KR101436905B1

KR101436905B1 - Rail car and overhead hoist shuttle or transport system using the same

Info

Publication number: KR101436905B1
Application number: KR20130048510A
Authority: KR
Inventors: 김동원; 승재익; 김현우; 김혁수
Original assignee: 주식회사 에스에프에이
Priority date: 2013-04-30
Filing date: 2013-04-30
Publication date: 2014-11-04

Abstract

The conveyance truck is started. A straight branching guide for guiding straight running to a branching area including a branching and joining rail for interconnecting a plurality of running rails and a plurality of running rails and connecting the running rail to the branching and joining rails and a curve branching guide A carrier unit installed to be able to run on a running rail of the rail system on which the object is to be carried, And a plurality of branch rollers rotatably installed in the carrier unit so as to selectively perform one of a straight run and a branch run, and when the carrier unit enters the branching region, any one of the plurality of branching rollers A branching roller unit for selectively supporting one of the linear branching guide and the curve branching guide in contact with each other; And an auxiliary lifting and lowering module which is provided with an auxiliary wheel which is moved in contact with the traveling rail so that the carrier unit can be moved manually on the traveling rail so that the carrier unit can be moved on the traveling rail and the auxiliary wheel is brought into contact with the traveling rail, And an auxiliary lifting / lowering wheel unit.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a conveyance system,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a conveyance truck and a conveyance system using the same, and more particularly, to a conveyance truck 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 conveying bogie has a branching roller capable of selecting traveling along a branching rail in a branching section and a joining section. In the conventional conveying brakes, the position of the branching roller can not be changed quickly, so that entry into the branching rail may be delayed, The directional switching and contact action of the branching rollers from the rail to the branch rail is not smooth, so that the branching roller may be subjected to an impact due to the position error of the branching rollers, resulting in failure. Problems have been raised that can reduce reliability.

Also, when the conveyance truck is stopped on the rail due to power failure or failure of the conveyance truck on the rail system and the conveyance truck needs to be taken out to the outside, the operation of manually moving the conveyance truck to the entry / .

However, if the stopping point of the conveyance truck can be moved to the entry / exit port through the straight section, it is possible to carry out the unloading operation. However, if it is necessary to move the conveyance truck through the branch rail to the entry / exit port, It is impossible to automatically perform the position change to the branching roller. Even if it is attempted to manually perform the position switching of the branching roller, even if the narrow space of the orbit and the driving part of the branching roller It was very difficult to proceed with the torture.

In addition, there has been a fear that the traveling wheels are forcibly rotated during the passive unloading operation of the conveyance truck, and a failure occurs in the traveling motor and the traveling driving unit.

Korean Patent Application Publication No. 10-2009-0023139

SUMMARY OF THE INVENTION Accordingly, the present invention has been made in view of the above problems, and it is an object of the present invention to provide an apparatus and method for quickly and smoothly changing the direction of a conveying carriage in accordance with a change of a position of a branching roller that travels a conveying car from a running rail to a branching rail, This prevents the failure of the traveling motor and the traveling driving unit by preventing the forced rotation of the traveling wheels during passive unloading operation of the conveying bogie. And a conveyance system using the same.

According to an aspect of the present invention, there is provided a traveling rail comprising a plurality of running rails and a branching and joining rail for interconnecting the plurality of running rails, wherein the traveling rail is connected to the branching and joining rails, A carrier unit installed to be capable of traveling on the running rail of a rail system on which a curve branching guide for guiding a branching guide and a branching run is provided and which transports the 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 traveling and the branching traveling is selectively carried out, and is vertically moved. When the carrier unit enters the branching region, A branching roller unit for selectively supporting any one of the plurality of branching rollers to any one of the linear branching guide and the curve branching guide; And an auxiliary wheel that is in rolling contact with the driving rail so that the carrier unit can be moved manually on the driving rail so that the carrier unit can be moved on the driving rail, wherein the auxiliary wheel is brought into contact with the driving rail, A conveying carriage including an auxiliary lifting wheel unit having an auxiliary lifting module for lifting and releasing the auxiliary lifting wheel unit can be provided.

Wherein the carrier unit comprises: a plurality of carrier bodies spaced apart from the running rail; A plurality of traveling wheels installed on the carrier body to move the carrier body along the traveling rails; A plurality of traveling motors provided on at least one of the plurality of carrier bodies corresponding to the plurality of traveling wheels; And a plurality of support rollers mounted on the carrier main body and supported by the running rails to guide movement of the carrier main body.

The auxiliary lift module includes a wheel lifting block coupled to the auxiliary wheel, the wheel lifting block being capable of being raised and lowered on the plurality of carrier bodies; A lifting and guiding member provided on the plurality of carrier bodies, the lifting and guiding member having the wheel lifting block movably coupled thereto; And a height adjuster provided on the wheel lifting block for lifting and lowering the auxiliary wheel together with the wheel lifting block so that the traveling wheel can be separated from the driving rail.

The height adjusting portion includes a height adjusting bolt disposed on the wheel lifting block and rotatably coupled to the carrier body. And a height adjusting nut coupled to the wheel lifting block and to which the height adjusting bolt is screwed.

The plurality of branching rollers may be installed so as to be capable of rolling on the basis of a line along the traveling direction of the carrier unit so that either the straight traveling or the branched traveling is moved in the vertical direction during the rolling rotation.

Wherein the branching roller unit comprises: a roller installation frame in which the branching roller is rotatably installed on a line crossing the traveling direction of the carrier unit; A frame drive shaft coupled to the roller installation frame; And a branch roller driver connected to the frame drive shaft to rotate the frame drive shaft.

