WO2022255062A1 - 走行車システム、単位ユニット、及び格子状軌道 - Google Patents
走行車システム、単位ユニット、及び格子状軌道 Download PDFInfo
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- WO2022255062A1 WO2022255062A1 PCT/JP2022/020238 JP2022020238W WO2022255062A1 WO 2022255062 A1 WO2022255062 A1 WO 2022255062A1 JP 2022020238 W JP2022020238 W JP 2022020238W WO 2022255062 A1 WO2022255062 A1 WO 2022255062A1
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- tracks
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- track
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- 238000009434 installation Methods 0.000 abstract description 6
- 230000007246 mechanism Effects 0.000 description 27
- 239000013256 coordination polymer Substances 0.000 description 11
- 238000010586 diagram Methods 0.000 description 10
- 230000008859 change Effects 0.000 description 9
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- 238000006073 displacement reaction Methods 0.000 description 3
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- 230000001105 regulatory effect Effects 0.000 description 2
- 238000007665 sagging Methods 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B13/00—Other railway systems
-
- 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
- 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
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
- B65G35/06—Mechanical conveyors not otherwise provided for comprising a load-carrier moving along a path, e.g. a closed path, and adapted to be engaged by any one of a series of traction elements spaced along the path
-
- 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
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/061—Lifting, gripping, or carrying means, for one or more sheets forming independent means of transport, e.g. suction cups, transport frames
-
- 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
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/07—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for semiconductor wafers Not used, see H01L21/677
-
- 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
-
- 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
-
- 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 traveling vehicle systems, unit units, and grid-like tracks.
- a traveling vehicle system in which a traveling vehicle travels on tracks suspended from the ceiling or the like.
- Patent Document 1 a plurality of first tracks extending along a first direction, a plurality of second tracks extending along a second direction different from the first direction, and the first track and the second track
- Patent Document 1 a traveling vehicle system is disclosed that includes a connecting track corresponding to an intersection with a .
- each track on which the traveling vehicle runs is separate, so there is a possibility that the installation accuracy of each track will be low when suspending it from the ceiling, and complicated work to adjust the installation position may occur.
- the prior art has a problem that it is not easy to install a suspended track.
- the present invention provides a traveling vehicle system, a unit unit, and a grid-like track that facilitate installation of a suspended track.
- a traveling vehicle system is a traveling vehicle system that includes a suspended grid-shaped track and a traveling vehicle that travels on the grid-shaped track, wherein the grid-shaped track is one square of the grid.
- the unit unit includes two first tracks extending parallel to the first direction and two second tracks extending parallel to the second direction different from the first direction and the intersection of the extension lines of the two first trajectories in the first direction and the extension lines of the two second trajectories in the second direction.
- a unit includes two first tracks extending parallel to a first direction, two second tracks extending parallel to a second direction different from the first direction, Corresponding to the intersection of the extension lines of the two first tracks in the first direction and the extension lines of the two second tracks in the second direction, Four intersecting tracks spaced apart from each of the second tracks of the book, and connecting each of the four intersecting tracks with each of the two first tracks and each of the two second tracks. a connector;
- a grid-shaped track is a suspended-type grid-shaped track on which a traveling vehicle travels, and includes two first tracks extending parallel to a first direction and a track different from the first direction.
- Two second tracks extending parallel to the second direction, extension lines of the two first tracks in the first direction, and extension lines of the two second tracks in the second direction 4 intersecting tracks corresponding to the intersections of and spaced apart from each of the two first tracks and each of the two second tracks, and each of the four intersecting tracks are divided into two
- a unit unit having a connecting portion connecting each of the first tracks and each of the two second tracks is provided as one square of the lattice, and is formed by connecting a plurality of unit units and connected two Two crossing tracks out of four crossing tracks are continuous between unit units.
- the grid-like track is formed by connecting a plurality of unit units with the unit unit as one square of the grid of the grid-like track. Therefore, compared to the case where each track is suspended from the ceiling or the like, it is easy to make the shape of the lattice uniform, so that the suspended track can be easily installed without adjusting the installation position.
- one of the two second tracks abuts between the two unit units that are connected in the first direction, and the grid-like track is in contact with the second track in the second direction.
- One of the two first tracks may abut between the two unit units connected to each other.
- the unit units since the unit units are in contact with each other on the track (not by points but by lines or surfaces), the positional relationship between the adjacent unit units can be easily determined, and the influence on vibration when the traveling vehicle is traveling can be reduced. can be done.
- the unit may be connectable with other unit at a position above or below each of the four intersecting tracks.
- the traveling vehicle includes traveling wheels and guide wheels
- the unit unit includes two first tracks, each of two second tracks, and four intersections.
- Each side surface of the track is provided with a guide surface for guiding the guide wheel, and the guide surface of each of the four intersecting tracks does not come into contact with the guide wheel when the guide wheel turns as the traveling vehicle changes its traveling direction. It may be in shape. According to this aspect, it is possible to soften the impact caused by the guide wheel being drawn in when the guide wheel turns, and to suppress the displacement of the traveling vehicle due to the impact.
- FIG. 1 is a side view showing an example of a traveling vehicle included in a traveling vehicle system according to an embodiment;
- FIG. 1 is a perspective view showing an example of a traveling vehicle included in a traveling vehicle system according to an embodiment;
- FIG. It is a perspective view showing an example of a grid-like track according to the embodiment.
- It is a perspective view showing an example of a grid-like track according to the embodiment.
- It is a perspective view showing an example of a unit according to the embodiment.
- It is a figure explaining the example of the connection member which concerns on embodiment.
- It is a figure explaining the example of the connection member which concerns on embodiment.
- It is a figure explaining the example of the connection member which concerns on embodiment.
- It is a figure explaining the example of the connection member which concerns on embodiment.
- It is a figure explaining the example of the connection member which concerns on embodiment.
