JP2001301611A - Track type carriage system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a system easily capable of stopping a work carriage at a target stop position even when the target stop position is changed occasinally, or when detection of the position after changing is difficult. SOLUTION: This is a track type carriage system provided with a work carriage 6 traveling along a rail 5. A work position instructing carriage 7 which travels on the rail 5 prior to the work carriage 6 for stopping it at a desired position is provided. On the work carriage 6, a traveling position detecting means 35 to detect the work position instructing carriage 6 to be stopped is provided. The work postion instructing carriage 7 is a handcart type carriage. Protruded quantity of the work position instructing carriage 7 in the perpendicular direction to the traveling direction is set to be roughly similar to protruded quantity of the work carriage 6.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tracked bogie system applied to various types of equipment having a working bogie traveling on rails, for example, a system for loading a truck with a working bogie.

[0002]

2. Description of the Related Art Conventionally, in various facilities such as a loading system, a tracked bogie system having a working bogie traveling on rails has been used. In such a system, the position at which the work cart is stopped and work is performed may change slightly from time to time. In such a case, it is difficult to position the stop position of the work vehicle.

[0003] For example, the present applicant has tried the following loading system as one of tracked truck systems.
That is, in a factory or the like, an article to be shipped is arranged in a storage station such as a conveyor and prepared, and the articles on the storage station are sequentially transported by a tracked work vehicle and sequentially loaded on a truck bed from the back side. . In this case, even if the stop position of the track is determined to be at a predetermined stop station, there is some variation.
When it is attempted to load a truck having such a variation in the stop position while sequentially aligning the cargo from the back side of the truck, the work vehicle needs to be stopped in accordance with the position of the truck. However, if the work vehicle is provided with a detecting means for detecting the position of the loading platform of the truck to perform the stop control, there is no appropriate detected portion on the truck side, and it is difficult to position the stop position.

An object of the present invention is to provide a tracked bogie system which can easily stop a work bogie at a target position even when a target stop position changes from time to time or when it is difficult to detect the changed position. It is. Another object of the present invention is to make it possible to change the stop position with simple equipment with good operability. Still another object of the present invention is to be able to detect the presence or absence of an obstacle when the work vehicle travels on a rail without providing any special detection means.

[0005]

SUMMARY OF THE INVENTION A tracked bogie system according to the present invention is a tracked bogie system provided with a work bogie traveling along a rail, wherein the track bogie system travels on the rail prior to the work bogie and has an optional structure. A work position indicating vehicle capable of stopping at a position is provided, and the work vehicle is provided with a detecting means for detecting and stopping the work position indicating vehicle. According to this configuration, by moving the work position indicating vehicle ahead of the work vehicle and stopping at the desired position, the work vehicle detects the work position indicating vehicle by the detecting means during the traveling. Stop. Therefore, even when the target position for stopping the work vehicle changes from time to time or when it is difficult to detect the changed position, the work vehicle can be easily stopped at the target position. The work position indicating trolley, unlike the work trolley, does not perform work and may have a function of only giving an instruction.Since it may be a small and lightweight one, it can be manually moved, for example, to a target position that is difficult to detect. Positioning can be easily performed by an appropriate method and means.

In the present invention, the work position indicating truck is
It is good also as a hand-operated trolley running along a rail.
Since the work position indicating trolley may be small and lightweight as described above, the stop position can be easily changed simply by pushing and moving by a person by using a hand-operated trolley. In addition, by adopting the manual push-type as described above, the configuration for stopping the work vehicle including the work position indicating vehicle at a desired position can be simplified.

In each of the above constructions of the present invention, the amount of protrusion from the rail in a direction orthogonal to the traveling direction of the work position indicating vehicle may be substantially the same as the amount of protrusion of the work vehicle. In the case of this configuration, when moving the work position indicating truck to the target position, the presence or absence of an obstacle when the work truck travels on the rail can be recognized based on whether or not it interferes with the work position indicating truck. . Therefore, it is possible to prevent the work vehicle from being damaged by colliding with an obstacle. Since the work position indicating cart can be small and light, there is no problem of damage even if it collides with an obstacle. In particular, in the case where the work position indicating truck is a hand-operated type, the collision of the work position indicating truck with an obstacle can be easily avoided without providing any special means.