The roller installation frame may include a plurality of seesaw slopes arranged so as to be inclined with respect to each other such that the plurality of diverging rollers are moved upward by rotational movement to be held in contact with any one of the linear branching guide and the curve branching guide .

The above-described conveyance truck further includes a plurality of seesaw bearings provided on the carrier unit, wherein the frame drive shaft is rotatably installed, and the roller installation frame is rotatably supported on the seesaw bearing by the frame drive shaft And a seesaw rotation part coupled to the seesaw slope part to couple the plurality of seesaw slopes to each other.

The branching roller may be provided on the seesaw slope portion, and a slope may be provided on the joining portion of the seesaw slope portion and the seesaw rotation portion such that the seesaw slope portion is inclined.

An encoder-type roller position sensing unit may be installed in the seesaw bearing unit to sense a rotation angle of the seesaw rotation unit.

The branching roller driving unit includes: a branching driving motor installed on the carrier unit to drive the frame driving shaft; And a worm gear box installed between the branch drive motor and the frame drive shaft to transmit a drive force from the branch drive motor to the frame drive shaft.

The worm gear box includes a gear housing coupled to the drive motor to receive a driving force of the rotary shaft; A worm gear mounted on the gear housing and coupled to a rotating shaft of the driving motor; And a worm wheel mounted on the gear housing, the worm wheel being gear-coupled to the worm gear and coupled to the frame drive shaft.

The branching roller driving unit may further include a manual input shaft coupled to the worm gear so as to manually rotate the rotation shaft of the driving motor from outside the gear housing.

Wherein the frame drive shaft is disposed on a center line of the carrier unit along a traveling direction of the carrier unit, the worm gear is disposed so as to cross the frame drive shaft, A pair can be vertically moved and disposed opposite to each other.

The traveling motor may be a servo motor having a built-in encoder capable of sensing the rotation speed.

The carrier unit may further include an external encoder installed on the other of the plurality of carrier bodies to sense a rotational speed of the plurality of traveling wheels rotated along the traveling rail.

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 loading frame installed on the carrier unit, the loading frame being configured to allow the object to be drawn into the loading unit; And a drop prevention device installed at a lower portion of the stacking frame to support the object.

The drop prevention device includes a pair of rotation support members disposed to face the lower portion of the stacking frame and rotatably coupled to the lower portion of the stacking frame to support the object; And a drop prevention driving unit coupled to the loading frame to rotate the rotation support member.

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

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 another 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 running 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; And a conveyance system including the above-described conveyance bogie.

Wherein the rail system includes a curve branching section in which the branching and joining rails are provided and the carrier unit is branched so that the traveling direction before and after the branching is reversed; A curve joining guide connected to the curve branching guide and disposed in the confluence region along the branching rail, wherein one of the branching rollers is continuously contacted and supported; And a joining straight guide disposed along the running rail disposed in the joining region and connected to the curve joining guide.

According to an aspect of the present invention, a plurality of branching rollers are rolled and rotated about a line along the traveling direction of the carrier unit so that at least one of the plurality of branching rollers is guided and supported by either the linear branching guide or the curve branching guide The operation of switching the direction of the conveying carriage in accordance with the change of the position of the branching roller that travels the conveying carriage from the running rail to the branching rail can be performed quickly and smoothly so that the branching travel of the conveying carriage to the branching rail is quick, It is possible to improve the reliability of the transportation of the logistics by preventing the failure during the branch traveling process and to prevent the breakage of the traveling motor and the traveling driving unit by blocking the forcible rotation of the traveling wheels during the passive unloading operation of the carrier, And a conveyance system using the same can be provided.

1 is a layout diagram of a transport system according to an embodiment of the present invention.
Fig. 2 is a running state diagram of the conveying bogie with respect to the branching region and the confluence region in the branching and merging section of Fig. 1. Fig.
3 is a cross-sectional view showing a state in which the carrier unit is in a branching state with respect to I-I in Fig.
4 is a cross-sectional view showing the carrier unit in a straight running state with respect to I-I in Fig.
Fig. 5 is a state of branching and running of a conveyance truck with respect to the curve branching guide and the curve joining guide of Fig. 1;
Fig. 6 is a state diagram showing a moving and loading direction of the object with respect to the conveyance truck of Fig. 1;
Fig. 7A is a side view of Fig. 6. Fig.
Fig. 7B is an enlarged view of the front wheel-side carrier unit of Fig. 7A.
7C is an operational state diagram of the auxiliary lift wheel unit of FIG. 7B.
8 is a plan view of the carrier unit driven by the traveling motor of Fig.
Figure 9 is a top view of another carrier unit being pulled by the carrier unit of Figure 8;
10 is a perspective view of the branching roller unit of Fig.
11 is a perspective view of a worm gear and a worm wheel installed in the worm gear box of Fig.
12 is a sectional view showing a state in which the carrier unit is in a branching state with respect to II-II in Fig. 1 according to another embodiment of the present invention.
Fig. 13 is a branch traveling state diagram of the carrier truck for the branching area and the joining area related to Fig. 12. Fig.
FIG. 14 is a straight running state of the conveyance truck with respect to the branching area and the confluence area related to FIG. 12. FIG.
Figure 15 is a detail view in which additional elements are configured in the carrier unit of Figure 12;
16 is a side view of the conveyance truck of the conveyance system of Fig.
17 is an enlarged view of the carrier unit of Fig.
18 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 traveling state of a transportation bogie with respect to a branching region and a merging region of the branching and merging section of FIG. Fig. 4 is a cross-sectional view showing the carrier unit in a straight running state with respect to I-I in Fig. 1, Fig. 5 is a cross-sectional view showing a state in which the curve branching guide and the curve merge Fig. 7 is a side view of Fig. 6, Fig. 7 (b) is a side view of the front wheel-side carrier unit of Fig. 7 Fig. 8 is a plan view of the carrier unit driven by the traveling motor of Fig. 6; Fig. 9 is a plan view of the carrier unit driven by the carrier motor of Fig. A plan view of the carrier unit, FIG. 10 is a perspective view of the branching roller unit of FIG. 6, and FIG. 11 is a perspective view of a worm gear and a worm wheel installed in the worm gear box of FIG.

