KR101419358B1 - Overhead hoist system - Google Patents

Abstract

A transport system is disclosed. A conveying system according to an embodiment of the present invention includes a branching and joining rails for interconnecting a plurality of running rails and a plurality of running rails, and is configured to guide a straight running to a branching area to which a running rail, A rail system in which a straight branch guide and a curve branch guide for guiding a branch run are installed; A carrier unit installed to be able to run on a running rail of a rail system and carrying an object from a starting point to a destination; And a plurality of branch rollers rotatably installed in the carrier unit so that any one of the straight running and the branch running is selectively performed, and the branching rollers are vertically moved. When the carrier unit enters the branching region, And a branching roller unit in which one of the branching roller unit and the curve branching guide is guided and supported by any one of the linear branching guide and the curve branching guide.

Description

{OVERHEAD HOIST SYSTEM}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a conveyance system, and more particularly, to a conveyance system capable of automatically conveying a conveyance object to a destination by a conveyance truck moving along a rail provided on a ceiling.

OHS or OHT (Overhead Hoist Shuttle OR Transport) is installed in large hospitals, semiconductor and flat panel display manufacturing plants where there are many small carry objects to be transported. The ceiling trolley system includes a conveyance truck that runs along a rail installed on a ceiling and conveys an object, and a track having a rail for guiding the running of the conveyance truck.

For example, when such a ceiling trolley system is installed in a semiconductor or display flat panel production line, a traveling rail is installed using a ceiling space in a clean room. The transportation trolley driven on the traveling rail is a semiconductor wafer, a substrate, a mask, And the like are transported between the transporting ports.

The running rail is supported by a support or the like from a ceiling of a clean room, and is made up of a running rail body and a feed rail. The conveying bogie includes a traveling driving unit, which can travel within the traveling rail main body, and receives a signal from the power feeding rail by the power receiving unit.

The ceiling trolley system has branching and joining rails connecting the running rails spaced apart from each other so as to allow movement of the brakes between mutually spaced running rails. The branching and joining rails to which these running rails can be connected are provided with branches There is a confluence section where the section and the bogie are merged.

Such a bogie has a branching roller which can select a traveling along a branching rail in a branching section and a merging section. In the conventional bogie, the position of the branching roller can not be changed quickly and the entry into the branching rail may be delayed. The branching roller can not smoothly change the direction of the branching roller, and the branching roller may be impacted due to the position error of the branching roller, which may cause a failure, and the reliability of the rapid transportation of the logistics can be degraded Problems were raised.

Korean Patent Application Publication No. 10-2009-0023139

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and it is an object of the present invention to provide a railway truck which is capable of quickly and smoothly performing a position change and a braking direction switching action of a branching roller for traveling a bogie from a running rail to a branch rail, And to provide a transportation system capable of improving reliability in transportation of goods without causing a failure due to branch travel.

According to an aspect of the present invention, there is provided a railway vehicle comprising: a plurality of running rails; and a branching and joining rails interconnecting the plurality of running rails, wherein the driving rails and the branching and joining rails A rail system in which a straight branching guide and a curve branching guide for guiding a branching run are installed; A carrier unit installed to be able to run on a running rail of the rail system and to transport an object from a starting point to a destination; And a plurality of branch rollers rotatably installed in the carrier unit so as to selectively perform one of the straight traveling and the branched traveling, and when the carrier unit enters the branching region, And a branching roller unit in which any one of the plurality of branching rollers is guided while being held in contact with any one of the rectilinear branching guide and the curve branching guide.

The plurality of branching rollers may be arranged so as to be inclined such that they are moved upward by rotational movement and contacted with any one of the straight branching guide and the curve branching guide.

Wherein the branching roller unit is rotatably mounted on the carrier unit, the top end of the one end and the other end of the branching roller unit being inclined with respect to each other; And a branch contact moving unit installed in a width direction intersecting the running direction of the carrier unit and restricting the rotation range of the seesaw unit and returning the seesaw unit.

Wherein the seesection comprises: a seesection member provided with the branching rollers; A rotation hinge provided at a central portion of the seesick member to provide rotation of the seesaw member; And a center return contact portion provided on the rotary hinge and contacting the branch contact moving portion when the seesection member is rotated.

Wherein the branch contact moving section includes: a return moving block installed on the carrier unit so as to be movable in a width direction of the running rail and in contact with the center return contact portion; A moving circular rod to which the return moving block is movably installed; And a center return member provided on the carrier unit to elastically support the return moving block when the return moving block is moved.

The center return member may be a pair of coil springs installed on the moving round bar and capable of returning the return moving block to the center position of the moving round bar.

Wherein the center return contact portion includes a support cam that is engaged with an end portion of the rotary hinge and is provided in a fan shape so as to be in contact with the return movement block, wherein the return movement block is disposed so as to face each other with the support cam therebetween And a pair of support tines which can be brought into contact with the support cam.

