JP2003119702A - Transporting track for carriage - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a transporting track for a carriage, which can smoothly transfer the carriage from a linear track portion of the transporting track to a curved transporting portion of the same without an impact, can stably move the carriage, and reduces transporting noise. SOLUTION: The transporting track on which the carriage travels consists of the linear track portion 20 and the curved track portion 10. According to the transporting track for the carriage, the radius of curvature of the curved track portion 20 adjacent to the linear track portion 10 is continuously varied.

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transport trajectory for a transport trolley for transporting and transporting a transport trolley such as an unmanned transport trolley. 2. Description of the Related Art Conventionally, a ground traveling type unmanned carrier for carrying heavy objects such as roll paper, an overhead traveling type unmanned carrier for suspending and transporting lightweight objects such as semiconductor wafers and patient charts, and an article sorting system. Various methods have been devised for the transport trajectory for the transport trolley for transporting the article tray trolley in terms of the track material, track structure, track shape, track layout, and the like. [0003] In particular, the conventional transport trajectory for a transport trolley is designed to have a transport layout including a curved track portion from the viewpoint of rationalizing the transport area and saving space, etc., and the transport including such a curved track portion. When the layout is constructed, in order to reduce the cost of the transport equipment, unitized track components having a predetermined radius of curvature that are connected to each other are employed. As shown in FIG. 20 has a constant radius of curvature of the curved track portion 10, that is, the straight track portion 2 of the transport track.
The curved orbit portion 10 adjacent to 0 is a perfect circular orbit 13. [0004] However, in the conventional transport trajectory for a transport trolley as shown in FIG. 4, the transport trolley moves from the straight track portion 20 to the curved track portion 10 having a predetermined radius of curvature. When moving, the transport vehicle suddenly shifts from the linear track portion 20 that does not generate centrifugal force to the curved track portion 10 that generates centrifugal force. Therefore, the change in the acceleration of the centrifugal force in these connection regions becomes infinite, and A large impact force occurs in the connection area, which causes uneven wear and damage, which not only has a problem that the durability of the transport track cannot be ensured for a long time, but also has a problem in the transported articles mounted on the transport vehicle. There has been a problem that a large impact is given to cause a risk of damage or a fall, or a transport noise is generated by such an impact force to deteriorate a transport work environment. The inventors of the present invention have focused on the acceleration change of the centrifugal force as described above, and have conducted intensive studies on the relationship between the acceleration change and the structure of the transport trajectory. was gotten. That is, an object of the present invention is to solve the problems in the conventional transport trajectory for a transport trolley as described above, and to stably move the transport trolley smoothly from the straight trajectory portion of the transport trajectory to the curved trajectory portion without impact. An object of the present invention is to provide a transport trajectory for a transport trolley, which can reduce the transport noise. According to the present invention, there is provided a transport trajectory for a transport trolley, wherein the transport trajectory on which the transport trolley travels is composed of a linear trajectory portion and a curved trajectory portion. The object is solved by continuously changing the radius of curvature of the track portion. Here, with regard to the specific track structure of the transport trajectory for the transport vehicle of the present invention, the radius of curvature of the curved track portion adjacent to the linear track portion of the transport track on which the transport vehicle travels is continuously changed. Any track structure may be used as long as it is, for example, a circular orbit in which the radius of curvature of a curved track portion adjacent to a straight track portion of a transport track is continuously changed and a perfect circular track is adjacent to the track. There may be.
Further, the orbital structure of the curved orbital portion includes an elliptical orbit, excluding an orbital structure composed of only a perfect circular orbit.
A trajectory structure including a next spline curve trajectory, a modified trapezoidal curve trajectory, or the like can be arbitrarily selected. The transport layout to which the transport trolley of the present invention is applied may be any of a horizontal-curve transport layout, a vertical-curve transport layout, and a spiral transport layout. [0009] Examples of the transport vehicle that can travel on the transport track for the transport vehicle of the present invention include a ground traveling unmanned transport vehicle that loads and transports heavy objects such as roll paper.