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described with reference to FIGS. As shown in the layout diagram in FIG. 1, a stop station 2 for a truck 3 is provided adjacent to a storage station 1 for articles W. The storage station 1 is composed of two rows of conveyors 4, and the palletized articles W are stored in each conveyor 4 in a line. A chain conveyor or the like is used for the conveyor 4.
The storage station 1 has an article W for one truck 3
Can be stored. The stop station 2 is a predetermined area on the floor or the ground where the truck 3 enters, and is provided in the direction in which the storage station 1 extends the conveyor. Stop station 2 is where truck 3 is on conveyor 4
The end farthest from the storage station 1 becomes the truck entrance 2a. The stop station 2 is provided with a slight gradient so that the track entrance 2a side descends (see FIG. 2).

Rails 5 are laid along both sides of the row of the storage station 1 and the stop station 2, and a plurality of (two in the illustrated example) work trucks 6 and one work truck A position indicating trolley 7 is provided. The rails 5 include an inner rail 5a and an outer rail 5b, respectively.
Are provided as a set. Each work vehicle 6 is installed so as to straddle the inner and outer rails 5a and 5b, and the work position indicating vehicle 7 is installed on the inner rail 5a. The work cart 6 performs an operation of taking out the article W from the storage station 1 and loading the article W on the bed 3a of the truck 3. The work position indicating trolley 7 is for instructing the work trolley 6 for the first loading work position on the truck 3.
It is installed at a position ahead of the truck. The work position indicating trolley 7 is a push-type trolley.

A trolley wire 8 for supplying power to the work vehicle 6 is provided by a support frame 9 above the travel route of the work vehicle 6. The trolley wire 8 is the rail 5 in FIG.
, The middle is omitted and only both ends are shown. As shown in FIG. 2, a current collector 10 slidably in contact with the trolley wire 8 is installed on each work vehicle 6 via a pole 11. Note that an overhead traveling crane 12 is installed above the storage station 1 and the stop station 2 as shown in FIGS. The overhead traveling crane 12 travels on rails 14 provided on the ceiling of the building frame 13. As shown in FIG. 3, the truck 3 has a loading platform 3a in which a loading platform surrounding frame 3b is opened downward and a loading platform upper door 3c is opened upward. As shown in FIG. 1, a control panel 15 and an operation panel 17 for controlling the entire system are installed near the storage station 1 or the stop station 2.

As shown in FIG. 5 and FIG.
Is a fork truck, on which a mast 18 is mounted on the bogie body 6a so as to be able to move back and forth in a direction orthogonal to the moving direction of the bogie, and a fork 19 is provided in front of the mast 18 so as to be able to move up and down. Therefore, the fork 19 can move forward and backward and move up and down. The driving of the mast 18 to move forward and backward and the fork 19 to move up and down are performed by a mast moving mechanism 20 and a fork elevating mechanism 21, respectively. Power is supplied from the trolley wire 8 to the drive motors of the mast advancing / retracting mechanism 20 and the fork elevating mechanism 21 and the traveling motor 22 of the work cart 6. The fork 19 has a shape that can be inserted into the gap between the upper surface plate and the lower surface plate of the pallet P (FIGS. 18 and 19) on which the articles W are loaded. The work cart 6 is not limited to a fork cart, and may be a work machine (not shown) on which an article W can be loaded and unloaded.

The working position indicating cart 7 will be described with reference to FIGS. As shown in FIG. 14, the work position indicating trolley 7 is positioned relative to the end of the pallet 3a of the truck 3 and stops relative to the subsequent trolley 6 (FIGS. 1 and 13). And a detection target 27 indicating the position. The work position indicating trolley 7 includes guide rollers 23 guided by the rails 5 as running wheels,
The caster 24 that is in contact with the rail 5 near the ground 5
a brush 2 provided on the upper surface of the rail 5
Five. The position of the side surface of the work position indicating truck 7 on the side facing the truck, that is, the amount of protrusion B1 from the rail 5 is substantially the same as the amount of protrusion B2 of the work vehicle 6 (FIG. 5).
The protrusion amount B2 of the work cart 6 is a protrusion amount when the fork retreats.

The loading platform corresponding positioning means 26 is provided with a loading platform abutting member 28 so as to be able to freely enter and exit laterally from the working position indicating truck 7. The carrier abutting member 28 abuts on the front end face of the carrier 3a of the truck 3 in a protruding state,
Specifically, it is provided so as to be brought into contact with the front end face of the loading platform surrounding frame 3b in the down state. The carrier contact member 28 is supported by a support member 29 provided on the carriage body 7a so as to be rotatable up and down around a support pin 30, so that the carriage can be moved in and out of the carriage side. The hole through which the support pin 30 of the carrier abutment member 28 is inserted is formed in a long hole 31, and the amount of movement of the carrier abutment member 28 can be adjusted within a range in which the support pin 30 can relatively move within the long hole 31. Is free.

