WO2025216065A1 - Track equipment and track-guided carriage system - Google Patents

Abstract

This track equipment (60) is configured by connecting a plurality of segment members (61). Each of the plurality of segment members (61) in the track equipment (60) is provided with a rolling surface (75A) on which a pair of travel rollers (51, 51) roll, a side surface (73A) that comes into contact with a side roller (52) from the outer side with respect to the width direction of the segment member (61), and a guide surface (77A) that comes into contact with the side roller (52) from the inner side with respect to the width direction of the segment member (61). The guide surface (77A) provided to one of mutually adjacent segment members (61) and the side surface (73A) provided to the other of the mutually adjacent segment members (61) are formed so as to face each other in the width direction.

Description

Track facilities and tracked vehicle systems

One aspect of the present invention relates to track equipment for rail-guided vehicles and a rail-guided vehicle system.

Overhead traveling vehicles (carts) that travel along tracks to transport goods are known. Overhead traveling vehicles travel along the direction of the track, with traveling rollers rolling on the underside of the track and side rollers guided by the sides of the track. Furthermore, the tracks on which such overhead traveling vehicles travel may be laid across multiple buildings. If the buildings shake or move in different ways due to an earthquake or other event, the tracks spanning the buildings may become bent or damaged.

Patent Document 1 describes a traveling facility that allows for some degree of misalignment by arranging a track made up of multiple segment structures for a portion of the track spanning between buildings, and also arranges connecting sections that break the connection between the tracks when a stress above a predetermined value is applied, thereby avoiding interference with other tracks (or structures installed near the tracks) after a portion of the track breaks, and reducing damage to the track.

Japanese Patent Application Laid-Open No. 2019-186428

However, in a track made up of the above-mentioned multiple segment structures, if it is bent to a degree that does not cause damage, adjacent segments may move across the gaps between them, creating gaps in the side surfaces where the side rollers roll. Gap may also occur at the locations where the above-mentioned connection parts are provided, creating gaps in the side surfaces where the side rollers roll. Running rails with gaps on the side surfaces where the side rollers roll may not allow bogies to run stably.

Therefore, one object of the present invention is to provide track equipment and a track-guided bogie system that allow the bogie to run stably even if there is a gap on the side where the side rollers roll.

(1) One aspect of the present invention relates to a track system on which a carriage travels. The track system has a pair of running rollers that are arranged opposite each other in a width direction perpendicular to the running direction and rotate about a horizontal axis, and a pair of side rollers that are arranged opposite each other in the width direction and rotate about a vertical axis. The track system is constructed by connecting a plurality of segments, each of which has a rolling surface on which the pair of running rollers roll, a side surface that contacts the side rollers from the outside in the width direction of the segment, and a guide surface that contacts the side rollers from the inside in the width direction of the segment, and the guide surface on one of the adjacent segments and the side surface on the other of the adjacent segments are formed so as to face each other in the width direction.

In a track system with this configuration, the side rollers can always be guided by at least one of the side surfaces and the guide surfaces between adjacent segments in the direction in which the segments are connected. Furthermore, even if there is a gap in the gap between the side surfaces where the side rollers roll, there will be no section where the side rollers are not guided, allowing the bogie to run stably.

(2) In the track equipment described in (1) above, the side surfaces are a pair of side surfaces that contact each of the pair of side rollers from the outside in the width direction, and the guide surfaces are a pair of guide surfaces that contact each of the pair of side rollers from the inside in the width direction, and the pair of side surfaces and pair of guide surfaces may be arranged so that the pair of guide surfaces of one of the adjacent segments and the pair of side surfaces of the other adjacent segment face each other in the width direction. With this configuration, there are no sections where the pair of side rollers are not guided, allowing the bogie to run stably.

(3) In the track system described in (1) or (2) above, each of the multiple segments may be formed symmetrically. This configuration makes it easier to form the segments.

(4) In the track equipment described in any one of (1) to (3) above, the guide surface may be positioned at a distance from the side surface that is greater than the diameter of the side roller. With this configuration, the side roller will not come into contact with the side surface and the guide surface at the same time, reducing damage to the side roller.

(5) In the track system described in any one of (1) to (4) above, adjacent segments may be configured to be rotatable relative to each other in the horizontal direction. With this configuration, the segments can be curved to the left or right along the connecting direction. As a result, even if horizontal misalignment occurs in the track due to building shaking or the like, the adjacent segments can rotate relative to each other to absorb the misalignment. Even if such misalignment occurs, the bogie can travel stably.

(6) In the track system described in (5) above, one end of each segment in the running direction may be formed in a convex arc shape in plan view, and the other end may be formed in a concave arc shape that fits into the one end in plan view. With this configuration, the gap between adjacent segments is reduced when the segments rotate relative to each other.

(7) In the track equipment described in any one of (1) to (6) above, the side surface may be formed to guide the side rollers in a direction that brings them into contact with the guide surface. With this configuration, when the portion along which the side rollers are guided changes from the side surface to the guide surface, the side rollers are smoothly guided onto the guide surface. This allows the carriage to travel more stably.