- It is a figure explaining the example of the connection member which
- FIG. 5 is a diagram showing an example of an operation of changing the traveling direction of the traveling vehicle from the first direction to the second direction according to the embodiment;
- FIG. 5 is a diagram showing an example of an operation of changing the traveling direction of the traveling vehicle from the first direction to the second direction according to the embodiment;
- FIG. 5 is a diagram showing an example of an operation of changing the traveling direction of the traveling vehicle from the first direction to the second direction according to the embodiment;
- FIG. 5 is a diagram showing an example of an operation of changing the traveling direction of the traveling vehicle from the first direction to the second direction according to the embodiment; It is a figure which shows the other example of the non-contact surface which concerns on embodiment. It is a figure which shows the structural example of the unit unit which concerns on embodiment.
- the scale may be changed as appropriate, such as by enlarging, reducing, or emphasizing a portion.
- the directions in the drawings may be described using an XYZ orthogonal coordinate system.
- the horizontal direction is the X direction and the Y direction
- the vertical direction is the 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 turning direction around the vertical axis or around the Z axis is sometimes referred to as the ⁇ Z direction.
- FIG. 1 is a side view showing an example of a traveling vehicle included in the traveling vehicle system according to the embodiment.
- FIG. 2 is a perspective view showing an example of a traveling vehicle included in the traveling vehicle system according to the embodiment.
- 3 and 4 are perspective views showing examples of grid-like tracks according to the embodiment.
- FIG. 5 is a perspective view showing an example of a unit according to the embodiment;
- FIG. 3 in order to make the explanation easier to understand, it is divided into an upper side including a suspension member for suspending the grid-shaped track, a connection part for connecting the grid-shaped track, etc., and a lower side including the grid-shaped track. , the portion where the upper side and the lower side overlap is indicated by a dashed line.
- the traveling vehicle 100 travels along the track R of the traveling vehicle system SYS and transports an article M such as a FOUP (Front Opening Unified Pod) containing a semiconductor wafer or a reticle pod containing a reticle.
- FOUP Front Opening Unified
- the traveling vehicle system SYS is, for example, a system that transports articles M by traveling vehicles 100 in a clean room such as a semiconductor manufacturing factory.
- a plurality of traveling vehicles 100 may be used in the traveling vehicle system SYS.
- Trajectory R is a form of trajectory.
- the track R is, for example, a suspended grid-like track laid on or near the ceiling of a building such as a clean room (see FIGS. 3 and 4).
- the trajectory R may be referred to as a grid-like trajectory R hereinafter.
- the lattice-like track R has a unit unit U corresponding to one square of the lattice (see FIG. 5).
- the unit unit U includes two first tracks R1 extending parallel to the first direction D1 and two second tracks R2 extending parallel to the second direction D2 different from the first direction D1. have. Further, the unit unit U corresponds to the intersection of the extension lines of the two first tracks R1 in the first direction D1 and the extension lines of the two second tracks R2 in the second direction D2.
- the unit unit U has connecting portions C that connect each of the four intersecting tracks R3 to each of the two first tracks R1 and each of the two second tracks R2.
- This "connection” means connecting tracks within the unit unit U, and the "connection” is completed when the unit unit U is completed.
- the grid-like track R is formed by connecting a plurality of unit units U, and between two connected unit units U, two of the four cross tracks R3 are continuous. This "connection” means connecting completed unit units U to each other. Also, this "continuous” means that the tracks are in a positional relationship that allows the traveling vehicle 100 to pass through.
- the first direction D1 and the second direction D2 are orthogonal. That is, the first trajectory R1 (the extension of the first trajectory R1 in the first direction D1) and the second trajectory R2 (the extension of the second trajectory R2 in the second direction D2) are in an orthogonal positional relationship. do. 3 and 4, a part of the grid-like track R is shown.
- the grid-like track R may be formed by continuing the same configuration from the illustrated configuration in the first direction D1 (X direction) and the second direction D2 (Y direction).
- one second track R2 out of the two second tracks R2 abuts between two unit units U connected in the first direction D1.
- one first track R1 out of the two first tracks R1 abuts between the two unit units U connected in the second direction D2.
- the unit unit U can be connected to other unit units U at positions above or below each of the four intersecting tracks R3.
- a connecting member CP is used to connect the plurality of unit units U. As shown in FIG. A plurality of unit units U and connecting members CP that connect the plurality of unit units U are hung by hanging members H from a ceiling or the like (not shown).
- the first track R1, the second track R2, and the intersecting track R3 respectively have running surfaces R1a, R2a, and R3a on which the running wheels 21 (running wheels) of the running vehicle 100 run.
- a gap D is formed between the first track R1 and the intersecting track R3 and between the second track R2 and the intersecting track R3.
- the gap D is a part of the traveling vehicle 100 ( For example, it is a portion through which a connecting portion 30, which will be described later, passes. Therefore, the gap D is set to a width that allows the connecting portion 30 to pass therethrough.
- the first track R1, the second track R2, and the intersecting track R3 are provided along the same or substantially the same horizontal plane. As a result, the running surfaces R1a, R2a, and R3a are arranged on the same or substantially the same horizontal plane.
- the grid-like track R has a first guide surface G1 and a second guide surface G2.
- the first guide surface G1 is provided in the unit unit U along each of the two first tracks R1. Specifically, the first guide surface G1 is provided on each side surface of the two first tracks R1 in the unit unit U, and guides guide rollers 41 (guide wheels) described later.
- the second guide surface G2 is provided in the unit unit U along each of the two second tracks R2. Specifically, the second guide surface G2 is provided on each side surface of the two second tracks R2 in the unit unit U, and guides guide rollers 41, which will be described later.
- the intersecting track R3 has a first connection guide surface G3a, a second connection guide surface G3b, and a non-contact surface G3c.
- the first connection guide surface G3a is provided at the same or substantially the same height and in the same or substantially the same direction as the first guide surface G1, and guides a guide roller 41, which will be described later. That is, the first connection guide surface G3a and the first guide surface G1 are included in the same plane.
