JP2000092628A - Transport system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a transport system for efficient container transportation. SOLUTION: A plurality of rails 4 for a truck 3, which runs by means of a linear motor, are installed so as to cross each other. At each intersection where the rails 4 cross each other, a wheel bearer 5 having a dent in the center is installed so as to be turnable around the vertical axis. Each wheel is installed in the truck 3 via a slider which is movable in the advancing direction is turnable around the vertical axis. Thereby, when changing the advancing direction of the truck 3 in each intersection where track bases cross each other, rotation and sliding of each wheel can be done at the same time and smoothly. Due to this structure, the truck can be moved smoothly on the crossing track bases, and the efficiency of container transportation can be increased.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a transport system for automatically transporting containers and the like.

[0002]

2. Description of the Related Art Container transportation is the mainstream in marine transportation. In recent years, there has been a strong tendency for container vessels to increase in size and load capacity due to growing economic demand.
Faster and more efficient logistics are being pursued. For this reason, in major ports, the expansion of the capacity of container yards for storing a large number of containers has been demanded in view of the situation such as an increase in container volume due to the enlargement of container vessels.

[0003]

However, since the current container yard has a low container handling capacity,
Distribution has not been streamlined. Therefore, there is a strong demand for more efficient container transport capacity within a container yard.

An object of the present invention is to provide a transport system for improving the efficiency of transporting containers.

[0005]

Means for Solving the Problems In order to solve the above problems and achieve the object, a transport system of the present invention is configured as follows.

(1) In a transport system according to the present invention, a plurality of rails for a truck traveling by a linear motor are disposed so as to intersect each other, and a wheel having a depressed center at each intersection where the rails intersect. A cradle is provided so as to be rotatable around a vertical axis, and each wheel of the trolley is attached to the trolley so as to be rotatable about the vertical axis via a slider movable in a traveling direction.

(2) The transport system according to the present invention has the above (1)
And the plurality of rails have a horizontal direction and a vertical direction, and the horizontal direction and the vertical direction are orthogonal to each other.

(3) The transport system according to the present invention has the above (1).
Alternatively, the system according to (2), wherein a load meter for measuring a load applied to each of the wheels is provided at an upper end of a vertical shaft in which each of the wheels is mounted on a bogie.

(4) The transport system according to the present invention has the above (1).
The system according to any one of (1) to (3), wherein the current supplied to the linear motor is controlled to be changed between when the bogie advances and when the bogie changes direction.

(5) The transport system according to the present invention is characterized in that (1)
The system according to any one of (1) to (4), wherein, at a portion other than an intersection of the plurality of rails, each wheel of the bogie contacts the outside of the corresponding rail together, or the rail corresponds to both. You will be guided in contact with the inside.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS (First Embodiment) FIG. 1 is a plan view showing the overall configuration of a transport system according to a first embodiment of the present invention. In the transport system shown in FIG. 1, a horizontal direction (X direction) and a vertical direction (Y
A plurality of rails 1 are arranged at regular intervals in each direction. Each of the track ways 1 in the horizontal direction and the vertical direction is orthogonal to each other, and has a lattice shape as a whole. The spacing between the respective way rails 1 in the horizontal direction is equal to the spacing between the respective way rails 1 in the vertical direction.

Running rails (rails) 4 for running a truck 3 on which containers 2 are mounted are laid on each rail 1, and each rail 4 in the horizontal and vertical directions intersects the rail 1. At each intersection. A wheel cradle 5 is installed at each intersection. Further, armature coils 6 are provided at each location on the floor surrounded on four sides by way 1.
Is buried. Further, at four corners of the predetermined armature coil 6, a container mounting table (jack-up table) 7 is provided. The traveling rail 4 can be installed directly on the floor or via a sleeper or the like, instead of on the track base 1.