(8) A rail-guided vehicle system according to one aspect of the present invention may include any one of the track facilities described above in (1) to (7) and a vehicle that travels on the track facility. With this configuration, the vehicle can travel stably even if a gap occurs on the side where the side rollers roll.

(9) In the rail-guided bogie system described in (8) above, the bogie has two pairs of side rollers, a pair of upper side rollers and a pair of lower side rollers, arranged in the vertical direction, and the upper side rollers may contact the side surface, and the lower side rollers may contact the guide surface. In this configuration, the height of the guide surface can be lower than the position of the upper side rollers, thereby increasing the travel space in which the bogie travels.

According to one aspect of the present invention, the carriage can run stably even if there is a gap on the side where the side rollers roll.

FIG. 1 is a schematic plan view showing a traveling vehicle system according to an embodiment. FIG. 2 is a schematic front view of the overhead traveling vehicle of FIG. 1 as seen from the traveling direction. FIG. 3 is a cross-sectional view of the track of FIG. 4A and 4B are diagrams for explaining the operations of the branch rollers, upper side rollers, and lower side rollers at the branching portion and merging portion in FIG. 2. FIG. 5A is a plan view showing a coupling track in which segments are arranged in a straight line, and FIG. 5B is a plan view showing a coupling track in which segments are arranged in a curved line. Fig. 6(A) is a perspective view of a segment that constitutes a connecting track, and Fig. 6(B) is a perspective view showing a part of the segment shown in Fig. 6(A). FIG. 7 is a perspective view of a part of the connecting track as seen obliquely from above. FIG. 8 is a perspective view of the connecting tracks in FIG. 7 arranged in a curved shape, as viewed obliquely from above. 9 is a perspective view of the running section running in the running space forming section formed on the connecting track of FIG. 7, seen obliquely from above. 10A and 10B are diagrams showing an example of state transitions in a traveling vehicle traveling on a connecting track. 11A and 11B are diagrams showing an example of state transitions in a traveling vehicle traveling on a connecting track. 12A and 12B are diagrams showing an example of state transitions in a traveling vehicle traveling on a connecting track.

The following describes a traveling vehicle system (rail-guided bogie system) including an articulated track (railway facility) 60 according to one embodiment, with reference to the drawings. In the description of the drawings, identical elements are given the same reference numerals, and duplicate explanations will be omitted. For ease of explanation, the directions "up," "down," "left," "right," "front," and "rear" are defined in Figures 2 and 3.

As shown in Figures 1 and 2, the traveling vehicle system 1 is a system for transporting items 10 between mounting sections 9, 9 using overhead traveling vehicles (carriages) 6 (hereinafter referred to as traveling vehicles 6) that can move along traveling tracks 4. Items 10 include, for example, FOUPs (Front Opening Unified Pods) that store multiple semiconductor wafers, containers that store glass substrates, containers such as reticle pods, and general parts. The traveling vehicle system 1 comprises traveling tracks 4, multiple traveling vehicles 6, multiple mounting sections 9, and connecting tracks 60.

The running track 4 is installed, for example, near the ceiling, which is the overhead space for the worker. The running track 4 is suspended, for example, from the ceiling of the building 2. The running track 4 is a predetermined running path for the running vehicle 6 to travel on. The running track 4 may be arranged across multiple buildings 2. In this embodiment, the running track 4 is arranged across two buildings 2A and 2B.

Buildings 2A and 2B may sway in different ways due to an earthquake or the like. Specifically, buildings 2A and 2B may sway in different directions in the X direction, or in different directions in the Y direction. The running track 4 is installed via a connecting track 60 across buildings 2A and 2B, which may sway in different ways. Note that in this embodiment, an example has been given in which buildings 2A and 2B are arranged so that there is almost no distance between them, but buildings 2A and 2B may also be arranged so that there is a certain distance between them and they are suspended from an inter-building building or the like.

The traveling track 4 of the traveling vehicle system 1 has a first main line section 4A that travels in one direction in a specified area in building 2A, a second main line section 4B that travels in one direction in a specified area in building 2B, and a connecting section 4C that connects buildings 2A and 2B. Note that in connecting section 4C, the traveling vehicle 6 also moves in a predetermined direction.

The running track 4 is supported by support posts 40A, 40A. The running track 4 has a cylindrical rail main body 40 consisting of a pair of bottom surfaces 40B, 40B, a pair of side surfaces 40C, 40C, and a top surface 40D, as well as a power supply line 40E and a magnetic plate 40F. The rail main body 40 houses (encloses) the running part 50 of the running vehicle 6. The bottom surface 40B extends in the running direction of the running vehicle 6 and forms the underside of the rail main body 40. The bottom surface 40B is a plate-shaped member on which the running rollers 51 of the running vehicle 6 roll. The side surface 40C extends in the running direction of the running vehicle 6 and forms the side of the rail main body 40. The top surface 40D extends in the running direction of the running vehicle 6 and forms the top surface of the rail main body 40.