The loading abutment member 28 has a leading end 28a formed in an arrow shape and a weight 28b at the rear end. When not in use, the leading end 28a is formed as shown in FIG. It is housed in a position facing directly below. At this time, the carrier contact member 2
8 is suspended with the end of the long hole 31 abutting on the support pin 30. When using the carrier contact member 28, the carrier contact member 28 is slightly lifted and rotated. This allows
Due to the weight of the weight 28b at the rear end, a turning force is generated in which the front end 28a faces upward. In this state, the tip 28a hits the stoppers 32 and 33 provided on the support member 29 for controlling the rotation position, so that the carrier abuts. The member 28 is held in a horizontal position. In this horizontal posture, the adjustment of the loading / unloading of the carrier contact member 28 in the elongated hole 31 is performed.

The detection target 27 shown in FIG. 14 is, as shown in FIG. 12, a rod or a plate-shaped dog extending in the traveling direction of the carriage, and has a reflection plate 27a at its tip. It is attached to the main body 7a. As shown in FIG. 13, the detection target 27 is detected by the traveling positioning detection means 35 provided on the work cart 6.

The traveling position detecting means 35 of the work vehicle 6
Is constituted by a first deceleration detector 36 for detecting the reflection plate 27a of the detection target 27, and a second deceleration detector 37 and a stop detection 38 for detecting the detection target 27, respectively. . The first deceleration detector 36 irradiates a laser beam and detects the reflected light of the reflection plate 27a to detect that the reflection plate 27a has approached a predetermined distance. Slow down. Second deceleration detector 37
Consists of a photo sensor or a proximity switch, etc., detects the object to be detected 27, and slows down the work vehicle 6 at a slow speed based on the detection signal. The stop detector 38 is also formed of a photo sensor or a proximity switch, and the like.
7, the work cart 6 is stopped by the detection signal. Each of the detectors 36 to 38 is a detector mounting frame 3 provided on the work vehicle 6 so as to protrude in the forward and backward directions.
9. The detector mounting frame 39
Is further provided with a running end detector 40. The traveling end detector 40 includes a limit switch or the like, and dogs (not shown) provided at both ends of the traveling path of the work vehicle 6.
Is detected, the work carriage 6 is stopped.

As shown in FIG. 7 in a schematic plan view, the arrangement of the detectors of the work vehicle 6 is shown, and the traveling position detecting means 35 is provided on each work vehicle 6, and the work vehicle 6 with respect to the work position indicating vehicle 7 is provided. , And is also used for stop control when adjacent work vehicles 6 come close to each other. For this reason, the traveling positioning detecting means 35
To be detected 27 is provided. The detection target 27 has the same configuration as the detection target 27 of the work position indicating cart 7 described above with reference to FIG.
a. The traveling position detecting means 35 is provided so as to protrude from the front of the work vehicle 6, and each work vehicle 6 is provided with a backward collision prevention detecting means 35A protruding from the rear thereof, and the detection means for detecting retreat is provided. A tool 27A is provided corresponding to the backward collision prevention detection means 35A. Forward traveling position detecting means 35 and backward collision preventing detecting means 3
5A are provided apart from each other in a direction orthogonal to the traveling direction of the work vehicle 6. Reverse collision prevention detecting means 35A
The detection target device 27A has the same configuration as the traveling position detection means 35 for forward movement and the detection target device 27 except for the directions.

A front vehicle load detecting means 41 is mounted on a detector mounting frame 39 on which the traveling position detecting means 35 for forward movement of each work vehicle 6 is installed. The front platform in-vehicle load detecting means 41 is a means for detecting that the pallet P is placed on the front work vehicle 6, and as shown in FIG. A detector of the formula is used.

As shown in FIG. 7, each work vehicle 6 has an optical transmission device 42, and these optical transmission devices 42 are arranged so that their light beams do not interfere with each other. In the illustrated example, these optical transmission devices 42 are installed on the detector mounting frame 39 on which the backward collision prevention detecting means 35A is installed for the front work vehicle 6, and the forward operation vehicle 6 is used for forward movement. It is installed on a detector mounting frame 39 on which the traveling positioning detecting means 35 is installed. The optical transmission device 42 is a means for receiving or transmitting signals to and from the control panel 15 in FIG. 1, and communicates with the control panel-side optical transmission device 43 installed at the end of the traveling route of the work vehicle 6. To transmit and receive laser light.