FIG. 2A is an enlarged view of a rail 4 at an intersection where the rail way 1 shown in FIG. 1 intersects, and FIG. 2B is a sectional view taken along the line AA of FIG. 2 (c) is a sectional view taken along line BB of FIG. 2 (a), and FIG.
FIG. 4 is a cross-sectional view of the wheel support 5, which is a cross-sectional view of FIG.

As shown in FIGS. 2A to 2C, the rail 4 has a recess 41 for guiding the wheels of the bogie 3. The width of the entire rail 4 and the width of the depression 41 are fan-shaped as they approach the center of the intersection of the rail way 1, and the entire rail 4 and the depression 41 draw an arc of radius R near the intersection. As a result, at each intersection, each rail 4
However, it is connected to the rail 4 on the orthogonal way. A wheel cradle 5 is installed at the center of each intersection. As shown in FIG. 3, each wheel receiving base 5 has a configuration in which a circular mortar-shaped piece 51 having a hollow at the center is supported by a ball bearing 52, and the piece 51 is rotatable in the ball bearing 52. It has become.

FIG. 4 is a side sectional view showing a state where the carriage 3 is mounted on the track base 1. Wheels 30 are provided at the four corners of the back surface of the square base 31 of the carriage 3, and a permanent magnet 32 is provided at the center of the back surface of the base 31 so as to face the armature coil 6. . A load meter (load detector: leaf spring gauge) 33 is provided at each of the four corners of the surface of the base 31 above each wheel portion 30, that is, at a corresponding position of the base 31 to which the ball bearing 302 is fixed. The loading platform 35 is placed on the wheel unit 30 via a leaf spring 34 of each load meter 33. The container 2 is placed on the loading platform 35.

As described above, the electromagnetic coil (armature coil 6) is embedded in the transport path of the container 2, and the permanent magnet 32 is attached to the bottom of the carriage 3, so that the phase of the current flowing through the electromagnetic coil and the A synchronous linear motor that conveys the carriage 3 by changing the magnetic pole and the magnetic field by changing the size is configured.

FIGS. 5A and 5B are views showing the mechanism of the wheel unit 30 shown in FIG. 4, wherein FIG. 5A is a side view and FIG. 5B is a front view. The support part 301 of the wheel part 30 is a ball bearing 3
It is rotatably attached to the base 31 through the base 02. Below the support portion 301, a fixed side 303a of a slide bearing that is movable in the front-rear direction is provided.
Wheels 3 are provided on the movable side 303b of the slide bearing.
Wheel support portion 3 that rotatably supports the shaft 04 by a shaft 305
06 is provided. A ball bearing 307 is provided around a shaft 305 of the wheel 304.

Hereinafter, the operation of the transport system having the above configuration will be described. The operation control of the present transport system is performed by a control device (not shown) in a management room.
Now, the trolley 3 on which the container 2 is placed is at the position shown in FIG. 1, and the four wheels 304 of the trolley 3 correspond to the corresponding rails of the two rails 4 and 4 whose longitudinal direction is the lateral direction (X direction). Each rides in the depression 41.

In the following control, the carriage 3 is moved in the horizontal direction (X direction) from the position shown in FIG. 1, moved in the vertical direction (-Y direction) from the position shown in a, and moved to the position shown in b. To be conveyed.

First, the control device supplies a current (alternating current) having a first current value to the armature coil 6 below the carriage 3. Then, a repulsive force is generated by the magnetic flux of the permanent magnet 32 of the bogie 3 and the magnetic flux of the armature coil 6 therebelow, resulting in a levitation force for lifting the bogie 3. Thereby, the cart 3 floats with the container 2 placed thereon. The degree of floating at this time is such that each wheel 304 of the bogie 3 is slightly in contact with the depression 41 of the rail 4.

Next, the control device supplies a current of a first current value whose phase is sequentially changed along the traveling direction of the bogie 3 to each armature coil 6 between the two rails 4 and 4. Then, a transverse (X direction) thrust is generated between the magnetic flux of the permanent magnet 32 of the bogie 3 and the magnetic flux of each armature coil 6 therebelow. As a result, the trolley 3 is propelled in the lateral direction (X direction) while floating with the container 2 placed thereon. At this time, since each wheel 304 of the cart 3 is in contact with the rail 4, it is guided by the rail 4.

