WO2022130758A1 - 搬送システム - Google Patents
搬送システム Download PDFInfo
- Publication number
- WO2022130758A1 WO2022130758A1 PCT/JP2021/037889 JP2021037889W WO2022130758A1 WO 2022130758 A1 WO2022130758 A1 WO 2022130758A1 JP 2021037889 W JP2021037889 W JP 2021037889W WO 2022130758 A1 WO2022130758 A1 WO 2022130758A1
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- WO
- WIPO (PCT)
- Prior art keywords
- building
- ceiling
- track
- transfer
- transported
- Prior art date
Links
- 230000032258 transport Effects 0.000 description 108
- 230000003028 elevating effect Effects 0.000 description 8
- 239000004065 semiconductor Substances 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 101000931462 Homo sapiens Protein FosB Proteins 0.000 description 1
- 101000873785 Homo sapiens mRNA-decapping enzyme 1A Proteins 0.000 description 1
- 102100020847 Protein FosB Human genes 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 102100035856 mRNA-decapping enzyme 1A Human genes 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
Images
Classifications
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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
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- 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
- H01L21/67727—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 using a general scheme of a conveying path within a factory
-
- 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
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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
- B65G1/0485—Check-in, check-out devices
-
- 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
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
- B65G47/60—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices to or from conveyors of the suspended, e.g. trolley, type
- B65G47/61—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices to or from conveyors of the suspended, e.g. trolley, type for articles
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- 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
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/67706—Mechanical details, e.g. roller, belt
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- 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
- H01L21/6773—Conveying cassettes, containers or carriers
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- 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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- 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
- H01L21/67736—Loading to or unloading from a conveyor
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- 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
- H01L21/67763—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 the wafers being stored in a carrier, involving loading and unloading
- H01L21/67769—Storage means
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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
- 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
Definitions
- the present invention relates to a transport system.
- Patent Document 1 describes a first track provided in the first building, a second track provided in a second building different from the first building, and a second track provided in the first building, and the transported object is conveyed by traveling on the first track.
- a first ceiling carrier for transferring the object to be transported a second ceiling carrier for transporting the object to be transported while traveling on the second track, a first ceiling carrier, and a first ceiling carrier for transferring the object to be transported.
- a transport system including a relay unit for relaying a transported object transferred from each of the second ceiling transport vehicles is disclosed.
- the transported object is transported between the first building and the second building via the relay unit.
- the relay section is arranged between the first track and the second track, and two mounting sections for mounting the transported object are provided along the first track and the second track.
- the traveling directions of the first ceiling carrier and the second ceiling carrier are opposite in the relay section.
- each of the first ceiling transport vehicle and the second ceiling transport vehicle since each of the first ceiling transport vehicle and the second ceiling transport vehicle has one mounting unit on which the transported object can be mounted in the relay section, the transported object is mounted on the mounting section. If so, the transported object cannot be placed. Therefore, it is conceivable to arrange a plurality of mounting portions between the first orbit and the second orbit along the direction in which the orbit extends. However, due to the limited space in the direction in which the orbit extends, it may not be possible to arrange the required number of mounting parts.
- One aspect of the present invention is to provide a transport system capable of appropriately arranging a plurality of storage units used for transport between buildings.
- the transport system travels on a first track provided in the first building, a second track provided in a second building different from the first building, and a first track to be transported.
- a first ceiling carrier that transports objects and transfers the objects to be transported
- a second ceiling carrier that travels on a second track to transport the objects to be transported and transfers the objects to be transported. It is provided with a relay unit for delivering the object to be transported between the 1 ceiling transport vehicle and the 2nd ceiling transport vehicle, and the relay unit is transferred from each of the 1st ceiling transport vehicle and the 2nd ceiling transport vehicle.
- a plurality of storage units for temporarily storing the transported object and an extension from the first track are provided, and the first ceiling transport vehicle places the transported object on the storage unit and also stores the transported object from the storage unit.
- the first transfer track to be acquired and the second transfer track that is provided as an extension from the second track and the second ceiling carrier places the transported object in the storage section and acquires the transported object from the storage section.
- the first transfer orbit extends linearly following the first outward path portion, the first turn-back portion following the first outward path portion, and the first turn-back portion. It has a first return route portion that exists, and the second transfer orbit has a second outward route portion that extends linearly, a second turn-back portion that follows the second outward route portion, and a second turn-back portion.
- It has a second return path portion that extends linearly following the portion, and the first outward path portion and the second return path portion overlap each other when viewed from the vertical direction, and the first return path portion and the second return path portion are overlapped.
- the outward route portion overlaps with each other when viewed from the vertical direction, and the traveling direction of the first ceiling carrier traveling on the first outward route portion coincides with the traveling direction of the second ceiling transport vehicle traveling on the second return route portion.
- the traveling direction of the first ceiling transport vehicle traveling on the first return route portion and the traveling direction of the second ceiling transport vehicle traveling on the second outward route portion coincide with each other, and the plurality of storage units are respectively the first outward route portion and the first.