Each work vehicle 6 has travel distance detecting means 44 for detecting travel distance, and work position determining means 45 for determining a work position using the travel distance detected by the travel distance detecting means 44. Are provided on the control panel 15. The work position determining means 45 may be provided on each work vehicle 6. The travel distance detection means 44 may be a means for detecting the travel distance itself or a means for detecting the travel position of the work vehicle 6. In this example, the traveling motor 2 of the work vehicle 6
The travel amount is detected from the number of rotations of 2. The work position determination means 45 is, specifically, the work position indicating truck 7
, The first work position is recognized, and the travel distance detecting means 44 is used as a reference based on the first work position.
The subsequent work position is determined from the travel distance obtained in step (1). The work position is a work vehicle stop position where the work of loading the load 3a of the truck 3 is performed, and the work position for each subsequent operation is a position sequentially separated by approximately one article W. The work carts 6 have the same configuration except for the arrangement of the optical transmission device 42, and can be used interchangeably simply by changing the mounting position of the optical transmission device 42. For this reason, some detectors become unnecessary depending on the arrangement of the work vehicle 6, but the unnecessary detectors are left as they are, not used.

The operation of the above configuration will be described. In the storage station 1 of FIG. 1, articles W for one truck 3 are stored side by side. At this time, the conveyors 4, 4 provided in two rows of the storage station 1 have
The articles W corresponding to each row loaded in two rows in a are arranged in a row and stored. The truck 3 moves back to the truck stop station 2 from the truck entrance 2a and enters a predetermined position, and opens the carrier frame 3b (FIG. 3) and the carrier upper door 3c.

In the state prepared as described above, the work position indicating cart 7 waiting near the storage station 1 is
The truck 3 is manually pushed to move to the front end position of the loading platform 3a. At this time, in the stop station 2, the truck 3
If the approach position of the vehicle is too left or right, or if it enters obliquely, one of the work vehicles 6 on the path on both sides interferes with the truck 3 or is likely to interfere. Thereby, when the work carriage 6 moves later, the truck 3
It is possible to confirm whether or not interference occurs. That is, the projecting amount B1 (FIG. 14) of the work position indicating cart 7 toward the truck is:
Since it is substantially the same as the protrusion amount B2 of the work cart 6 (FIG. 5),
The above interference check can be performed. If there is any interference or there is a possibility of interference, the truck 3 is reinserted into the stop station 2 so as to be in an allowable position. Since the work position indicating cart 7 is a push cart, there is little problem of damage even if it interferes with the truck 3.

After the work position indicating carriage 7 is moved to a position slightly over the front end of the carrier 3a, as shown in FIG.
The carriage contact member 28 is projected in a horizontal posture, and the work position indicating carriage 7 is returned until the carrier contact member 28 hits the end face of the carrier surrounding frame 3b of the carrier 3a. Thereby, even if the approach position to the truck stop station 2 varies every time,
With respect to the front end position of the carrier 3a, the work position indicating truck 7
Is positioned correctly.

After the work position indicating cart 7 has been positioned in this manner, the articles W of the storage station 1 are taken out one by one by the respective work carts 6 by automatic operation under the control of the control panel 15, and An operation of sequentially arranging and loading the cargo bed 3a from the front end to the rear is performed. In this automatic operation, the first work position (stop position for loading work) of the work cart 6 on the truck 3 is determined by the work cart 6 detecting the work position indicating cart 7. That is, the work carriage 6 moves forward, and stops when the traveling position detecting means 35 detects the detection target 27 of the work position indicating carriage 7. At this time, as described above, the traveling is decelerated by detecting the reflection plate 27a of the detection target 27 by the first deceleration detector 36, and the detection target 27 is detected by the second deceleration detector 37. By detecting, decelerate to a very slow state,
Stopping is performed by detecting the detection target device 27 with the stop detector 38.

The work position of the work vehicle 6 from the next time is determined by the work position determination means 45 of the control panel 15 from the travel distance detected by the travel distance detection means 44 of the work vehicle 6 based on the first work position. Can be Regarding the rear work truck 6 installed on the same rail 5, the work position of each time is determined based on the travel distance detected by the travel distance detection means 44 with reference to the initial work position of the front work truck 6. The position is determined by the position determining means 45.

The two work carts 6 run on the same rail 5, but when the rear work carts 6 move forward, collision between the work carts causes the detection tool 27 provided on the front work cart 6 to be detected. This is prevented by detecting and stopping the traveling position detecting means 35 provided on the rear work vehicle 6. The stop due to this detection may be used not only for collision avoidance but also for positioning control when the rear work vehicle 6 is stopped at a work position next to the front work vehicle 6. When the front work vehicle 6 retreats and collides with the rear work vehicle 6, the detection target 27 </ b> A for retreat provided on the rear work vehicle 6 is moved backward by the retreat of the front work vehicle 6. This is avoided by detecting with the collision prevention detecting means 35A. Loading operations of the series on both sides of the storage station 1 proceed independently and in parallel with each other.