Wherein the rail system includes a curve joining guide connected to the curve branching guide and disposed in the confluence region along the branching rail, wherein the other branching roller of the branching roller is contactably supported on the opposite surface; And a joining straight guide disposed along the running rail disposed in the joining region and connected to the curve joining guide.

Wherein the carrier unit comprises: a plurality of carrier bodies spaced apart from the running rail; A pair of driving wheels installed on the carrier body and moving along the traveling rail; And a pair of support rollers installed on the carrier main body and supported by the running rail to guide movement of the carrier main body.

A slide moving device installed at a lower portion of the carrier unit and capable of moving the object in a deflected direction from a center line of the carrier unit; And a loading platform installed at a lower portion of the slide moving device to pick up and lower the object.

Wherein the loading and unloading apparatus comprises: a chuck gripper unit capable of holding the object; And a lift unit connected to the chuck gripper unit and capable of moving the chuck gripper unit up and down and rotating the chuck gripper unit.

A cover frame which is installed on the plurality of carrier bodies and into which the object is drawn and is placed; And a drop prevention device installed at a lower portion of the cover frame to support the object.

The fall preventing device includes a pair of rotation supporting members which are disposed to face the lower portion of the cover frame and are rotatably coupled to the lower portion of the cover frame to support the object; And a drop prevention driving unit coupled to the cover frame to rotate the rotation support member.

The drop prevention drive unit includes a rotation link having one end rotatably coupled to the lower portion of the rotation support member and the other end rotatably coupled to the cover frame; A support link having one end rotatably coupled to the rotation link and the other end rotatably coupled to the cover frame; And a link driving module having one end coupled to the rotating link and the other end coupled to the cover frame, wherein the link driving module rotates the rotating link to rotate the rotating supporting member.

Wherein the pair of driving wheels are rotatably coupled to the pair of driving wheels so as to allow idle wheels to idly rotate any one of the pair of driving wheels away from the driving rail .

Further comprising: a support holder unit installed on the carrier unit and fixing the carrier unit to the running rail according to a deflected position of the object, wherein the support holder unit is movably installed at a lower portion of the carrier unit, A support holder member which is moved in a direction opposite to a direction in which the object is moved when it is moved and is held in contact with the running rail located in a direction opposite to the moving direction of the object; And a holder moving device installed on the carrier unit to move the support holder member.

According to the present invention, any one of a plurality of branch rollers rotatably installed in the carrier unit and moved in the vertical direction is guided and guided by any one of the straight branching guide and the curve branching guide, It is possible to quickly and smoothly change the position of the branching roller to be driven and change the direction of the bogie so that the branching running along the branching rail of the bogie is quick and the failure due to the branching does not occur, System can be provided.

1 is a layout diagram of a transport system according to an embodiment of the present invention.
Fig. 2 is a branch traveling state diagram of the lane departing apparatus and the joining region of Fig. 1; Fig.
Fig. 3 is a straight running state view of the lane departing apparatus and the joining region of Fig. 1. Fig.
4 is a conceptual cross-sectional view of I-I in Fig.
Fig. 5 is a plan layout diagram of the branching roller unit with respect to the branching region of Fig. 1;
6 is a detailed cross-sectional view of I-I in Fig.
FIG. 7 is a cross-sectional view of a running rail in which a truck according to an embodiment of the present invention is shown.
8 is a side view of a lane departing apparatus of a transportation system according to an embodiment of the present invention.
9 is an enlarged view of the carrier unit of Fig.
10 is a plan view of the carrier unit of Fig.

In order to fully understand the present invention, operational advantages of the present invention, and objects achieved by the practice of the present invention, reference should be made to the accompanying drawings and the accompanying drawings which illustrate preferred embodiments of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Like reference symbols in the drawings denote like elements.

FIG. 1 is a layout diagram of a transportation system according to an embodiment of the present invention. FIG. 2 is a state of branching and running of a lane departing apparatus and a joining region of FIG. 1, Fig. 4 is a conceptual cross-sectional view of I-I in Fig. 1, Fig. 5 is a plan layout view of the branching roller unit in the branching region of Fig. 1, and Fig. 6 is a cross- -I. ≪ / RTI >

1 to 6, a conveyance system according to an embodiment of the present invention includes a rail system 101 installed on a ceiling, a conveyor system 101 installed to run on a rail system 101, (Not shown).

First, as shown in Fig. 1, the rail system 101 includes a straight section 102, a curve connecting section 103, a branching and confluence section 104, a conveying section for loading and unloading the object 100 Port 105 and may include various sensors, a power supply, a communication device, and the like, not shown, for controlling the running of the vehicle 140.

A straight section 102 of the sections is a section through which the truck 140 can move linearly. A curve connecting section 103 is a section connecting the straight sections 102 spaced apart and arranged side by side. The section 104 is a section capable of moving the truck 140 from the separated branching zone 107 to the confluence zone 108.