- first ceiling transport vehicle traveling on the first outward route portion and the second ceiling transport vehicle traveling on the second return route portion can transfer the transported object to the same storage unit.
- first ceiling carrier traveling on the first return path portion and the second ceiling carrier traveling on the second outward path portion can transfer the transported object to the same storage unit.
- the first outward path portion and the second return path portion overlap each other when viewed from the vertical direction
- the first return path portion and the second outward path portion overlap each other when viewed from the vertical direction
- Each of the plurality of storage units is provided on both sides of the first outbound route portion and the second inbound route portion when viewed from the vertical direction, and is provided on both sides of the first inbound route portion and the second outbound route portion.
- the space for arranging the storage unit in the direction in which the track (first outward path portion, second outward path portion, first return path portion, and second return path portion) extends is small, it is orthogonal to the track.
- the space in the direction can be utilized to appropriately arrange the required number of storage units.
- the relay unit may be arranged in any of the first building, the second building, or the intermediate part between the first building and the second building.
- the object to be transported is delivered between the first ceiling carrier and the second ceiling carrier in either the first building, the second building, or the intermediate portion between the first building and the second building. It can be performed.
- the first ceiling carrier travels in the order of the first outward route portion, the first turn-back portion, and the first return route portion on the first transfer track, and is covered with respect to the storage unit in the first outward route portion.
- the transported object is placed, the transported object is acquired from the storage unit in the first return path portion, and the second ceiling carrier vehicle has the second outward path portion, the second turn-back portion, and the second return path portion in the second transfer track.
- the transported object may be placed on the storage unit in the second outward route portion, and the transported object may be acquired from the storage unit in the second return route portion.
- the object to be transported can be placed and acquired in the process of the first ceiling carrier traveling on the first transfer track, and in the process of the second ceiling carrier traveling on the second transfer track.
- the object to be transported can be placed and acquired.
- the first track is a first extension track provided in the second building, which follows the first outward path portion of the first transfer track, branches off from the first turn-back portion, and joins the first return path portion.
- the second track has a second extension track provided in the first building, which branches off from the second turn-back portion and joins the second return path portion following the second outward path portion of the second transfer track.
- the 1st ceiling carrier can transfer the transported object in the 1st and 2nd buildings
- the 2nd ceiling carrier can transfer the transported object in the 1st and 2nd buildings. It may be possible. In this configuration, for example, when the transported object cannot be transferred to the storage unit, the ceiling transport vehicle can directly transport the transported object to another building. Therefore, in the transport system, it is possible to improve the efficiency of transport between buildings.
- a control device for controlling the operation of the first ceiling carrier and the second ceiling carrier is provided, and the control device is the operating status of the first ceiling carrier in the first building and the operation status in the second building. Controls the transfer of the transported object on the first transfer track or the second transfer track, or the transfer of the transported object to the first or second building, depending on the operating status of the second ceiling carrier. You may. In this configuration, for example, when the operating rate of the first ceiling carrier in the first building is high, the second ceiling carrier transports the object to be transported to the first building, so that the first ceiling carrier becomes the first. 1 It is not necessary to move to the transfer track. Therefore, more efficient transportation becomes possible.
- a plurality of storage units used for inter-building transportation can be appropriately arranged.
- FIG. 1 is a diagram showing a transport system according to the first embodiment.
- FIG. 2 is a plan view of the first transfer track and the second folding transfer portion of the transfer system shown in FIG.
- FIG. 3 is a front view of a part of the first transfer track and the second transfer track.
- FIG. 4 is a diagram showing a transport system according to the second embodiment.
- FIG. 5 is a plan view of the first transfer track and the second transfer track of the transfer system shown in FIG.
- the transport system 1 is a system for transporting the FOUP (object to be transported) 300.
- the transport system 1 includes a first track 10, a second track 20, a relay unit 30, a ceiling transport vehicle (first ceiling transport vehicle) 40A, and a ceiling transport vehicle (second ceiling transport vehicle) 40B (see FIG. 2). And a control device 50 (see FIG. 3).
- the transport system 1 is installed in, for example, a semiconductor manufacturing factory equipped with a plurality of semiconductor processing devices (not shown).
- the transfer system 1 is installed in the first building 100 and the second building 200 in the semiconductor manufacturing factory.
- the first building 100 and the second building 200 are buildings in which semiconductor processing devices are installed.
- the FOUP 300 is transferred to the device port of the semiconductor processing apparatus by the ceiling transfer vehicles 40A and 40B in the first building 100 and the second building 200, respectively.
- the first track 10 is provided in the first building 100.
- the first track 10 is a member for traveling the ceiling carrier 40A, and is suspended from the ceiling.
- the transport system 1 includes a plurality of systems (bays).
- the transport system 1 includes a plurality of intra-bay routes, which are travel paths in the bay, and an inter-bay route, which is a travel path connecting different bays.
- the first orbit 10 includes an intrabay orbit 11 arranged in a plurality of intrabay routes and an interbay orbit 12 arranged in the interbay route.