The power feeder 40E supplies power to the power feeder core 57 of the traveling vehicle 6 and transmits and receives signals to and from the power feeder core 57. The power feeder 40E is fixed to each of the pair of side portions 40C, 40C and extends along the traveling direction. The power feeder 40E supplies power to the power feeder core 57 in a non-contact manner. The magnetic plate 40F generates a magnetic force in the LDM (Linear DC Motor) 59 of the traveling vehicle 6 to cause it to travel or stop. The magnetic plate 40F is fixed to the top surface portion 40D and extends along the traveling direction.

The traveling vehicle 6 travels on the traveling track 4 and transports the article 10. The traveling vehicle 6 travels on the traveling track 4 when the traveling rollers 51 of the traveling vehicle 6 roll on the underside 40B of the traveling track 4. The traveling vehicle 6 is configured to be able to transfer the article 10. The traveling vehicle 6 is an overhead traveling unmanned traveling vehicle. The number of traveling vehicles 6 provided in the traveling vehicle system 1 is not particularly limited and may be multiple. The traveling vehicle 6 has a main body unit 7, a traveling unit 50, and a traveling vehicle controller 35. The main body unit 7 has a main body frame 22, a lateral feed unit 24, a θ drive 26, an elevation drive unit 28, an elevation platform 30, and a cover 33.

The main frame 22 is connected to the travel unit 50 and supports the lateral feed unit 24, θ drive 26, lift drive unit 28, lift platform 30, and cover 33. The lateral feed unit 24 collectively transports the θ drive 26, lift drive unit 28, and lift platform 30 laterally in a direction perpendicular to the travel direction of the travel track 4. The θ drive 26 rotates at least one of the lift drive unit 28 and the lift platform 30 within a predetermined angular range in a horizontal plane. The lift drive unit 28 raises and lowers the lift platform 30 by winding or unwinding a suspending material such as a wire, rope, or belt. The lift platform 30 is provided with a chuck that can freely grip or release the article 10. A pair of covers 33 are provided, for example, at the front and rear of the travel direction of the travel vehicle 6. The cover 33 has protruding and retracting claws (not shown) to prevent the article 10 from falling during transport.

The running unit 50 causes the running vehicle 6 to run along the running track 4. As shown in FIG. 4, the running unit 50 has a first running unit 50A and a second running unit 50B, which are rotatably connected to each other. As shown in FIG. 3, each of the first running unit 50A and the second running unit 50B has a running roller 51, a side roller 52, a branch roller 53, an auxiliary roller 54, an inclined roller 55, a power supply core 57, and an LDM 59. The branch roller 53, the auxiliary roller 54, and the inclined roller 55 are not shown in FIG. 2.

The running rollers 51 are a pair of rollers consisting of an outer wheel 51A as a running wheel and an inner wheel 51B as a running auxiliary wheel. The running rollers 51 are arranged at both the front and rear, left and right ends of the running section 50. The running rollers 51 roll on a pair of lower surface portions 40B, 40B of the running track 4.

The side rollers 52 are arranged so as to sandwich each of the outer rings 51A of the running rollers 51 in the front-to-rear direction. The side rollers 52 have two pairs of side rollers 52, 52: a pair of upper side rollers 52A, 52A and a pair of lower side rollers 52B, 52B. Each of the pair of upper side rollers 52A, 52A is arranged opposite each other in the width direction (left-right direction) and rotates around a vertical axis. Each of the pair of upper side rollers 52A, 52A is arranged so as to be able to come into contact (roll) with a pair of side portions 40C, 40C. Each of the pair of lower side rollers 52B, 52B is arranged opposite each other in the width direction (left-right direction) like the pair of upper side rollers 52A, 52A and rotates around a vertical axis. Each of the pair of lower side rollers 52B, 52B is arranged to be able to come into contact with (roll over) a pair of guide surfaces 77A, 77A formed on each of a pair of guide members 77, which will be described in detail below.

The branching rollers 53 are provided to switch the traveling vehicle 6 (traveling section 50) between straight-ahead traveling and branching traveling at the branching section of the traveling track 4. The branching rollers 53 are provided so that they can be shifted left and right (widthwise) by a switching mechanism (not shown). The branching rollers 53 selectively come into contact with (abut on) the branching guides provided at the branching section and are guided thereby, switching the traveling direction of the traveling vehicle 6. Four branching rollers 53 are provided for each of the first traveling section 50A and the second traveling section 50B (see Figure 4). The switching of the position of the branching rollers 53 is controlled by the traveling vehicle controller 35, which receives commands from the area controller 90.

Here, we will explain the operation of the pair of upper side rollers 52A, 52A, the pair of lower side rollers 52B, 52B, and the branching roller 53 at the branching or merging section of the running track 4 in section A shown in Figure 1, for example.

As shown in Figures 3 and 4, the vehicle 6 traveling on the first main line portion 4A has a pair of upper side rollers 52A, 52A rolling on the inner surfaces of a pair of side surfaces 40C, 40C that make up the first main line portion 4A. When the vehicle 6 approaches a location where a branch guide 40G is provided, if the branch roller 53 has been shifted to the left by a switching mechanism (not shown), the branch roller 53 is guided by the branch guide 40G. As a result, the vehicle 6 is guided from the first main line portion 4A to the connecting track 4D. If the vehicle 6 is not guided to the connecting track 4D, the branch roller 53 is shifted to the right by a switching mechanism (not shown). In this case, the branch roller 53 is not guided by the branch guide 40G on the connecting track 4D side, but is guided by the branch guide 40H on the straight-ahead side. This allows the vehicle 6 to continue traveling on the first main line portion 4A.