1 and 2, a conveyance system according to an embodiment of the present invention includes a rail system 101 installed on a ceiling, a rail system 101 installed to run on a rail system 101, And a conveying bogie (140) for conveying.

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 Contact power supply provided in the rail system 101 to supply electric power to the bar code 120 and the conveyance truck 140 for recognizing and controlling the conveyance of the conveyance truck 140. The non- A communication sensor 123 for transmitting driving information to the apparatus 121 and the conveyance truck 140, a sensor reflector 125 for confirming entry into the traveling path of the conveyance truck, and the like.

1 to 6, the main elements of the rail system, the conveyance truck, and the conveyance system including the rail system and the conveyance truck according to the present embodiment will be described.

Fig. 2 conceptually shows the branching travel of the conveying truck by the branching roller unit 150, the straight-ahead running in the branching region, and the straight-ahead running in the joining region. 151 and 152 are shown in black. The arrows indicate the traveling directions of the conveyance truck 140. [

The straight section 102 of the above-described sections is a section through which the conveyance truck 140 can move linearly. The curve connection section 103 is a section that connects the straight sections 102 spaced apart and arranged side by side. The confluence section 104 is a section in which the conveyance bogie 140 can be moved from the separated branching region 107 to the confluence region 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.

A straight branching guide 112 for guiding the straight running and a curve branching guide 113 for guiding the branching travel are provided in the branching area 107 to which the running rail 110 and the branching and joining rail 111 are connected, Respectively. The linear guide member 112 and the curve guide member 113 may be provided with sufficient contact surfaces to ensure the grounding force of the branching rollers 151 and 152 in the horizontal direction. This contact surface is disposed to face the ground surface of the support roller 145, which will be described later, with respect to the corresponding rail member 117 at the time of the branched running or the straight running of the conveyance bogie 140. [

The rail system 101 according to the present embodiment may include a straight rail main body 115 and a branch rail main body 116. A rail member 117 is provided to the straight rail main body 115 in the branching area 107 along the running rail 110 for straight running corresponding to the straight branching guide 112, Is provided with a rail member 117 which is connected to the straight rail main body 115 in the branching area 107 and which is disposed along the branching and joining section 104 and for branching travel corresponding to the curve branching guide 113 have.

In FIG. 1, the branching and joining rails 111 are disposed in the aforementioned branching and confluence sections 104. The traveling rails 110, which are arranged in parallel to each other, are connected in an inclined manner to be connected to curves of "N" A curve branching section can be formed as a running track of the shape of a conveying bogie 140 according to the present embodiment. The straight running, branching running, and joining running of the conveying truck 140 and the joining region 108, which will be described later, , Predominantly assumes a curve branching period of such "(" or ")" shape.

The conveyance truck 140 installed in the rail system 101 according to the present embodiment is installed to be able to run on the running rail 110 of the rail system 101 and is provided with a carrier unit 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, A pair of traveling wheels 144 for traveling the carrier main body 142 by being rotated by being brought into contact with the carrier main body 142 and being rotatably supported by the side walls of the traveling rail 110, 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 traveling wheels 144 and is provided with a loading frame 147 to hold the object 100 thereon.

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 .

According to the present embodiment, the connecting portions of the straight rail main body 115 and the branch rail main body 116, which are disposed in the branching region 107 and the confluence region 108, 117 may exist only on one side.

That is, 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. [

The carrier unit 141 can be rotated by being tilted around the ground plane of the support roller 145 by the absence of any one of the rail members 117. The carrier unit 141 is disposed so as to face the ground plane of the support roller 145 By providing a moment that balances the reaction force applied to the branching roller 151 from the contact surface of the curve branching guide 113 or the curve joining guide 131 which will be described later, Can be blocked. The carrier unit 141 can smoothly run the branching region 107 by one of the rail members 117. [

Hereinafter, the elements for branching and merging of the conveyance truck and conveying system according to the present embodiment will be described in detail with reference to FIGS. 1 to 11. FIG. First, in the present embodiment, the rolling rotation is defined as a case where the rolling unit is rotated about a line along the traveling direction of the carrier unit, that is, the longitudinal direction.

The branching roller unit 150 provided on the upper part of the carrier unit 141 according to the present embodiment is provided with a plurality of branching roller units 150 installed on the line along the traveling direction of the carrier unit 141 so as to be capable of rolling, One or more of the plurality of branching rollers 151 and 152 is connected to the straight branching guide 112 and the curved branching section 112. In this case, And guided by one of the guides 113. [ At this time, the branching rollers 151 and 152 of the carrier unit 141 can be contacted to either one of the straight branching guide 112 and the curve branching guide 113 by a pair.