The traveling rails 110 may be disposed in the straight section 102 of the rail system 101 and may include branching and joining sections that interconnect a plurality of traveling rails 110 spaced apart from the branching and merging section 104, The rails 111 may be arranged.

As shown in Figs. 1 to 6, a branching region 107 to which the running rail 110 and the branching and joining rails 111 are connected is provided with a straight branching guide 112 for guiding straight running, The curve branching guide 113 is installed so as to be divided in each running direction from one body.

The rail system 101 according to the present embodiment may include a straight rail main body 115 and a branch rail main body 116. The straight rail main body 115 is provided with a rail member 110 disposed along the running rail 110 in the branching area 107 for straight running corresponding to the straight branching guide 112, Is connected to the straight rail main body 115 in the branching area 107 and is disposed along the branching and confluence section 104 and the rail member 110 for branching travel corresponding to the curve branching guide 113 can be installed have.

The branching and joining rails 111 are disposed in the aforementioned branching and joining sections 104. The branching and joining rails 111 according to the present embodiment are formed by connecting the running rails 110 arranged in parallel to each other in an inclined manner to form N Type traveling track can be formed. The straight running, the branched running, and the converging running of the branching and merging area 108 of the balancing device 140, which will be described later, mainly assume the N-type running track.

The railroad car 101 installed in the rail system 101 according to the present embodiment is provided with a carrier unit 110 installed to be able to run on the running rail 110 of the rail system 101, And a branching roller unit 150 having branching rollers 151 and 152 which are rotated together so that either the straight running or the branching running is selectively performed.

The carrier unit 141 according to this embodiment includes a plurality of carrier main bodies 142 that are installed to be spaced apart from the running rail 110 and a plurality of carrier main bodies 142 installed on the respective carrier main bodies 142, And a pair of driving wheels 144 that are disposed on both sides of the carrier main body 142 and are supported by the side walls of the traveling rail 110 so as to support the carrier main body 142, And a support roller 145 that can guide the movement of the recording medium. The carrier body 142 is provided with a traveling motor 146 capable of driving the driving wheel 144 and a moving bar 148 coupled to the cover frame 147 on which the object 100 is to be placed. The movable bar 148 can fix the cover frame 147 to the carrier unit 141. [

The carrier unit 141 is installed on a running rail 110 of a rail system 101 mounted on a ceiling of a factory facility or a building that requires automatic transportation of goods in a manufacturing process of a product such as a semiconductor and a display manufacturing process, So that the object 100 can be carried by the automatic running from the starting point to the destination. When the carrier unit 141 travels in the branching zone 107 in which the branching and joining rails 111 are connected to the running rail 110, the branching roller unit 150 can execute branching driving .

Hereinafter, the transport system according to the present embodiment will be described in detail with reference to Figs. 1 to 6. Fig. 2 schematically shows the branching travel of the ladle truck by the branching roller unit 150, the straight travel in the branching region, and the straight travel in the joining region. The rollers of the branching roller unit 150, It is marked in black. The arrows indicate the running directions of the truck.

The branching roller unit 150 provided on the upper portion of the carrier unit 141 according to the present embodiment includes a plurality of branching rollers 151 and 152 which are rotatably installed in the carrier unit 141 and are moved in the vertical direction When any one of the plurality of branching rollers 151 and 152 is contacted to any one of the straight branching guide 112 and the curve branching guide 113 when the carrier unit 141 enters the branching region 107 .

The plurality of branching rollers 151 and 152 may be arranged to be inclined so as to be moved upward by the rotational motion and to be contacted with any one of the straight branching guide 112 and the curve branching guide 113. [

Accordingly, when the carrier unit 141 enters the branching region 107, any one of the plurality of branching rollers 151 and 152 can be separated from the straightening branching guide 112 and the curve < RTI ID = 0.0 > And the branching guide 113 so that either the straight running or the branching running with respect to the carrier unit 141 in the branching area 107 can be executed.

Each of the plurality of branching rollers 151 and 152 is arranged such that two pairs of the pair of rollers 151 and 152 are rotatable together. The pair of rollers 151 and 152 are lifted by one of the pair of rollers 151 and 152, One of which can be guided along the curve branching guide 113 in a rolling motion by being contacted with and supported by the curve branching guide 113. On the other hand, 112 and can be guided along the straight-going branch guide 112 as well.

The branching roller unit 150 according to the present embodiment is mounted on the carrier unit 141 so as to be rotatable for lifting and lowering the branching rollers 151 and 152. The upper and lower ends of the branching roller unit 150 are inclined And a seesaw section 155. The drive source of the seesaw 155 is not shown, but an electric motor can be used. The rotary shaft 153 of the branching rollers 151 and 152 is provided so as to be inclined with respect to one end of the seesaw 155 and the upper surface of the other end. These two side rotating shafts 153 may be arranged so that the center lines thereof cross the straight line branching guide 112 and the center line along the vertical direction of the curve branching guide 113.

