Patent Publication Number: US-6655297-B2

Title: Transfer system using movable bodies

Description:
FIELD OF THE INVENTION 
     The preset invention relates to a transfer system using movable bodies in moving the movable bodies, which is used to transfer subjects, for example, in a given path on the floor or ceiling. 
     BACKGROUND OF THE INVENTION 
     Heretofore, as for this type of movable body, there has been provided an arrangement found in Japanese Patent Laid-Open No. 7-25441, for example. That is, amovable body movable in a given path as supported and guided by a rail has a main body composed of three frame bodies relatively turnably connected through connecting devices. And each frame body is in the form of a quadrangular body extending in the direction of the given path, with its side surface being formed as a driven surface. The intermediate frame body included in the frame body is provided with a support section for transfer subjects, and guided device to be supported and guided by the rail. Further, the two frame bodies, front and rear, are provided with guided devices to be supported and guided by the rail. 
     According to the conventional arrangement described above, however, in transferring the movable body to a different given path or returning to the original given path after it has been taken out of the given path, for example, the movable body has to be moved for separating or joining while moving the movable body in the longitudinal direction, thus requiring a long path for separating or joining. Further, when a storage path is formed in the given path to store the movable body, for example, the storage path will be long in length according to the number of storages since this movable body is stored with each frame body put in rectilinear form. 
     From these facts, it follows that the layout formation for the given path in its entirety cannot be easily effected and that the percentage of occupied area for separating, joining and storing is increased. 
     DISCLOSURE OF THE INVENTION 
     Accordingly, an object of the invention is to provide a transfer system using movable bodies, which is capable of moving movable bodies transversely for separating and also for joining, with respect to a given path. 
     To achieve the object described above, the invention provides a transfer system, using movable bodies that are supported and guided by a rail through a plurality of guided devices disposed on main bodies of the movable bodies so that the movable bodies are movable in a given path, the main bodies being provided with supports for a transfer subject, wherein the group of the guided devices are relatively turnably connected to the main bodies through vertical shafts; the given path has a set path portion which includes therein a plurality of divisional rail bodies capable of supporting the group of guided devices, and turning means for turning these divisional rail bodies around vertical axes; and there are provided laterally of the set path portion a group of transverse rail bodies to which the divisional rail bodies turned for separation with respect to the rail can be connected. 
     According to the above arrangement of the invention, the group of divisional rail bodies are turned around the vertical axes by the turning means and connected to the rail while they are separated from the transverse rail bodies. Thereby, the guided devices that have moved in can be transferred from the rail to the group of divisional rail bodies and the movable body can be stopped at a position where the guided devices are supported by the corresponding divisional rail bodies. 
     Subsequently, the group of divisional rail bodies are separated from the rail by the reverse turn of the turning means and then connected to the transverse rail bodies. Such turning force of the divisional rail bodies can turn the guided devices through vertical shafts with respect to the movable body and the support section of the main body; thus, the movable bodies can cause the guided devices to take a transversely facing attitude while causing the group of their main bodies to take an attitude lying along the set path portion. 
     And, the group of guided devices are moved by suitable transverse moving means. The group of these moving guided devices are transferred from the divisional rail bodies to the transverse rail bodies, so that the movable body can be transversely moved and stopped at a predetermined position with its main body taking an attitude lying along the set path portion. Subsequently, the group of divisional rail bodies are separated from the transverse rail bodies by the reverse turn of the turning means and connected to the rail, whereby they can be restored to the initial state. 
     In addition, the movable bodies supported by the group of transverse rail bodies can be returned to the original rail by the operation of the divisional rail bodies and turning means that is reverse to the above. Alternatively, similar divisional rail bodies and turning means may be disposed at the free end side (opposite side) of the group of transverse rail bodies, so that after the movable bodies have been transferred from the divisional rails to a separate rail, they can be moved in a separate given path. 
     Thereby, the main bodies of the movable bodies can be transversely separated from and joined to the given path. Therefore, a path suffices for separating and joining can be shortened, and when the transverse path portion consisting of the group of transverse rail bodies is used as a storage path, for example, the movable bodies can be stored in a side-by-side state, so that the storage path can be reduced in total length according to the storage number. From these facts, the formation of the entire layout of the given path can be easily made and the occupied area for separating, joining or storage can be minimized. 
     Further, the invention provides a transfer system using movable bodies, in which the movable bodies are supported and guided by a rail through a plurality of guided devices so that they are movable in a given path, the movable body having a main body composed of a plurality of frame bodies horizontally connected to be relatively turnable through connecting devices, at least one of the frame bodies being provided with a support section for transfer subjects, wherein the group of guided devices are relatively turnably connected to the movable bodies through vertical shafts; the given path has a set path portion which includes therein a plurality of divisional rail bodies capable of supporting the group of guided devices, and turning means for turning these divisional rail bodies around vertical axes; and there are provided laterally of the set path portion a group of transverse rail bodies to which the divisional rail bodies turned for separation with respect to the rail can be connected. 
     According to the above arrangement of the invention, the group of divisional rail bodies are turned around the vertical axes by the turning means and connected to the rail while they are separated from the transverse rail bodies. Thereby, the guided devices that have moved in, or the group of guided devices disposed in the group of frame bodies, can be transferred from the rail to the group of divisional rail bodies and the movable body can be stopped at a position where the guided devices are supported by the corresponding divisional rail bodies. 
     Subsequently, the group of divisional rail bodies are separated from the rail by the reverse turn of the turning means and then connected to the transverse rail bodies. Such turning force of the divisional rail bodies can turn the guided devices through vertical shafts with respect to the main body of the movable body and the support section; thus, the movable bodies can cause the guided devices to take a transversely facing attitude while causing the group of frame bodies of the movable bodies to take an attitude lying along the set path portion. 