- the second connection guide surface G3b is provided at the same or substantially the same height and in the same or substantially the same direction as the second guide surface G2, and guides the guide roller 41, which will be described later. That is, the second connection guide surface G3b and the second guide surface G2 are included in the same plane.
- the non-contact surface G3c is formed so as to connect the first connection guide surface G3a and the second connection guide surface G3b.
- the non-contact surface G3c has a shape that does not contact the guide roller 41 when the guide roller 41 turns as the traveling vehicle 100 changes its traveling direction.
- the non-contact surface G3c does not contact the guide roller 41 because it is chamfered. Details of the first connection guide surface G3a, the second connection guide surface G3b, and the non-contact surface G3c of the intersecting track R3 will be described later.
- the traveling vehicle 100 has a main body portion 10, a traveling portion 20, a connecting portion 30, a guide portion 40, and a control portion 50.
- the control unit 50 comprehensively controls the operation of each unit of the traveling vehicle 100 .
- the control unit 50 is provided in the main unit 10 as an example, it may be provided outside the main unit 10 .
- the body portion 10 is arranged below the grid-like track R (on the ⁇ Z side).
- the main body 10 is formed in a rectangular shape, for example, in a plan view.
- the body portion 10 is formed to have a size that can be accommodated in a unit unit U corresponding to one grid of the grid in the grid-like track R in plan view.
- the body portion 10 includes an upper unit 17 and a transfer device 18 .
- the upper unit 17 is suspended from the traveling section 20 via the connecting section 30 .
- the upper unit 17 has, for example, a rectangular shape in plan view, and has four corner portions 10a on an upper surface 17a.
- the body part 10 has running wheels 21, connecting parts 30, direction changing mechanisms 34, and guide parts 40 at each of the four corner parts 10a.
- the main body 10 can be stably suspended by the running wheels 21 arranged at the four corners 10a of the main body 10, and the main body 10 can be stably run.
- the guide portions 40 arranged at the four corner portions 10a of the main body portion 10 allow the main body portion 10 to be displaced in the first direction D1 or the second direction D2 with respect to the grid-shaped track R, and the main body portion with respect to the grid-shaped track R. It is possible to effectively suppress misalignment around the vertical axis of 10 . Details of the guide portion 40 will be described later.
- the transfer device 18 is provided below the upper unit 17 .
- the transfer device 18 is rotatable around a rotation axis AX1 in the Z direction (vertical direction).
- the transfer device 18 includes an article holding section 13 that holds an article M, an elevation driving section 14 that vertically moves the article holding section 13 up and down, a lateral ejection mechanism 11 that slides the elevation driving section 14 in the horizontal direction, and a rotating portion 12 that holds the lateral extension mechanism 11 .
- the article holding portion 13 holds the article M by hanging it by gripping the flange portion Ma of the article M.
- the article holding portion 13 is, for example, a chuck having a horizontally movable claw portion 13a. Hold M.
- the article holding portion 13 is connected to a hanging member 13b such as a wire or belt.
- the elevation driving unit 14 is, for example, a hoist, and lowers the article holding unit 13 by drawing out the hanging member 13b, and raises the article holding unit 13 by winding the hanging member 13b.
- the elevation driving section 14 is controlled by the control section 50 to lower or raise the article holding section 13 at a predetermined speed. Also, the elevation driving section 14 is controlled by the control section 50 to hold the article holding section 13 at the target height.
- the lateral pushing mechanism 11 has, for example, a plurality of movable plates stacked in the Z direction.
- the movable plate is relatively movable in the Y direction.
- a lifting drive unit 14 is attached to the lowermost movable plate.
- the lateral ejecting mechanism 11 moves the movable plate by a driving device (not shown), and moves the lifting drive unit 14 and the article holding unit 13 attached to the lowermost movable plate horizontally, for example, in the horizontal direction orthogonal to the traveling direction. It can be made to come out (slide and move).
- the rotating part 12 is provided between the lateral extension mechanism 11 and the upper unit 17 .
- the rotating portion 12 has a rotating member 12a and a rotating driving portion 12b.
- the rotating member 12a is provided so as to be rotatable about a vertical axis.
- the rotating member 12 a supports the lateral extension mechanism 11 .
- the rotation drive unit 12b uses, for example, an electric motor, and rotates the rotation member 12a around the rotation axis AX1.
- the rotating portion 12 rotates the rotating member 12a by the driving force from the rotating driving portion 12b, and rotates the lateral ejection mechanism 11 (elevating driving portion 14 and article holding portion 13) in the direction around the rotation axis AX1.
- a cover W may be provided so as to surround the transfer device 18 and the article M held by the transfer device 18 .
- the cover W has a cylindrical shape with an open lower end, and has a shape in which a portion from which the movable plate of the lateral pushing mechanism 11 protrudes is cut away.
- the upper end of the cover W is attached to the rotating member 12a of the rotating portion 12, and rotates around the rotation axis AX1 as the rotating member 12a rotates.
- the running unit 20 has running wheels 21 and auxiliary wheels 22 .
- the traveling wheels 21 are arranged at four corner portions 10a of the upper surface 17a of the upper unit 17 (body portion 10). Each of the traveling wheels 21 is attached to an axle 21 a provided in the connecting portion 30 .
- the axles 21a are provided parallel or substantially parallel along the XY plane.
- Each of the traveling wheels 21 is rotationally driven by a driving force of a traveling drive section 33, which will be described later.
- Each of the traveling wheels 21 rolls on the traveling surfaces R1a, R2a, and R3a of the first track R1, the second track R2, and the intersecting track R3 in the grid-like track R to cause the traveling vehicle 100 to travel. It should be noted that not all of the four running wheels 21 are rotationally driven by the driving force of the running drive unit 33, and some of the four running wheels 21 may be rotationally driven.
- the running wheels 21 are provided so as to be able to turn in the ⁇ Z direction around the turning axis AX2.
- the traveling wheels 21 are turned in the ⁇ Z direction by a direction changing mechanism 34, which will be described later, and as a result, the traveling direction of the traveling vehicle 100 can be changed.