The curve branching guide 113 described above is arranged from the running rail 110 of the branching region 107 to the branching and joining rails 111 so that the branching travel can be performed, So that the vehicle can travel straight ahead. The straight branching guide 112 may be arranged to pass through the branching region 107 along the running rail 110 on the opposite side of the curve branching guide 113. [ The branching or straight running of the carrier unit 141 can be executed by selection of the ascending / descending operations of the branching rollers 151 and 152 with respect to the linear branching guide 112 and the curve branching guide 113. [

According to the present embodiment, the straight branching guide 112 and the curve branching guide 113 are disposed so as to guide the straight running and the branching run to the branching region, And the other branch roller 152 can be contacted and supported by the linear branching guide 112. [0050]

The straight branching guide 112 and the curve branching guide 113 can be provided with sufficient contact surfaces so as to secure the grounding force of the branching rollers 151 and 152 in the horizontal direction. This contact surface is disposed so as to face the ground surface of the support roller 145 with respect to the corresponding rail member 110 at the time of the branched running or the straight running of the carriage device 140. [

The linear rail main body 115 and the branch rail main body 116 disposed in the branching region 107 and the confluence region 108 are provided on the rail member 117 which is grounded at the time of driving of the driving wheel 144, Can exist only on one side. The rail member 117 can not be installed at the connecting portion of the straight rail main body 115 to which the branch rail main body 116 is connected. The carrier unit 141 which travels through the branching region 107 can be driven to contact the one of the left and right rail members 117 on one side and the carrier unit 141 can be driven It is possible to make a straight run using one rail member 117 of the straight rail main body 115 and to perform branching travel using the other rail member 117 of the branch rail main body 116. [

In other words, the carrier unit 141 can be rotated by being tilted about the ground plane of the support roller 145 by the absence of any one of the rail members 117, The separation of the carrier unit 141 from the rail member 117 can be blocked by providing a moment that balances the reaction force applied to the branch rollers 151 and 152 from the oppositely disposed contact surfaces. The carrier unit 141 can smoothly run the branching region 107 depending on one of the rail members 117. [

On the other hand, the branching roller unit 150 according to the present embodiment is provided in the width direction crossing the running direction of the carrier unit 141, and restricts the rotation range of the seesection 155, And a branch contact moving unit 160 capable of returning the branch contact.

According to the present embodiment, when the seesaw portion 155 is rotated, any one of the branching rollers 151 and 152, that is, the branching roller 151 disposed on the left side can be guided and guided by the curve branching guide 113 At this time, after the seesaw 155 is rotated at a predetermined angle, the rotation of the seesaw 155 may be further restricted by the branch contact moving unit 160.

The drive wheel 144 disposed on the side contacted by the reaction force moment applied from the curve branching guide 113 to the branching roller 151 is moved in the radial direction of the rail 155, The rotation of the branching roller 151 by the seesaw unit 155 is limited to such a degree that the rotation of the branching roller 151 is in contact with the curve branching guide 113 so that the one drive wheel 144 of the carrier unit 141 Traveling can be performed without derailment from the rail member 117. [ The restriction of the rotation of the branching rollers 151 and 152 can also be applied to the straight branching guide 112 and the curve joining guide 131 and the joining straightening guide 132 described below.

The seesaw unit 155 according to the present embodiment includes a seesaw member 157 to which the diverging rollers 151 and 152 are installed and a rotary member 157 provided at the center of the seesaw member 157 to provide rotation of the seesaw member 157 A hinge 156 and a center return contact portion 158 which is provided on the rotary hinge 156 and is in contact with the branch contact moving portion 160 so as to limit the rotation range when the seesection member 157 rotates.

The branch contact moving unit 160 according to the present embodiment includes a return moving block 161 that is provided so as to be movable in the width direction of the running rail on the carrier unit 141 and contacts the center return contact unit 158, A moving bar 16 that is provided on the carrier unit 141 so as to move the return moving block 161 to move the return moving block 161 in the center And a return member 163. At this time, as the center return member 163, a pair of coil springs 164 which can be installed on the moving round bar 162 and return the return moving block 161 to the center position of the moving round bar 162 can be used .

One branch roller 151 of the pair of branch rollers 151 and 152 is moved along one wall portion of the curve branching guide 113 and the other branching roller 152 is moved in the opposite direction, The pair of branch rollers 151 and 152 can be rotated by the seesection member 157 and the position can be switched.

When the seesaw member 157 according to the present embodiment is rotated in the direction about the rotational axis 154 of the rotary hinge 156, the one branching roller 151 is raised and the other branching roller 152 is lowered The center return contact portion 158 provided on the rotary shaft 154 of the seesaw member 157 is moved in the direction of the return movement when the one branch roller 151 contacts the curve branch guide 113 side corresponding to the left wall portion. The block 161 is moved to one side and the return motion block 161 is supported by the coil spring 164 to be in an elastic bias state.