     And, the group of guided devices are moved by suitable transverse moving means. The group of these moving guided devices are transferred from the divisional rail bodies to the transverse rail bodies, so that the movable bodies can be transversely moved and stopped at a predetermined position with the group of frame bodies taking an attitude lying along the set path portion. Subsequently, the group of divisional rail bodies are separated from the transverse rail bodies by the reverse turn of the turning means and connected to the rail, whereby they can be restored to the initial state. 
     Thereby, the group of frame bodies of the movable bodies can be transversely separated from and joined to the given path. Therefore, a path suffices for separating and joining can be shortened, and when the transverse path portion consisting of the group of transverse rail bodies is used as a storage path, for example, the movable bodies can be stored with the group of frame bodies arranged in a side-by-side state, so that the storage path can be reduced in total length according to the storage number. From these facts, the formation of the entire layout of the given path can be easily made and the occupied area for separating, joining or storage can be minimized. 
     A first preferred embodiment of the invention in a transfer system using movable bodies is characterized in that the connecting device horizontally connects the frame bodies to be relatively turnable through a vertical shaft, and the guided device is relatively turnably connected to the end of the vertical shaft. 
     According to this first embodiment, in a linear path portion in the given path, the movable bodies can be moved with their main bodies, or each of the frame bodies, kept in a linear state as seen in a plan view and a side view. Further, in a horizontal curved path, the frame bodies can be moved as they are bent along the curve in the connecting device, as seen in a plan view. In that case, the bending is allowed to take place by relative turning around the vertical shaft. Further, the guided device turns through the vertical shaft serving as the connecting device, whereby it can smoothly move while automatically changing its direction along the horizontal curve of the rail and also smoothly turn following the turning of the divisional rail body. 
     A second preferred embodiment of the invention in a transfer system using movable bodies is characterized in that the connecting device horizontally connects the frame bodies to be relatively turnable through a vertical shaft and vertically connects the frame bodies to be relatively turnable through a transverse shaft, and an end of the vertical shaft and the guided device are relatively turnably connected through a transverse pin passing through the end of the vertical shaft. 
     According to this second embodiment, in a vertical curved path portion in the given path, the frame bodies can be moved as they are put in an attitude bent along the curve in the connecting device as seen in a plan view. In that case, the bending can be automatically reliably effected by relative turning around the transverse shaft. And the guided device turns through the transverse pin, so that it can be smoothly moved while automatically changing its direction with respect to the vertical displacement and deformation of the rail. 
     A third preferred embodiment of the invention in a transfer system using movable bodies is characterized in that the main body of the movable body has a side surface formed as a driven surface, and a feed device having a feed roller capable of abutting against the driven surface is disposed in the given path. 
     According to this third embodiment, the feed roller forcibly rotated is abutted against the driven surface of the movable body, whereby the feed rotating force can impart a moving force (traveling force) to the movable body, thereby easily and reliably moving the movable body. 
     A fourth preferred embodiment of the invention in a transfer system using movable bodies is characterized in that the movable body is provided with a support section for transfer subjects, the support section being disposed in a lower portion of at least one of the frame bodies. 
     According to this fourth embodiment, the movable bodies of suspended transfer type can be transversely moved with the support sections being held horizontal. 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS 
     FIG. 1 is a side view of a divisional rail body portion, before tuning, in a transfer system using movable bodies, according to a fit embodiment of the invention; 
     FIG. 2 is side view of the divisional rail body portion, after turning, in the transfer system using movable bodies; 
     FIG. 3 is a plan view, partly broken away, of the divisional rail body portion, before turning, in the transfer system using movable bodies; 
     FIG. 4 is a plan view, partly broken away, of the divisional rail body portion, after turning, in the transfer system using movable bodies; 
     FIG. 5 is a side view of the divisional rail body portion, after turning, in the transfer system using movable bodies; 
     FIG. 6 is a side view, partly broken away, of a transverse movement means portion, after turning, in the transfer system using movable bodies; 
     FIG. 7 is a schematic plan view of a given path portion in the transfer system using movable bodies; 
     FIG. 8 is a side view of the movable body in a rectilinear path portion in the transfer system using movable bodies; 
     FIG. 9 is a plan view of the movable body in the rectilinear path Portion the transfer system using movable bodies; 
     FIG. 10 is a rear view of the movable body in the rectilinear path portion the transfer system using movable bodies; 
     FIG. 11 is a rear view, partly broken away, of the movable body in a feed device portion in the transfer system using movable bodies; 
     FIG. 12 a side view of the principal portions of the movable body in the transfer system using movable bodies; 
     FIG. 13 is a plan view, partly broken away, of the principal portions of the movable body in the transfer system using movable bodies; 
     FIG. 14 is a side view, partly broken away, of the feed device portion in the transfer system using movable bodies; 
     FIG. 15 is a plan view of the feed device portion in the transfer system using movable bodies; 
     FIG. 16 is a side view, partly broken away, of a curve feed device portion the transfer system using movable bodies; 
     FIG. 17 a plan view of the curve feed device portion in the transfer system using movable bodies; 
     FIG.  18 ( a ) is a schematic plan view of a given path portion in a transfer system using movable bodies, according a second embodiment, and FIG.  18 ( b ) is a schematic plan view of a given path portion in a transfer system using movable bodies according to a third embodiment; 
     FIG. 19 ( a ) is a side view, partly broken away, of a divisional rail body portion, before turning, in a transfer system using movable bodies, according to a fourth embodiment, and FIG.  19 ( b ) is a side view, partly broken away, after turning, according to the fourth embodiment; 
     FIG. 20 is a side view of a divisional rail body portion, before being turned, in a transfer system using movable bodies, according to a fifth embodiment of the invention; 
     FIG. 21 is a side view of the divisional rail body portion, after turning, the transfer system using movable bodies; 
     FIG. 22 is a side view, partly broken away, of the divisional rail body portion, before turning, in the transfer system using movable bodies; and 
     FIG. 23 is a plan view, partly broken away, of the divisional rail body portion, after turning, in the transfer system using movable bodies; and 
     FIG. 24 is a front view of a guided device portion in the transfer system using movable bodies. 