- the auxiliary wheels 22 are arranged one by one on the front and rear sides of the running wheels 21 in the running direction.
- Each of the auxiliary wheels 22 is rotatable around an axle 22a that is parallel or substantially parallel along the XY plane, similarly to the traveling wheels 21 .
- the lower ends of the auxiliary wheels 22 are set higher than the lower ends of the running wheels 21 .
- the auxiliary wheels 22 do not contact the running surfaces R1a, R2a and R3a. Further, when the running wheels 21 pass through the gap D, the auxiliary wheels 22 contact the running surfaces R1a, R2a, and R3a to prevent the running wheels 21 from falling.
- one auxiliary wheel 22 may be provided for one traveling wheel 21, or the auxiliary wheel 22 may not be provided. good too.
- the connecting portion 30 connects the upper unit 17 of the main body portion 10 and the traveling portion 20 .
- the connecting portions 30 are provided at four corner portions 10a of the upper surface 17a of the upper unit 17 (main body portion 10).
- the connecting portion 30 suspends the body portion 10 from the running portion 20 and is arranged below the grid-like track R.
- the connecting portion 30 has a support member 31 and a connection member 32 .
- the support member 31 rotatably supports the rotating shaft of the traveling wheels 21 and the rotating shaft of the auxiliary wheels 22 .
- the support member 31 holds the relative positions of the traveling wheels 21 and the auxiliary wheels 22 .
- the support member 31 is formed in a plate shape, for example, and is formed to have a thickness that allows it to pass through the gap D. As shown in FIG.
- connection member 32 extends downward from the support member 31 and is connected to the upper surface 17a of the upper unit 17 to hold the upper unit 17.
- the connection member 32 includes therein a transmission mechanism for transmitting the driving force of the travel drive unit 33 to be described later to the travel wheels 21 .
- This transmission mechanism may be configured using a chain or belt, or may be configured using a gear train.
- the connection member 32 is provided so as to be rotatable in the ⁇ Z direction around the rotation axis AX2. By turning the connecting member 32 around the turning axis AX2, the running wheels 21 can be turned in the ⁇ Z direction around the turning axis AX2 via the supporting member 31.
- a travel drive unit 33 and a direction change mechanism 34 are provided in the connection unit 30 .
- the travel drive unit 33 is attached to the connection member 32 .
- the travel drive unit 33 is a drive source that drives the travel wheels 21, and uses, for example, an electric motor.
- the four running wheels 21 are driven by the running drive unit 33 and serve as driving wheels.
- the four running wheels 21 are controlled by the controller 50 so as to have the same or substantially the same number of revolutions. Note that when one of the four running wheels 21 is not used as a driving wheel, the traveling drive unit 33 is not attached to the connecting member 32 corresponding to the running wheel 21 that is not used as a driving wheel.
- the direction changing mechanism 34 turns the connecting member 32 of the connecting portion 30 around the turning axis AX2, thereby turning the running wheels 21 in the ⁇ Z direction around the turning axis AX2.
- the traveling wheels 21 in the ⁇ Z direction By turning the traveling wheels 21 in the ⁇ Z direction, the first state in which the traveling direction of the traveling vehicle 100 is the first direction D1 is changed to the second state in which the traveling direction is the second direction D2, or the traveling direction is changed to the second state. It is possible to switch from the second state in which the direction of travel is D2 to the first state in which the direction of travel is in the first direction D1.
- the direction change mechanism 34 has a drive source 35 , a pinion gear 36 and a rack 37 .
- the drive source 35 is attached to a side surface of the traveling drive unit 33 away from the turning axis AX2.
- an electric motor or the like is used as the drive source 35 .
- the pinion gear 36 is attached to the lower surface side of the drive source 35 and is rotationally driven in the ⁇ Z direction by the drive force generated by the drive source 35 .
- the pinion gear 36 has a circular shape in plan view, and has a plurality of teeth in the circumferential direction of the outer periphery.
- the rack 37 is fixed to the upper surface 17 a of the upper unit 17 .
- the racks 37 are provided at four corner portions 10a of the upper surface 17a of the upper unit 17, respectively, and are provided in an arc shape (fan shape) around the turning axis AX2 of the traveling wheel 21. As shown in FIG.
- the rack 37 has a plurality of teeth meshing with the teeth of the pinion gear 36 in the circumferential direction of the outer periphery.
- the pinion gear 36 and the rack 37 are arranged with their teeth meshing with each other. As the pinion gear 36 rotates in the ⁇ Z direction, the pinion gear 36 moves in the circumferential direction about the turning axis AX2 along the outer periphery of the rack 37 . This movement of the pinion gear 36 causes the connecting member 32 to turn, and the travel driving portion 33 and the direction changing mechanism 34 to turn together with the pinion gear 36 in the circumferential direction around the turning axis AX2.
- the running wheels 21 and the auxiliary wheels 22 arranged at the four corners 10a of the upper surface 17a each turn in the ⁇ Z direction within a range of 90 degrees around the turning axis AX2.
- Driving of the direction change mechanism 34 is controlled by the control unit 50 .
- the control unit 50 may instruct the four traveling wheels 21 to perform the turning motion at the same timing, or may instruct them to perform the turning motion at different timings.
- the running wheels 21 and the auxiliary wheels 22 shift from contacting one of the first track R1 and second track R2 to contacting the other. In other words, the state in which the direction of the rotating shaft of the traveling wheel 21 is one of the first direction D1 and the second direction D2 is changed to the other state. Therefore, it is possible to switch between a first state in which the traveling direction of the traveling vehicle 100 is the first direction D1 (X direction) and a second state in which the traveling direction is the second direction D2 (Y direction).
- FIG. 6 is a side view of a connecting member CP that connects a plurality of unit units U (lattice-like tracks R).
- the connecting member CP1 is provided above the connecting portion C so as to be able to connect a plurality of unit units U.
- one connecting member CP1 can connect four unit units U by connecting four connecting portions C.
