheels 21.
- the rack 37 has a plurality of teeth 37 a that mesh with the teeth 36 a of the pinion gear 36 in the outer circumferential direction.
- the pinion gear 36 and the rack 37 are arranged in a state where the plurality of teeth 36a and the plurality of teeth 37a mesh with each other.
- the rotation of the pinion gear 36 in the ⁇ Z direction causes the pinion gear 36 to move along the outer periphery of the rack 37 in the circumferential direction around the turning axis AX.
- the movement of the pinion gear 36 causes the traveling drive unit 33 and the steering mechanism 34 to rotate together with the pinion gear 36 in a circumferential direction around the rotation axis AX.
- FIG. 6 is a plan view showing an example of the upper surface side of the main body 10.
- the steering mechanism 34 turns in the turning space K2 about the turning axis AX in plan view.
- the turning space K2 of the upper right steering mechanism 34 is shown by hatching as an example, but the turning space K2 is formed at each of the four corners.
- a space S2 that does not overlap with the turning space K2 in plan view is provided on the upper surface 10a of the main body 10.
- This space S2 is a space that does not interfere with the turning steering mechanism 34 when the steering mechanism 34 turns.
- the charging electrode 17 is arranged in the space S2 as shown in FIG. With this configuration, it is possible to prevent the charging electrode 17 from interfering with the steering mechanism 34 even when the steering mechanism 34 turns.
- each of the traveling wheel 21 and the auxiliary wheel 22 arranged at the four corners of the upper surface 10a turns around the turning axis AX in the range of 90 degrees in the ⁇ Z direction.
- the driving of the steering mechanism 34 is controlled by the control unit 40.
- the control unit 40 may instruct to perform the turning operation of the four traveling wheels 21 at the same timing or to perform the turning operation at different timings.
- the traveling wheel 21 shifts from a state in which it contacts one of the first track R1 and the second track R2 to a state in which it contacts the other. Therefore, the traveling direction of the overhead traveling vehicle 100 can be switched between the first direction (X direction) and the second direction (Y direction).
- FIG. 7 is a plan view of one cell C of the lattice track R.
- the turning of the steering mechanism 34 causes the traveling wheel 21 to turn in the range of the turning space K3 around the turning axis AX.
- the turning space K3 is formed in a range of 90 degrees in the ⁇ Z direction from the first trajectory R1 to the second trajectory R2.
- the cell C has a space S3 which does not overlap with the turning space K3 in plan view.
- This space S3 is a space that does not interfere with the turning traveling wheel 21 when the traveling wheel 21 turns.
- the space S3 is formed in the space S1 shown in FIGS.
- ⁇ Power is supplied to the traveling drive unit 33 and the steering mechanism 34 from the battery 16 of the main body 10.
- the operations of the traveling drive unit 33 and the steering mechanism 34 are controlled by the control unit 40.
- the control unit 40 controls the four traveling driving units 33 to set the speed and the stop position of the overhead traveling vehicle 100, and controls the steering mechanism 34 to shift from the first track R1 to the second track R2, or The transition from the second trajectory R2 to the first trajectory R1 is performed.
- the control unit 40 is provided in a part of the main body 10, but is not limited to this mode, and may be provided outside the main body 10, for example.
- the power to the control unit 40 is supplied from the battery 16.
- the power supply unit 51, the terminal unit 52, and the control unit 53 of the charging device 50 at least partially overlap the moving space K1 of the traveling wheel 21 in a side view, and It is arranged in a space S1 that does not overlap with K1 in plan view.
- Charging device 50 is arranged at the intersection of first track R1 and second track R2. Therefore, both the overhead traveling vehicle 100 traveling on the first track R1 and the overhead traveling vehicle 100 traveling on the second track R2 can easily access the charging device 50.
- the overhead traveling vehicle 100 can enter each cell C from both the first orbit R1 and the second orbit R2. Therefore, in the lattice-shaped orbit R, each cell C is an intersection.
- the power supply unit 51, the terminal unit 52, and the control unit 53 are dispersedly arranged in cells C different from each other.
- the size of each unit in the height direction can be reduced, and the space in the charging device 50 in the vertical direction can be reduced.
- the power supply unit 51 and the terminal unit 52 are dispersedly arranged in the adjacent cells C. With this configuration, the length of the wiring connecting the power supply unit 51 and the terminal unit 52 can be reduced.