    
    
     EMBODIMENTS 
     A first embodiment of the invention will now be descried with reference to FIGS. 1 through 17, with movable bodies employed for an:overhead traveling type. 
     In FIGS. 7 through 13, a rail  2  that is I-shaped in section is laid on a machine frame  1  from the ceiling. The rail  2  defines a given path  5  that, as seen in a plan view, is composed, for example, of a rectilinear operating path portion  5   a , a rectilinear return path portion (an example of a set path portion)  5   c  connected to the terminal end of the operating path portion  5   a  through a curved path portion  5   b  and the like. 
     Further, this portion of the return path portion  5   c  is formed with a transverse path portion  6  orthogonal thereto. And this transverse path portion  6  is formed with a different given path  5 A orthogonal thereto and parallel with the return path portion  5   c , the given path  5 A being composed of a rail  2 A that is similarly I-shaped in section and the like. 
     Movable bodies  10  are provided that are movable in the given paths  5  and  5 A as they are supported and guided by the rails  2  and  2 A. Each movable body  10  has its main body  11  composed of three (plurality) frame bodies  12 ,  13 , and  14 . Each of the frame bodies  12 ,  13 , and  14  is composed of a quadrangular prism (quadrangular bar-like body) extending in the direction of the given paths  5  and  5 A, a front end member integrated with the front ends of these four quadrangular prisms, a rear end member integrated with the rear end, and the like, and both side surfaces of the main body  11  provide driven surfaces  15 . 
     In addition, the front and rear surfaces of the main body  11 , that is, the front surface (free end portion) of the front frame body  12  and the rear surface (free end portion) of the rear frame body  14  are formed as abutment portions  16  and  17 . 
     The front and intermediate frame bodies  12  and  13 , and the intermediate and rear frame bodies  13  and  14  are respectively connected for relative horizontal and vertical turning through connecting devices  20 . The connecting devices  20  are each disposed between the rear end member of the front frame body  12  and the front end member of the intermediate frame body  13  and between the rear end member of the intermediate frame body  13  and the front end member of the rear frame body  14 . 
     That is, the connecting devices  20  employed are of a trunnion type in which connecting bodies  22  are connected to the front and rear end members of the intermediate frame body  13  for relative horizontal turning through vertical shafts  21  and in which such connecting bodies  22  are connected to the rear end member of the front frame body  12  and the front end member of the rear frame body  14  for relative vertical turning through horizontal shafts  23 . In that case, the vertical shaft  21  is also arranged to be relatively turnable (rotatable) around the vertical axis  21   a  with respect to the intermediate frame body  13  and connecting body  22 . 
     The movable body  10  is supported and guided by the rails  2  and  2 A through a plurality of guided devices; thus, it is arranged to be movable along the given paths  5  and  5 A. In that case, the guided device is composed of intermediate guided devices  30  connected to the vertical shafts  21 , and end guided devices  40  connected to vertical shafts  25  disposed in the front end member of the front frame body  12  and the rear end member of the rear frame body  14 , these guided devices  30  and  40  being of a similar trolley type. In that case, the vertical shaft  25  is arranged to be relatively turnable (rotatable) around vertical axis  25   a  with respect to the front and rear frame bodies  12  and  14 . 
     That is, the trolley main body  31  of the intermediate guided device  30  is composed of a pair of right and left support plate bodies  31   a , and a pair of front and rear connecting plate bodies  31   b  fixed between lower portions of the support plate bodies  31   a . And the upper portions of both support plate bodies  31   a  have a pair of front and rear transverse pins  32  connected thereto and directed inward, the inwardly projecting portions of these transverse pins  32  have supported rollers  33  freely rotatably attached thereto that engage the rails  2  and  2 A and are supported and guided by the rails  2  and  2 A. 
     Connected to the upper portions of both support plate bodies  31   a  longitudinally outwardly of the places where the transverse pins  32  are disposed are brackets  34  directed inward, these brackets  34  having downwardly directed vertical pins  35  fixed thereto, these vertical pins  35  having guided rollers  36  freely rotatably attached thereto that abut against and are guided by the rails  2  and  2 A. 
     And the intermediate guided device  30  is relatively turnably connected to the upper end of the vertical shaft  21 . That is, the vertical shaft  21  is inserted between both support plate bodies  31   a  and between both connecting plate bodies  31   b , and a transverse pin  24  to be passed through between both support plate bodies  31   a  extends through the upper end of the vertical shaft  21 . This establishes a connection between the upper end of the vertical shaft  21  and the intermediate guided device  30  through the transverse pin  24  extending through the upper end of the vertical shaft  21 . 
     Further, the end guided device  40 , which is approximately similar to the intermediate guided device  30 , has a trolley main body  41  composed of a pair of right and left support plate bodies  41   a , and a plurality of cylindrical space members  41   c  installed between the lower portions of these support plate bodies  41   a  through fasteners (bolts and nuts)  41   b . And a single transverse pin  42  is connected, as inwardly directed, to the upper portions of both support plate bodies  41   a , and such transverse pins  42  have supported rollers  43  freely rotatably attached to the inwardly projecting ends thereof that engage the rails  2  and  2 A and are supported and guided by the rails  2  and  2 A. 
     Further, connected to the upper portions of both support plate bodies  41   a  longitudinally of the places where transverse pins  42  are disposed are brackets  44  directed inward, these brackets  44  having downwardly directed vertical pins  45  fixed thereto, these vertical pins  45  having guided rollers  46  freely rotatably attached thereto that abut against the rails  2  and  2 A and guided. Further, of the cylindrical space members  41   c , a predetermined pair of members, front and rear, are freely rotatably provided with float-preventing rollers  47  opposed to the rails  2  and  2 A from below. 