When the seesaw member 157 is rotated so that the other branching roller 152 contacts the right side wall portion of the curve joining guide 131 connected to the rear end of the curve branching guide 113, The return motion block 161 is quickly moved to press the center return contact 158 so that the rotational force of the rotational axis 154 of the rotational hinge 156 can be quickly reversed, The branching rollers 152 can be raised by the rotational movement and can be quickly brought into contact with the right side wall portion of the curve joining guide 131. [

The pair of branching rollers 151 and 152 according to the present embodiment are arranged in the branching region 107 or the joining region 108 in accordance with the flexible supporting relationship between the branching contact moving portion 160 and the center returning contact portion 158. [ 152 can be quickly rotated at the time of the branch running and the straight running to switch the running mode.

To this end, the center return contact portion 158 according to the present embodiment includes a support cam 158 which is coupled to an end of the rotation hinge 156 and is provided in a fan shape to contact the return movement block 161, The moving block 161 may have a pair of supporting jaws 165 that are arranged to face each other with the support cam 158 therebetween and can contact the support cam 158. [

The center return contact portion 158 provided on the rotary shaft 154 is rotated when the rotary shaft 154 of the rotary hinge 156 is rotated so that the one branch roller 151 is rotated to contact the curve branching guide 113 The support cam 158 can press one of the support jaws 165 and the return movement block 161 is moved to one side by the pressing of the support jaws 165 and is supported by the coil spring 164 to be elastically biased The returning block 161 is rapidly returned by the coil spring 164 and the support cam 158 is pressed by the support jaw 165 and the center return The rotary shaft 154 is quickly rotated in the opposite direction by the rotation force to rotate the contact portion 158 in the opposite direction so that the one branch roller 151 is quickly disengaged from the curve branch guide 113, Can be rapidly raised.

By switching the position of the pair of branch rollers 151 and 152, the carrier unit 141 can travel to the confluence area 108 after the branching travel. To this end, the rail system 101 according to the present embodiment is connected to the curve branching guide 113 and is disposed in the confluence region 108 along the branching and joining rails 111 as described above, and the branching rollers 151, And a curve joining guide 131 in which the other branching roller 152 is contactably supported on the opposite surface of the curve joining guide 131. The curve joining guide 131 is provided with a converging rectilinear guide 132 Can be connected.

The joining straightening guide 132 is disposed along the running rail 110 disposed in the joining region 108 and connected to the rear end of the curve joining guide 131. The joining straightening guide 132 is branched from the branching rollers 151, The branching roller 151 used for running is contacted with the left wall portion to provide straight running. As described above, the carrier unit 141 is supported by the one branch roller 151 in contact with the junction straight guide 132, so that the carrier unit 141 can smoothly pass through the junction region 108.

Conversely, according to the present embodiment, by switching the positions of the pair of branch rollers 151 and 152 with respect to the wall portions of the merging / straightening guide 132, the curve merging guide 131, and the curve branching guide 113, (141) can also travel from the confluence area (108) to the branch area (107).

The carrier unit 141 according to the present embodiment can perform the straight running by bringing the other branching roller 152 into contact with the straight branching guide 112 in the branching region 107. In the merging region 108, The one branch roller 151 which can be brought into contact with the cam follower 113 can be brought into direct contact with the converging / In this straight-ahead branching guide 112 and the merging straight-ahead guide 132, the carrier unit 141 can perform straight-line running using one of the branching rollers, which is used for straight- The branching rollers 151 and 152 can be quickly returned to the original position as well as the rotation range can be limited by the coordinated resilient support relationship of the branch contact moving portion 160 and the center return contact portion 158 .

Hereinafter, other general components that can be installed in the ladle truck of the transportation system according to the present embodiment will be described in detail.

7 is a cross-sectional view of a running rail according to an embodiment of the present invention, and FIG. 8 is a side view of a lane departing apparatus of a transportation system according to an embodiment of the present invention. Fig. 10 is a plan view of the carrier unit of Fig. 9. Fig.

7 to 10, the carriage apparatus 140 according to the present embodiment is provided at a lower portion of the carrier unit 141 as described above, so that the object 100 is supported by the center line of the carrier unit 141 And a loading and elevating device 175 installed at a lower portion of the slide moving device 170 and capable of picking up and dropping the object 100. [

The slide moving unit according to the present embodiment can have a multi-step slide structure so that the object 100 suspended from the loading / unloading device 175 can be moved outward through the opening of the cover frame 147, The length of the carrier unit 141 can be extended laterally from the lower center of the carrier unit 141.

The loading and unloading apparatus 175 according to the present embodiment includes a chuck gripper unit 176 capable of holding the object 100 and a chuck gripper unit 176. The chuck gripper unit 176 includes a wire wound around the chuck gripper unit 176, And an elevation unit 177 which can rotate the elevation unit 177 and move it up and down. The elevating unit 177 is a hoist apparatus using a winding apparatus in which a generally known winding wire is wound. Although not shown in the figure, a winding motor in which a winding wire is wound by a winding motor installed therein rotates a winding drum, And the chuck gripper unit 176 can be lifted and lowered by the winding wire.