The connecting track 4D is provided with a posture stabilizing guide 40I at the branching point and a posture stabilizing guide 40J at the merging point. When a traveling vehicle 6 transfers to the connecting track 4D and approaches a point where a posture stabilizing guide 40I is provided, the left lower side roller 52B is guided by the posture stabilizing guide 40I. At this time, the left upper side roller 52A rolls on the left side surface 40C that constitutes the connecting track 4D. By being guided by the posture stabilizing guide 40I, the lower side roller 52B can stabilize the posture of the traveling vehicle 6.

When the traveling vehicle 6 approaches a location where posture stabilization guide 40J is provided, the right lower side roller 52B (i.e., the roller on the opposite side from the roller that was previously guiding it) is guided by posture stabilization guide 40J. At this time, the right upper side roller 52A rolls on the right side surface portion 40C that forms the connecting track 4D. By being guided by posture stabilization guide 40J, the lower side roller 52B can stabilize the posture of the traveling vehicle 6. Note that in this embodiment, the sections where posture stabilization guide 40I and posture stabilization guide 40J are provided do not overlap, but there may be sections where both posture stabilization guide 40I and posture stabilization guide 40J are provided.

In the section where the lower side roller 52B is guided by each of the posture stabilizing guides 40I and 40J, there is no branch guide to guide the branch roller 53, so the branch roller 53 is able to shift. In the section where the lower side roller 52B is guided, the branch roller 53 is shifted to the right by a switching mechanism (not shown). When the traveling vehicle 6 leaves the section where the posture stabilizing guide 40J is provided and approaches the location where the branch guide 40K is provided, the branch roller 53 has been shifted to the right by a switching mechanism (not shown), so the right-side branch roller 53 is guided by the branch guide 40K. Therefore, the traveling vehicle 6 transfers from the connecting track 4D to the first main line section 4A.

As described above, the traveling vehicle 6 having a pair of lower side rollers 52B, 52B and a branch roller 53 can easily transfer from the first main line portion 4A to the connecting track 4D and from the connecting track 4D to the first main line portion 4A by having the branch roller 53 and lower side roller 52B guided by the branch guide 40G, posture stabilizing guide 40I, posture stabilizing guide 40J, and branch guide 40K, respectively. In this embodiment, in guideless sections where branch guide 40G and branch guide 40K are not provided, and in sections where at least one of the pair of upper side rollers 52A, 52A does not contact the inner surfaces of the pair of side portions 40C, 40C that make up the connecting track 4D, the lower side roller 52B is guided by the posture stabilizing guide 40I and posture stabilizing guide 40J. Therefore, the posture of the traveling vehicle 6 can be stabilized even in guideless sections.

The auxiliary rollers 54 are a group of three rollers provided at the front and rear of the running section 50. The auxiliary rollers 54 are provided to prevent the LDM 59, power supply core 57, etc. from coming into contact with the magnetic plate 40F arranged on the upper surface of the running track 4 when the running section 50 tilts forward or backward due to acceleration or deceleration while running. The inclined rollers 55 are provided at the four corners of the LDM 59. The inclined rollers 55 are arranged in a state tilted from the front to rear direction. The inclined rollers 55 are provided to prevent the running section 50 from tilting due to centrifugal force when running on curved sections.

The power supply cores 57 are arranged at the front and rear of the traveling section 50, sandwiching the LDM 59 in the left-right direction. They provide contactless power supply and send and receive various signals between them and the power supply line 40E arranged on the traveling track 4. The power supply core 57 exchanges signals with the traveling vehicle controller 35. The LDM 59 is located at the front and rear of the traveling section 50. The LDM 59 uses an electromagnet to generate magnetic force for traveling or stopping between it and the magnetic plate 40F arranged on the top surface of the traveling track 4.

As shown in FIG. 1, the placement section 9 is arranged along the traveling track 4 and is provided at a position where the article 10 can be handed over to and from the traveling vehicle 6. The placement section 9 includes a buffer and a delivery port. The buffer is a placement section where the article 10 is temporarily placed. The buffer is a placement section where the article 10 is temporarily placed when, for example, the article 10 being transported by the traveling vehicle 6 cannot be transferred to the intended delivery port because another article 10 is placed at that port. The delivery port is a placement section where the article 10 is handed over to and from semiconductor processing equipment (not shown), such as a cleaning equipment, film formation equipment, lithography equipment, etching equipment, heat treatment equipment, or planarization equipment. The processing equipment is not particularly limited and may be a variety of devices.

For example, the placement unit 9 is arranged to the side of the running track 4. In this case, the running vehicle 6 transfers the article 10 to and from the placement unit 9 by using the lateral feed unit 24 to laterally feed the lifting drive unit 28 and the like, and slightly raising and lowering the lifting platform 30. Although not shown, the placement unit 9 may also be arranged directly below the running track 4. In this case, the running vehicle 6 transfers the article 10 to and from the placement unit 9 by raising and lowering the lifting platform 30.