     And the end guided device  40  is relatively turnably connected to the upper end of the vertical shaft  25 . That is, the vertical shaft  25  is inserted between both support plate bodies  41   a  and between both float-preventing rollers  47 , and a transverse pin  26  inserted between both support plate bodies  41   a  extends through the upper end of the vertical shaft  25 . Thereby, connection between the upper end of the vertical shaft  25  and the end guided device  40  is effected through the transverse pin  26  passing through the upper end of the vertical shaft  25 . 
     The movable body  10  is provided with a support section  50  for transfer subjects. That is, the support section  50  for transfer subjects is positioned below the intermediate frame body  13  of the frame bodies  12 ,  13  and  14 . This support section.  50  comprises a longitudinal member  51  disposed between the lower ends of the intermediate vertical shafts  21 , left-right arm members  53  connected to the front and rear ends of this longitudinal member  51  through brackets  52 , supports  54  for transfer subjects disposed at the free ends of these arm members  53 , and the like. In that case, the vertical shaft  21  is arranged to be relatively rotatable (rotatable) around the vertical axis  21   a  with respect to the longitudinal member  51 . 
     In FIG. 7, the initial end of the operating path portion  5   a  is provided with a feed device  60  that acts on the driven surface  15  to impart a moving force to the movable body  10 . This feed device  60 , as shown in FIGS. 11,  14  and  15 , has a base frame  61  attached to the upper surface of the rail  2 , and a bracket  62  from the base frame  61  rotatably supports a vertical shaft  63 . The vertical shaft  63  has a link body  64  attached thereto, the link body  64  having a support member  65  attached to the free end thereof. 
     And disposed on the upper surface of the support member  65  is an induction motor  66  with a speed reducing mechanism that is an example of a rotation drive device, and an output shaft  67  extending downward from the induction motor  66  has fixed to thereto, for example, a feed roller  68  whose outer peripheral portion is made of urethane. In addition, it is arranged that the induction motor  66  imparts a feed rotating force A to the feed roller  68 . 
     Inserted between the bracket  62  and the support member  65  with the vertical shaft  63  in the middle is a swing control element  69  adjustable in the bolt-nut manner, and a compression spring  70  fitted on the bolt is disposed between the bracket  62  and the support member  65 . The  61 - 70 , and the like constitute an example of a feed device  60 . 
     Therefore, the feed device  60  causes the support member  65  and the link body  64  to swing inward around the vertical axis  71  under the elastic repulsive force of the compression spring  70 , thereby making it possible to urge the feed roller  68  in the direction to abut against the driven surface  15 . In that case, the closest approach position is controlled by the swing control element  69 . 
     In FIG. 7, the terminal end portion of the operating path portion  5   a  is provided with a brake device  75  for acting on the driven surface  15  to impart a braking force to the movable body  10 . This brake device  75 , which is of the same construction as that of the feed device  60 , is composed of a braking roller  76  made, e.g., of urethane and capable of laterally abutting against the driven surface  15  in the main body  11 , a rotation drive device  77  operatively connected to the braking roller  76  for imparting a feed rotating force B to the braking roller  76 , and the like. In addition, the rotation drive device  77  is composed of a torque motor, and the like, and its feed rotating, force B is set to be lower than the feed rotating force A from the induction motor  56 ; that is, A&gt;B. 
     Therefore, in the operating path portion  5   a , it is arranged that a plurality of movable bodies  10  travel without creating a clearance between front and rear ends thereof in a region between the feed device  60  and the brake device  75 , i.e., with the front and rear abutments  16  and  17  in the abutting state, aligned in a closely pushing behind manner. 
     Feed devices  78  similar to the feed device  60  are disposed in a predetermined place  7  of the rectilinear return path portion  5   c , a separate given path  5 A, and the like. Further, as shown, in FIGS. 16 and 17, the curved path portion  5   b  is provided with a feed device  79  similar to the feed device  60 . In addition, in FIGS. 16 and 17, the same reference numerals are applied to components similar to those of the feed device  60  and a detailed description thereof is omitted. The arrangement patterns of the devices  60 ,  75 ,  78  and  79  are variously changed, and part or all of the devices  60 ,  75 ,  78 , and  79  may be omitted. 
     As shown in FIGS. 1 through 7, the return path portion  5   c , which is the set path portion in the given path  5 , is provided with four (plurality) divisional rail bodies  81  capable of supporting the guided devices groups  30  and  40 . These divisional rail bodies  81 , which are I-shaped in section as in the rail  2 , are formed in such a manner as to divide the rail  2 . Each divisional rail body  81  is arranged to be rotatable around a vertical axis  82 . For this reason, a bearing  84  is installed on a pedestal  83  supported on the ceiling, and the divisional rail body  81  is connected to the lower end of a vertical shaft  85  supported for only rotation in the bearing  84 . 
     And a turning means  91  is provided for turning the group of divisional rail bodies  81  around the vertical axis  82 . That is, a link  92  is fixed to the upper end of each vertical shaft  85 , with a link plate  93  being relatively turnably connected between the free ends of these links  92  through a vertical pin  94 . An operating link  95  is fixed to one vertical shaft  85 , and the piston rod  97  of a cylinder device  96  turnably installed on the pedestal  83  is relatively turnably connected to the free end of the operating link  95  through a vertical pin  98 . The  92 - 98  described above constitute an example of the turning means  91 . 