- the power supply unit 51, the terminal unit 52, and the control unit 53 are arranged so as to fit in the space S3, as shown in FIG. With this configuration, when a part of the charging device 50 partially overlaps with the moving space K1 of the traveling wheel 21 in a side view, when the traveling wheel 21 turns, the traveling wheel 21 interferes with the power supply unit 51 and the like. Can be prevented.
- the power supply unit 51 is connected to an external AC power supply through wiring or the like, and performs adjustments necessary for charging the battery 16, such as conversion from AC to DC and setting of voltage.
- one power supply unit 51 is used, but the present invention is not limited to this configuration, and two or more power supply units may be used.
- each power supply unit 51 may be arranged in a different cell C.
- the control unit 53 controls operations of the power supply unit 51 and a terminal unit 52 described later. In the present embodiment, two control units 53 are used, but the number of control units 53 may be one or three or more. These units are electrically connected by wiring.
- FIG. 8 is a diagram showing an example of a connection configuration between units in the charging apparatus 50.
- the power supply unit 51 and the control unit 53 are electrically connected by a wiring 54.
- the wiring 54 needs to be arranged so as to cross the first track R1 or the second track R2. Therefore, as shown in FIG. 8, a part of the wiring 54 is held by a stay 55 attached to a center rib (a portion extending upward from the running surface) of the second track R2 (or the first track R1). I have.
- the wiring 54 is arranged above the moving space K1 of the overhead traveling vehicle 100. With this configuration, it is possible to prevent the traveling wheels 21 from interfering with the wiring 54 when the overhead traveling vehicle 100 travels.
- the power supply unit 51 and the terminal unit 52 are also electrically connected by the wiring 54.
- This wiring 54 like the wiring 54 between the power supply unit 51 and the control unit 53, crosses the first orbit R1 or the second orbit R2, and is arranged above the moving space K1 using the stay 55 shown in FIG. Is done.
- FIG. 9 is a diagram showing an example of the terminal unit 52.
- the terminal unit 52 contacts the charging electrode 17 of the overhead traveling vehicle 100 and is electrically connected to the charging electrode 17, and supplies power from the power supply unit 51 to the battery 16 via the charging electrode 17.
- the terminal unit 52 includes a terminal 52b to be brought into contact with the charging electrode 17, a holder 52c for holding the terminal 52b, a lifting mechanism 52d for raising and lowering the holder 52c in the Z direction, a terminal 52b, and a power supply unit. 51 and a supporting portion 52e for supporting the wiring 54 with the supporting portion 51.
- the terminal 52b is arranged downward ( ⁇ Z direction). Two terminals 52b are provided side by side in accordance with the two charging electrodes 17, and are arranged at the same pitch as the two charging electrodes 17.
- the holder 52c holds the upper part of the terminal 52b and exposes the lower part of the terminal 52b.
- the lifting mechanism 52d is provided on the frame 52a, has a drive source (not shown) such as an electric motor, and raises and lowers the holder 52c by the driving force of the drive source.
- the elevating mechanism 52d can elevate and lower the holder 52c between a connection position P1 where the terminal 52b contacts the charging electrode 17 and a standby position P2 where the terminal 52b is separated from the charging electrode 17. With this configuration, when charging is not performed, the terminal 52b (holder 52c) retracts to the standby position P2, so that interference between the charging electrode 17 and the terminal 52b during traveling of the overhead traveling vehicle 100 can be prevented.
- the support part 52e is attached to the frame 52a and supports a part of the wiring 54. Assuming that the wiring 54 has a length necessary for raising and lowering the holder 52c, the wiring 54 may hang down in the cell C. By setting a part of the wiring 54 at a height near the frame 52a by the support part 52e, it is possible to prevent the part of the overhead traveling vehicle 100 from interfering with the wiring 54 when the overhead traveling vehicle 100 travels.
- FIG. 10A and 10B show an example in which the overhead traveling vehicle 100 travels along the first track R1.
- FIG. 10A illustrates a state in which the overhead traveling vehicle 100 faces the terminal unit 52
- FIG. FIG. 5 is a diagram illustrating a state in which the traveling vehicle 100 has reached below a terminal unit 52.