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. [

When the carrier unit 141 enters the branching region 107, any one of the plurality of branching rollers 151 and 152 is 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.

The pair of the branching rollers 151 and 152 are arranged such that two pairs of the pair of rollers 151 and 152 are rotatable together. The pair of rollers 151 and 152 are lowered when the pair of rollers 151 and 152 are lifted by rotation. The pair of guide rods can be guided along the curve branch guide 113 by the rolling motion and can be guided along the curve branch guide 113. On the contrary, when one pair is lowered, And can be guided along the straight-going branch guide 112.

The branching roller unit 150 according to the present embodiment for lifting and lowering the branching rollers 151 and 152 includes a seesaw unit 155 that can lift up and down the branching rollers 151 and 152 on the carrier unit 141 ). An electric motor may be used as the drive source of such a seesaw unit 155. At this time, the self-rotation center lines of the branching rollers 151 and 152 are disposed to be inclined at upper portions on both sides of the seesaw unit 155.

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 as to be able to 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 travel or the straight running travel of the carrier unit 141 is selected by selection of the up and down operation of the branching rollers 151 and 152 with respect to the straight branching guide 112 and the curve branching guide 113. [

The straight branching guide 112 and the curve branching guide 113 are arranged so as to guide the straight running and the branching run to the branching area 107 in a state of being separated from each other. 151 can be contacted and supported by the curve branching guide 113 and the other branching roller 152 can be contacted and supported by the straight branching guide 112. [

According to the present embodiment, 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, The rotation can be further restricted after being rotated at a constant angle until it comes into contact with the side wall portion of the branch guide 113. [ The restriction of the rotation of the branching rollers 151 and 152 can be similarly applied to the linear branching guide 112 and the curve joining guide 131 and the joining straightening guide 132 described later.

One branch roller 151 of the pair of branch rollers 151 and 152 is moved along the curve branching guide 113 and the other branch roller 152 is moved along the straight branching guide 112) so that the branching and the straight running can be selectively performed. That is, the pair of branching rollers 151 and 152, which are disposed so as to cross the running direction of the carrier unit 141, can be rotated and reversed in position.

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 side of the joining region 108. The joining rectilinear guide 132 for straight running may be disposed in the joining region 108 have.

The merging rectilinear guide 132 is disposed along the running rail 110 disposed in the merging region 108 and is disposed apart from the rear end of the curve merging guide 131. Any one of the pair of branch rollers 151 and 152 can be guided by the joining straight guide 132 in the joining region 108 to guide the straight running.

The carrier unit 141 according to the present embodiment is capable of smoothly passing through the confluence region 108 by supporting one branch roller 151 in contact with the confluent straight guide 132. [ According to the present embodiment, by sequentially shifting 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, The unit 141 can also travel from the confluence area 108 to the branch area 107. [

On the other hand, 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, The branching roller 151 may be brought into direct contact with the joining / straightening guide 132 to run straight. In this straight-ahead branching guide 112 and the joining straight-ahead guide 132, the carrier unit 141 can perform straight-ahead running using one of the one of the branching rollers 151 and 152. The above- The branching rollers 151 and 152 used for the straight running can not only be limited in the range of rotation but also can be quickly returned to the original position.

The branching roller unit 150 according to the present embodiment for carrying out such an operation is provided with a roller mounting frame 151 in which branching rollers 151 and 152 are rotatably mounted on a line crossing the traveling direction of the carrier unit 141 A frame driving shaft 157 coupled to the roller mounting frame 155 and a branching roller driving unit 153 connected to the frame driving shaft 157 to rotate the frame driving shaft 157.

The roller installation frame 155 is also provided so that the plurality of branch rollers 151 and 152 are moved upward by the rotational movement to be contacted with any one of the linear branching guide 112 and the curve branching guide 113, And may include a plurality of seesaw slopes 156 disposed therein.

The conveyance truck 140 according to the present embodiment further includes a plurality of seesaw bearing portions 158 which are provided on the carrier unit 141 and to which the frame drive shaft 157 is rotatably mounted, The swing arm 155 may further include a seesaw rotation part 159 rotatably coupled to the seesaw bearing part 158 by the frame drive shaft 157 and coupling the plurality of seesaw slopes 156 to each other in opposite directions .

The roller installation frame 155, the frame drive shaft 157, the seesaw rotation part 159 and the seesaw bearing part 158 according to the present embodiment can constitute the seesaw unit 155 described above.

Accordingly, the pair of branch rollers 151 and 152 according to the present embodiment are configured such that the frame drive shaft 157 is rotated by the rotational force transmitted from the branch roller drive unit 153 and the roller drive shaft 153 is rotated by the frame drive shaft 157 The frame 155 can be rotated by the rotation operation and contacted with any one of the curve branching guide 113, the branching straightening guide, the curve joining guide 131, and the joining straightening guide 132. [

The traveling direction of the carrier unit 141 in the branching region 107 and the confluence region 108 can be determined in accordance with the selection of the contact.

A pair of branching rollers 151 and 152 are provided on the seesaw slope 156 according to the present embodiment and a seesaw slope 156 is formed on the joint between the seesaw slope 156 and the seesaw rotation part 159, The inclined surface 160 may be provided so as to be inclined.

That is, a pair of seesaw slopes 156 are coupled to the seesaw rotation unit 159 such that the pair of seesaw slopes 156 are coupled to the seesaw rotation unit 159 with the slopes 160 as contact portions, And is disposed downward from both sides of the drive shaft 157 at a predetermined angle.