The traveling vehicle controller 35 is an electronic control unit consisting of a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), etc. The traveling vehicle controller 35 controls various operations of the traveling vehicle 6. Specifically, the traveling vehicle controller 35 controls the traveling unit 50, the lateral feed unit 24, the θ drive 26, the lifting drive unit 28, and the lifting platform 30. The traveling vehicle controller 35 can be configured as software in which a program stored in ROM is loaded onto RAM and executed by the CPU, for example. The traveling vehicle controller 35 may also be configured as hardware such as electronic circuits. The traveling vehicle controller 35 communicates with the area controller 90 using a power supply line 40E, such as a feeder line, provided on the traveling track 4.

The area controller 90 is an electronic control unit consisting of a CPU, ROM, RAM, etc. The area controller 90 can be configured as software, for example, in which a program stored in ROM is loaded into RAM and executed by the CPU. The area controller 90 may also be configured as hardware such as electronic circuits. The area controller 90 sends transport commands to the traveling vehicles 6 to transport the items 10. An area controller 90 may be provided for each area in which the traveling track 4 is laid for each building 2A, 2B.

A connecting track 60 is disposed in the connecting section 4C connecting building 2A and building 2B. In this embodiment, the connecting track 60 is disposed in building 2A. As shown in Figures 5(A) and 5(B), the connecting track 60 includes a plurality of segments 61. The connecting track 60 is configured by connecting adjacent segments 61, 61 with a gap G between their side surfaces. In the connecting track 60, adjacent segments 61, 61 are configured to be rotatable relative to each other in the horizontal direction. This configuration allows the connecting track 60 to be deformed so that it becomes linear in its extension direction (the traveling direction of the traveling vehicle 6) in a plan view (see Figures 5(A) and 7) or curved (see Figures 5(B) and 8). The configuration of the connecting track 60 is described in detail below.

As shown in Figures 6(A), 7, and 8, each of the multiple segments 61 includes a support portion 63, a pivot portion 65, a connecting portion 67, and a travel space forming portion 70. Each of the multiple segments 61 is formed symmetrically.

The support portion 63 supports the rotating portion 65, the connecting portion 67, and the running space forming portion 70. The support portion 63 is a flat member. The running space forming portion 70 is attached to the underside of the support portion 63 via a pair of mounting portions 63A, 63A at both ends in the width direction (left-right direction). The rotating portion 65 is attached to the underside of the support portion 63, between the mounting portions 63A, 63A in the left-right direction. Note that the support portion 63 of one of the multiple segments 61 is fixed by a hanging member that suspends the connecting track 60 from the ceiling of the building 2A. In other words, the support portions 63 of the remaining multiple segments 61 are not fixed to the ceiling of the building 2A. In this embodiment, of the multiple segments 61, only the segment 61 furthest upstream (rearmost) in the running direction is fixed to the ceiling of the building 2A.

The rotating portion 65 is fixed to the underside of the support portion 63 and to the upper surface of the connecting portion 67. The rotating portion 65 is a member that rotates the connecting portion 67 relative to the support portion 63. The rotating portion 65 rotates the connecting portion 67 around a rotation axis that extends vertically. The rotating portion 65 is configured to include, for example, an outer ring portion 65A, an inner ring portion 65B, and a rolling portion 65C that is provided between the outer ring portion 65A and the inner ring portion 65B. The outer ring portion 65A is fixed to the support portion 63. The inner ring portion 65B is fixed to the connecting portion 67. The outer ring portion 65A and the inner ring portion 65B are arranged to be able to rotate relatively around the same rotation axis that extends vertically.

The connecting portion 67 is a member that connects adjacent segments 61, 61. One end of the connecting portion 67 in the running direction is fixed to the rotating portion 65. More specifically, a cylindrical mounting portion 67A is formed at one end of the connecting portion 67 in the running direction, and is fixed to the rotating portion 65 while inserted into the inner ring portion 65B. The other end of the connecting portion 67 in the running direction is fixed to the underside of the support portion 63 of the adjacent segment 61. More specifically, the other end of the connecting portion 67 in the running direction is fixed to the underside of the support portion 63 via an intermediate member 67B.

With this configuration of the support portion 63, rotating portion 65, and connecting portion 67, adjacent rotating portions 65, 65, i.e., adjacent running space forming portions 70, 70, can rotate relative to each other, as shown in Figures 8 and 9. The running space forming portion 70 forms the running space DA in which the running portion 50 of the running vehicle 6 runs. The running space forming portion 70 has a top surface portion 71, a pair of side surfaces 73, 73, and a pair of bottom surfaces 75, 75.

The top surface 71 forms the upper surface of the running space DA. The top surface 71 corresponds to the top surface 40D of the running track 4. Although not shown in Figures 6(A) and 7, a magnetic plate is attached to the top surface 71. One end of the top surface 71 in the running direction is formed in a convex arc shape in plan view, and the other end of the top surface 71 in the running direction is formed in a concave arc shape that fits into the one end in plan view.