- FIG. 6 is a side view of a connecting member CP that connects a plurality of unit units U (lattice-like tracks R).
- the connecting member CP1 is provided above the connecting portion C so as to be able to connect a plurality of unit units U.
- one connecting member CP1 can connect four unit units U by connecting four connecting portions C.
- the connecting member CP2 is provided below the intersecting track R3 so as to be able to connect the plurality of unit units U. As shown in FIG. Specifically, one connecting member CP2 can connect four unit units U by connecting four intersecting tracks R3 of different unit units U, respectively. A suspending member H penetrates through the central portion of the connecting member CP. As a result, the grid-like track R is suspended from the ceiling or the like.
- FIG. 7 is a plan view of the connecting member CP1.
- FIG. 8 is a plan view of the connecting member CP2.
- the connecting portion C of the unit unit U is indicated by a dashed line.
- the connecting member CP1 has a hanging member hole Hh1 through which the hanging member H is passed, a pin hole Pha1 through which a pin is passed through the connecting portion C, the connecting member CP1 and the connecting portion C. are fixed with members such as bolts Bha1 and Bhb1 for bolts.
- Four holes Pha1, Bha1, and Bhb1 are arranged in one connecting member CP1.
- the four connecting members CP1 shown in FIG. 7 have the same configuration.
- the connecting member CP2 has a hanging member hole Hh2 through which the hanging member H is passed, a pin hole Pha2 through which the pin is passed through the intersecting track R3, the connecting member CP2 and the intersecting track R3 ( Further, it has a bolt hole Bha2 for fixing the connecting portion C) with a member such as a bolt.
- Four holes Pha2 and four holes Bha2 are arranged in one connecting member CP2.
- the four connecting members CP2 shown in FIG. 8 have the same configuration. Note that the shape and the like of the connecting member CP2 are examples, and do not have to be formed as illustrated.
- FIG. 9 is a side view showing an example of inserting a pin through the connecting member CP.
- a pin P1 that passes through the connection portion C via the connection member CP1 is fitted in a blind hole Ha1 (a hole that does not penetrate through) formed in the connection portion C.
- a pin P2 which is passed through the track R (intersecting track R3) via the connecting member CP2 is fitted in a blind hole Ha2 formed in the track R.
- the unit unit U When the pins P1 and P2 are arranged at different positions in the vertical direction (Z direction) in the connecting member CP1 and the connecting member CP2, the unit unit U does not rotate around the pins P1 and P2, and the connecting member CP1 , CP2 is the center of rotation. Also, unlike FIG. 9, for example, the pins P1 and P2 may be arranged at the same position in the vertical direction (Z direction) in the connecting member CP1 and the connecting member CP2. When the pins P1 and P2 are arranged at the same position in the vertical direction, the unit unit U can rotate around the pins P1 and P2. Thus, the positions of the pins P1 and P2 may be any positions.
- FIGS. 10A and 10B are diagrams showing examples of the running portion and the connecting portion according to the embodiment.
- 10A is a plan view
- FIG. 10B is a front view.
- the support member 31 of the connecting portion 30 is provided with a guide portion accommodation portion 31a.
- the guide portion 40 suppresses positional deviation of the connecting portion 30 with respect to the grid-like track R, and thus suppresses positional deviation of the main body portion 10 with respect to the grid-like track R.
- the guide portions 40 are provided on the respective connecting portions 30 arranged at the four corner portions 10a of the upper surface 17a of the body portion 10 (see FIGS. 1 and 2).
- the guide portion 40 moves along the first guide surface G1 and the first connection guide surface G3a in the first state in which the traveling wheels 21 travel on the first track R1.
- the guide portion 40 moves along the second guide surface G2 and the second connection guide surface G3b in the second state in which the traveling wheels 21 travel on the second track R2.
- the guide portion 40 may be in contact with the first guide surface G1 or the second guide surface G2, or may be in contact with the first guide surface G1 or the second guide surface G2. may be in a state in which a gap is provided with respect to
- the guide portion 40 has a guide roller 41 housed in the guide portion housing portion 31 a of the support member 31 .
- the guide roller 41 is accommodated in the guide portion accommodating portion 31a, and is arranged in a state in which the end on the -X side protrudes from the guide portion accommodating portion 31a.
- the guide roller 41 is rotatably supported around the Z-axis by a roller shaft 41a.
- the roller shaft 41a is fixed inside the guide housing portion 31a and arranged parallel to the Z direction.
- the roller shaft 41a may be configured to be supported by an elastic member, for example.
- the guide roller 41 is supported movably and rotatably in the X direction, and the impact of the guide roller 41 hitting the first guide surface G1 or the like can be absorbed by the elastic member.
- the guide roller 41 is a driven roller that does not have a drive source for rotating the guide roller 41 .
- a drive unit may be provided that rotates the guide roller 41 in accordance with the running direction of the main body 10 .
- the guide roller 41 is arranged at a height between the axle 21 a of the traveling wheel 21 and the main body 10 .
- the first guide surface G ⁇ b>1 and the second guide surface G ⁇ b>2 are arranged at a height between the axle 21 a of the traveling wheel 21 and the main body 10 .
- the guide roller 41 is arranged at a position corresponding to the height of the first guide surface G1 and the second guide surface G2 in the connecting portion 30 .
- the guide portion 40 rotates the connection portion 30 when the direction change mechanism 34 changes the direction of the running wheels 21 , that is, the direction change mechanism 34 turns the connection portion 30 .
- the guide rollers 41 face the first guide surface G1 and the first connection guide surface G3a.
- the guide rollers 41 face the second guide surface G2 and the second connection guide surface G3b.
- FIG. 11 is a plan view showing an example of the positional relationship between the first track, the second track, the intersecting track, and the guide rollers according to the embodiment.
- FIG. 12 is a plan view showing an example of a guide portion (guide roller) when turning the traveling wheels according to the embodiment.
- the description of the guide housing portion 31a of the support member 31 is omitted.