     Divisional rail bodies and turning means similar to those described above are installed in a separate given path  5 A disposed side by side with the return path portion  5   c , in which case the character A is added to the numerals for the same components to omit a detailed description thereof. That is,  81 A is the divisional rail body;  82 A is the vertical axis;  83 A is the pedestal;  84 A is bearing;  85 A is the vertical shaft;  91 A is the turning means;  92 A is the link;  93 A is the link plate;  94 A is the vertical pin;  95 A is the operating link;  96 A is the cylinder device;  97 A is the piston rod; and  98 A is the vertical pin. 
     Four (plurality) transverse rail bodies  87  extending laterally of the return path portion  5   c  and over the other given path  5 A and orthogonal to the return path portion  5   c  are disposed at predetermined intervals in the direction of the return path portion  5   c . Divisional rail bodies  81  and  81 A separation-turned with respect to the rails  2  and  2 A are connectible to the transverse rail bodies  87 . The transverse rail bodies  87  are I-shaped in section as in the divisional rail bodies  81  and  81 A and the rails  2  and  2 A. 
     In addition, the transverse rail bodies  87  are disposed evenly on both sides of the return path portion  5   c  and the other given path  5 A. In that case, the distance between the return path portion  5   c  and the other given path  5 A is of predetermined long dimension; thus, the transverse path portion  5   d  for movable bodies  10  is orthogonal to the return path portion  5   c  and the other given path  5 A. Further, the other side of the return path portion  5   c  is short-sized for standby uses for a transverse moving means (to be later described), and the other side of the other given path  5 A is also short-sized for installation of the transverse moving means. 
     Both end surfaces of the divisional rail bodies  81  and  81 A are arcuate surfaces with the centers at the vertical axes  82  and  82 A, while opposite surfaces of the rails  2  and  2 A and transverse rail bodies  87  are concavely arcuate; thus, the arcuate surfaces and concavely arcuate surface can be intimately connected and the turning of the divisional rail bodies  81  and  81 A can be smoothly effected. 
     The transverse rail bodies  87  are provided with a transverse moving means  101  for transversely moving the movable body  10  in the transverse path portion  6 . That is, disposed above both ends of the transverse rail bodies  87  are shaft  102   a  and  102   b  extending along the return path portion  5   c , the shafts  102   a  and  102   b  are turnably supported in bearings  103   a  and  103   b  from the pedestal  83  and  83 A. Both shafts  102   a  and  102   b  are provided with pulleys  104   a  and  104   b  corresponding to the divisional rail bodies  81  and  81 A, and a belt (an endless rotary body)  105  is entrained around the pulleys  104   a  and  104   b  opposed to each other in the direction of the transverse path portion  6 . 
     Connected to one place of each of these belts  105  is a transverse push body  106 , which has a main body  107  connected to the belt  105 , and a transverse push member  108  disposed on the lower surface of the main body  107 . And the main body  107  is arranged to be supported and guided by the upper flanges of the divisional rail bodies  81  and  81 A and the transverse rail bodies.  87  through a plurality of freely rotatable rollers  109 . 
     The transverse push member  108  is arranged to be capable of abutting against the trolley main bodies  31  and  41  in the guided devices  30  and  40 . In addition, either one of the shafts  102   a  and  102   b  is operatively connected to a forwardly and backwardly drivable driving device (not shown). Shafts  102   a ,  102   b  and rollers  109  constitute an example of the transverse moving means  101 . 
     The operation of the first embodiment described above will now be described. 
     As shown in FIG. 7, the movable body  10  being moved in the operating path portion  5   a  by the feed rotating force of the feed device  78  is given a moving force (traveling force) by the feed rotating force A of the feed device  60  disposed in the operating path portion  5   a.    
     That is, as shown in a phantom line C in FIG. 15, the feed roller  68  projected inward by the elastic force of the compression spring  70  abuts against the driven surface  15  of the movable body  10  that has been fed in, which means that as shown in solid line in FIG. 15, it is pressed against the driven surface  15  in the state in which it is retracted against the elastic force of the compression spring  70 . At this time, the feed roller  68  is being driven for rotation by the induction motor  66 , so that pressing the feed roller  68 , being forcibly rotated, against the driven surface  15  results in the movable body  10  being given a moving force by the feed rotating force A. 
     In that case, this fed-in movable body  10  is abutted at the abutment  16  of its front end against the abutment  17  of the rear end of the rearmost movable body  10  in the group of movable bodies  10  positioned in the operating path portion  5   a  in the manner of closely connected railroad cars; thus, the group of movable bodies  10  positioned in the manner of closely connected railroad cars in the operating path portion  5   a  are moved at a desired speed by the feed rotating force A of the feed device  60 , which means that as shown in a phantom line in FIGS. 9 and 13, the group of movable bodies  10  positioned in a closely connected railroad cars are pushed to be moved. 
     The movable body  10  thus moved in the operating path portion  5   a  and reaching the terminal end has brakes applied thereto by the brake device  75 . That is, in the brake device  75 , the brake roller  76  pressed against the driven surface  15  by the same action as in the feed device  60  is forcibly rotated and its feed rotating force B imparts a braking force to the movable body  10 . 
     Since the feed rotating force A from the feed device  60  is greater than the feed rotating force B of the brake roller  76 , the difference therebetween causes the movable body  10  corresponding to the brake device  75  to be moved under the braking action. Therefore, in the operating path portion  5   a , a plurality of movable bodies  10  are moved between the feed device  60  and the brake device  75  as they are arranged in a closely pushed state without producing a clearance between the front and rear ends thereof. 
     The movement of the movable bodies  10  by the feed device  60  described above is effected by causing the feed roller.  68  to act successively on the driven surface  15  of the front frame body  12 , the driven surface  15  of the intermediate frame body  13 , and the driven surface  15  of rear frame body  14 . Further, the side surface of the connecting body  22  in the connecting devices  20  also serves as a driven surface and is acted on by the feed roller  68 . 