The elevating unit 177 according to the present embodiment may be provided with a twisting device capable of rotating the chuck gripper unit 176. [ Although not shown, the twist device includes a twist motor and a speed reducer capable of rotating the elevation unit 177, which is capable of aligning the rotation of the object 100 by rotating the object 100 about a vertical axis .

The carrier unit 141 according to the present embodiment includes a cover frame 147 on which a plurality of carrier bodies 142 are provided and to which the object 100 can be inserted and placed, And a drop prevention device 180 installed at a lower portion of the apparatus 100 to block the falling of the object 100. [

The cover frame 147 has a frame structure capable of forming openings through which the object 100 can pass on the side and the bottom. The cover frame 147 can be installed at the lower portion of the carrier unit 141 by being coupled to the above-described moving bar 148. The fall preventing device 180 installed under the cover frame 147 can be attached to the object 100 can be placed on the cover frame 147 and the separation of the object 100 that can be shaken when the cover frame 147 moves can be blocked to provide a stable transport structure for the object 100. [

The fall preventing device 180 according to the present embodiment is arranged to be opposed to the lower portion of the cover frame 147 and is provided at the lower portion of the cover frame 147 to support the object 100 by allowing the object 100 to be pulled, A pair of rotation support members 181 that are rotatably coupled and a fall prevention driving unit 185 that is coupled to the cover frame 147 to rotate the rotation support member 181. [ The pair of rotation support members 181 according to the present embodiment are rotated so that the object 100 can be drawn in and out of the cover frame 147. [

That is, the object 100 is moved in the cover frame 147 by the pair of rotation support members 181, which are rotated by the drop prevention drive unit 185 at the lower part of the cover frame 147 and come into contact with the object 100 And can be stably supported.

The drop prevention drive unit 185 according to the present embodiment includes a rotation link 186 having one end rotatably coupled to the lower portion of the rotation support member 181 and the other end rotatably coupled to the cover frame 147, A support link 187 whose one end is rotatably engaged with the rotation link 186 and the other end is rotatably engaged with the cover frame 147 and the other end is coupled to the rotation link 186, And a link drive module 188 which is coupled to the rotation support member 147 and which can rotate the rotation link 186 to rotate the rotation support member 181. [

The solenoid 190 of the solenoid 190 is coupled to the rotating link 186 and the solenoid 192 is coupled to the cover frame 186. [ 147 when the swing rod 192 is pulled into the sol body 191 and the rotary link 186 connected to the support link 187 is rotated such that the rotary support 186 is rotated by the rotary link 186, (181) can be rotated to support the object (100). On the other hand, when the soled rod 192 protrudes from the sol body 191, the rotary link 186 is rotated counterclockwise so that the rotary support member 181 is rotated in the opposite direction and the object 181 100 can be released.

The object 100 supported by the fall preventing device 180 and supported by the cover frame 147 can be moved to the destination by traveling of the carrier unit 141 and can be moved from the destination transport port 105 to the outside Lt; / RTI >

The carrier unit 141 according to the present embodiment has the same curved section as that of the curve connecting section 103 because of the difference in position of the rail members 110 installed on both sides of the curved section, The driving range of the outer driving wheels 144 is longer than the inner driving wheels 144 so that the outer driving wheels 144 are behind the inner driving wheels 144, 144 may be driven to the driving position of the driving wheels.

In order to prevent the driving wheel of the carrier unit 141 from being pushed, a pair of driving wheels 144 are rotatably coupled to the pair of driving wheels 144, and a pair of driving wheels 144 The idle wheel 199 may be configured to idle any one of the driving wheels 144 to prevent the driving wheels 144 from being pushed due to a difference in the running radius of the other driving wheels 144.

The idle wheel 199 travels along a spacing member that can be poured on the outer rail member 110 of the curve section so that the driving wheel 144 is spaced apart from the rail member 110 And the idle wheel 199 that is not transmitted with the driving force that is moved along the spacing member to the driving force of the inner driving wheel 144 can naturally curve the curve section.

The carriage device 140 according to the present embodiment is installed in the lower portion of the carrier unit 141 so as to block the rotation of the carrier unit 141 according to the deflected position of the object 100 moved by the carrier unit 141 And a support holder unit 250 that supports the support holder 250.

The object 100 carried on the lower portion of the carrier unit 141 can be loaded from the side of the cover frame 147 when the carrier unit 141 stops and can be moved laterally and unloaded .

The rail system 101 may be provided with various transport ports 105 depending on the type of the object 100 that can load and unload the object 100. The object 100 may be a slide moving device 170, < / RTI > The center of gravity of the carrier unit 141 can be moved and the carrier unit 141 can be moved to the side of the one side rail member 110 of the traveling rail 110. In this case, (Not shown).