At this time, in each wheel portion 30 of the truck 3, FIG.
(A), as the base 31 is propelled, the support part 301 attached to the base 31 and the fixed side 303a of the slide bearing slide in the traveling direction (forward). On the other hand, the movable side 303b of the slide bearing provided with the wheel support portion 30 is pulled by the wheel 304 due to the frictional force between the wheel 304 and the rail 4, and slides rearward. Therefore, the truck 3 travels in a state where each wheel unit 30 is stable.

During the propulsion, the wheel 304 in contact with the rail 4 is moved by the ball bearing 307 to the shaft 30.
Rotate around 5. When the traveling direction of the carriage 3 is the reverse direction of FIG. 6A, each wheel unit 30 is in the state shown in FIG. 6B.

When the carriage 4 reaches the position a shown in FIG. 1, the control device stops supplying the first current value, and
The current of the second current value (first current value> second current value) is supplied to the armature coil 6 at the position of. Thereby, the cart 3 is a
The propulsion stops at the position, stops while floating, and then descends slightly. The bogie 3 stops descending when the load from each wheel 304 is applied to the corresponding wheel cradle 5. At this time, due to the current of the second current value, a minute levitation force is generated by the magnetic flux of the permanent magnet 32 of the bogie 3 and the magnetic flux of the armature coil 6 at the position a.

Subsequently, the control device sequentially moves the armature coils 6 between the two rails 4 and 4 whose longitudinal direction (-Y direction) on the path is a longitudinal direction along the traveling direction of the bogie 3. A current having a first current value with a changed phase is supplied. Then, the magnetic flux of the permanent magnet 32 of the bogie 3 and the armature coil 6 thereunder.
A propulsive force in the vertical direction (−Y direction) is generated between the magnetic flux and the magnetic flux. As a result, as shown in FIG.
Direction), the cart 3 is propelled in the vertical direction (-Y direction) while the wheels 304 facing the respective directions are in contact with the pieces 51 of the respective wheel cradle 5. 51 is rotated 90 degrees by the ball bearings 302 and 52.
Therefore, the direction of each wheel 304 changes from the horizontal direction (X direction) to the vertical direction (−Y direction).

When the direction of the truck 3 is changed, the wheels 30 of the truck 3 are in the state shown in FIG. That is, as described above, the rotation shaft 61 of the support portion 301 is
4, the wheels 304 are smoothly rotated 90 degrees when the bogie 3 changes direction from the horizontal direction (X direction) to the vertical direction (−Y direction). Running is also stable.

The truck 3 has a structure in which each wheel 304 has a rail 4
Of each wheel 3
04 is propelled in the vertical direction (−Y direction) while being guided by the rail 4. Eventually, when the truck 4 reaches the position b shown in FIG. 1, the control device stops supplying the current and stops the propulsion of the truck 4. As a result, the propulsion force and the levitation force disappear, so that the bogie 3 stops at the position b (target position), descends on the floor surface, and lands.

Thereafter, when it is necessary to place the container 2 on the floor, the above-mentioned control device operates as shown in FIG.
Up to 74 and jack up the container 2. The trolley 3 below the container 2 is propelled and released by the above-described propulsive force and levitation force, and the container platforms 71 to 74 are lowered to place the container 2 on the floor.
When a lift (not shown) is provided at the position b, the trolley 3 on which the container 2 is placed is moved up and down to an upper floor or a lower floor by this lift, and the above operation is performed on the floor. In this way, application to a three-dimensional warehouse is also possible.