     In that case, when the feed roller  68  is acting on the front frame body  12 , the intermediate and rear frame bodies  13  and  14  are moved by being pulled through the connecting devices  20 . Further, when the feed roller  68  is acting on the intermediate frame body  13 , the front frame body  12  is moved by being pushed from behind through the connecting devices  20 , while the rear frame body  14  is moved by being pulled through the connecting devices  20 . Further, when the feed roller  68  is acting on the rear frame body  14 , the intermediate and front frame bodies  13  and  12  are moved by being pushed from behind through the connecting devices  20 . 
     While the group of movable bodies  10  are being intermittently or continuously moved or intermittently stopped, an operator on the floor, for example, carries out various operations from below with respect to the transfer subject  110  supported by the support section  50 . 
     As shown in FIG. 7, after the movable body  10  moved by being pushed out from the brake device  75  has been moved in the curved path portion  5   b  by the feed device  79 , it is fed out to the return path portion  5   c . The movable body  10  in the return path portion  5   c  is fed out to the divisional rail body  81  by the feed device.  78 . 
     That is, in the divisional rail body  81 , as shown in FIGS. 1 and 3, the group of vertical shafts  85  are being synchronously rotated by the extension of the cylinder device  96  of the turning means  91  through the operating link  95 , links  92 , link plates  93 , and the like. This turning movement connects the group of divisional rail bodies  81  to the rail  2  and separates them from the transverse rail body  87 . 
     Therefore, the guided devices  30  and  40  for the movable body  10  moved in by the feed device  78  are transferred from the rail  2  to the group of divisional rail bodies  81 . And the movable body  10  is stopped at a predetermined position, that is, at a position where the guided devices  30  and  40  are supported by the corresponding divisional rail bodies  81 . 
     Then, the contraction of the cylinder device  96  in the turning means  91  causes the group of vertical shafts  85  to be synchronously turned reversely through 90 degrees through the operating link  95 , links  92 , link plates  93 , and the like. This reverse turning causes the group of divisional rail bodies  81 , after being separated from the rail  2 , to be connected to the transverse rail bodies  87 , as shown in FIGS. 2,  4  and  5 . 
     The turning force of such divisional rail body  81  turns the guided devices  30  and  40  around the vertical shafts  21   a  and  25   a  with respect to the main body  11  of the movable body  10  and the support section  50 . This results in the guided devices  30  and  40  taking a position facing the transverse path portion  6  although the movable body  10  has its main body  11  taking an attitude lying along the return path portion  5   c . At this time, the transverse push body  106  of the transverse moving means  101  is standing by on the shorter side of the transverse rail body  87  as shown in a solid line in FIG.  5 . Further, the divisional rail body  81 A in the other given path  5 A is likewise turned and separated from the rail  2 A, and then connected to the transverse rail body  87 . 
     Subsequently, the belt  105  is turned by the operation of the transverse moving means  101 , whereby the transverse push bodies  106  standing by on the shorter side of the transverse rail body  87  are transferred to the divisional rail body  81  and abutted against the trolley main bodies  31  and  41  of the guided devices  30  and  40 , thus moving the group of guided devices  30  and  40  by pushing them from behind through the trolley main bodies  31  and  41 . 
     The group of the guided devices  30  and  40  to be moved by being pushed from behind are transferred from the divisional rail bodies  81  to the longer side of the transverse rail bodies  87  and then moved; thus, the movable body  10  is transversely moved in the transverse path portion  6  with its main body  11  extending along the return path portion  5   c . And the movable body  10 , as shown in a phantom line in FIGS. 4 and 5, is transferred from the transverse rail body  87  to the divisional rail body  81 A of the other given path  5 A and then stopped. 
     After the movable body  10  has thus been transversely moved to a predetermined position, the belt  105  is turned reversely by the reverse operation of the transverse moving means  101 . Thereby, the transverse push body  106  positioned on the longer side of the transverse rail body  87  is moved backward and transferred to the divisional rail body  81 , whereupon it is returned to the shorter side of the transverse rail body  87 . 
     Subsequently, the extension of the cylinders  96  and  96 A of both turning means  91  and  91 A synchronously rotate the groups of vertical shafts  85  and  85 A through the operating links  95  and  95 A, links  92  and  92 A, link plates  93  and  93 A, and the like. This turning causes the groups of divisional rail bodies  81  and  81 A to separate from the transverse rail bodies  87  and to connect to the rails  2  and  2 A; thus, as shown in FIGS. 1 and 3, the original state is restored. 
     Such turning force of the divisional rail bodies  81 A turns the guided devices  30  and  40  in the direction opposite to what is mentioned above, around the vertical axes  21   a  and  25   a  with respect to the main body  11  of the movable body  10  and the support section  50 . This causes the movable body  10  to take an attitude in which its main body  11  and guided devices  30  and  40  extend along the other given path  5 A. Therefore, the feed device  78  imparts a moving force to the movable body  10  in the other given path  5 A, whereby the movable body  10  is transferred from the divisional rail body  81 A to the rail  2 A. And it can be moved in the other given path  5 A. 
     Thus, the return path portion  5   c  of the given path  5  is provided with a plurality of divisional rail bodies  81  capable of supporting the groups of guided devices  30  and  40 , the turning means  91  being provided for turning these divisional rail bodies  81  around the vertical axes  82 , and the return path portion  5   c  is laterally provided with the group of transverse rail bodies  87  connectible to the divisional rail bodies  81  separation-turned with respect to the rail  2 , whereby the movable body  10  can be transversely separated from and joined to the given path  5 . 
     Therefore, the path for separating and joining may be short in length. Further, when the transverse path portion  6  consisting of the group of transverse rail bodies  87 , for example, is used as a storage path, the movable bodies  10  can be stored with the group of frame bodies  12 - 14  transversely arranged; therefore, the storage path can be reduced in length according to the storage number. From these facts, the formation of the entire layout of the given path  5  can be easily made and the occupied area for separating, joining or storage can be minimized. 