In addition, an encoder type roller position sensing unit 154 may be installed in the seesaw bearing portion 158 according to the present embodiment so as to sense the rotation angle of the seesaw rotation portion 159.

That is, the branching rollers 151 and 152 are limited in the rotational angle as described above. In order for the branching rollers 151 and 152 to rotate at a predetermined angle after the branching rollers 151 and 152 are sensed by the roller position sensing unit 154 at a predetermined position, , The rotation angle of the branching rollers 151 and 152 can be determined.

The branching roller driving unit 153 includes a branching drive motor 161 provided on the carrier unit 141 to drive the frame drive shaft 157 and a branching drive motor 161 which drives the frame drive shaft 157 from the branching drive motor 161 And a worm gear box 162 installed between the branch drive motor 161 and the frame drive shaft 157 to transmit the worm gear box.

The worm gear box 162 according to the present embodiment includes a gear housing 163 to which a driving motor 161 is coupled so that the driving motor 161 receives a driving force and a driving motor 161 installed in the gear housing 163, And a worm wheel 165 mounted on the gear housing 163 and gear-coupled to the worm gear 164 to be coupled to the frame driving shaft 157. [

The frame drive shaft 157 is disposed on the center line of the carrier unit 141 in accordance with the traveling direction of the carrier unit 141. Further, the worm gear 164 is disposed so as to cross the frame drive shaft 157. Thus, the plurality of branching rollers 151 and 152 can be moved up and down in a state in which the pair of the branching rollers 151 and 152 are arranged to face each other on both sides of the center line of the frame drive shaft 157.

The process of transmitting the rotational force from the worm gear box 162 to the frame drive shaft 157 according to the present embodiment is such that the worm gear 164 is rotated by the rotation of the drive motor 161 and decelerated by the worm gear 164 After the gear-coupled worm wheel 165 is rotated, the frame driving shaft 157 is rotated by the worm wheel 165 in the following order. At this time, the rotational angles of the branching rollers 151 and 152 are determined as described above, and the running direction can be determined in the branching and merging regions 107 and 108. [

The branching roller driving unit 153 according to the present embodiment is provided with a rotation shaft (not shown) of the drive motor 161 at the outside of the gear housing 163 in case the supply of power to the drive motor 161 is interrupted, And a manual input shaft 166 coupled to the worm gear 164 so as to be manually rotated.

That is, the failure of the power supply path to the carrier unit 141 according to the present embodiment and the failure of the carrier unit 141 itself cause the rotation of the carrier unit 141 on the rail system 101, There may be a case where it is necessary to carry out the work of carrying out the work to the outside.

At this time, the carrier unit 141 is moved to an access port (not shown) which enables access to the rail system 101 through the traveling rail 110 and the branching and joining rail 111 on the rail system 101, It can be carried out.

In order to branch the carrier unit 141 to the branching and joining rails 111 from the running rail 110 of the straight path and branching and joining the rail 111 in the carry-out path of the carrier unit 141, The switching of the rollers 151 and 152 is essential. Manual switching of the branching rollers 151 and 152 is possible by rotating the manual input shaft 166 coupled to the worm gear 164 and rotating the worm wheel 165 together with the worm gear 164.

The carrier unit 141 on the rail system 101 described above includes a plurality of carrier main bodies 142 which are installed to be spaced apart from the running rail 110 and a plurality of carrier main bodies 142 which are provided on the carrier main body 142, A plurality of traveling wheels 144 for moving the main body 142, a plurality of traveling motors 146 provided on at least one of the plurality of carrier bodies 142 in correspondence with the plurality of traveling wheels 144, And a plurality of support rollers 145 installed on the main body 142 and supported by the running rail 110 to guide the movement of the carrier main body 142.

The carrier unit 141 according to the present embodiment includes a pair of carrier main bodies 142 that are connected to and moved together with each other and a pair of carrier main bodies 142 installed on the front carrier main body 142 to drive the pair of carrier main bodies 142 And may include a pair of traveling motors 146.

6, the carrier unit 141 according to the present embodiment includes a right carrier body 142 driven by a traveling motor 146, a left carrier body 142 without a traveling motor 146, But the connecting structure of the traveling motor 146 is not limited thereto.

The pair of traveling motors 146 are connected to a control unit (not shown) of the traveling motor 146 so as to be individually driven by the carrier body 142 disposed on the left side of the plurality of carrier bodies 142 , And the rotational speed is controlled by a drive signal of a control unit (not shown).

The branching and joining rail 111 according to the present embodiment shown in FIG. 2 is a curve branching section that provides a branch capable of reversing the traveling direction mainly in the rail system 101 of FIG. 1, When the traveling wheels 144 of the carrier unit 141 are rotated at the same speed as the traveling wheels 144 of the carrier unit 141, A phenomenon may occur. However, since the traveling wheel 144 according to the present embodiment is driven by the traveling motor 146 whose speed can be controlled, the outer traveling wheel 144 is driven faster than the inner traveling wheel 144, .

At this time, the travel motor 146 may be a servo motor having a built-in encoder 167 capable of sensing the rotation speed. Accordingly, the rotation speed of the traveling motor 146 is sensed in real time by the built-in encoder 167, and the driving speed of each traveling wheel 144 can be controlled by each traveling motor 146.

The carrier unit 141 according to the present embodiment includes an external encoder 168 installed in the carrier body 142 for sensing the rotational speed of each of the plurality of traveling wheels 144 rotated by the traveling motor 146 ).