- the overhead traveling vehicle 100 has acquired the position information of the cell C where the charging device 50 is located from an upper controller (not shown) or the like.
- the overhead traveling vehicle 100 travels on the first track R1 in the ⁇ X direction so as to head toward the cell C where the terminal unit 52 is located.
- FIG. 10 illustrates an example in which the overhead traveling vehicle 100 travels on the first track R1 in the ⁇ X direction. However, the overhead traveling vehicle 100 travels on the first track R1 in the + X direction. Similarly, as shown in FIG. 10B, the charging electrode 17 and the terminal unit 52 face each other.
- FIG. 11A and 11B show an example in which the overhead traveling vehicle 100 travels along the second track R2, wherein FIG. 11A illustrates a state in which the overhead traveling vehicle 100 faces the terminal unit 52, and FIG. FIG. 5 is a diagram illustrating a state in which the traveling vehicle 100 has reached below a terminal unit 52.
- the overhead traveling vehicle 100 travels on the second track R2 in the + Y direction so as to head toward the cell C where the terminal unit 52 is located.
- FIG. 11 illustrates an example in which the overhead traveling vehicle 100 travels on the second track R2 in the + Y direction. However, the overhead traveling vehicle 100 travels on the second track R2 in the ⁇ Y direction. Similarly, as shown in FIG. 11B, the charging electrode 17 and the terminal unit 52 face each other.
- the charging electrode 17 and the terminal unit 52 face each other in the cell C regardless of whether the overhead traveling vehicle 100 is traveling on the first track R1 or the second track R2. State.
- the overhead traveling vehicle 100 only rotates the traveling wheel 21 and does not rotate the main body unit 10. Therefore, if the charging electrode 17 and the terminal unit 52 are positioned in advance, the charging electrode will not be charged when the overhead traveling vehicle 100 reaches the cell C regardless of whether it travels on the first track R1 or the second track R2. 17 and the terminal unit 52 face each other.
- the fact that the overhead traveling vehicle 100 has reached the cell C can be obtained from the position information sent from the overhead traveling vehicle 100 to the upper controller.
- the control unit 53 of the charging device 50 receives information from the host controller that the overhead traveling vehicle 100 has reached the cell C, and operates the terminal unit 52 based on this information.
- the control unit 53 is not limited to acquiring the information that the overhead traveling vehicle 100 has reached the cell C from the upper controller, but acquiring the information by wirelessly receiving a signal from the overhead traveling vehicle 100 that has reached the cell C. May be.
- a sensor or the like may be arranged in the cell C, and the fact that the overhead traveling vehicle 100 has reached the cell C may be acquired from the detection result by the sensor.
- FIG. 12A and 12B show an example of the operation of the terminal unit 52.
- FIG. 12A shows a state in which the terminal 52b of the terminal unit 52 is separated from the charging electrode 17, and FIG. It is a figure of the state where it contacted.
- the holder 52c of the terminal unit 52 is disposed at the standby position P2, and the terminal 52b is charged. It is in a state of being separated upward from the electrode 17.
- the lifting mechanism 52d is driven to lower the holder 52c from the standby position P2 to the connection position P1.
- the two terminals 52b abut on each of the two charging electrodes 17, and the terminal 52b and the charging electrode 17 are electrically connected. Therefore, electric power from the power supply unit 51 is supplied to the battery 16 via the terminal 52b and the charging electrode 17.
- the control unit 53 receives, for example, a charge completion signal from the overhead traveling vehicle 100 via the upper controller or directly without the upper controller, and based on this information, , Complete the charging work. After stopping the power supply, the control unit 53 drives the elevating mechanism 52d to raise the holder 52c from the connection position P1 to the standby position P2. By this operation, the overhead traveling vehicle 100 can be driven.
- the charging device 50 overlaps with the moving space K1 of the traveling wheel 21 in a side view, and furthermore, in plan view with the moving space K1 of the traveling wheel 21. Since the charging device 50 is arranged in a space that does not overlap in, the arrangement space of the charging device 50 above the lattice track R can be suppressed while preventing the traveling wheels 21 from interfering with the charging device 50. As a result, the grid-shaped orbit R can be arranged near the ceiling, so that a reduction in space efficiency in the building can be suppressed.