The other one of the two driving wheels 144 of the carrier unit 141 can be heard about the center of gravity of the other one of the driving wheels 144. The carrier unit 141 is rotated to move the object 100 ) Can be changed. When the carrier unit 141 is rotated, the object 100 can be moved to a position where it is lowered from the predetermined moving position to generate an error.

According to the present embodiment, however, since the support holder unit 250 is provided below the carrier unit 141 to prevent rotation of the carrier unit 141 before the object 100 is laterally moved, The object 100 may be moved to a predetermined moving position and unloaded. That is, the support holder unit 250 can be supported by the rail member 110 positioned opposite to the direction in which the object 100 is moved, and can prevent the rotation of the carrier unit 141. [ That is, the support holder unit 250 can block lifting of either one of the driving wheels 144 from the rail member 110.

The support holder unit 250 provided so as to prevent the rotation of the carrier unit 141 is provided with a support holder member 251 which is movably provided to the carrier unit 141 and can be supported by the run rail 110 And a carrier unit 141 for moving the support holder member 251 in a direction in which the support holder member 251 is movably installed and which intersects the traveling direction of the carrier unit 141 with respect to the running rail 110 And a holder movement driving unit 260 installed on the carrier unit 141 and moving the support holder member 251 along the holder movement guide unit 255 .

The support holder unit 250 according to this embodiment can move the holder holder member 251 along the holder movement guide unit 255 by the holder movement drive unit 260, Side rail member 110 of the running rail 110, which is installed as far as possible. For example, when the object 100 is moved to the right by the slide moving device 170, the support holder member 251 is moved to the left-side rail member 110 and supported on the rail member 110 , It is possible to prevent rotation of the carrier unit 141 due to the movement of the center of gravity.

The support holder member 251 according to the present embodiment includes a side wall support portion 252 supported on the side wall of the rail member 110 and a rotation support portion 252 provided on the bottom portion of the rail member 110, Prevention part 253. The end of the support holder member 251 can be formed so as to conform to the end surface of the rail member 110. The side wall support portion 252 is configured such that when the support holder member 251 is moved toward the rail member 110 side, The rotation preventing portion 253 is supported by the bottom surface portion 222 of the rail member 110 to limit the rotation of the support holder member 251 .

The holder movement guide portion 255 according to the present embodiment includes a holder moving member 256 which is coupled to the support holder member 251 and is moved by the holder movement driving portion 260, And a linear guide 257 for guiding the movement of the movable member 256. [ The holder moving member 256 is coupled to the linear guide 257 so that the upper end thereof is connected to the female screw 265 of the ball screw module 263 to be described later and the lower end thereof is coupled to the support holder member 251.

The holder movement drive unit 260 capable of moving the holder movement member 256 is connected to the holder movement motor 261 provided to the carrier unit 141 and the holder movement member 256, And a ball screw module 263 which is driven by the guide member 262 to move the holder moving member 256.

When the holder moving motor 261 is rotated so that the screw round bar 264 of the ball screw module 263 is rotated, the arm screw 265 can be moved on the screw round bar 264, The connected holder moving member 256 is moved so that the supporting holder member 251 can be moved toward the rail member 110 side.

According to the present embodiment, the holder moving motor 261 can be disposed in parallel with the ball screw module 263 and spaced apart from the ball screw module 263 to rotate the screw round bar 264. To this end, the holder movement drive unit 260 includes a drive pulley 266 coupled to the rotation shaft of the holder movement motor 261 and connected to the drive pulley 266 by a drive belt 267, And a driven pulley 268 coupled to the screw round bar 264 of the screw 263.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. Accordingly, such modifications or variations are intended to fall within the scope of the appended claims.

100: Object 101: Rail system
102: straight ahead section 103: curve connection section
104: branching and confluence period 105:
107: branching region 108: junction region
110: running rail 111: branching and joining rail
112: Straight branch guide 113: Curve branch guide
115: straight rail main body 116: branch rail main body
117: Rail member 131: Curve joining guide
132: joining straight ahead guide 140:
141: Carrier unit 142: Carrier body
144: drive wheel 145: support roller
146: Travel motor 147: Cover frame
148: movement bar 150: branching roller unit
151, 152: branching roller 153: rotary shaft
154: rotation axis 155: seesaw section
156: rotation hinge 157: seesaw member
158: center return contact portion 159: support cam
160: branch contact moving unit 161: return moving block
162: moving round bar 163: center return member
164: coil spring 165: support jaw
170: Slide moving device 175: Loading and unloading device
176: Chuck gripper unit 177: Lift unit
180: Fall prevention device 181:
185: drop prevention driving unit 186: rotation link
187: Support link 188: Link drive module
190: Solenoid 191: Sol Body
192: Sol Road 199: Children wheel
250: support holder unit 251: support holder member
252: side wall supporting portion 253:
255: holder movement guide part 256: holder movement member
257: Linear guide 260:
261: Holder moving motor 263: Ball screw module
264: screw round bar 265: female screw
266: drive pulley 267: drive belt
268: Follow pulley