     During the movement of the movable bodies  10  described above, the intermediate guided devices  30  are supported and guided through the supported rollers  33  by the rails  2  and  2 A, divisional rail bodies  81  and  81 A and transverse rail bodies  87 , and the guided rollers  35  are guided as they abut against the rails  2  and  2 A, divisional rail bodies  81  and  81 A and transverse rail bodies  87 . Further, the end guided devices  40  are supported and guided by the rails  2  and  2 A, divisional rail bodies  81  and  81 A and transverse rail bodies  87  through the supported rollers  43 , and the guided rollers  46  are guided as they abut against the rails  2  and  2 A, divisional rail bodies  81  and  81 A and transverse rail bodies  87 , with the float preventing rollers  47  opposed from below to the rails  2  and  2 A, divisional rail bodies  81  and  81 A and transverse rail bodies  87 . 
     Thereby, the movement of the movable bodies  10  is stably effected without rattling, toppling sideways or floating; thus, various operations to the transfer subject  110  and loading and unloading of the transfer subject  110  can be always accurately performed. 
     In the pushing from behind in the given path  5  in the manner of connected railroad cars, and in the linear operating path  5   a , and the like, as shown in FIGS. 8 and 9, the main bodies  11  of the movable bodies  10 , that is, the frame bodies  12 ,  13  and  14 , as seen in a plan view and a side view, take a linear attitude, so that the abutment  16  abuts against the abutment  17  from behind; therefore, the pushing from behind can be smoothly and reliably effected. 
     Further, it follows that in the left-hand (or right-hand) curved path portion  5   b , the frame bodies  12 ,  13  and  14  are moved by being pushed from behind as they are bent, as seen in a plan view, along the curve in the connecting devices  20 . Thereby, in a plan view, the relative angle formed between the rear frame body  14  of the preceding movable body  10  and the front frame body  12  of the following movable body  10  is obtuse, with the abutment  16  abutting against the abutment  17  at an obtuse angle, so that the pushing from behind can be smoothly and reliably effected. 
     In that case, the bending is effected through relative turning around the vertical shaft  21  in the connecting devices  20 . Further, the guided devices  30  and  40  are turned around the vertical axes  21   a  and  25   b  through the vertical shafts  21  and  25 , whereby they are smoothly moved while automatically changing the direction along the curve transversely of the rails  2  and  2 A. 
     The first embodiment described above may be of a type in which with the movable body  10  taken out to the transverse path portion  6 , various operations are applied to the transfer subject  110  supported on this movable body  10 . In that case, the support section  50  may be of a type in which it supports the transfer subject  110  always in a given direction with respect to the main body  11  or of a type in which the direction of the transfer subject  110  is changed by 90 degrees. 
     A second embodiment of the invention will now be described with reference to FIG.  18 ( a ). That is, it is of a type in which the movable body  10  taken out of the return path portion  5   c  in the given path  5  to the transverse path portion  6  is returned again to the return path portion  5   c . At this time, the movable body  10  may be stored in the transverse path portion  6  for a predetermined time or placed in various directions to perform various operations, as described above. 
     In addition, in returning the movable body  10  in the transverse path portion  6  to the return path portion  5   c , as shown in FIG. 6, for example, a locking element  115  installed on the transverse push body  106  is locked to the trolley bodies  31  and  41  as shown in a phantom line and the transverse push body  106  is moved back, whereby the returning can be smoothly and easily effected by the transverse moving means  101 . 
     A third embodiment of the invention will now be described with reference to FIG.  18 ( b ). That is, transverse path portions  6  are formed in a plurality of places laterally of and in the direction of the return path portion  5   c  in the given path  5 . According to this third embodiment, a stock path can be formed by using each transverse path portion  6  as a stock portion. In this case, although the movable body  10  is returned to the original given path  5 , this may be of a type in which it is delivered to a separate given path, as in the first embodiment described above. In addition, adjusting the order of returning (delivering) enables permutation or change of arrangement. 
     A fourth embodiment of the invention, that is, an embodiment employing a movable body  10  that is capable of moving along the floor  1 , will now be described with reference to FIG.  19 . In addition, in this fourth embodiment, as compared with the first-third embodiments described above, the rails  2  and the divisional rail bodies  81 , though differing in particulars such as paired form, are of substantially the same construction. Therefore, the same reference characters are applied to parts identical or similar to those shown in the first-third embodiments described above, omitting a detailed description thereof. In this fourth embodiment, the turning means  91  and transverse moving means  101  are disposed below the rail  2  and divisional rail bodies  81 , that is, on the floor (in a pit formed in the floor). 
     In the first-fourth embodiments described above, the guided devices  30  and  40  are relatively turnably connected to the ends of the vertical shafts  21  relatively turnably connecting the frame bodies  12 ,  13  and  14 . However, they may be of a type in which the guided devices  30  and  40  are horizontally relatively turnably connected through vertical shafts separately installed in the intermediate frame body  13 . 
     In the first-fourth embodiments described above, the main body  11  of the movable body  10  is of a type in which it consists of three frame bodies  12 ,  13  and  14 . However, it may be of another type in which it consists of three or more with one or a plurality of frame bodies connected forwardly or rearwardly of the front frame body  12  or forwardly or rearwardly of the rear frame body  14 , or of another type in which it consists of three or more, including a plurality of intermediate frame bodies  13 . Further, it may be of another type in which one of the frame bodies  12 ,  13  and  14  is omitted, using two. In these cases, the number, position, and the like of the divisional rail bodies  81  and  81 A are design-changed according to the number, length, and the like of the frame bodies. 