- the intrabay track 11 is set so that the ceiling carrier 40A travels one way clockwise.
- the inter-bay track 12 is also set so that the ceiling carrier 40A travels clockwise in one way.
- the ceiling carrier 40A may be set to one-way counterclockwise.
- the second track 20 is provided in the second building 200.
- the second track 20 is a member for traveling the ceiling carrier 40B and is suspended from the ceiling.
- the second orbit 20 includes an intrabay orbit 21 arranged in a part of a plurality of intrabay routes and an interbay orbit 22 arranged in the interbay route.
- the intrabay track 21 is set so that the ceiling carrier 40B travels clockwise in one way.
- the inter-bay track 22 is also set so that the ceiling carrier 40B travels clockwise in one way.
- the ceiling carrier 40B may be set to one-way counterclockwise.
- the FOUP 300 is delivered between the ceiling carrier 40A and the ceiling carrier 40B.
- the relay unit 30 is provided in an intermediate portion between the first building 100 and the second building 200.
- the relay unit 30 has a storage shelf (storage unit) 31, a first transfer track 32, and a second transfer track 33.
- the first transfer orbit 32 is shown by a broken line
- the second transfer orbit 33 is shown by a solid line.
- the ceiling carrier 40A mounts the FOUP300 on the storage shelf 31, and the ceiling carrier 40A acquires the FOUP300 from the storage shelf 31.
- two first transfer tracks 32 are provided.
- the first transfer track 32 is provided as an extension of the first track 10.
- the first transfer track 32 follows (is connected to) the interbay track 12.
- the first transfer track 32 has a first outward path portion 32a, a first return path portion 32b, and a first turn-back portion 32c.
- the first outward route portion 32a extends linearly. In the present embodiment, the first outward route portion 32a extends from the 100 side of the first building to the 200 side of the second building.
- the first outbound route portion 32a causes the ceiling carrier 40A to travel along the first direction D1. In the first direction D1, the ceiling carrier 40A is in the direction from the 100 side of the first building to the 200 side of the second building.
- the first return route portion 32b extends linearly. In the present embodiment, the first return route portion 32b extends from the first building 100 side to the second building 200 side.
- the first inbound route portion 32b is parallel to the first outbound route portion 32a.
- the first return path portion 32b causes the ceiling carrier 40A to travel along the second direction D2 opposite to the first direction D1.
- the second direction D2 is the direction in which the ceiling carrier 40A heads from the 200 side of the second building to the 100 side of the first building.
- the first turn-back portion 32c continues (is connected) to the first outward route portion 32a and the first return route portion 32b.
- the first turn-back portion 32c connects the end portion of the first outward route portion 32a on the second building 200 side and the end portion of the first return route portion 32b on the second building 200 side.
- the first turn-back portion 32c turns back (turns) the traveling direction of the ceiling carrier 40A.
- the first turn-back portion 32c turns the traveling direction of the ceiling carrier 40A from the first direction D1 to the second direction D2.
- the first turn-back portion 32c includes a straight line portion extending so as to be orthogonal to the first outward path portion 32a and the first return path portion 32b, and each of the straight line portion and the first outward path portion 32a and the first return path portion 32b. Includes curved connecting portions to be connected.
- the first folded portion 32c may have a curved shape as a whole.
- the ceiling carrier 40B mounts the FOUP 300 on the storage shelf 31, and the ceiling carrier 40B acquires the FOUP 300 from the storage shelf 31.
- two second transfer orbitals 33 are provided.
- the second transfer track 33 is provided as an extension of the second track 20.
- the second transfer track 33 follows (is connected to) the interbay track 22.
- the second transfer track 33 has a second outward path portion 33a, a second return path portion 33b, and a second turn-back portion 33c.
- the second outward route portion 33a extends linearly. In the present embodiment, the second outward route portion 33a extends from the 200 side of the second building to the 100 side of the first building.
- the second outward route portion 33a causes the ceiling carrier 40B to travel along the second direction D2.
- the second return route portion 33b extends linearly. In the present embodiment, the second return route portion 33b extends from the second building 200 side to the first building 100 side.
- the second inbound route portion 33b is parallel to the second outbound route portion 33a.
- the second return path portion 33b causes the ceiling carrier 40B to travel along the first direction D1.
- the second turn-back portion 33c continues (is connected) to the second outward route portion 33a and the second return route portion 33b.
- the second turn-back portion 33c connects the end portion of the second outward route portion 33a on the first building 100 side and the end portion of the second return route portion 33b on the first building 100 side.
- the second turn-back portion 33c turns back the traveling direction of the ceiling carrier 40B.
- the second folded portion 33c causes the traveling direction of the ceiling carrier 40B to be folded back from the second direction D2 to the first direction D1.
- the second turn-back portion 33c includes a straight line portion extending so as to be orthogonal to the second outward path portion 33a and the second return path portion 33b, and each of the straight line portion and the second outward path portion 33a and the second return path portion 33b. Includes curved connecting portions to be connected.