Claims (16)

A branching guide for guiding a straight running to a branching area to which the traveling rail and the branching and joining rails are connected, and a branching traveling guide for guiding the traveling of the branching and joining rails A rail system in which a curve branching guide is installed;
A carrier unit installed to be able to run on a running rail of the rail system and to transport an object from a starting point to a destination; And
And a plurality of branch rollers rotatably installed in the carrier unit so that any one of the straight traveling and the branching traveling is selectively carried out, and is vertically moved. When the carrier unit enters the branching region, Wherein one of the plurality of branching rollers is guided while being held in contact with any one of the linear branching guide and the curve branching guide,
Wherein the branching roller unit comprises:
A seesick portion rotatably installed on the carrier unit, wherein the seesaw portion is provided such that the upper surfaces of the one end portion and the upper end portion of the other end portion are inclined with respect to each other; And
Further comprising a branch contact moving section which is provided in a width direction intersecting the running direction of the carrier unit and which limits the rotation range of the seesection and can return the seesection. The method according to claim 1,
Wherein the plurality of branching rollers are arranged to be inclined so as to be moved upward by rotational movement and to be contacted with any one of the linear branching guide and the curve branching guide. delete The method according to claim 1,
The seesaw unit,
A seesection member provided with the branching rollers;
A rotation hinge provided at a central portion of the seesick member to provide rotation of the seesaw member; And
And a center return contact portion provided on the rotary hinge and contacting the branch contact moving portion when the seesection member is rotated. 5. The method of claim 4,
Wherein the branch contact moving unit comprises:
A return moving block installed on the carrier unit so as to be movable in a width direction of the running rail and contacting the center return contact portion;
A moving circular rod to which the return moving block is movably installed; And
And a center return member provided on the carrier unit to elastically support the return moving block when the return moving block is moved. 6. The method of claim 5,
Wherein the center return member is a pair of coil springs installed on the moving round bar and capable of returning the return moving block to the center position of the moving round bar. 6. The method of claim 5,
Wherein the center return contact portion includes a support cam that is engaged with an end portion of the rotary hinge and is provided in a fan shape to contact the return movement block,
Wherein the return moving block includes a pair of support tines which are arranged to face each other with the support cam therebetween so as to be in contact with the support cam. The method according to claim 1,
The rail system comprises:
A curve joining guide connected to the curve branching guide and disposed along the branching rail in the joining region, wherein the other branching roller of the branching roller is contactably supported on the opposite surface; And
And a joining straight guide disposed along the running rail disposed in the joining region and connected to the curve joining guide. 9. The method of claim 8,
Wherein the carrier unit comprises:
A plurality of carrier bodies spaced apart from the running rail;
A pair of driving wheels installed on the carrier body and moving along the traveling rail; And
And a pair of support rollers mounted on the carrier main body and supported by the running rail to guide the movement of the carrier main body. 10. The method of claim 9,
A slide moving device installed at a lower portion of the carrier unit and capable of moving the object in a deflected direction from a center line of the carrier unit; And
Further comprising a loading and unloading device installed at a lower portion of the slide moving device and capable of picking up and dropping the object. 11. The method of claim 10,
The loading /
A chuck gripper unit capable of holding the object; And
And a lift unit connected to the chuck gripper unit and capable of moving the chuck gripper unit up and down and rotating the chuck gripper unit. 12. The method of claim 11,
A cover frame which is installed on the plurality of carrier bodies and into which the object is drawn and is placed; And
Further comprising: a fall preventing device installed at a lower portion of the cover frame to support the object. 13. The method of claim 12,
The drop prevention device includes:
A pair of rotation support members disposed to face the lower portion of the cover frame and rotatably coupled to a lower portion of the cover frame to support the object; And
And a drop prevention driving unit coupled to the cover frame to rotate the rotation support member. 14. The method of claim 13,
The drop prevention driving unit includes:
A rotary link having one end rotatably coupled to the lower portion of the rotation support member and the other end rotatably coupled to the cover frame;
A support link having one end rotatably coupled to the rotation link and the other end rotatably coupled to the cover frame; And
And a link drive module having one end coupled to the rotating link and the other end coupled to the cover frame, the link driving module being capable of rotating the rotating link to rotate the rotating supporting member. 10. The method of claim 9,
Wherein the pair of driving wheels are rotatably coupled to the pair of driving wheels so as to allow idle wheels to idly rotate any one of the pair of driving wheels away from the driving rail Further comprising: 16. The method of claim 15,
Further comprising a support holder unit installed on the carrier unit and fixing the carrier unit to the running rail according to the deflected position of the object,
The support holder unit includes:
A support holder member movably installed at a lower portion of the carrier unit and movable in a direction opposite to a direction in which the object is moved when the object is moved to be contacted with the running rail in a direction opposite to a moving direction of the object; And
And a holder moving device installed on the carrier unit to move the support holder member.

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