JP2001334932A - Method for preventing skid of movable body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method for preventing skid of movable body capable of precisely detecting the slippery state of a rail by the adhesion of seawater. SOLUTION: The inside part 2b of the wheel 2 of a movable body 1 traveling on a metallic rail 3 by the wheel 2 is formed of a conductive material, the outside part 2c of the wheel 2 to make contact with the rail 3 is formed of a non-conductive material, and a current detecting trolley wire 6 is provided in the route of the rail 3. A current detecting voltage is applied between the trolley wire 6 and the rail 3, and a brush 12 making contact with the trolley wire 6 is provided on the movable body 1. The current collecting brush 12 is electrically conducted to the inside part 2b of the wheel, and the seawater- adhered state on the rail 3 is judged on the basis of the current carried to the trolley wire 6, and when the adhesion of seawater to the rail 3 is judged, the traveling of the movable body 1 is prohibited.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for preventing sliding of a moving object running on wheels on wheels, and more particularly, to a method for preventing sliding of a moving object which accurately detects a situation where seawater adheres to the rail and slips easily. It is about.

[0002]

2. Description of the Related Art In general, moving objects such as trains, transport vehicles, and patrol robots (hereinafter referred to as robots) move due to friction between rails (travel surfaces) and drive wheels. If a minute foreign substance (dust, oil, water, seawater, salt water, or the like) is interposed between the running surface and the drive wheels, the frictional force is reduced. When the frictional force between the running surface and the drive wheel is reduced, the drive wheel slips. Assuming that the driving wheels do not slip, a predetermined running speed can be obtained by rotating the driving wheels at a predetermined speed. It can be stopped in the shift range. However, when the drive wheel slips, it stops with a large deviation from the intended stop position. That is, a problem occurs in the stopping accuracy.

[0003] In the case where an inclined ground is included in the route of the rail, the running surface is inclined.
As in the case of a flat ground, not only does a problem arise in the stopping accuracy, but it also becomes difficult to travel upward (uphill) and the mobile body slides when traveling downward (downhill). Further, secondary damage may occur, such as the sliding body being accelerated by gravity and colliding with a stopper provided at the end of the path.

[0004] The tendency of the frictional force to decrease due to the presence of foreign matter between the running surface and the driving wheels varies depending on the nature of the foreign matter. In the case of the illustrated foreign matter, oil, seawater (brine), water, and dust are arranged in the order in which they are slippery.

As a cause of the adhesion of the foreign matter to the rail, there is a case where water is attached to the rail due to dew condensation due to a temperature change or the like. Also, when the route passes near the coast or through a submarine tunnel, seawater may adhere to the rails. Since seawater contains alkaline Na (sodium),
When seawater mixes with water, it becomes slimy. Therefore, if seawater adheres to the rails, the frictional force between the running surface and the drive wheels will be greatly reduced, and sliding will easily occur.

[0006] A conventional skid prevention method will be described.

First, there is a method of removing foreign matter.
Conventionally, the presence of foreign matter has been artificially confirmed and the foreign matter has been artificially removed.

There is also a method of adding an auxiliary mechanism to the driving wheels. For example, as shown in FIG.
Is provided on the opposite side of the rail 53, and the pinch roller 52 is supported from the driving wheel side by a spring 54, so that the rail 53 is strongly sandwiched between the pinch roller 52 and the driving wheel 51. As a result, a decrease in frictional force due to condensation or the like can be prevented. In addition, by providing a chain on the rail and a sprocket meshing with the chain on the moving body, sliding can be reliably prevented.

It is also conceivable to use a rail to which seawater or the like does not easily adhere.

[0010]

In order to add an auxiliary mechanism, it is necessary to determine whether or not to add an auxiliary mechanism before construction of a route, and it is difficult to modify the construction after construction. Further, adding an auxiliary mechanism increases the cost.

A rail to which seawater or the like does not easily adhere is difficult to realize.

In order to artificially confirm the presence of foreign matter,
The labor required for monitoring is large.

As described above, the conventional method has a problem.

Since the adhesion of seawater and the like is related to weather factors and does not always occur, it is not efficient to permanently install an auxiliary mechanism or a special rail. If the occurrence of the adhesion can be detected by simple equipment, the traveling of the moving body can be temporarily stopped and the traveling surface can be cleaned only at that time.

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above-mentioned problems and to provide a method for preventing sliding of a moving body, which accurately detects a situation where seawater is attached to a rail and slips easily.

[0016]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides a moving body which travels on a metal rail by a wheel, wherein the inner peripheral portion of the wheel is made of a conductive material, and is provided on the rail. The outer periphery of the contacting wheel is made of a non-conductive material,
A trolley wire for current detection is provided along the rail path, a voltage for current detection is applied between the trolley wire and the rail, and a brush for contacting the trolley wire is provided on the movable body, and Electrical conduction from the electric brush to the inner peripheral portion of the wheel is performed, and the state of seawater adhesion on the rail is determined based on the current flowing through the trolley wire, and it is determined that seawater has adhered to the rail. In this case, the traveling of the moving body is prohibited.