- the second folded portion 33c may have a curved shape as a whole.
- the first outward route portion 32a and the second return route portion 33b overlap each other when viewed from the vertical direction.
- the first inbound route portion 32b and the second outbound route portion 33a overlap each other when viewed from the vertical direction.
- the first transfer track 32 and the second transfer track 33 are arranged so as to form a closed region when viewed from the vertical direction.
- the first folded portion 32c (straight line portion) of the first transfer track 32 and the second folded portion 33c (straight line portion) of the second transfer track 33 are arranged so as to face each other when viewed from the vertical direction.
- the first outward path portion 32a and the first return path portion 32b of the first transfer track 32 and the second outward path portion 33a and the second return path portion 33b of the second transfer track 33 are up and down. They are located at different heights in the direction.
- the first outward path portion 32a and the first return path portion 32b of the first transfer track 32 are located below the second outward path portion 33a and the second return path portion 33b of the second transfer track 33.
- the second outward path portion 33a and the second return path portion 33b of the second transfer track 33 are located above the first outward path portion 32a and the first return path portion 32b of the first transfer track 32.
- the FOUP300 is placed on the storage shelf 31.
- the plurality of storage shelves 31 support the FOUP 300.
- the storage shelf 31 is suspended from the ceiling, for example.
- the storage shelf 31 may be an OWB (Overhead Buffer).
- the FOUP 300 can be placed on the area.
- the area of the storage shelf 31 is a temporary storage area to which the ceiling transport vehicles 40A and 40B stopped in the first track 10 and the second track 20 can transfer the FOUP 300.
- the storage shelf 31 may be configured such that one FOUP 300 is placed or a plurality of FOUP 300s are placed.
- the plurality of storage shelves 31 include a plurality of storage shelves 31a and 31b. As shown in FIG. 2 or 3, the plurality of storage shelves 31a can transfer the FOUP300 to the ceiling carrier 40A traveling on the first outward route portion 32a and the ceiling transport vehicle 40B traveling on the second return route portion 33b. It is placed in a position.
- the plurality of storage shelves 31b are arranged at positions where the ceiling transport vehicle 40A traveling on the first return route portion 32b and the ceiling transport vehicle 40B traveling on the second outward route portion 33a can transfer the FOUP 300.
- each of the plurality of storage shelves 31 is located below the first outward path portion 32a, the first return path portion 32b, the second return path portion 33b, and the second return path portion 33b, and is the first when viewed from the vertical direction. It is provided on both sides of the first inbound route portion 32a and the second inbound route portion 33b, and is provided on both sides of the first inbound route portion 32b and the second inbound route portion 33a. That is, the storage shelf 31a has the first outward path when viewed from the vertical direction in the opposite direction between the first outward path portion 32a and the first return path portion 32b (the opposite direction between the second outward path portion 33a and the second return path portion 33b).
- a pair is arranged at a position sandwiching the portion 32a and the second return path portion 33b.
- the storage shelves 31b are arranged in pairs at positions sandwiching the first return path portion 32b and the second outward path portion 33a when viewed from the vertical direction.
- the plurality of storage shelves 31 are arranged along the first outbound route portion 32a, the first inbound route portion 32b, the second outbound route portion 33a, and the second inbound route portion 33b.
- six storage shelves 31 are arranged.
- the direction of the FOUP 300 with respect to the traveling direction of the ceiling transport vehicles 40A and 40B is constant.
- the ceiling transport vehicles 40A and 40B include, for example, OHT (Overhead Hoist Transfer) and the like.
- the FOUP 300 is a container (FOUP: Front Opening Unified Pod) for storing a semiconductor wafer.
- the ceiling transport vehicles 40A and 40B have a grip portion 41, an elevating mechanism 42, and a moving mechanism 43.
- the ceiling transport vehicles 40A and 40B have a transmission / reception unit 44 capable of communicating with the control device 50.
- the grip portion 41 is a device for gripping and releasing the FOUP 300.
- the grip portion 41 can grip the flange portion 310 of the FOUP 300.
- the grip portion 41 grips the flange portion 310 of the FOUP 300 when the ceiling transport vehicles 40A and 40B acquire the FOUP 300 from the storage shelf 31.
- the grip portion 41 releases the flange portion 310 of the FOUP 300 when the ceiling transport vehicles 40A and 40B place the FOUP 300 on the storage shelf 31.
- the elevating mechanism 42 is a device that elevates and elevates the grip portion 41 in the vertical direction.
- the elevating mechanism 42 can elevate the grip portion 41 in the vertical direction.
- the elevating mechanism 42 has a hoisting mechanism 42a and a belt 42b.
- the hoisting mechanism 42a is held by the moving mechanism 43.
- the hoisting mechanism 42a is a device for hoisting and unwinding the belt 42b in the vertical direction.
- the hoisting mechanism 42a can wind up and down the belt 42b in the vertical direction.
