An article transferring system for transferring a container in which an article is accommodated along a ceiling of a manufacturing line in which semiconductor process devices are continuously disposed, the article transferring system comprising:
- a rail provided along the ceiling;
- a port configured to allow the container to be seated;
- a transferring unit configured to travel along the rail and configured to transfer the container to the port,
- wherein the transferring unit includes,
- a body with a traveling driver;
- a traveling wheel configured to rotate by receiving power from the traveling driver;
- a grip member configured to grip the container;
- a lifting member between the body and the grip member and configured to move the grip member in a vertical direction;
- and
- a controller, and
- wherein the lifting member includes
- a belt connected with the grip member;
- and
- a lifting driver configured to change an extended length of the belt by winding or unwinding the belt,
- wherein the controller is configured to control the lifting member and the traveling driver to lower or raise the grip member while the transferring unit travels on the rail and the controller controls the lifting member and the traveling driver so that the lowering or raising of the grip member is performed in a constant speed section in which the transferring unit travels with a traveling speed that is a constant speed,
- wherein the controller is configured to control controls the traveling driver so as to perform a shaking damping operation of damping shaking of the article gripped by the grip member in an acceleration section in which the traveling speed of the transferring unit increases along the rail, or a deceleration section in which the traveling speed of the transferring unit decreases along the rail, to reduce a shaking that causes a longitudinal length of the belt to deviate in any direction from a direction perpendicular to ground,
- wherein the shaking damping operation is an operation of changing a traveling acceleration of the transferring unit in a half period of a shaking period of the article,
- wherein the shaking damping operation is an operation of changing the traveling acceleration of the transferring unit from a first acceleration rate to a second acceleration rate that is smaller than the first acceleration rate,
- wherein the shaking damping operation is an operation of changing the traveling speed of the transferring unit from the first acceleration rate to a constant speed traveling, and changing the traveling speed of the transferring unit from the constant speed to the second acceleration rate,
- wherein a first time period during which the transferring unit travels at the constant speed is shorter than a second time period during which the transferring unit performs the first acceleration rate or the second acceleration rate, and
- wherein the controller is configured to control the traveling driver and the lifting driver such that the extended length of the belt is fixed in an acceleration section in which the traveling speed of the transferring unit along the rail increases and a deceleration section in which the traveling speed of the transferring unit decreases along the rail.