The pair of side surfaces 73, 73 form a pair of side surfaces of the running space DA. The pair of side surfaces 73, 73 correspond to the pair of side surfaces 40C, 40C of the running track 4. Each of the pair of side surfaces 73, 73 has a side surface 73A, 73A that contacts each of the pair of upper side rollers 52A, 52A from the outside in the width direction. Although not shown in Figures 6(A) and 9, etc., a power supply line is attached to each of the inner surfaces of the pair of side surfaces 73, 73. Each of the pair of side surfaces 73, 73 is formed in an arc shape when viewed in a plane.

The pair of underside portions 75, 75 form a pair of underside portions of the traveling space DA. The pair of underside portions 75, 75 correspond to the pair of underside portions 40B, 40B of the traveling track 4. Each of the pair of underside portions 75, 75 has a rolling surface 75A, 75A on which the traveling rollers 51 (outer ring 51A and inner ring 51B) of the traveling vehicle 6 roll. One end of the underside portion 75 in the traveling direction is formed in a convex arc shape in plan view, and the other end of the underside portion 75 in the traveling direction is formed in a concave arc shape that fits into the one end in plan view.

A guide member 77 is provided on each of the pair of lower surface portions 75. Each of the guide members 77 is formed with a guide surface 77A that contacts the pair of lower side rollers 52B from the inside in the width direction. The guide member 77 may be formed integrally with the lower surface portion 75, or may be attached as a separate member. The pair of side surfaces 73A and the pair of guide surfaces 77A are arranged so that one pair of guide surfaces 77A of adjacent segments 61 and the other pair of side surfaces 73A of adjacent segments 61 face each other in the width direction.

The guide surface 77A of the guide member 77 is positioned at a distance from the side surface 73A of the side portion 73 that is greater than the diameter of the lower side roller 52B. The side surface 73A of the side portion 73 is formed to guide the lower side roller 52B in a direction that brings it into contact with the guide surface 77A of the guide member 77.

Below, an example of the operation of the traveling vehicle 6 traveling on the connecting track 60, more specifically, the operation of the upper side roller 52A and lower side roller 52B of the traveling vehicle 6, will be explained. Here, an example of a traveling vehicle 6 traveling from right to left on the connecting track 60, as shown in Figures 10(A), 10(B), 11(A), 11(B), 12(A), and 12(B), will be explained.

When the traveling vehicle 6 enters the connecting track 60, one of the pair of upper side rollers 52A contacts (rolls against) the side surface 73A of the side surface portion 73 as it moves forward. When the traveling vehicle 6 reaches the front of the first segment 61, as shown in FIG. 10(A), the pair of upper side rollers 52A, 52A on the front side in the traveling direction are guided inward in the width direction by the end of the side surface 73A of the side surface portion 73, and the pair of lower side rollers 52B, 52B on the rear side in the traveling direction are guided by the guide surface 77A of the guide member 77.

When the traveling vehicle 6 then enters the second segment 61, as shown in Figure 10 (B), one of the pair of upper side rollers 52A, 52A on the front side again moves forward while making contact (rolling) with the side surface 73A of the side portion 73. Meanwhile, the pair of upper side rollers 52A, 52A on the rear side, like the pair of upper side rollers 52A, 52A on the front side, is guided inward in the width direction by the end of the side surface 73A of the side portion 73, and the pair of lower side rollers 52B, 52B on the rear side are guided by the guide surface 77A of the guide member 77.

Furthermore, as the traveling vehicle 6 travels along the second segment 61, as shown in FIG. 11(A), one of the pair of upper side rollers 52A, 52A on the front side is guided inward in the width direction by the end of the side surface 73A of the side portion 73, and as shown in FIG. 11(B), the pair of lower side rollers 52B, 52B on the front side is guided by the guide surface 77A of the guide member 77. At this time, one of the pair of upper side rollers 52A, 52A on the rear side goes through a free state (not contacting the side surface 73A of the side portion 73) and is again guided by the side surface 73A of the side portion 73, as shown in FIG. 12(A).

Furthermore, as the traveling vehicle 6 moves from the second segment 61 to the third segment 61, as shown in FIG. 12(B), one of the pair of upper side rollers 52A, 52A on the front side is again guided in the traveling direction by the side surface 73A of the side surface portion 73. Similarly, one of the pair of upper side rollers 52A, 52A on the rear side is guided inward in the width direction by the end of the side surface 73A of the side surface portion 73, and the pair of lower side rollers 52B, 52B on the rear side is guided by the guide surface 77A of the guide member 77.

As described above, the traveling vehicle 6 travels along the connecting track 60 while alternately repeating a pattern in which the pair of upper side rollers 52A, 52A are guided along the side surface 73A of the side surface portion 73 and a pattern in which the pair of lower side rollers 52B, 52B are guided along the guide surface 77A of the guide member 77.

The effects of the connecting track 60 of the above embodiment will now be described. In the connecting track 60 of the above embodiment, even when adjacent segments 61 are connected with a gap G in the connecting direction of the segments 61, the side rollers 52 (upper side rollers 52A and lower side rollers 52B) are guided by at least one of the side surface 73A and the guide surface 77A. As a result, there are no sections in the connecting direction of the segments 61 where the side rollers 52 are not guided, allowing the traveling vehicle 6 to travel stably.