The control device monitors the load applied to each wheel unit 30 by constantly detecting the measured value of each load meter 33 while the truck 3 is operating. The control device sets the first and second current values based on the measured values of the load cells 33. For example, when the measured value of each load cell 33 is high, the weight of the container 2 is large and a large load is applied to each wheel unit 30. Therefore, the first and second current values are set high, and a large levitation force is generated. Let it. When the measured value of each load cell 33 is low, the weight of the container 2 is small and each wheel 3
0 has a small load, the first and second
Set a low current value to generate a small levitation force.

Further, since the first current value is larger than the second current value as described above, the levitation force applied to the bogie 3 is larger when traveling than when turning. Therefore, the load applied to each wheel cradle 5 when the traveling direction is changed becomes larger than the load applied to the depression 41 of the rail 4 during traveling, and when the bogie 3 starts propulsion in the vertical direction (−Y direction), 3
As a result, the frictional force between the wheels 04 and the wheel receiving bases 5 can be ensured, and the wheels 304 can rotate 90 degrees and slide in the traveling direction without fail.

(Second Embodiment) FIG. 7 is a plan view showing the overall configuration of a transport system according to a second embodiment of the present invention. 7, the same parts as those in FIG. 1 are denoted by the same reference numerals. In the transport system shown in FIG. 7, a traveling rail (rail) 8 for running the cart 3 on which the container 2 is placed is laid on each way 1.

Each of the running rails 8 is provided so as to be in contact with the left and right wheels 304 of the bogie 3 at each intersection where the track rail 1 intersects, that is, at a portion other than the intersection of the running rails 8. At each intersection, each traveling rail 8 is provided similarly to the traveling rail 4 shown in FIG. Each traveling rail 8 has a wheel 3 when the carriage 3 moves.
Guide 04.

FIGS. 8A and 8B are diagrams showing the laying state of the traveling rail 8 at a portion other than the intersection. In the second embodiment, the carriage 3 is moved in the horizontal direction (X direction) from the position shown in FIG. 7, and is moved from the position shown in a1 to the position shown in b1 in the vertical direction (−Y direction). b1
Are transported in the horizontal direction (X direction) from the position shown in (1), and from the position shown in c1 to the position shown in d1 in the vertical direction (-Y direction).

In this case, the relationship between the left and right wheels 304, 304 of the carriage 3 and the running rails 8, 8 from the starting point to a1 and from c1 to d1 is as shown in FIG. That is, the left and right wheels 304, 304 of the truck 3
Are in contact with the outer side surfaces of the corresponding running rails 8, 8, respectively. Further, between a1 and b1 and between b1 and c1, the relationship between the left and right wheels 304, 304 of the truck 3 and the running rails 8, 8 is as shown in FIG. 8B. That is, the left and right wheels 304, 304 of the bogie 3 contact the inner surfaces of the corresponding traveling rails 8, 8, respectively.

Although the traveling rail 4 shown in the first embodiment has the depression 41, the traveling rail 8 in the second embodiment has the depression 4 at a portion other than the intersection.
1 is not provided, so to say, one convex rail. When the bogie 3 travels on each of the rails 1, the left and right wheels 304, 304 of the bogie 3 are in contact with the outer surfaces of the corresponding running rails 8 or the corresponding running rails 8 The position of the protruding portion of the traveling rail 8 in the width direction on each rail 1 is determined so as to be in contact with the inner side surface.

That is, the cross-sectional shape of the traveling rail 8 other than the intersection is the same as that of the traveling rail 4 shown in FIG. Therefore, between the starting point in FIG. 7 and a1 and between c1 and d1, the traveling rails 8 and
The cross-sectional shape of the right rail 8 in FIG.
2B has a shape obtained by removing the right-side convex portion of the rail 4 shown in FIG. 2B, and the left rail 8 has a shape obtained by deleting the left-side convex portion of the rail 4 shown in FIG. 2B.

Similarly, from a1 to b1 and from b1 to c1, the cross-sectional shape of the traveling rails 8, 8 as viewed from the traveling direction of the bogie 3 is the right rail in FIG. 8 has a shape in which the left-side convex portion of the rail 4 shown in FIG. 2B is deleted, and the left rail 8 has a shape in which the right-side convex portion of the rail 4 shown in FIG. 2B is deleted. At each intersection, the traveling rail 8 has a depression as in the first embodiment.