- the guide roller 41 has a portion protruding from the guide portion accommodating portion 31a of the support member 31, and has a first guide surface G1 which is a side surface of the first track R1 and a side surface of the second track R2.
- the guide roller 41 does not contact the chamfered non-contact surface G3c of the intersecting track R3.
- the non-contact surface G3c may have any shape as long as the guide roller 41 does not come into contact when the guide roller 41 moves from the first connection guide surface G3a to the second connection guide surface G3b. is applied.
- the non-contact surface G3c is chamfered in two steps, and the connection between the chamfers is smooth.
- the guide rollers 41 move along the first guide surface. It moves along G1 or the first connection guide surface G3a. In this first state, the guide roller 41 can contact the first guide surface G1 and the first connection guide surface G3a at the portion protruding from the guide portion accommodating portion 31a. Since the guide roller 41 is rotatable when in contact with the first guide surface G1 and the first connection guide surface G3a, the frictional resistance at the time of contact is reduced while the main body 10 is running, and particles are not generated. While suppressing this, it is possible to suppress an increase in the load on the traveling drive unit 33 .
- the guide roller 41 hits the first guide surface G1 or the first connection guide surface G3a, thereby moving the body portion 10 in the second direction D2.
- the body portion 10 has a pair of guide rollers 41 in the second direction D2, and the guide rollers 41 abut against the first guide surface G1 or the first connection guide surface G3a facing each other.
- a positional deviation in the direction and the -Y direction is suppressed. Therefore, positional deviation in the second direction D2 can be restricted not only when the main body 10 is traveling in the first direction D1, but also when the main body 10 is stopped on one of the grid-like tracks R.
- the direction changing mechanism 34 moves the main body 10 along the second direction D2 from the state where the main body 10 is running in the first direction D1 (when the running wheels 21 move in the second direction D2). In the second state of rolling on the track R2), the running wheels 21 are turned. At this time, the guide roller 41 turns around the turning axis AX2 as the connecting portion 30 turns by the direction changing mechanism 34 . Specifically, the guide roller 41 moves from the first connection guide surface G3a to the second connection guide surface G3b. At this time, the guide roller 41 moves from the first connection guide surface G3a to the second connection guide surface G3b without contacting the chamfered non-contact surface G3c, for example.
- the guide roller 41 can contact the second guide surface G2 and the second connection guide surface G3b at the portion protruding from the guide portion accommodating portion 31a.
- the guide roller 41 since the guide roller 41 is rotatable when in contact with the second guide surface G2 and the second connection guide surface G3b, the frictional resistance at the time of contact is reduced while the body portion 10 is traveling, and the travel drive portion 33 It is possible to suppress the increase in the burden of
- the guide roller 41 hits the second guide surface G2 or the second connection guide surface G3b, thereby moving the body portion 10 in the first direction D1.
- the body portion 10 has a pair of guide rollers 41 in the first direction D1, and the guide rollers 41 contact the second guide surface G2 or the second connection guide surface G3b facing each other.
- a positional deviation in the direction and the -X direction is suppressed. Therefore, it is possible to suppress displacement in the first direction D1 not only when the main body 10 is traveling in the second direction D2 but also when the main body 10 is stopped on one of the grid-like tracks R.
- FIG. 13 is a side view showing an example of the positional relationship between the grid-like track and guide rollers according to the embodiment.
- the interval L1 between two of the four guide rollers 41 arranged in the running direction is different from the interval L2 between adjacent gaps D in the first direction D1 or the second direction D2. set. This configuration can prevent two guide rollers 41 aligned in the running direction from being positioned in the gap D at the same time.
- the example shown in FIG. 13 shows the case where the interval L1 between the guide rollers 41 is larger than the interval L2 of the gap D
- the present invention is not limited to this embodiment, and the interval L1 between the guide rollers 41 is larger than the interval L2 of the gap D. It can be small.
- 14 to 17 are diagrams showing examples of operations for changing the traveling direction of the traveling vehicle from the first direction to the second direction according to the embodiment.
- the body portion 10 of the traveling vehicle 100 traveling on the first track R1 in the first direction D1 (+X direction or -X direction) reaches a position where one unit U of the grid-like track R is reached.
- all the four running wheels 21 are in contact with the intersecting track R3.
- the four guide rollers 41 are arranged at positions along the first connection guide surface G3a of the intersecting track R3.
- the control unit 50 drives the direction changing mechanism 34 to turn the connecting portion 30, and the running wheels 21 and the auxiliary wheels 22 arranged at the four corner portions 10a are respectively aligned with the turning axis AX2. is rotated in the ⁇ Z direction.
- the traveling wheels 21 and the like positioned diagonally turn in the same direction.
- the traveling wheel 21 and the like on the upper right in the figure and the traveling wheel 21 and the like on the lower left in the figure turn counterclockwise.
- such turning motions may be performed at the same timing or at different timings.
- the upper left and lower right traveling wheels 21 and the like in the drawing may be turned simultaneously first, and then the upper right and lower left traveling wheels 21 and the like in the drawing may be turned simultaneously.
- the four guide rollers 41 turn around the turning axis AX2 integrally with the connecting portion 30 and move without coming into contact with the non-contact surface G3c. Further, since the turning of the traveling wheels 21 and the like and the turning of the guide rollers 41 are performed by the common direction changing mechanism 34, there is no need to separately provide a configuration for changing the direction of the guide rollers 41. Avoid complicating the configuration.
- FIG. 16 is a diagram showing an example of guide rollers during turning according to the embodiment.
- the four guide rollers 41 provided in the connecting portion 30 change their directions in synchronization.
- the main body 10 is configured so that each of the guide rollers 41 does not come into contact with the intersecting track R3 (non-contact surface G3c) when the traveling wheels 21 turn (during steering). The impact during turning can be reduced as compared with the case of providing a guiding shape for contact.