In the connecting track 60 of the above embodiment, the side surfaces 73A are a pair of side surfaces 73A that contact the pair of upper side rollers 52A from the outside in the width direction, and the guide surfaces 77A are a pair of guide surfaces 77A that contact the pair of lower side rollers 52B from the inside in the width direction, and the pair of side surfaces 73A and the pair of 77A are arranged so that the pair of guide surfaces 77A of one adjacent segment 61 and the pair of side surfaces 73A of the other adjacent segment 61 face each other in the width direction. This eliminates any section where at least one of the upper side rollers 52A and the lower side rollers 52B is not guided, allowing the traveling vehicle 6 to travel stably.

In the connecting track 60 of the above embodiment, each of the multiple segments 61 is formed symmetrically. This makes it easy to form the segments 61.

In the connecting track 60 of the above embodiment, the guide surfaces 77A, 77A are positioned away from the side surfaces 73A, 73A at a distance greater than the diameter of the lower side roller 52B. This prevents the lower side roller 52B from coming into contact with both the side surface 73A and the guide surface 77A, thereby reducing damage to the lower side roller 52B.

In the connecting track 60 of the above embodiment, adjacent segments 61 are configured to be rotatable relative to each other in the horizontal direction. This allows the segments 61 to be curved to the left or right, for example, as shown in Figure 5(B), along the connecting direction. As a result, even if horizontal misalignment occurs in the running track 4 due to shaking of the building 2, the adjacent segments 61, 61 can rotate relative to each other to absorb the misalignment. Even if such misalignment occurs, the running vehicle 6 can travel stably.

In the connecting track 60 of the above embodiment, one end of each segment 61 (top surface portion 71 and a pair of bottom surface portions 75, 75) in the running direction is formed as a convex arc in plan view, and the other end is formed as a concave arc that fits into the one end in plan view. With this configuration, when adjacent segments 61, 61 rotate relative to each other, the gap G that occurs between the adjacent segments 61, 61 is reduced.

If the connecting track 60 is capable of deforming from the state shown in FIG. 5(A) to the state shown in FIG. 5(B), the connecting track 60 may be positioned in the connecting section 4C in a state between the state shown in FIG. 5(A) and the state shown in FIG. 5(B). In this case, even if the buildings 2A and 2B are misaligned in the X and Y directions, it will be possible to follow the misalignment. In other words, even if one end and the other end of the connecting track 60 in its extension direction are misaligned in the X direction, it will be possible to follow the misalignment by changing the level of curvature to expand or contract in the X direction, and even if they are misaligned in the Y direction, it will be possible to follow the misalignment by deforming so as to extend diagonally in the Y direction.

In the connecting track 60 of the above embodiment, the side surface 73A is formed to guide the lower side roller 52B in the direction of contact with the guide surface 77A. With this configuration, when the portion of the lower side roller 52B that is guided switches from the side surface 73A to the guide surface 77A, the lower side roller 52B is smoothly guided onto the guide surface 77A. This allows the traveling vehicle 6 to travel more stably.

In the traveling vehicle system 1 of the above embodiment, the upper side roller 52A contacts the side surface 73A, and the lower side roller 52B contacts the guide surface 77A. This allows the height of the guide surface 77A to be lower than the position where the upper side roller 52A is positioned, thereby increasing the space of the traveling space DA in which the traveling vehicle 6 travels.

Although one embodiment has been described above, aspects of the present invention are not limited to the above embodiment. Various modifications are possible without departing from the spirit of the invention.

(Variation 1)
The connecting track 60 in the above embodiment has been described with an example in which one of the plurality of segments 61 is fixed to the ceiling or the like of the building 2, and the remaining segments 61 are not directly fixed to the ceiling or the like but are connected to the fixed segment 61 so as to be rotatable. However, this is not limiting. For example, one or more of the remaining segments 61 may be fixed via a stage that is slidable in at least one of the X and Y directions relative to the ceiling or the like of the building 2. Furthermore, one or more of the remaining segments 61 may be fixed via a stage that is rotatable in addition to the X and Y directions.

(Variation 2)
Instead of the rotating portion 65 of the segment 61 in the above embodiment, a sliding portion that is slidable in the connecting direction may be provided. In this configuration, the distance between adjacent segments 61 can be changed. Furthermore, when one or more of the remaining segments 61 are fixed to the ceiling of the building 2 or the like via a stage that is slidable in the X direction, the adjacent segments 61 do not need to be rotatable relative to each other. In other words, the rotating portion 65 may be removed from the segment 61.

In the configuration according to Variation 2, one end of the segment 61 (top surface portion 71 and the pair of bottom surface portions 75, 75) in the running direction is formed in a convex arc shape in a plan view, and the other end does not have to be formed in a concave arc shape that fits into the one end in a plan view. For example, any shape is acceptable as long as one end has a shape that allows it to fit into the other end, in other words, as long as there is a portion that overlaps with the other in the running direction of the running vehicle 6.