There are overhead traveling unmanned transport vehicles for hanging and transporting lightweight objects such as semiconductor wafers and patient charts, and product tray vehicles for product sorting systems. According to the transport trajectory for the transport trolley of the present invention, the transport trajectory on which the transport trolley travels is composed of a linear trajectory portion and a curved trajectory portion, and the curvature of the curved trajectory portion adjacent to the linear trajectory portion By continuously changing the radius, when the transport vehicle moves while transiting between the straight track portion and the curved track portion, the transport vehicle shifts the curved track portion where the curvature radius is continuously changed Therefore, the change in the acceleration of the centrifugal force in the connection region between the straight track portion and the curved track portion is suppressed, and the large impact force generated in the conventional transport trajectory for the transport vehicle is reduced. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a transport trajectory for a transport vehicle according to the present invention will be described below with reference to the drawings.
FIG. 1 is an overall schematic diagram in which a transport trajectory for a transport trolley according to a first embodiment of the present invention is applied to a transport layout having a horizontal curve, and FIG. (B) is composed of a curved trajectory composed of a cubic spline curve trajectory and a perfect circular trajectory, and a linear trajectory, and (c) is a modified trapezoidal curved trajectory and a perfect circular trajectory. This is a case where a curved orbit portion and a straight orbit portion are formed. FIG. 2 shows a second embodiment of the present invention.
FIG. 3 is an overall schematic diagram in which a transport trajectory for a transport trolley according to an embodiment is applied to a vertically bent transport layout, and FIG. 3 illustrates a transport trajectory for a transport trolley according to a third embodiment of the present invention applied to a spiral transport layout. FIG. First, as shown in FIG. 1 (a), a transport trajectory for a transport vehicle according to a first embodiment of the present invention has a horizontally curved transport for transporting a transport vehicle (not shown). Applied to the layout, it is composed of a curved orbit portion 10 composed of an elliptical orbit 11 and a straight orbit portion 20, and the radius of curvature of the curved orbit portion 10 is continuously changed by the elliptical orbit 11, that is, gradually reduced. It was made. A transport trajectory for a transport trolley, which is a modification of the first embodiment as shown in FIG. 1B, is applied to a transport layout having a horizontally bent transport trolley (not shown). Cubic spline curve trajectory 1
2 and a perfect circular orbit 13 and a curved orbit portion 10 and a straight orbit portion 20. The cubic spline curved orbit 12 and the perfect circular orbit 13 continuously change the radius of curvature of the curved orbit portion 10, that is, , Gradually reduced. Further, as shown in FIG. 1 (c), the transport trajectory for the transport trolley, which is another modification of the first embodiment, has a horizontally bent transport layout in which a transport trolley (not shown) travels. Applied, deformed trapezoidal curve orbit 1
4 and a straight orbital section 13 and a straight orbital section 20, and the radius of curvature of the curved orbital section 10 is continuously changed by the deformed trapezoidal curve orbit 14 and the perfect circular orbit 13, ie, It has been gradually reduced. As shown in FIG. 1, the transport trajectory for the transport trolley of the first embodiment obtained in this manner is such that the transport trolley moves from the linear trajectory 20 to the curved trajectory 10 or from the curved trajectory 10. When moving while transferring to the linear track portion 20, the transport vehicle moves along the curved track portion 10 in which the radius of curvature is continuously changed. At this time, it is possible to suppress a change in the acceleration of the centrifugal force in the connection area between the straight track portion 20 and the curved track portion 10 and to reduce a large impact force generated in the conventional transport trajectory for the transport vehicle. The "change in the acceleration of the centrifugal force" referred to in the present embodiment refers to the case where the transport trajectory for the transport vehicle moves from the straight track portion 20 to the curved track portion 10 as shown in FIG. Since the present invention is applied to a horizontally bent transport layout including a case where the vehicle travels while transiting from the track portion 10 to the straight track portion 20, the absolute value of the acceleration change of the centrifugal force is meant. In the curved orbit portion 10 in which the radius is continuously changed, it is significantly reduced as compared with the conventional curved orbit portion consisting only of a perfect circular orbit. Accordingly, the transport trajectory for the transport trolley of the first embodiment can prevent uneven wear and damage in the connection area between the straight track portion 20 and the curved track portion 10, and can improve the durability of the transport trajectory for a long time. Can be secured over the whole area. Also, the straight track portion 20 and the curved track portion 1
Since the change in the acceleration of the centrifugal force in the connection area with zero can be suppressed, excessive impact on the transported articles mounted on the transport vehicle is avoided, and damage due to collision between the transported articles and falling off the track are avoided. Can be prevented. Further, it is possible to remarkably reduce the transfer noise which is likely to be caused by the impact between the transfer track and the transfer carriage or the collision between the transfer articles, and to eliminate the discomfort of the noise to the worker in the transfer area. it can. Next, a transport trajectory for a transport trolley according to a second embodiment of the present invention as shown in FIG. 2 is applied to a transport layout having a vertical bend in which a transport trolley (not shown) travels. The curved trapezoidal curve orbit 14 is composed of a curved orbital portion 10 and a straight orbital portion 20, and the radius of curvature of the curved orbital portion 10 is continuously changed by the modified trapezoidal curved orbital 14, that is, gradually increased and decreased. It is changed by the combination of. The transport trajectory for the transport trolley of the second embodiment obtained in this manner has a straight track portion 20 in the vertically bent transport layout as in the first embodiment.