It should be noted that the present invention is not limited to only the above-described embodiments, and can be appropriately modified and implemented without departing from the scope of the invention. For example, instead of using a ball bearing as the slide bearing, a slide bearing or the like may be used.

(Summary of Embodiment) The configuration, operation and effect shown in the embodiment are summarized as follows.

[1] In the transfer system shown in the embodiment, a plurality of rails (4) for the carriage 3 traveling by a linear motor are arranged so as to intersect each other, and each of the rails (4) intersects. A slider (303a, 303a, which can move each wheel 304 of the carriage 3 in the traveling direction) is provided at each intersection where a wheel receiving base 5 with a hollow center is rotatable around a vertical axis.
303b) so as to be rotatable about a vertical axis.
Attached to.

As described above, according to the above-described transport system, at the intersections where the respective rail ways 1 intersect, the turning and sliding of the wheels 304 are simultaneously and smoothly performed when the traveling direction of the truck 3 is changed. . Therefore, the carriage 3 can be smoothly moved on each of the crossed rail ways 1, and the efficiency of container transportation is improved.

[2] The transport system shown in the embodiment is the system according to the above [1], and the plurality of rails (4) have a longitudinal direction of a horizontal direction and a longitudinal direction of the plural rails (4). And the transverse rail (4) and the longitudinal rail (4) are orthogonal to each other.

As described above, according to the above-described transport system, since a plurality of rails 1 are arranged orthogonally and in a lattice pattern, a large number of transport paths can be secured, so that transport efficiency is improved.

[3] The transport system shown in the embodiment is described in the above [1] or [2], and the respective wheels 304 are mounted on the upper end of a vertical axis where the wheels 304 are mounted on the carriage 3. A load meter 33 for measuring a load applied to the load 304 was provided.

As described above, according to the transport system, by measuring the load 33 applied to each wheel of the trolley, the lifting force on the trolley 3 is controlled according to the weight of the container loaded on the trolley 3. be able to. Therefore, container 2
When the weight is large and a heavy load is applied to each wheel 304, the levitation force is increased, and the load applied to each wheel 304 can be reduced.

[4] The transport system shown in the embodiment is the transport system according to any one of the above [1] to [3], and is used when the carriage 3 advances and when the traveling direction changes. , The current value supplied to the linear motor is controlled to be changed.

As described above, according to the transport system, the current value supplied to the linear motor is changed between when the carriage 3 advances and when the traveling direction changes, so that the carriage 3 floats on the carriage more than when traveling. The levitation force can be reduced by lowering the current value when changing the traveling direction, which requires a smaller force.

[5] The transport system shown in the embodiment is the transport system according to any one of the above [1] to [4], and at a portion other than the intersection of the plurality of rails (8), Each wheel 304 of the bogie 3 is guided either on the outside of the corresponding rail (8) or on the inside of the corresponding rail (8).

As described above, according to the transport system, it is not necessary to provide a recess in each of the rails (8) at portions other than the intersections of the plurality of rails (8), so that each of the rails (8) can be replaced by one rail. Since the rail (8) can be configured as a convex rail, the rail (8) can be configured inexpensively and easily.

[0050]

According to the transport system of the present invention, at the intersections where the rails intersect, the turning and sliding of the wheels are simultaneously and smoothly performed when the traveling direction of the bogie is changed. Therefore, the bogie can be smoothly moved on each of the crossed rail ways, and the efficiency of container transport is improved.

According to the transport system of the present invention, since a plurality of rails are arranged orthogonally in a lattice, a large number of transport paths can be secured, so that transport efficiency is improved.