- the charging device 50 is arranged in a space that does not overlap with the moving space K1 of the traveling wheel 21 in a plan view, the overhead traveling vehicle 100 travels on the grid-shaped track R along the traveling surfaces R1a, R2a, and R3a.
- the charging electrode 17 can be arranged below the charging device 50 from any direction without interfering with the charging device 50.
- the present invention is not limited to the above description, and various changes can be made without departing from the spirit of the present invention.
- the charging electrode 17 is fixed to the upper surface 10a of the main body 10 is described as an example, but the present invention is not limited to this configuration.
- a configuration may be used in which the charging electrode 17 is moved up and down by a lifting mechanism.
- the charging electrode 17 may be disposed at a portion overlapping the turning space K2 of the steering mechanism 34 in a plan view.
- the charging electrode 17 may be brought into contact with the terminal 52b by raising the charging electrode 17 with the holder 52c of the terminal unit 52 fixed.
- the lattice-shaped trajectory R in which the plurality of first trajectories R1 and the plurality of second trajectories R2 are orthogonal to each other and the plurality of cells C are adjacent in a plan view is taken as an example.
- the present invention is not limited to this configuration.
- the trajectory may be configured to extend in one direction without intersections.
- the charging device 50 is arranged in the cell C, which is the intersection of the first orbit R1 and the second orbit R2, has been described as an example, but the configuration is limited to this configuration. Not done.
- the charging device 50 may be arranged other than at the intersection of the first track R1 and the second track R2.
- the present invention is not limited to this configuration.
- a mode in which power is supplied in a non-contact state in which the terminal 52b and the charging electrode 17 are separated may be applied.
- non-contact power supply a mode in which power is supplied in a non-contact state in which the terminal 52b and the charging electrode 17 are separated
- AX turning axis C: cell K1: moving space K2, K3: turning space M: article P1: connection position P2: standby position
- R lattice track ( Orbit)
- R1 first trajectory R2 second trajectory
- R3 partial trajectory R1a, R2a, R3a traveling plane S1, S2, S3 space
- SYS overhead traveling vehicle system 10.
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Abstract
Description
C・・・セル
K1・・・移動空間
K2、K3・・・旋回空間
M・・・物品
P1・・・接続位置
P2・・・待機位置
R・・・格子状軌道(軌道)
R1・・・第1軌道
R2・・・第2軌道
R3・・・部分軌道
R1a、R2a、R3a・・・走行面
S1、S2、S3・・・スペース
SYS・・・天井走行車システム
10・・・本体部
10a・・・上面
16・・・バッテリ
17・・・充電電極
20・・・走行部
30・・・連結部
34・・・ステアリング機構
40・・・制御部
50・・・充電装置
51・・・電源ユニット
52・・・端子ユニット
52b・・・端子
53・・・制御ユニット
54・・・配線
100・・・天井走行車
Claims (9)
- 平面視において少なくとも上面が矩形状の本体部と、前記本体部の上面の4つのコーナー部にそれぞれ設けられて軌道の走行面を転動する走行車輪と、を備え、前記本体部が前記走行車輪から下方に延びる接続部材によって前記軌道より下方に配置される天井走行車、を有する天井走行車システムであって、
前記天井走行車は、前記本体部の上面に充電電極を備え、