- the main body 10 since the guide roller 41 does not contact the intersecting track R3 (non-contact surface G3c) during turning, the main body 10 has a guiding shape that causes the guide roller 41 to contact the intersecting track R3 (non-contact surface G3c). As compared with the case of providing the , it is possible to soften the impact caused by the lure, and to suppress the occurrence of the positional deviation caused by the impact.
- the control unit 50 stops driving the direction change mechanism 34 after each running wheel 21 and the like turns 90 degrees in the ⁇ Z direction.
- the traveling vehicle 100 can travel in the second direction D2 (+Y direction or -Y direction).
- the four guide rollers 41 are arranged at positions along the second connection guide surface G3b of the intersecting track R3. Further, the body portion 10 does not turn even when the traveling wheels 21 and the like turn. Therefore, the orientation of the main body 10 is not changed regardless of whether the traveling vehicle 100 travels in the first direction D1 or travels in the second direction D2.
- FIG. 18 is a diagram showing another example of the non-contact surface according to the embodiment.
- the non-contact surface G3c of the intersecting track R3 may be chamfered in one step different from the two-step chamfering described above.
- the two-stage chamfering described above is indicated by broken lines.
- the one-step chamfered non-contact surface G3c does not contact the guide roller 41 during turning, as in the above-described embodiment.
- the non-contact surface G3c of the intersecting track R3 may be entirely curved. At this time, the non-contact surface G3c does not contact the guide roller 41 during turning, as in the above-described embodiment.
- FIG. 18A the non-contact surface G3c of the intersecting track R3 may be chamfered in one step different from the two-step chamfering described above.
- the two-stage chamfering described above is indicated by broken lines.
- the one-step chamfered non-contact surface G3c does not contact the guide roller 41 during
- the continuous surface that abuts against the guide roller 41 during turning is represented by a dashed line.
- the shape of the non-contact surface G3c may be any shape as long as it does not contact the guide roller 41 when the guide roller 41 turns. Since the sagging is suppressed, it is preferably formed with a chamfer or a curved surface that can suppress the sagging of the running wheels 21 .
- FIG. 19 is a diagram showing a configuration example of a unit according to the embodiment.
- the unitary unit U (the upper part of the unitary unit U, the connecting portion C) is composed of several members. Each member is directly connected by a bolt or the like.
- the unit unit U (the upper part of the unit unit U, the connection part C) includes a member including one first track R1 and one intersecting track R3, the other first track R1 and one It may be configured by a combination of a member including the intersecting tracks R3, a member including one second track R2 and one intersecting track R3, and a member including the other second track R2 and one intersecting track R3.
- FIG. 19 is a diagram showing a configuration example of a unit according to the embodiment.
- the unitary unit U (the upper part of the unitary unit U, the connecting portion C) is composed of several members. Each member is directly connected by a bolt or the like.
- the unit unit U (the upper part of the unit unit U, the connection part C) includes a member including one
- the unit unit U (the upper part of the unit unit U, the connection part C) includes a member including the first track R1 on one side, a member including the first track R1 on the other side, and a second track on the other side. It may be configured by a combination of four members including a member including R2, a member including the other second track R2, and one cross track R3.
- the unit unit U (the upper part of the unit unit U, the connection part C) includes a member including the first track R1 on one side, a member including the first track R1 on the other side, and a second track on the other side. It may be configured by a combination of a member including R2 and two intersecting tracks R3 and a member including the other second track R2 and two intersecting tracks R3.
- 19A to 19C are examples, and the unit unit U may be composed of any number of members.
- the grid-shaped track R is formed by connecting a plurality of unit units U with the unit unit U as one square of the grid of the grid-shaped track R. It is easy to make the shape of the lattice uniform, and it is easy to install the suspended track without requiring adjustment of the installation position from the ceiling or the like.
- the first tracks R1 and the second tracks R2 are in contact with each other. The positional relationship between the units U can be easily determined, and the influence of vibration when the traveling vehicle 100 travels on the grid-like track R can be reduced.
- each of the guide surfaces of the four intersecting tracks R3 includes a non-contact surface G3c that does not come into contact with the guide roller 41 during turning, the impact caused by the guide roller 41 being drawn in during turning of the guide roller 41 is reduced. can be relieved, and displacement of the traveling vehicle 100 due to the impact can be suppressed.
- the technical scope of the present invention is not limited to the above-described embodiments. It is obvious to those skilled in the art that various modifications or improvements can be made to the above-described embodiments. Moreover, the form which added such a change or improvement is also included in the technical scope of this invention. One or more of the requirements described in the embodiments and the like described above may be omitted. Also, the requirements described in the above-described embodiments and the like can be combined as appropriate. In addition, as long as it is permitted by laws and regulations, the disclosure of all the documents cited in the above-described embodiments and the like is used as part of the description of the text. For example, the shape of the grid-like track R may be a rectangle or a parallelogram instead of a square (not just a square). Also, the guide roller 41 may not be included.