- the belt 42b is hung from the hoisting mechanism 42a and holds the grip portion 41 at the lower end thereof.
- the elevating mechanism 42 can wind up and down a distance such that the FOUP 300 gripped by the gripping portion 41 reaches the storage shelf 31.
- the moving mechanism 43 is a device that moves the grip portion 41 and the elevating mechanism 42 from the ceiling transport vehicles 40A and 40B to both sides. That is, the moving mechanism 43 can move the grip portion 41 and the elevating mechanism 42 from the ceiling transport vehicles 40A and 40B in the horizontal direction perpendicular to the traveling direction of the ceiling transport vehicles 40A and 40B.
- the moving mechanism 43 can move the grip portion 41 and the elevating mechanism 42 above each of the storage shelves 31. When the FOUP 300 is gripped by the grip portion 41, the moving mechanism 43 can move the FOUP 300 vertically upward of the storage shelf 31.
- the ceiling transport vehicle 40A traveling on the first outward route portion 32a and the ceiling transport vehicle 40B traveling on the second return route portion 33b have the same traveling direction in the first direction D1.
- the ceiling transport vehicle 40A traveling on the first return route portion 32b and the ceiling transport vehicle 40B traveling on the second outward route portion 33a have the same traveling direction in the second direction D2.
- the ceiling transport vehicles 40A and 40B stopped in each of the first transfer track 32 and the second transfer track 33 can transfer the FOUP 300 to the storage shelf 31.
- the ceiling transport vehicles 40A and 40B can transfer the FOUP 300 to the same storage shelf 31. That is, both the ceiling carrier 40A on the first transfer track 32 and the ceiling carrier 40B on the second transfer track 33 can transfer (transfer) the FOUP 300 to and from the storage shelf 31. ..
- the moving mechanism 43 is operated to move the FOUP 300 above each of the storage shelves 31 from the state where the grip portion 41 grips the flange portion 310 of the FOUP 300. Subsequently, the ceiling transport vehicles 40A and 40B operate the hoisting mechanism 42a to wind down the belt 42b, lower the FOUP 300, and place it on the storage shelf 31. As described above, the ceiling transport vehicles 40A and 40B transfer (place) the FOUP 300 to the storage shelf 31.
- the ceiling transport vehicles 40A and 40B grip the flange portion 310 of the FOUP 300 placed on the storage shelf 31 by the grip portion 41. Subsequently, the ceiling transport vehicles 40A and 40B operate the hoisting mechanism 42a to wind up the belt 42b and raise the FOUP 300. Subsequently, the ceiling transport vehicles 40A and 40B operate the moving mechanism 43 to move the FOUP 300. As described above, the ceiling transport vehicles 40A and 40B transfer (acquire) the FOUP 300 from the storage shelf 31.
- the transmission / reception unit 44 is arranged at a predetermined position of the ceiling transport vehicles 40A and 40B.
- the transmission / reception unit 44 of the ceiling carriers 40A and 40B can communicate with the control device 50.
- the transmission / reception unit 44 and the control device 50 communicate with each other via, for example, a feeder line (not shown) laid along the first track 10 or the second track.
- the ceiling transport vehicles 40A and 40B transport the FOUP 300 based on the transport command received by the transmission / reception unit 44.
- the control device 50 controls the operation of the ceiling transport vehicles 40A and 40B.
- the control device 50 is an electronic control unit composed of a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like.
- the control device 50 transmits a transport command to the ceiling transport vehicles 40A and 40B.
- the ceiling carrier 40A and the ceiling carrier 40B will be described.
- the ceiling carrier 40A transports the FOUP300 acquired in the intra-bay route of the first building 100 to the first transfer track 32, the first outward route portion 32a, the first turn-back portion 32c, and the first The first transfer track 32 is traveled in the order of the return path portion 32b.
- the ceiling carrier 40A stops at the position of the vacant storage shelf 31a in the first outbound route portion 32a, and the FOUP 300 is placed on the storage shelf 31a.
- the ceiling carrier 40A travels on the first turn-back portion 32c and changes the traveling direction from the first direction D1 to the second direction D2.
- the ceiling carrier 40A travels to the first return path portion 32b, stops at a predetermined position, and acquires the FOUP 300 from the storage shelf 31b.
- the ceiling carrier 40A transports the acquired FOUP 300 to the first building 100.
- the ceiling carrier 40B moves to the second outbound route 33a, the second turn-back portion 33c, and the second inbound route portion 33b in this order. It travels on the track 33.
- the ceiling carrier 40B stops at the position of the vacant storage shelf 31b in the second outward route portion 33a, and the FOUP 300 is placed on the storage shelf 31b.
- the ceiling carrier 40B travels on the second folded portion 33c and changes the traveling direction from the second direction D2 to the first direction D1.
- the ceiling carrier 40B travels to the second return path portion 33b, stops at a predetermined position, and acquires the FOUP 300 from the storage shelf 31a.
- the ceiling carrier 40B transports the acquired FOUP 300 to the second building 200.
- the first outward path portion 32a and the second return path portion 33b overlap each other when viewed from the vertical direction, and also overlap with the first return path portion 32b.
- the second outward path portion 33a overlaps with the second outward path portion 33a when viewed from the vertical direction.
- Each of the plurality of storage shelves 31 is provided on both sides of the first outward path portion 32a and the second return path portion 33b when viewed from the vertical direction, and is provided on both sides of the first return path portion 32b and the second outward path portion 33a. It is provided.
- the storage shelves 31 can be arranged not only on one side of the orbits but also on both sides. Therefore, in the transport system 1, when the space for arranging the storage shelf 31 in the direction in which the tracks (first outward path portion 32a, second outward path portion 33a, first return path portion 33b, and second return path portion 33b) extend is small. However, the required number of storage shelves 31 can be appropriately arranged by utilizing the space in the direction orthogonal to the orbit.
- the relay unit 30 is provided in the intermediate portion between the first building 100 and the second building 200. In this configuration, it is not necessary to provide a space for installing the relay unit 30 in each of the first building 100 and the second building 200. Therefore, the space in the first building 100 and the second building 200 can be effectively utilized.
- the ceiling transport vehicle 40A travels on the first transfer track 32 in the order of the first outward route portion 32a, the first turn-back portion 32c, and the first return route portion 32b.
- the ceiling carrier 40A mounts the FOUP300 on the storage shelf 31a in the first outward route portion 32a, and acquires the FOUP300 from the storage shelf 31b in the first return route portion 32b.
- the ceiling carrier 40B travels on the second transfer track 33 in the order of the second outward path portion 33a, the second turn-back portion 33c, and the second return path portion 33b.
- the ceiling carrier 40B mounts the FOUP300 on the storage shelf 31b in the second outward route portion 33a, and acquires the FOUP300 from the storage shelf 31a in the second return route portion 33b.
- the FOUP300 can be mounted and acquired in the process of the ceiling carrier 40A traveling on the first transfer track 32, and the FOUP300 is mounted and acquired in the process of the ceiling carrier 40B traveling on the second transfer track 33. It can be placed and obtained.
- the transfer system 1A includes a first track 10A, a second track 20A, a relay unit 30, an overhead transfer vehicle 40A, a ceiling transfer vehicle 40B, and a control device 50 (FIG. 3). See) and.
- the first track 10A is provided in the second building 200, which is connected to the first outward path portion 32a of the first transfer track 32, branches off from the first turn-back portion 32c, and joins the first return path portion 32b. It also has a first extended track 13.
- the first extension track 13 extends linearly from the first building 100 side to the second building 200 side following (connected) to the first outward route portion 32a and the first return route portion 32b, and extends in a straight line from the first building 100 side to the second building 200 side. It is provided inside.
- the first extension track 13 includes an intrabay track arranged in a plurality of intrabay routes and an interbay track arranged in the interbay route in the second building 200.
- the ceiling carrier 40A can transfer the FOUP 300 in the first building 100 and the second building 200.
- the ceiling carrier 40A basically transports the FOUP 300 in the first building 100.
- the second track 20A is provided in the first building 100, which is connected to the second outward path portion 33a of the second transfer track 33, branches off from the second turn-back portion 33c, and joins the second return path portion 33b. It also has a second extended orbit 23.
- the second extension track 23 extends linearly from the second building 200 side to the first building 100 side following (connected) to the second outward route portion 33a and the second return route portion 33b, and extends in a straight line from the second building 200 side to the first building 100. It is provided inside.
- the second extension track 23 includes an intrabay track arranged in a plurality of intrabay routes and an interbay track arranged in the interbay route in the first building 100.
- the ceiling carrier 40B can transfer the FOUP 300 in the first building 100 and the second building 200.
- the ceiling carrier 40B basically transports the FOUP 300 in the second building 200.
- the FOUP 300 can be delivered between the ceiling transport vehicle 40A and the ceiling transport vehicle 40B in the relay unit 30 via the storage shelf 31.
- the ceiling carrier 40A When the FOUP 300 is transferred to the storage shelf 31 of the relay unit 30, the ceiling carrier 40A travels on the first transfer track 32 in the order of the first outward path portion 32a, the first turn-back portion 32c, and the first return path portion 32b. do.
- the ceiling carrier 40A When transporting the FOUP 300 to the second building 200, the ceiling carrier 40A passes through the first outward path portion 32a of the first transfer track 32 and enters the first extension track 13 when heading to the second building 200. ..
- the ceiling carrier 40A gets into the first return path portion 32b of the first transfer track 32 from the first extension track 13.
- the ceiling carrier 40B travels on the second transfer track 33 in the order of the second outward path portion 33a, the second turn-back portion 33c, and the second return path portion 33b.
- the ceiling carrier 40B passes through the second outward path portion 33a of the second transfer track 33 and enters the second extension track 23 when heading to the first building 100. ..
- the ceiling carrier 40B gets into the second return path portion 33b of the second transfer track 33 from the second extension track 23.