The actual speed of each traveling wheel 144 can be sensed by the external encoder 168 and the actual speed of each traveling wheel 144 sensed by the built-in encoder 167 and the actual speed of each traveling wheel 144 The driving speed of the traveling motor 146 corresponding to the traveling wheel 144 is corrected so as to balance the driving speed of each of the traveling wheels 144 Or can drive the traveling wheel 144 at a predetermined speed.

On the other hand, as described above, there is a case where it is necessary to take out the carrier unit 141 according to the present embodiment from the rail system 101 to the outside. In the carrying out operation to the carrier unit 141, not only a manual operation of the branching roller unit 150 but also a driving motor (not shown) which can be forcibly operated by the rolling motion of the traveling wheel 144 of the carrier unit 141 (Not shown) connected to the drive motor 146 and the drive motor 146 are required to be protected.

To this end, in this embodiment, the auxiliary lift wheel unit 169 shown in Figs. 6, 7A, 7B, 7C, 8 and 9 is used. The auxiliary lifting / lowering wheel unit 169 can separate the traveling wheel 144 from the traveling rail 110 to prevent rotation of the traveling wheel 144.

As shown in these figures, the auxiliary lifting wheel unit 169 is provided with an auxiliary wheel (not shown) which is brought into contact with the traveling rail 110 to be moved in a rolling manner so that the carrier unit 141 can be manually moved on the traveling rail 110 170). The auxiliary lift wheel unit 169 also has an auxiliary lift module 171 that contacts the auxiliary rail 170 to the drive rail 110 to separate the carrier unit 141 on the drive rail 110.

The auxiliary lifting and lowering module 171 according to the present embodiment includes a wheel lifting block 172 to which the auxiliary wheel 170 is coupled and which can be raised and lowered to a plurality of carrier main bodies 142, A lifting and guiding member 173 mounted on the wheel lifting block 172 for lifting and lowering the wheel lifting block 172 and a wheel lifting block 172 for lifting the driving wheel 144 away from the driving rail 110, And a height adjuster 174 that can elevate and lower the auxiliary wheel 170 together with the auxiliary wheel 172.

The height adjusting portion 174 includes a height adjusting bolt 175a disposed on the wheel lifting block 172 and rotatably coupled to the carrier main body 142, And a height adjusting nut 175b to which the screw shaft 175a is screwed.

According to the present embodiment, the height adjusting bolts 175a in the respective carrier bodies 142 are rotated by the height adjusting nuts 175b to lower the wheel lifting blocks 172 to which the height adjusting nuts 175b are coupled And the auxiliary wheel 170, which is coupled to the wheel lift block 172, can be brought into contact with the running rail 110.

Each carrier body 142 is raised as the auxiliary wheel 170 contacts the running rail 110 and the driving wheel 144 is separated from the running rail 110. [ When the carrier unit 141 is manually moved to the traveling rail 110 by the auxiliary wheel 170, the traveling wheel 144 is not rotated and the traveling motor 146 and the traveling driving unit (not shown) Can be protected from forcible operation accompanying the carry-out to the conveyance bogie (140).

The conveying system according to the above-described embodiment is provided with a conveyance truck 140 (OHS) for supporting and conveying the object 100 on the upper side of the carrier unit 141 and a conveyance truck 140 The rail system 101 is used.

The conveying system described below includes a conveying truck 140 (OHT) capable of hanging the object 100 on the lower side of the carrier unit 141 and conveying the conveying truck 140 (OHT) The rail system 101 is used.

The following description of the branching roller unit 150 according to the embodiment can be applied to the following conveying system. That is, the branching roller unit 150 is schematically shown in a simplified manner, it is assumed that the branching roller unit 150 is configured to be driven in the same manner as the above-described embodiment.

In the following embodiments, the elements having the same functions as those of the above-described rail system 101 and conveying truck 140 (OHT) will be omitted, and only the additional applicable elements will be described.

Elements using the same reference numerals as the above-described embodiments of the rail system 101 and the conveyance truck 140 (OHT) according to another embodiment of the present invention perform substantially the same function in substantially the same manner, Is assumed to be a component that produces the same result.

12 is a sectional view showing a state in which the carrier unit is in a branched traveling state according to II-II in Fig. 1 according to another embodiment of the present invention, Fig. 13 is a sectional view showing the state in which the carrier truck is branched Fig. 15 is a detailed view in which additional elements are formed in the carrier unit of Fig. 12, and Fig. 16 is a detailed view of the transport system of the transport system of Fig. 15, Fig. 17 is an enlarged view of the carrier unit of Fig. 15, and Fig. 18 is a plan view of the carrier unit of Fig. 15. Fig.

As shown in Figs. 1 and 12 to 18, the conveyance truck 140 according to another embodiment of the present invention includes a running rail 110, which is arranged in parallel to each other, One branch roller 151 of the pair of branch rollers 151 and 152 is moved along one wall portion of the curve branch guide 113 while the other branch roller 151 and 152 are moved along the branch forming guide and the joining rail 111, The branching roller 152 is moved along the wall portion of the curve joining guide 131 corresponding to the opposite side so that the branching and merging travel can be performed and the other branching roller 152 is branched from the branching region 107 to the straight branching guide The one branch roller 151 which can be brought into contact with the curve branching guide 113 in the confluence region 108 can be moved straightly in contact with the merging rectilinear guide 132.

Hereinafter, additional components of the transport system according to another embodiment of the present invention will be described in detail with reference to Figs. 1 and 11 to 16.