(Variation 3)
In the above embodiment and modified examples, an example in which both ends of the connecting track 60 are connected to the running tracks 4, 4 has been described, but the present invention is not limited to this. For example, the connecting track 60 of the above embodiment and modified examples may be applied to the first connecting member (50) or the second connecting member (60) described as an embodiment in JP 2019-186428 A.

(Variation 4)
In the above embodiment and modified example, the connecting track 60 has been described for the case where the traveling vehicle 6 runs on which both the pair of upper side rollers 52A, 52A and the pair of lower side rollers 52B, 52B are provided as side rollers, but the present invention is not limited to this. For example, even in the case where the traveling vehicle 6 runs on which only the pair of side rollers 52, 52 are provided, it is sufficient to provide a guide member 77 having a guide surface 77A that comes into contact with the side rollers 52, 52.

(Other Modifications)
In the above embodiment and modified example, the connecting track 60 is disposed in building 2A, but it may be disposed in building 2B, or may be disposed at a position straddling buildings 2A and 2B. Furthermore, if there is an inter-building building between buildings 2A and 2B, the connecting track 60 is disposed between building 2A and the inter-building building. The connecting track 60 may be disposed in building 2A, in the inter-building building, or straddling building 2A and the inter-building building. Similarly, the connecting track 60 is disposed between building 2B and the inter-building building. The connecting track 60 may be disposed in building 2B, in the inter-building building, or straddling building 2B and the inter-building building.

In the above embodiment and modified example, an example was given in which the connecting track 60 is arranged in the connecting section 4C, but it may also be arranged in the first main line section 4A or the second main line section 4B, etc. The curved section in the first main line section 4A or the second main line section 4B is composed of a running track 4 with a standardized curvature. For this reason, giving the running track 4 a shape other than the standardized curvature requires, for example, custom-making the running track 4. However, by applying the connecting track 60 according to the above embodiment and modified example to this section, it is easy to give the running track 4 a shape other than the standardized curvature.

In the above embodiment and modified example, the description was given of a connecting track 60 in which adjacent segments 61, 61 are connected with a gap G between them when the segments 61, 61 are not rotating relative to each other, that is, when the segments 61, 61 are aligned in a straight line as shown in Figure 5 (A). However, the connecting track may also be configured so that adjacent segments 61, 61 are connected with no gap G between them.

1...Traveling vehicle system, 2 (2A, 2B)...Building, 4...Traveling track, 4A...First main line section, 4B...Second main line section, 4C...Connecting section, 4D...Connecting track, 6...Overhead traveling vehicle (traveling vehicle), 50...Traveling section, 50A...First traveling section, 50B...Second traveling section, 51...Traveling rollers, 52...Side rollers, 52A...Upper side rollers, 52B...Lower side rollers, 53...Branching rollers, 60...Connecting track (track equipment), 61...Segment member, 63...Support section, 65...Pivoting section, 67...Connecting section, 70...Traveling space forming section, 71...Ceiling surface, 73...Side section, 73A...Side section, 75...Lower surface, 75A...Rolling surface, 77...Guide member, 77A...Guide surface, 90...Area controller, DA...Traveling space.

Claims (9)

A track facility on which a carriage travels, the track facility having a pair of traveling rollers arranged opposite to each other in a width direction perpendicular to the traveling direction and rotating about a horizontal axis, and a pair of side rollers arranged opposite to each other in the width direction and rotating about a vertical axis,
The track facility is configured by connecting a plurality of segment members,
Each of the plurality of segment members is
a rolling surface on which the pair of running rollers roll;
a side surface of the segment that contacts the side roller from an outer side in the width direction;
a guide surface that contacts the side roller from an inner side of the segment in the width direction,
the guide surface provided on one of the adjacent segments and the side surface provided on the other of the adjacent segments are formed to face each other in the width direction. the side surfaces are a pair of side surfaces that contact the pair of side rollers from the outer sides in the width direction, respectively;
the guide surfaces are a pair of guide surfaces that contact the pair of side rollers from the inner side in the width direction, respectively;
2. The track installation according to claim 1, wherein the pair of side surfaces and the pair of guide surfaces are arranged such that the pair of guide surfaces of one of the adjacent segments and the pair of side surfaces of the other of the adjacent segments face each other in the width direction. The track equipment according to claim 1 or 2, wherein each of the plurality of segment members is formed symmetrically. The track equipment according to claim 1 or 2, wherein the guide surface is positioned at a distance from the side surface that is greater than the diameter of the side roller. The track system according to claim 1 or 2, wherein adjacent segment members are configured to be rotatable relative to each other in the horizontal direction. The track equipment according to claim 5, wherein one end of the segment in the running direction is formed in a convex arc shape in plan view, and the other end is formed in a concave arc shape that fits into the one end in plan view. The track equipment according to claim 1 or 2, wherein the side surface is formed to guide the side roller in the direction of contact with the guide surface. The track facility according to claim 1 or 2;
a bogie that travels on the track facility. The carriage has two pairs of side rollers, a pair of upper side rollers and a pair of lower side rollers, arranged in a vertical direction,
The upper side roller contacts the side surface,
The rail guided vehicle system of claim 8 , wherein the lower side rollers contact the guide surface.