- the control device 50 is the first transfer track 32 or the second depending on the operating status of the ceiling transport vehicle 40A in the first building 100 and the operating status of the ceiling transport vehicle 40B in the second building 200. It controls the transfer of the FOUP 300 on the transfer track 33 or the transfer of the FOUP 300 to the first building 100 or the second building 200.
- the operating status is the operating number, operating rate, ratio of operating units, etc. of the ceiling transport vehicles 40A and 40B in the first building 100 and the second building 200.
- the control device 50 requests the ceiling transport vehicle 40B to transfer the FOUP 300 to the storage shelf 31. To send.
- the control device 50 requests the ceiling transport vehicle 40B to transport the FOUP 300 to the first building 100. To send.
- the ceiling transport vehicle 40A can transfer the FOUP300 in the first building 100 and the second building 200, and the ceiling transport vehicle 40B is the first building.
- FOUP300 can be relocated in 100 and 200 in the second building.
- the ceiling transport vehicles 40A and 40B can directly transport the FOUP 300 to another building. Therefore, in the transport system 1A, it is possible to improve the efficiency of transport between buildings.
- the control device 50 is first transferred according to the operating status of the ceiling transport vehicle 40A in the first building 100 and the operating status of the ceiling transport vehicle 40B in the second building 200. Controls the transfer of the FOUP 300 on the track 32 or the second transfer track 33, or the transport of the FOUP 300 to the first building 100 or the second building 200.
- the ceiling carrier 40B transports the FOUP 300 to the first building 100, so that the ceiling carrier in the first building 100 is transported.
- the number of cars will increase. Therefore, more efficient transportation is possible in the first building 100.
- first transfer track 32 and the second transfer track 33 are provided between the first building 100 and the second building 200
- first transfer track 32 and the second transfer track 33 may be provided in the first building 100 or the second building 200.
- the storage shelf 31 has the first outward path portion 32a and the first outward path portion 32a in the opposite direction between the first outward path portion 32a and the first return path portion 32b (the opposite direction between the second outward path portion 33a and the second return path portion 33b).
- An example has been described in which a pair of the second return path portion 33b, the first return path portion 32b, and the second outward path portion 33a are arranged facing each other with the second return path portion 33b interposed therebetween.
- the storage shelves 31 may be arranged in a staggered pattern, for example.
- the storage shelves 31 are arranged so as to face each other in the opposite direction between the first outward path portion 32a and the first return path portion 32b (the opposite direction between the second outward path portion 33a and the second return path portion 33b).
- An example has been described in which the number of the plurality of storage shelves 31 is the same. However, the number of storage shelves 31 does not have to match, and may be appropriately set according to the design.
- the object to be transported may be, for example, a container for storing a glass substrate, a reticle pod, a FOSB, a SMIF Pod, a general part, or the like.
- the transfer system 1 is installed in a semiconductor manufacturing factory.
- the transfer system is not limited to the semiconductor manufacturing factory, and can be applied to other facilities.
- 1,1A ... Conveyance system 10,10A ... 1st track, 13 ... 1st extension track, 20,20A ... 2nd track, 23 ... 2nd extension track, 30 ... Relay section, 31,31a, 31b ... Storage shelf (Storage unit), 32 ... 1st transfer track, 32a ... 1st outward path portion, 32b ... 1st return path portion, 32c ... 1st turn-back portion, 33 ... 2nd transfer track, 33a ... 2nd outward path portion, 33b ... 2nd return route part, 33c ... 2nd turn-back part, 40A ... Ceiling carrier (1st ceiling carrier), 40B ... Ceiling carrier (2nd ceiling carrier), 50 ... Control device, 100 ... 1st building, 200 ... 2nd building, 300 ... FOUP (carried object).