A power supply trolley line for supplying driving power to the moving body is provided along the rail path, and when it is determined that seawater is attached to the rail, power supply to the power supply trolley line is cut off. You may.

The value of the current flowing through the current detection trolley wire when seawater is attached to the rail and the value of the current when water is attached are measured in advance, and a determination value is determined between the two values. May be set, and when the detected current is higher than the determination value, it may be determined that seawater is attached to the rail.

[0019]

An embodiment of the present invention will be described below in detail with reference to the accompanying drawings.

The moving object that implements the anti-skid method of the present invention is, for example, the robot 1 shown in FIG. A rail 3 for guiding the wheels 2 of the robot 1 is laid on the traveling route of the robot 1, and the rail 3 is made of metal. Along the rail 3, for example, above the robot 1, two power supply trolley wires 4, 5 for supplying power for driving the robot 1 are provided, and a current detection trolley wire (hereinafter referred to as a non-current A power supply trolley wire) 6 is laid. A current detection voltage is constantly applied to the non-feeding trolley wire 6 between the trolley wire 6 and the rail 3.

Reference numeral 7 denotes a driving power supply for supplying power to the power supply trolley wires 4 and 5. Reference numeral 8 denotes a power cutoff unit for conducting / cutting power from the drive power supply 7 to the power supply trolley wires 4 and 5. Reference numeral 9 denotes a contact output type ammeter (meter relay) for measuring a value of a current flowing through the non-feeding trolley wire 6 and outputting a signal for shutting off the power cutoff unit 8 when the value is higher than a predetermined judgment value. ). The contact output type ammeter 9 has one or more a-contact outputs and b-contact outputs, and can switch between the a-contact output and the b-contact output when the measured value is higher (lower) than the set value. .

As shown in FIGS. 2 and 3, the robot housing 1a is made of metal. In the upper part of the robot housing 1a,
Two current-collecting brushes 10, 11 for contacting (sliding) with the power-supply trolley wires 4, 5 to collect the driving power and a current-detecting voltage by contacting the non-power-supply trolley wire 6. A current-collecting brush (hereinafter, referred to as a non-power-supplying current-collecting brush) 12 is provided. The robot housing 1a and the non-power-supply current collecting brush 1
2 are connected by a metal connecting body 1b.

On the other hand, wheels 2 are provided below the robot housing 1a. The wheels 2 include driving wheels (for example, rear wheels) driven by the driving power and running wheels (for example, front wheels) that rotate freely without driving force. The driving wheels and the running wheels have the same electrical configuration, and the driving wheels will be described below. Reference numeral 1c denotes a differential gear box, which is made of metal. A differential gear box 1c in contact with the drive shaft 2a of the wheel 2 and the robot housing 1a are connected by a metal connecting body 1d. In the wheel 2, an inner peripheral portion 2b including a drive shaft 2a is formed of a conductive material (metal), and an outer peripheral portion 2c is formed of urethane (urethane rubber 13) which is a non-conductive material. Therefore, the distance from the non-powered trolley wire 6 to the inner peripheral portion 2b of the driving wheel is always through the non-powered current collecting brush 12, the connector 1b, the robot housing 1c, the connector 1d, the differential gear box 1c, and the drive shaft 2a. , Are electrically conducted. Since the drive wheel outer peripheral portion 2c is made of urethane rubber 13, the drive wheel inner peripheral portion 2b and the rail 3 are electrically insulated. The urethane rubber 13 is a material suitable not only for insulating properties but also for ensuring friction resistance and frictional force.

The operation of the robot will be described with reference to FIG.

In the configuration shown in FIG. 4, a rail 3 is provided above the robot 1. The rail 3 has a horizontal surface as a running surface, and the robot 1 has wheels 2 on its running surface.
Can be carried on the vehicle.

Normally, when water or seawater does not adhere to the rail 3,
Since the inner peripheral portion 2b of the drive wheel and the rail 3 are electrically insulated, no current flows through the circuit composed of the non-powered trolley wire 6, the robot 1 and the rail 3, and the contact output type ammeter 9
Is lower than a preset judgment value. Therefore, the power cutoff unit 8 conducts power from the driving power supply device 7 to the power supply trolley wires 4 and 5. Thereby, the robot 1 can travel by driving the wheels 2.