Although the above embodiment has been described with reference to the case where the present invention is applied to a truck loading system, the tracked bogie system of the present invention can be applied to various other facilities.

[0028]

The tracked bogie system according to the present invention is a tracked bogie system having a work bogie traveling along a rail. The track bogie system travels on the rail prior to the work bogie and stops at an arbitrary position. A work position indicating truck capable of providing the work position indicating truck is provided, and the work vehicle is provided with a detecting means for detecting and stopping the work position indicating truck. Even when the detection is difficult, the work vehicle can be easily stopped at the target position. When the work position indicating trolley is a hand-operated trolley, the stop position can be changed with simple equipment with good operability. If the amount of protrusion from the rail in the direction orthogonal to the direction of travel of the work position indicating truck is approximately the same as the amount of protrusion of the work vehicle, the presence or absence of obstacles when the work vehicle travels on the rail is specially determined. Detection can be performed without providing any appropriate detection means.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram in which a layout diagram of a tracked bogie system according to an embodiment of the present invention is partially combined with a block diagram of a control system.

FIG. 2 is a side view of the system.

FIG. 3 is a cutaway front view at a stop station of the system.

FIG. 4 is a cutaway front view of a storage station of the system.

FIG. 5 is a side view of the work cart.

FIGS. 6A and 6B are a front view and a plan view of the work vehicle, respectively.

FIG. 7 is an explanatory view showing an arrangement of detectors of the work vehicle in a plan view.

FIG. 8 is a front view showing the vicinity of a front loading detector in the work vehicle.

FIG. 9 is a rear view showing the traveling position detecting means and the object to be detected together with a schematic diagram of the work cart.

FIG. 10 is a rear view showing a detection state of a device to be detected by the traveling positioning detecting means.

FIG. 11A is a rear view showing a detection target together with a schematic diagram of a work cart, and FIG. 11B is a right side view showing travel positioning detection means together with a schematic diagram of a work cart.

FIG. 12 is a side view of the work position indicating truck.

FIG. 13 is a rear view showing the relationship between the work position indicating cart and the traveling position detecting means of the work cart.

FIG. 14 is a side view of the work position indicating truck.

FIGS. 15A and 15B are explanatory views of the operation of the loading platform corresponding positioning means.

FIG. 16 is a plan view of the work position indicating cart.

FIG. 17 is a side view of the work position indicating truck viewed from a direction opposite to that of FIG. 14;

FIGS. 18A and 18B are front views showing a pallet in a non-inserted state and an inserted state, respectively.

FIG. 19 is a plan view of the pallet.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Storage station 2 ... Stop station 3 ... Truck 3a ... Carrier 4 ... Conveyor 5 ... Rail 6 ... Work cart 7 ... Work position indicating car 8 ... Trolley wire 9 ... Support frame 18 ... Mast 19 ... Fork 26 ... Carrier corresponding positioning means 27 ... Detected object 28 ... Load carrier contact member 35 ... Detection means for traveling positioning 35A ... Reverse collision prevention detection means 41 ... Front loading detection means 42 ... Optical transmission device 44 ... Driving amount detection means 45 ... Work position determination means P … Pallet W… Article

 ────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Kazuo Honda 1-2-3 Moto-Akasaka, Minato-ku, Tokyo Suntory Tokyo Branch Office (72) Inventor Rikiya Ishida 1-2-3, Moto-Akasaka, Minato-ku, Tokyo Suntory Tokyo Branch Co., Ltd. F term (reference) 3F076 AA02 CA01 CA05 CA07 DA02 DB11 EA09 FA04 GA05 GA09 3F333 AA04 AB07 AE02 DA06 FA20 FA26 FA32 FD04 FE03 FE09 5H301 AA02 AA09 BB05 CC03 DD07 DD16 EE02 EE12 FF06 GG12 GG08 LL14

Claims (3)

[Claims] 1. A tracked bogie system having a work bogie traveling along a rail, comprising: a work position indicating bogie which can run on a rail prior to the work bogie and be stopped at an arbitrary position. A tracked bogie system, wherein the work bogie is provided with a detecting means for detecting and stopping a work position indicating bogie. 2. The tracked bogie system according to claim 1, wherein the work position indicating bogie is a hand-operated bogie traveling along a rail. 3. The tracked bogie system according to claim 1, wherein a projecting amount of the work position indicating bogie from the rail in a direction orthogonal to a traveling direction is substantially the same as the projecting amount of the working bogie.