The absolute value of the change in the acceleration of the centrifugal force in the connection region between the curve and the curved track portion 10 can be suppressed, so that a large impact force generated in the conventional transport truck for transport vehicles can be reduced. Further, as shown in FIG. 3, the transport trajectory for the transport vehicle according to the third embodiment of the present invention is applied to a spiral transport layout for running a transport vehicle (not shown). A curved orbital portion 10 composed of a deformed trapezoidal curved orbital 14 and a spiral orbital 15 and a linear orbital portion 20. The radius of curvature of the curved orbital portion 10 is continuously changed by the deformed trapezoidal curved orbital 14 and the spiral orbital 15. That is, it is changed by a combination of a gradual increase and a gradual decrease. The transport trajectory for the transport trolley of the third embodiment obtained in this manner is the same as the linear trajectory in the spiral three-dimensional transport layout as in the first and second embodiments described above. The absolute value of the change in acceleration of the centrifugal force in the connection region between the portion 20 and the curved track portion 10 can be suppressed to reduce a large impact force generated in the conventional transport trajectory for the transport vehicle. As described above, in the transport trajectory for a transport vehicle according to the present invention, the transport trajectory on which the transport vehicle travels as described above is composed of a straight track portion and a curved track portion. By continuously changing the radius of curvature of the curved track portion adjacent to the track portion, the following effects unique to the present invention can be obtained. According to the present invention, when the transporting vehicle moves while transiting between the linear track portion and the curved track portion, the transporting vehicle moves on the curved track portion in which the radius of curvature is continuously changed. Since it is possible to suppress a change in the acceleration of the centrifugal force in the connection region between the straight track portion and the curved track portion, and to reduce a large impact force generated in the conventional transfer track for a transport vehicle, the straight track portion and the curved portion can be reduced. It can prevent uneven wear and damage in the connection area with the track part,
The durability of the transfer track can be ensured for a long period of time. Also, since the change in the acceleration of the centrifugal force in the connection region between the straight track portion and the curved track portion can be suppressed, an excessive impact on the transported articles mounted on the transporting trolley can be avoided, and the transported articles can be prevented from moving between the transported articles. In addition to being able to prevent damage due to collisions and falling off the track, it is possible to significantly reduce the transfer noise that is likely to occur due to the impact between the transfer track and the transfer cart and the collision between the transferred articles, The discomfort of the noise to the operator can be eliminated.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an overall schematic diagram in which a transport trajectory for a transport trolley according to a first embodiment of the present invention is applied to a transport layout having a horizontal curve, and FIG. (B) is composed of a curved trajectory part composed of a cubic spline curved trajectory and a perfect circular trajectory and a linear trajectory part, and (c) is a modified trapezoidal curve. This is a case in which a curved orbit portion composed of an orbit and a perfect circular orbit and a straight orbit portion are configured. FIG. 2 is an overall schematic diagram in which a transport trajectory for a transport trolley according to a second embodiment of the present invention is applied to a vertically bent transport layout. FIG. 3 is an overall schematic diagram in which a transport trajectory for a transport vehicle according to a third embodiment of the present invention is applied to a spiral transport layout. FIG. 4 is a plan view showing the general outline of a conventional transport trajectory for a transport vehicle. [Description of Signs] 10 ··· Curved orbital portion 11 ··· Elliptical orbit 12 ··· Tertiary spline curved orbit 13 ··· True circular orbit 14 ··· Deformed trapezoidal curved orbit 15 ··· Helical orbit

Claims (1)

Claims: 1. A transport trajectory on which a transport trolley travels comprises a straight track portion and a curved track portion, and a radius of curvature of a curved track portion adjacent to the straight track portion is continuously changed. A transport trajectory for a transport trolley.