The conveying truck 140 according to the present embodiment is provided with a moving bar 148 to be coupled to the stacking frame 147 on which the object 100 is placed. The movable bar 148 may connect the stacking frame 147 to the carrier unit 141. [ A slide movement device 170 capable of moving the object 100 in a deflected manner from the center line of the carrier unit 141 is provided at the lower portion of the carrier unit 141, A loading / unloading device 175 for picking up / lowering the load / unload device 100 is installed.

The slide moving apparatus 170 according to the present embodiment may have a multi-stage slide structure so that the object 100 suspended from the loading / unloading apparatus 175 can be moved laterally outward through the opening of the stacking frame 147, The length can be extended laterally from the lower center of the carrier unit 141 by the multi-stage slide structure.

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 device using a winding device in which a commonly known winding wire is wound. Although not shown, a winding motor in which a winding wire is wound by a winding motor installed therein internally rotates, And the chuck gripper unit 176 can be raised 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 this embodiment includes a stacking frame 147 in which a plurality of carrier bodies 142 are provided and the object 100 can be pulled in and stowed, And a drop prevention device 180 installed at a lower portion of the apparatus 100 to block the falling of the object 100. [

The stacking frame 147 has a frame structure capable of forming openings through which the object 100 can pass on the side and the bottom. The stacking frame 147 may be installed at the lower portion of the carrier unit 141 with the upper portion thereof coupled to the moving bar 148 described above.

The drop prevention device 180 provided below the stacking frame 147 can house the object 100 on the stacking frame 147 and allow the object 100 to be shaken when the stacking frame 147 is moved So as to provide a stable transport structure for the object 100.

The drop prevention device 180 according to the present embodiment is arranged to be opposed to the lower portion of the stacking frame 147 so as 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 loading 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 stacking frame 147. [

That is, the object 100 is moved in the stacking frame 147 by the pair of rotation support members 181 that are rotated by the drop prevention drive unit 185 at the bottom of the stacking frame 147 and contact 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 stacking frame 147, A support link 187 having one end rotatably coupled to the rotation link 186 and the other end rotatably coupled to the stacking frame 147; 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 loading frame 186. [ 147).

When the soled rod 192 is drawn into the sol body 191, the rotary link 186 connected to the support link 187 is rotated, and the rotary support member 181 is rotated by the rotary link 186, As shown in FIG.

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 drop prevention device 180 and supported by the stacking frame 147 can be moved to the destination by traveling of the carrier unit 141 and is transported from the destination transport port 105 to the outside Lt; / RTI >

The carrier bail 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 in accordance with 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 side of the carrier unit 141 can be loaded from the side of the stacking frame 147 when the carrier unit 141 stops and can be moved laterally and unloaded again .

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 traveling wheels 144 of the carrier unit 141 can be heard about the center of gravity of the traveling wheels 144 and the other one of the traveling wheels 144 can be heard, ) 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 holder holder unit 250 can be supported by the rail member 117 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 the lifting of one of the traveling wheels 144 from the rail member 117.

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 117 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 117 and supported on the rail member 117 , 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 117 and a rotation support portion 252 provided to cross the side wall support portion 252 and supported by the bottom portion of the rail member 117. [ Prevention part 253.

That is, the end portion of the support holder member 251 may be formed to fit the end surface of the rail member 117. [ The side wall support portion 252 can contact the side wall 221 to limit the movement of the support holder member 251 when the support holder member 251 is moved toward the rail member 117 side, The support member 253 can be supported by the bottom surface portion 222 on the rail member 117 to block 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 117 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 120: bar code
121: contactless power supply 123: communication sensor
125: Reflector for entrance confirmation sensor 131: Curve joining guide
132: joining straight guide 140: conveying carriage
141: Carrier unit 142: Carrier body
144: Driving wheel 145: Support roller
146: Travel motor 147: Load frame
148: movement bar 150: branching roller unit
151, 152: branching roller 153: branching roller drive section
154: Roller position detection unit 155: Roller installation frame
156: Seesaw slope part 157: Frame drive shaft
158: seesaw bearing part 159: seesaw rotation part
160: slope surface 161: branch drive motor
162: Worm gear box 163: Gear housing
164: worm gear 165: worm wheel
166: Manual input shaft 167: Built-in encoder
168: External encoder 169: Auxiliary lift wheel unit
170: auxiliary wheel 171: auxiliary lift module
172: wheel lifting block 173: elevating guide member
174: lift adjusting portion 175a: height adjusting bolt 175b: height adjusting nut
176: Slide moving device 177: Loading and unloading device
178: Chuck gripper unit 179: Elevating 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 rod
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

A straight branching guide for guiding a straight run to a branching area to which the running rail and the branching and joining rails are connected, and a branching guide for guiding the branching run, the branching guide being connected to the plurality of running rails and the plurality of running rails A carrier unit installed to be able to run on the running rail of the rail system on which the curve branching guide is installed and to transport the object from the starting point to the destination;
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, A branching roller unit for selectively supporting any one of the plurality of branching rollers to any one of the linear branching guide and the curve branching guide; And
Wherein the auxiliary wheel is in contact with the running rail so that the carrier unit can be manually moved away from the running rail so that the auxiliary wheel is moved in a rolling manner, And an auxiliary lifting / lowering wheel unit having an auxiliary lifting / lowering module for lifting and lowering the carrier.

The method according to claim 1,
Wherein the carrier unit comprises:
A plurality of carrier bodies spaced apart from the running rail;
A plurality of traveling wheels installed on the carrier body to move the carrier body along the traveling rails;
A plurality of traveling motors provided on at least one of the plurality of carrier bodies corresponding to the plurality of traveling wheels; And
And a plurality of support rollers mounted on the carrier main body and supported by the running rail to guide movement of the carrier main body.