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Abstract
Description
CP・・・連結部材
D・・・間隙
D1・・・第1方向
D2・・・第2方向
G1・・・第1ガイド面
G2・・・第2ガイド面
G3a・・・第1接続ガイド面
G3b・・・第2接続ガイド面
G3c・・・非当接面
R・・・格子状軌道
R1・・・第1軌道
R2・・・第2軌道
R3・・・交差軌道
SYS・・・走行車システム
U・・・単位ユニット
21・・・走行車輪(走行輪)
41・・・ガイドローラ(ガイド輪)
100・・・走行車
Claims (6)
- 吊り下げ式の格子状軌道と、前記格子状軌道を走行する走行車と、を備える走行車システムであって、
前記格子状軌道は、格子の1つのマス目に対応する単位ユニットを備え、
前記単位ユニットは、
第1方向に平行に延在する2本の第1軌道と、前記第1方向とは異なる第2方向に平行に延在する2本の第2軌道と、前記2本の第1軌道のそれぞれの前記第1方向への延長線と前記2本の第2軌道のそれぞれの前記第2方向への延長線との交差点に対応し、前記2本の第1軌道のそれぞれ及び前記2本の第2軌道のそれぞれと間隔を隔てて設けられた4個の交差軌道と、前記4個の交差軌道のそれぞれを前記2本の第1軌道のそれぞれ及び前記2本の第2軌道のそれぞれと接続する接続部と、を有し、
前記格子状軌道は、複数の前記単位ユニットの連結によって形成され、連結された2個の前記単位ユニット間で前記4個の交差軌道のうち2個の交差軌道が連続している、走行車システム。 - 前記格子状軌道は、
前記第1方向に連結された2個の前記単位ユニット間で前記2本の第2軌道のうち1本の第2軌道が当接し、
前記第2方向に連結された2個の前記単位ユニット間で前記2本の第1軌道のうち1本の第1軌道が当接する、請求項1に記載の走行車システム。 - 前記単位ユニットは、前記4個の交差軌道のそれぞれの上方又は下方の位置で他の単位ユニットと連結可能である、請求項1又は請求項2に記載の走行車システム。
- 前記走行車は、走行輪とガイド輪とを備え、
前記単位ユニットは、前記2本の第1軌道のそれぞれ、前記2本の第2軌道のそれぞれ、及び前記4個の交差軌道のそれぞれの側面に、前記ガイド輪を案内するガイド面を備え、
前記4個の交差軌道のそれぞれの前記ガイド面は、前記走行車による走行方向の転換に伴う前記ガイド輪の旋回時に、前記ガイド輪に当接しない形状である、請求項1から請求項3のいずれか一項に記載の走行車システム。 - 第1方向に平行に延在する2本の第1軌道と、
前記第1方向とは異なる第2方向に平行に延在する2本の第2軌道と、
前記2本の第1軌道のそれぞれの前記第1方向への延長線と前記2本の第2軌道のそれぞれの前記第2方向への延長線との交差点に対応し、前記2本の第1軌道のそれぞれ及び前記2本の第2軌道のそれぞれと間隔を隔てて設けられた4個の交差軌道と、
前記4個の交差軌道のそれぞれを前記2本の第1軌道のそれぞれ及び前記2本の第2軌道のそれぞれと接続する接続部と、
を有する単位ユニット。 - 走行車が走行する吊り下げ式の格子状軌道であって、
第1方向に平行に延在する2本の第1軌道と、前記第1方向とは異なる第2方向に平行に延在する2本の第2軌道と、前記2本の第1軌道のそれぞれの前記第1方向への延長線と前記2本の第2軌道のそれぞれの前記第2方向への延長線との交差点に対応し、前記2本の第1軌道のそれぞれ及び前記2本の第2軌道のそれぞれと間隔を隔てて設けられた4個の交差軌道と、前記4個の交差軌道のそれぞれを前記2本の第1軌道のそれぞれ及び前記2本の第2軌道のそれぞれと接続する接続部と、を有する単位ユニットを、格子の1つのマス目として備え、
複数の前記単位ユニットの連結によって形成され、連結された2個の前記単位ユニット間で前記4個の交差軌道のうち2個の交差軌道が連続している、格子状軌道。
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KR1020237038706A KR20230169269A (ko) | 2021-06-03 | 2022-05-13 | 주행차 시스템, 단위 유닛 및 격자 형상 궤도 |
JP2023525697A JP7517605B2 (ja) | 2021-06-03 | 2022-05-13 | 走行車システム、単位ユニット、及び格子状軌道 |
EP22815817.6A EP4349679A1 (en) | 2021-06-03 | 2022-05-13 | Travelling vehicle system, unit, and grid-shaped track |
US18/288,234 US20240217738A1 (en) | 2021-06-03 | 2022-05-13 | Traveling vehicle system, unitary unit, and grid-patterned track |
CN202280030721.XA CN117203113A (zh) | 2021-06-03 | 2022-05-13 | 行驶车系统、单位单元以及格子状轨道 |
IL307895A IL307895A (en) | 2021-06-03 | 2022-05-13 | A passenger car system, a single unit and a rail in a grid pattern |
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WO2020110522A1 (ja) | 2018-11-28 | 2020-06-04 | 村田機械株式会社 | 走行車システム |
JP2021011322A (ja) * | 2019-07-03 | 2021-02-04 | 村田機械株式会社 | 搬送システム |
JP2021093833A (ja) | 2019-12-10 | 2021-06-17 | 日立Astemo株式会社 | 電子制御装置 |
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2022
- 2022-05-13 CN CN202280030721.XA patent/CN117203113A/zh active Pending
- 2022-05-13 IL IL307895A patent/IL307895A/en unknown
- 2022-05-13 WO PCT/JP2022/020238 patent/WO2022255062A1/ja active Application Filing
- 2022-05-13 KR KR1020237038706A patent/KR20230169269A/ko active Search and Examination
- 2022-05-13 EP EP22815817.6A patent/EP4349679A1/en active Pending
- 2022-05-13 JP JP2023525697A patent/JP7517605B2/ja active Active
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Patent Citations (5)
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JP2012040961A (ja) * | 2010-08-19 | 2012-03-01 | Daifuku Co Ltd | 物品搬送設備 |
JP2019081639A (ja) * | 2017-10-31 | 2019-05-30 | 村田機械株式会社 | 搬送システム |
WO2020110522A1 (ja) | 2018-11-28 | 2020-06-04 | 村田機械株式会社 | 走行車システム |
JP2021011322A (ja) * | 2019-07-03 | 2021-02-04 | 村田機械株式会社 | 搬送システム |
JP2021093833A (ja) | 2019-12-10 | 2021-06-17 | 日立Astemo株式会社 | 電子制御装置 |
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CN117203113A (zh) | 2023-12-08 |
TW202300370A (zh) | 2023-01-01 |
JP7517605B2 (ja) | 2024-07-17 |
EP4349679A1 (en) | 2024-04-10 |
US20240217738A1 (en) | 2024-07-04 |
JPWO2022255062A1 (ja) | 2022-12-08 |
IL307895A (en) | 2023-12-01 |
KR20230169269A (ko) | 2023-12-15 |
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