When water or seawater adheres to the rail 3, the water or seawater starts to adhere to the drive wheel outer peripheral portion 2c. When this state continues, water or seawater continuously forms a film on the outer peripheral portion 2c of the drive wheel, and the water or seawater on the outer peripheral portion 2c of the drive wheel becomes peripheral due to centrifugal force caused by running (rotation of the wheel 2). Scatter. The scattered water or seawater reaches the inner peripheral portion 2b of the drive wheel, and the water or seawater attached to the inner peripheral portion 2b of the drive wheel continues to the water or seawater attached to the outer peripheral portion 2c of the drive wheel.

Since water or seawater is conductive, the rail 3 and the drive wheel inner peripheral portion 2b conduct. Non-powered trolley wire 6
A current flows through a circuit composed of the robot 1, the robot 1 and the rail 3, and the contact output type ammeter 9 measures the current.

Here, the electric conductivity of water differs greatly from that of seawater. Therefore, the value of the current flowing according to the current detection voltage differs between water and seawater. The current value measured by the contact output type ammeter 9 when water adheres to the rail 3 is i
₁ (A), and the current value in the case of seawater is i ₂ (A). i ₂ > i ₁ . Thus, the determination value i ₀ is determined as follows.

I ₂ > i ₀ = (i ₁ + α)> i ₁ α is an appropriate value i ₁ and i ₂ are different depending on the structure of the robot 1. In an experiment, i ₁ = 150 (mA) i ₂ = 220 (MA), i ₀ = 200 (mA).

The judgment value i ₀ can be arbitrarily set by the contact output type ammeter 9. Further, the adjustment may be performed using a variable resistor.

Since the judgment value i ₀ is set in this way, when water adheres to the rail 3, the current value i ₁ is measured. Furthermore, if the sea water is attached to the rail 3 current i ₂ is measured.

When the current value i ₁ is measured, this measured value is lower than the judgment value i ₀ . Therefore, the power supply interrupting unit 8 conducts power from the driving power supply device 7 to the power supply trolley wires 4 and 5 by the contact output of the contact output type ammeter 9. When the current value i ₂ is measured, since the measured value is higher than the determination value i ₀ , the power from the driving power supply device 7 to the power supply trolley wires 4 and 5 is cut off. Thereby, the robot 1
Will be cut off and stopped.

In the present embodiment, if water adheres, the frictional force between the running surface and the wheels does not decrease significantly, so that a signal of “unavoidable” is output from the contact output type ammeter 9 and the robot 1 Permit driving and if seawater adheres,
Since the frictional force between the running surface and the wheels was greatly reduced, a signal of "Wait, need attention" was output from the contact output type ammeter 9, and the running of the robot 1 was prohibited by stopping the power supply.

As described above, the situation in which seawater is likely to adhere to the rails and gliding is likely to occur is accurately detected, and the power supply to the robot 1 is stopped, so that gliding on sloping ground and secondary damage can be prevented.

[0036]

The present invention exhibits the following excellent effects.

(1) It is possible to accurately detect a situation in which seawater adheres to the rail and slips easily, so that gliding can be prevented from occurring.

[Brief description of the drawings]

FIG. 1 is a circuit configuration diagram for preventing skidding according to an embodiment of the present invention.

FIG. 2 is a basic configuration diagram of a circuit for determining a seawater adhesion state in the circuit configuration of FIG. 1;

FIG. 3 is a configuration diagram of the robot of FIG. 1 as viewed from above.

FIG. 4 is an enlarged structural view of a drive shaft portion of a robot employing the present invention.

FIG. 5 is a configuration diagram of a drive wheel with an auxiliary mechanism showing a conventional technique.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Robot (moving body) 2 Wheels 3 Rails 4, 5 Feeding trolley wire 6 Trolley wire for current detection (non-feeding trolley wire) 7 Driving power supply 8 Power cutoff unit 9 Contact output type ammeter

Claims (3)

[Claims] 1. An inner peripheral portion of a wheel of a moving body which travels on a metal rail by a wheel is formed of a conductive material, and an outer peripheral portion of the wheel contacting the rail is formed of a non-conductive material. A trolley wire for current detection is provided along the rail path, a voltage for current detection is applied between the trolley wire and the rail, and the moving body is provided with a current-collecting brush that contacts the trolley wire. By electrically connecting the current collecting brush to the inner peripheral portion of the wheel, the state of seawater adhesion on the rail is determined based on the current flowing through the trolley wire, and it is determined that seawater has adhered to the rail. A method for preventing sliding of a moving body, wherein the running of the moving body is prohibited when performed. 2. A power supply trolley line for supplying driving power to the moving body is provided along the rail path, and when it is determined that seawater is attached to the rail, power is supplied to the power supply trolley line. 2. The method for preventing sliding of a moving object according to claim 1, wherein the moving object is blocked. 3. A current value flowing through the current detection trolley wire when seawater is attached to the rail and a current value when water is attached are measured in advance between the two values. The method according to claim 1 or 2, wherein a determination value is set, and when the detected current is higher than the determination value, it is determined that seawater is attached to the rail.