     In the first-fourth embodiments described above, the type has been, shown in which the connecting device  20  comprises the vertical shaft  21  disposed in the intermediate frame body  13 , and the transverse shafts  23  disposed in the front and rear frame bodies  12  and  14 . However, other types may be used, including one in which the transverse shaft is disposed in the intermediate frame body  13  and vertical shafts are disposed in the front and rear frame bodies  12  and  14 . 
     In the first-fourth embodiments described above, the drive type shown is such that a plurality of movable bodies  10  are driven for travel in their arranged state from the feed device  60  to the brake device  75  by being closely pushed from, behind without producing any clearance between the front and rear ends of the movable bodies. However, the type may be such that movable bodies  10  are driven for travel with clearances produced between the front end rear ends thereof. 
     In the first-fourth embodiments described above, the type employed is such that in the return path portion  5   c , and the like, the movable body  10  is moved with the feed rollers  68  of the feed devices  60 ,  78 , and  79  abutting against the driven surface  15 . However, it may be moved by a chain driven type particularly in places where the divisional rail bodies  81  are disposed. That is, other types may be employed, including one in which as shown in FIG. 9, the transmission body on the driving chain side disposed along the return path portion  5   c  may be engaged with and disengaged from the driven pin  10  disposed on the intermediate frame  13 . Further, a type may be employed in which the driving belt is abutted against the driven surface  15 . 
     In the first-fourth embodiments described above, the type shown is such that the feed devices  60 ,  78  and  79 , brake device  75 , and the like are caused to act on only one of the driven surfaces  15  of the main body  11 . However, they may be of another type in which support means, such as support rollers acted on by the other driven surface are installed to clamp the main body  11  from opposite sides to produce a strong friction force, thereby imparting a sufficient travel force or brake force thereto. In that case, the support rollers acted on by the other may be of a force driven type or free rotating type. 
     Next, a fifth embodiment of the invention will now be described with reference to FIGS. 20-24. That is, the movable body  10  has a single main body  11 . And a guided device  120  is relatively turnably installed at each of the front and rear ends of the main body  11 . 
     This guided device  120  is substantially the same as the end guided device  40 , and the trolley main body  121  comprises a support plate bodies  121   a , fixing elements  121   b , and cylindrical space members  121   c . And supported rollers  123  are attached to the upper portions of both support plate bodies  121   a  through transverse pins  122 . 
     Further, the upper portions of both support plate bodies  121   a  have connected thereto inwardly directed brackets  124 , with guided rollers  126  attached to the brackets  124  through vertical pins  125 . A predetermined one of the cylindrical space members  121   c  has a float prevention roller  127  freely rotatably installed thereon. And vertical shafts  128  extending downward from the trolley main body  121  are relatively turnably connected to the front and rear ends of the main body  11 . The movable body  10  is provide with a support  129  for the transfer subject  130 , positioned below the main body  11 . 
     In the return path portion  5   c , which is a set path portion in the given path  5 , two (plurality) divisional rail bodies  131  capable of supporting the group of guided devices  120  are disposed so that they are rotatable around vertical axes  132 . To this end, a pedestal  133  is provided with a bearing  134 , in which a vertical shaft  135  is supported for rotation only, with the divisional rail body  131  being connected to the lower end of the vertical shaft  135 . 
     And, turning means  141  for rotating the group of divisional rail bodies  131  around the vertical axes  132  are provided, one for each divisional rail body  131 . That is, a link  142  is fixed on the upper end of the vertical shaft  135 , and a cylinder device  143  is provided between one end of the link  142  and the pedestal  133 . Further, the pedestal  133  is provided is provided with a pair of stop bodies  144  and  145  against which the other end of the link  142  can abut. The  142 - 145  and the like described above constitute an example of turning means  141 . 
     Disposed laterally of the return path portion  5   c  and over a separate given path  5 A are two (plurality) transverse rail bodies  137 , which are orthogonal to the return path portion  5   c , spaced a predetermined distance in the direction of the return path portion  5   c . And the divisional rail bodies  131  separated and turned with respect to the rail  2  are arranged to be connectible to the transverse rail bodies  137 . In addition, the transverse path portion  6  has transverse moving means, and the like disposed therein, and the separate given path  5 A has divisional rail bodies, turning means, and the like disposed therein. 
     According to the fifth embodiment described above, as shown in FIGS. 20 and 22, with the group of divisional rail bodies  131  connected to the rail  2 , the guided device  120  for the movable body  10  moved in is transferred from the rail  2  to the group of divisional rail bodies  131 . And the movable body  10  is stopped in a predetermined position, that is, the position in which the guided device  120  is supported on the corresponding divisional rail body  131 . 
     Subsequently, the extension and contraction movement of the cylinder device  143  in the turning means  141  causes the vertical shat  135  to turn 90 degrees synchronously through the link  142  and the like. This turning movement separates the group of divisional rail bodies  131  from the rail  2 , whereupon, as shown in FIGS. 21 and 23, they are connected to the transverse rail bodies  137 . 
     Such turning force of the divisional rail body  131  turns the guided device  120  around the axis of the vertical shaft  128  with respect to the main body  11  of the movable body  10  and the support  129 . This causes the guided device  120  to take an attitude facing the transverse path portion  6  with the movable body  10  having its main body  11  taking an attitude lying along the return path portion  5   c.    
     Subsequently, the operation of the transverse moving means causes the group of guided devices  120  to be moved by being pushed from behind through the trolley main body  121 . The group of guided devices  120  being moved by being pushed from behind are transferred from the divisional rail bodies  131  to the transverse rail bodies  137  and then moved; thus, the movable body  10  is transversely moved in the transverse path portion  6  with its main body  11  taking an attitude lying along the return path portion  5   c.    
     In the first-fifth embodiments described above, the return path portion  5   c  for moving the movable bodies  10  supporting the transfer subjects  110  and  130  are shown as the set path portion; however, they can be easily employed for another path portion, such as for moving an empty movable body  10 .