Abstract
Description
図1に示されるように、搬送システム1は、FOUP(被搬送物)300を搬送するためのシステムである。搬送システム1は、第1軌道10と、第2軌道20と、中継部30と、天井搬送車(第1天井搬送車)40A及び天井搬送車(第2天井搬送車)40B(図2参照)と、制御装置50(図3参照)と、を備える。
続いて、第2実施形態について説明する。図4及び図5に示されるように、搬送システム1Aは、第1軌道10Aと、第2軌道20Aと、中継部30と、天井搬送車40A及び天井搬送車40Bと、制御装置50(図3参照)と、を備える。
Claims (5)
- 第1棟に設けられた第1軌道と、
前記第1棟とは異なる第2棟に設けられた第2軌道と、
前記第1軌道を走行して被搬送物を搬送すると共に、前記被搬送物を移載する第1天井搬送車と、
前記第2軌道を走行して前記被搬送物を搬送すると共に、前記被搬送物を移載する第2天井搬送車と、
前記第1天井搬送車と前記第2天井搬送車との間で前記被搬送物を受け渡すための中継部と、を備え、
前記中継部は、
前記第1天井搬送車及び前記第2天井搬送車のそれぞれから移載される前記被搬送物を一時的に保管する複数の保管部と、
前記第1軌道から延長して設けられ、前記第1天井搬送車が前記被搬送物を前記保管部に載置すると共に前記保管部から前記被搬送物を取得する第1移載軌道と、
前記第2軌道から延長して設けられ、前記第2天井搬送車が前記被搬送物を前記保管部に載置すると共に前記保管部から前記被搬送物を取得する第2移載軌道と、を有し、
前記第1移載軌道は、直線状に延在している第1往路部分と、前記第1往路部分に続く第1折返し部分と、前記第1折返し部分に続き、直線状に延在している第1復路部分と、を有し、
前記第2移載軌道は、直線状に延在している第2往路部分と、前記第2往路部分に続く第2折返し部分と、前記第2折返し部分に続き、直線状に延在している第2復路部分と、を有し、
前記第1往路部分と前記第2復路部分とが鉛直方向から見て重なっていると共に、前記第1復路部分と前記第2往路部分とが前記鉛直方向から見て重なっており、
前記第1往路部分を走行する前記第1天井搬送車の走行方向と前記第2復路部分を走行する前記第2天井搬送車の走行方向とが一致すると共に、前記第1復路部分を走行する前記第1天井搬送車の走行方向と前記第2往路部分を走行する前記第2天井搬送車の走行方向とが一致し、
複数の前記保管部のそれぞれは、前記第1往路部分、前記第1復路部分、前記第2往路部分及び前記第2復路部分の下方に位置し、且つ前記鉛直方向から見て前記第1往路部分及び前記第2復路部分の両側方に設けられていると共に、前記第1復路部分及び前記第2往路部分の両側方に設けられており、
前記第1往路部分を走行する前記第1天井搬送車及び前記第2復路部分を走行する前記第2天井搬送車が同一の前記保管部に前記被搬送物を移載可能であると共に、前記第1復路部分を走行する前記第1天井搬送車及び前記第2往路部分を走行する前記第2天井搬送車が同一の前記保管部に前記被搬送物を移載可能である、搬送システム。 - 前記中継部は、前記第1棟、前記第2棟、又は、前記第1棟と前記第2棟との中間部のいずれかに配置されている、請求項1に記載の搬送システム。
- 前記第1天井搬送車は、
前記第1移載軌道において、前記第1往路部分、前記第1折返し部分及び前記第1復路部分の順に走行し、
前記第1往路部分において前記保管部に対して前記被搬送物を載置し、前記第1復路部分において前記被搬送物を前記保管部から取得し、
前記第2天井搬送車は、
前記第2移載軌道において、前記第2往路部分、前記第2折返し部分及び前記第2復路部分の順に走行し、
前記第2往路部分において前記保管部に対して前記被搬送物を載置し、前記第2復路部分において前記被搬送物を前記保管部から取得する、請求項1又は2に記載の搬送システム。 - 前記第1軌道は、前記第1移載軌道の前記第1往路部分に続き前記第1折返し部分と分岐すると共に前記第1復路部分と合流する、前記第2棟に設けられた第1延長軌道を有し、
前記第2軌道は、前記第2移載軌道の前記第2往路部分に続き前記第2折返し部分と分岐すると共に前記第2復路部分と合流する、前記第1棟に設けられた第2延長軌道を有し、
前記第1天井搬送車は、前記第1棟及び前記第2棟において前記被搬送物の移載が可能であり、
前記第2天井搬送車は、前記第1棟及び前記第2棟において前記被搬送物の移載が可能である、請求項1~3のいずれか一項に記載の搬送システム。 - 前記第1天井搬送車及び前記第2天井搬送車の動作を制御する制御装置を備え、
前記制御装置は、前記第1棟での前記第1天井搬送車の稼動状況及び前記第2棟での前記第2天井搬送車の稼動状況に応じて、前記第1移載軌道又は前記第2移載軌道での前記被搬送物の移載、又は、前記第1棟又は前記第2棟への前記被搬送物の搬送を制御する、請求項4に記載の搬送システム。
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EP21906122.3A EP4245695A1 (en) | 2020-12-16 | 2021-10-13 | Transport system |
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CN202180082107.3A CN116583940A (zh) | 2020-12-16 | 2021-10-13 | 搬送系统 |
US18/265,456 US20240025637A1 (en) | 2020-12-16 | 2021-10-13 | Transport system |
KR1020237020167A KR20230107658A (ko) | 2020-12-16 | 2021-10-13 | 반송 시스템 |
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JP2012066933A (ja) | 2010-09-27 | 2012-04-05 | Daifuku Co Ltd | 物品搬送設備 |
WO2017029871A1 (ja) * | 2015-08-14 | 2017-02-23 | 村田機械株式会社 | 搬送システム |
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TW202233497A (zh) | 2022-09-01 |
KR20230107658A (ko) | 2023-07-17 |
JP7468704B2 (ja) | 2024-04-16 |
US20240025637A1 (en) | 2024-01-25 |
EP4245695A1 (en) | 2023-09-20 |
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