3. The method of claim 2,
The auxiliary lift module includes:
A wheel lifting block coupled to the auxiliary wheel, the wheel lifting block being capable of being raised and lowered on the plurality of carrier bodies;
A lifting and guiding member provided on the plurality of carrier bodies, the lifting and guiding member having the wheel lifting block movably coupled thereto; And
And a height adjuster provided on the wheel lifting block to lift and lower the auxiliary wheel together with the wheel lifting block so that the traveling wheel can be separated from the driving rail.

The method of claim 3,
The height adjuster includes:
A height adjustment bolt disposed on the wheel lifting block and rotatably coupled to the carrier body; And
And a height adjusting nut coupled to the wheel lifting block and to which the height adjusting bolt is screwed.

The method according to claim 1,
Wherein the plurality of branching rollers are installed so as to be capable of rolling on the basis of a line corresponding to a traveling direction of the carrier unit so that either the straight traveling or the branched traveling is moved in the vertical direction when rolling is performed Bouncing bills.

6. The method of claim 5,
Wherein the branching roller unit comprises:
A roller mounting frame in which the branching rollers are rotatably mounted on a line intersecting the traveling direction of the carrier unit;
A frame drive shaft coupled to the roller installation frame; And
And a branch roller driver connected to the frame drive shaft to rotate the frame drive shaft.

The method according to claim 6,
The roller installation frame includes a plurality of viewpoint slopes arranged so as to be mutually inclined such that the plurality of branch rollers are moved upward by rotational movement to be contacted with any one of the linear branching guide and the curve branching guide Bogie

8. The method of claim 7,
Further comprising a plurality of seesaw bearings mounted on the carrier unit, wherein the frame drive shaft is rotatably mounted,
The roller installation frame
Further comprising a seesaw portion rotatably coupled to the seesaw bearing portion by the frame drive shaft and coupling the plurality of seesaws to oppose each other.

9. The method of claim 8,
The branching roller is provided in a pair in the seesaw slope portion,
Wherein a slope is provided at an engagement portion between the seesaw slope portion and the seesaw rotation portion such that the seesaw slope portion is inclined.

9. The method of claim 8,
Wherein the seesaw bearing unit is provided with an encoder type roller position sensing unit for sensing a rotation angle of the seesaw rotation unit.

The method according to claim 6,
Wherein the branching roller driver comprises:
A branch drive motor installed on the carrier unit to drive the frame drive shaft; And
And a worm gear box installed between the branch drive motor and the frame drive shaft to transmit a drive force from the branch drive motor to the frame drive shaft.

12. The method of claim 11,
In the worm gear box,
A gear housing coupled to the branch drive motor to receive a drive force of the frame drive shaft;
A worm gear mounted on the gear housing and coupled to a rotating shaft of the driving motor; And
And a worm wheel mounted on the gear housing and gear-coupled to the worm gear to be coupled to the frame drive shaft.

13. The method of claim 12,
Wherein the branching roller driver comprises:
Further comprising a manual input shaft coupled to the worm gear so as to manually rotate the rotation shaft of the branch drive motor from outside the gear housing.

13. The method of claim 12,
Wherein the frame drive shaft is disposed on a center line of the carrier unit along a traveling direction of the carrier unit, the worm gear is disposed so as to cross the frame drive shaft,
Wherein the plurality of branching rollers are arranged to face each other on both sides of the center line of the frame drive shaft and are vertically moved.

3. The method of claim 2,
Wherein the traveling motor is a servo motor having a built-in encoder capable of sensing a rotation speed.

16. The method of claim 15,
Wherein the carrier unit comprises:
Further comprising an external encoder installed on the other of the plurality of carrier bodies to sense a rotation speed of the plurality of traveling wheels rotated along the traveling rail.

The method according to claim 1,
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 platform installed at a lower portion of the slide moving device for loading and unloading the object.

18. The method of claim 17,
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.

19. The method of claim 18,
A loading frame installed on the carrier unit, the loading frame being configured to allow the object to be drawn into the loading unit; And
Further comprising a drop prevention device installed at a lower portion of the stacking frame to support the object.

20. The method of claim 19,
The drop prevention device includes:
A pair of rotation support members disposed to face the lower portion of the stacking frame and rotatably coupled to a lower portion of the stacking frame to support the object; And
And a drop prevention driving unit coupled to the loading frame to rotate the rotation support member.

21. The method of claim 20,
The drop prevention driving unit includes:
A rotary link having one end rotatably coupled to a lower portion of the rotation support member and the other end rotatably coupled to the loading frame;
A supporting link having one end rotatably coupled to the rotating link and the other end rotatably coupled to the loading frame; And
And a link driving module which is connected at one end to the rotating link and whose other end is coupled to the loading frame, and which is capable of rotating the rotating link to rotate the rotating supporting member.

The method according to claim 1,
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 provided on the carrier unit to move the support holder member.

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; And
22. A conveyance system comprising a conveyance truck according to any one of claims 1 to 22.

24. The method of claim 23,
The rail system comprises:
A curve branching section in which the branching and joining rails are provided and the carrier unit is branched so as to reverse the traveling direction before and after the branching;
A curve joining guide connected to the curve branching guide and arranged along the branching rail as the joining rail, wherein one of the branching rollers is continuously contacted and supported; And
And a joining straight guide disposed along the running rail disposed on the joining rail and connected to the curve joining guide.