前記走行面より上方であって、前記走行車輪の移動空間と側面視において少なくともその一部が重複し、かつ前記移動空間と平面視において重複しないスペースに、充電装置が配置される、天井走行車システム。 - 前記軌道は、第1方向に沿って設けられる第1軌道と、前記第1方向と交差する第2方向に沿って設けられる第2軌道と、を含み、
前記天井走行車は、前記第1軌道から前記第2軌道に移行して、又は前記第2軌道から前記第1軌道に移行して走行可能であり、
前記充電装置は、前記第1軌道と前記第2軌道との交差部に配置される、請求項1に記載の天井走行車システム。 - 前記軌道は、複数の前記第1軌道と複数の前記第2軌道とが直交し、平面視で複数のセルが隣り合う状態の格子状軌道であり、
前記充電装置は、電源ユニットと端子ユニットとを少なくとも備え、
前記電源ユニット及び前記端子ユニットは、それぞれ隣り合う前記セルに分散して配置される、請求項2に記載の天井走行車システム。 - 前記第1軌道及び前記第2軌道は、同一又はほぼ同一の水平面に沿ってそれぞれ設けられる、請求項3に記載の天井走行車システム。
- 前記端子ユニットは、前記充電電極に当接する接続位置と、前記充電電極から離間した待機位置との間で昇降可能である、請求項3又は請求項4に記載の天井走行車システム。
- 前記充電装置は、前記電源ユニット及び前記端子ユニットを制御する制御ユニットを備え、
前記制御ユニットは、前記電源ユニット及び前記端子ユニットが配置される前記セルとは異なるセルに配置される、請求項3から請求項5のいずれか一項に記載の天井走行車システム。 - 前記電源ユニット、前記端子ユニット、及び前記制御ユニットは、互いに配線で電気的に接続され、
前記配線は、前記移動空間の上方に配置される、請求項6に記載の天井走行車システム。 - 前記天井走行車は、前記走行車輪を鉛直方向の軸まわりに旋回させるステアリング機構を備え、
前記充電装置は、前記走行車輪の旋回空間と平面視において重複しないスペースに配置される、請求項2から請求項7のいずれか一項に記載の天井走行車システム。 - 前記充電電極は、前記ステアリング機構の旋回空間と平面視において重複しない部分に配置される、請求項8に記載の天井走行車システム。
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CN201980049194.5A CN112533813B (zh) | 2018-08-09 | 2019-05-27 | 桥式吊车系统 |
US17/265,784 US11932096B2 (en) | 2018-08-09 | 2019-05-27 | Overhead traveling vehicle system |
KR1020217002217A KR102557691B1 (ko) | 2018-08-09 | 2019-05-27 | 천장 주행차 시스템 |
SG11202100868PA SG11202100868PA (en) | 2018-08-09 | 2019-05-27 | Overhead traveling vehicle system |
JP2020536340A JP7001167B2 (ja) | 2018-08-09 | 2019-05-27 | 天井走行車システム |
EP19846657.5A EP3835163B1 (en) | 2018-08-09 | 2019-05-27 | Overhead traveling vehicle system |
IL280393A IL280393B (en) | 2018-08-09 | 2021-01-25 | Overhead vehicle system |
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CN114475676A (zh) * | 2022-03-02 | 2022-05-13 | 昆山燎原自动化设备有限责任公司 | 一种应用于列车底盘检测的rgv小车及充电系统 |
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- 2019-05-27 US US17/265,784 patent/US11932096B2/en active Active
- 2019-05-27 EP EP19846657.5A patent/EP3835163B1/en active Active
- 2019-07-31 TW TW108127225A patent/TWI796508B/zh active
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JP2007091463A (ja) * | 2005-08-30 | 2007-04-12 | Daifuku Co Ltd | 物品搬送設備 |
JP2007204009A (ja) * | 2006-02-06 | 2007-08-16 | Hitachi Plant Technologies Ltd | 有軌道無人搬送台車 |
JP5698497B2 (ja) | 2010-11-08 | 2015-04-08 | 株式会社岡村製作所 | 物品搬送装置 |
JP2018150670A (ja) | 2014-05-30 | 2018-09-27 | カラー イメージ アパレル,インコーポレイテッド | 統合されるレッグウォーマーを有するエクササイズガーメント |
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Non-Patent Citations (1)
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See also references of EP3835163A4 |
Also Published As
Publication number | Publication date |
---|---|
KR102557691B1 (ko) | 2023-07-20 |
EP3835163A1 (en) | 2021-06-16 |
TW202009195A (zh) | 2020-03-01 |
EP3835163B1 (en) | 2023-04-19 |
US20210162850A1 (en) | 2021-06-03 |
TWI796508B (zh) | 2023-03-21 |
IL280393A (en) | 2021-03-25 |
KR20210022731A (ko) | 2021-03-03 |
CN112533813B (zh) | 2023-06-20 |
IL280393B (en) | 2022-05-01 |
EP3835163A4 (en) | 2022-06-08 |
JP7001167B2 (ja) | 2022-01-19 |
CN112533813A (zh) | 2021-03-19 |
JPWO2020031465A1 (ja) | 2021-08-02 |
SG11202100868PA (en) | 2021-03-30 |
US11932096B2 (en) | 2024-03-19 |
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