According to the transport system of the present invention, by measuring the load applied to each wheel of the trolley, it is possible to control the lifting force on the trolley according to the weight of the container loaded on the trolley. Therefore, when the weight of the container is large and a large load is applied to each wheel, the levitation force is increased,
The load applied to each wheel can be reduced.

According to the transport system of the present invention, by controlling the current supplied to the linear motor to change between when the vehicle is traveling and when the traveling direction is changed, the levitation force on the vehicle is smaller than when the vehicle is traveling. The levitation force can be reduced by lowering the current value when the traveling direction needs to be changed.

According to the transport system of the present invention, it is not necessary to provide a depression in each of the rails at a portion other than the intersection of a plurality of rails, and each of the rails can be configured as one convex rail. Inexpensive and simple configuration is possible.

[Brief description of the drawings]

FIG. 1 is a plan view showing the overall configuration of a transport system according to an embodiment of the present invention.

FIGS. 2A and 2B are diagrams according to the embodiment of the present invention, and FIG. 2A is an enlarged view of a rail at an intersection where a rail way intersects;
(B) is a sectional view taken along line AA of (a), and (c) is a sectional view taken along line B- of (a).
B sectional drawing.

FIG. 3 is a sectional view of the wheel cradle according to the embodiment of the present invention.

FIG. 4 is a side cross-sectional view showing a state where the bogie is mounted on the rail way according to the embodiment of the present invention.

5A and 5B are diagrams showing a mechanism of a wheel unit according to the embodiment of the present invention, wherein FIG. 5A is a side view and FIG. 5B is a front view.

FIGS. 6A and 6B are diagrams showing a state of the wheel unit according to the embodiment of the present invention, wherein FIG. 6A is a side view and FIG.

FIG. 7 is a plan view showing the overall configuration of the transport system according to the embodiment of the present invention.

FIG. 8 is a view showing a laying state of a traveling rail in a portion other than an intersection according to the embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Trackway 2 ... Container 3 ... Truck 30 ... Wheel part 301 ... Support part 302 ... Ball bearing 303a, 303b ... Slide bearing 304 ... Wheel 305 ... Shaft 306 ... Wheel support part 307 ... Ball bearing 31 ... Base 32 ... Permanent Magnet 33 ... Load meter (load detector: leaf spring gauge) 34 ... leaf spring 35 ... loading bed 4 ... running rail (rail) 5 ... wheel support 51 ... piece 52 ... ball bearing 6 ... armature coil 7 ... container mounting Stand (jack-up stand) 8… Rail for traveling (rail)

Continued on the front page (72) Inventor Toshikatsu Isoda 5-717-1 Fukahori-cho, Nagasaki-shi, Nagasaki F-term (reference) 3F021 AA07 BA02 CA06 DA02 5H113 BB01 BB06 CC04 CC08 CD02 CD06 CD12 CD16 DA02 DA06 DB03 DB08 DB15 DB18 DD02 GG24 HH22

Claims (5)

[Claims] 1. A plurality of rails for a truck traveling by a linear motor are disposed so as to intersect with each other, and at each intersection where the rails intersect, a wheel cradle whose center is depressed is turned around a vertical axis. A transport system, wherein the transport system is movably mounted, and each of the wheels of the carriage is attached to the carriage so as to be rotatable around a vertical axis via a slider movable in a traveling direction. 2. A method according to claim 1, wherein said plurality of rails have a horizontal direction and a vertical direction, and said horizontal direction and said vertical direction are orthogonal to each other. 2. The transport system according to 1. 3. The transport system according to claim 1, wherein a load meter for measuring a load applied to each of the wheels is provided at an upper end of a vertical axis on which each of the wheels is mounted on a bogie. 4. The transport system according to claim 1, wherein a control is performed such that a current value supplied to the linear motor is changed between when the bogie advances and when the bogie changes direction. . 5. In a portion other than the intersection of the plurality of rails, each wheel of the bogie is guided either in contact with the outside of the corresponding rail together or in contact with the inside of the corresponding rail together. The transport system according to any one of claims 1 to 4, wherein: