JP2003191836A - Rail-truck - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a rail-truck capable of stably running on a running rail which is formed by combining straight parts and curved parts having different radius of curvature and bending direction. <P>SOLUTION: Guide rollers 7a, 7b in front of running wheels 2 along the running rail R oscillate in an arch shape in a horizontal surface in an oscillating direction X2 toward inside of the curved part C1 and closely contact the running rail R. At the same time, since a support member 8a oscillates in an arc shape in an oscillating direction X2 toward inside of the curved part C1, a connecting member 15 inclines toward inside of the curved part C1, and the support member 8c oscillates in an arc shape in the oscillating direction X2 toward inside of the curved part C1. Rear guide rollers 7c, 7d oscillate in an arc shape in a horizontal surface in the oscillating direction X2 toward inside of the curved part C1 and closely contact the running rail R. Thereby, the running wheels 2 smoothly change the turn angle on the running rail R such that the wheel shaft 4 normally points to the center of curvature of the curved part C1, and the rail-truck stably runs on the running rail R. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a guided vehicle used in factories, warehouses and the like, and more particularly to a mechanism for smoothly traveling along a curved portion of a traveling rail.

[0002]

2. Description of the Related Art FIG. 8 is a diagram showing an example of using a track guided vehicle in an automatic warehouse system. In FIG. 8, reference numeral 60 is an automatic warehouse system. 61 is a storage shelf, 62 is a loading / unloading station, 63 is a stacker crane for loading / unloading the load W between the storage shelf 61 and the loading / unloading station 62,
Reference numeral 64 is a guide rail for the stacker crane 63 to move along the storage rack 61, and 65 is a conveyor for transferring the load W to the outside of the warehouse. R is a pair of two traveling rails laid on the floor in the warehouse. The traveling rail R is composed of a straight portion S and a curved portion C, and the curved portion C has curved portions such as curved portions C1 and C2 having different radii of curvature and bending directions. Reference numeral 100 denotes a tracked carriage that conveys a load W between each loading / unloading station 62 and the conveyor 65 by traveling on the traveling rail R in the automatic warehouse system 60.

FIG. 9 is a plan view showing a schematic structure of the track guided vehicle 100. In FIG. 9, 101 is a track guided vehicle 10.
It is a vehicle body of 0, and the traveling wheels 7 are provided on the lower bottom portion of the vehicle body 101.
Traveling units 71a to 71d including 2a to 72d are attached. These traveling units 71a to 7
1d includes a driving traveling unit 71a to which a traveling motor M for rotating the traveling wheels 72a is connected, and driven wheels 72b, 72c, 72d that are rotated by rotation of the traveling wheels 72a of the driving traveling unit 71a. There are traveling units 71b, 71c, 71d. When the traveling wheels 72a to 72d of the traveling units 71a to 71d roll on the traveling rail R laid on the floor surface G, the track guided vehicle 100 travels in the arrow direction.

Next, the structure of each of the traveling units 71a to 71d will be described with reference to FIGS. The drive traveling unit 71a and the driven traveling units 71b, 71
The c and 71d differ only in the presence or absence of the connection of the traveling motor M, and have the same structure other than that, so they will be collectively described below as the traveling unit 71. Traveling wheels 72a to 72 provided in the traveling units 71a to 71d
The traveling wheels 72 are also collectively referred to as d.

10 (a), 11 (a) and 12
(A) is a traveling unit 71 in a conventional track guided vehicle.
It is a figure which shows the structure of. In the figure, reference numeral 72 denotes a traveling wheel rolling on the traveling rail R, and a wheel shaft 74 of the traveling wheel 72 is rotatably held by the holding member 73 by being connected to a bearing 73a provided in the holding member 73. . A swivel shaft 75 is provided on the upper part of the holding member 73, and the swivel shaft 75 is pivotally connected to a mounting portion 76 having a bearing (not shown) therein. Therefore, by fixing the mounting portion 76 to the vehicle body 101 (FIG. 9),
The traveling wheels 72 are attached to the vehicle body 101 so as to be rotatable in a horizontal plane. 77a-77d (hereinafter, collectively 7
7) is a fixing member 78a such as a screw on the holding member 73.
A plurality of guide rollers fixed by ~ 78d,
It is arranged so as to contact the traveling rail R and sandwich the traveling rail R therebetween. With such a structure of the traveling unit 71, the traveling wheels 72 are restrained from moving in the width direction of the traveling rail R by the guide rollers 77, and are guided so as to roll on the traveling rail R at the straight portion S, and curved portions. At C, the vehicle is guided so as to roll on the traveling rail R while rolling. Note that FIG. 10A shows a case where the traveling unit 71 is provided with four-wheel guide rollers 77a to 77d, and in FIG. 11A, the traveling unit 71 is provided with three-wheel guide rollers 77a to 77c. FIG. 12 shows the case.
In (a), the traveling unit 71 is provided with two guide rollers 7
The case where 7a and 77b are provided is shown.

[0006]

However, in the traveling unit 71 of the conventional track guided vehicle 100 described above,
There are the following problems. 10 (b) and 11
(B) and FIG. 12 (b) show a curved portion C of the traveling unit 71.
Shows the traveling state in. In FIG. 10B, the guide wheels 77a to 77d of the four wheels are fixed to the holding member 73 by the fixing members 78a to 78d, respectively, and the traveling rail R is sandwiched at four points. The restraint force that restrains the movement in the width direction is strong. However, in order for the traveling wheels 72 to roll while rolling on the traveling rail R in the curved portion C, the clearances G1 and G are provided between the traveling rail R and the guide rollers 77a to 77d.
2 must be provided, and even if the clearances G1 and G2 are provided, only the curved portion C having a constant radius of curvature can roll while rolling. In addition, a curved portion C having a small radius of curvature
Clearances G1 and G2 must be provided in order to travel on the vehicle. If the clearances G1 and G2 are too large, the tracked carriage 100 fluctuates and vibrates during traveling on the straight line portion S, so that the vehicle is loaded on the vehicle body 101. There is a problem that the load W cannot be stably transported.
For this reason, a method of making the width of the traveling rail R smaller at the curved portion C than at the straight portion S has been conventionally adopted, but this has a problem that the traveling rail R is very difficult to machine.

In FIG. 11 (b), two guide rollers 77a, 77b are arranged outside the curved portion C of the traveling rail R, and one guide roller 77c is arranged inside the fixed portion 78a. It is fixed to the holding member 73 by 78c. Therefore, the traveling wheel 72 can roll on the traveling rail R while turning on the curved portion C1 having a small radius of curvature as compared with the case where the four-wheel guide rollers are fixed in FIG. 10B. it can. But,
Since the front guide roller 77a arranged on the outer side of the curved portion C1 separates from the traveling rail R during rolling of the curved portion C1 (G3), a constraint force for restraining the traveling wheel 72 from moving in the width direction is exerted. There is a problem that it becomes weak. Further, in the arrangement of the guide rollers 77a to 77c, there is a problem that the curved portion C2 having the two sides of the guide rollers 77a and 77b as the inside cannot travel.

In FIG. 12B, the holding member 73 has two guide rollers 77a and 77b and fixing members 78a and 78b.
Since the traveling rail R is sandwiched between two points, the traveling wheel 72 can travel on the curved portion C having a small radius of curvature, and the curved portion C that curves to the right in the traveling direction.
It is possible to roll while turning both the curved portion C and the curved portion C that turns to the left. However, since there are two guide rollers, the restraining force for restraining the traveling wheels 72 from moving in the width direction on the traveling rail R is weak, and the track guided vehicle 100 sways and vibrates during traveling, so that the vehicle body There is a problem that the load W loaded on 101 cannot be stably transported. Further, even when the vehicle runs at a high speed on a straight line, the running resistance applied to each guide roller is likely to be unbalanced,
There is a problem that left and right vibrations occur and stable driving cannot be performed.

The present invention is intended to solve the above-mentioned problems, and its object is to stabilize on a traveling rail R in which a straight portion and various curved portions having different radii of curvature and bending directions are combined. The purpose of the present invention is to provide a track guided vehicle that can be driven.

[0010]

In a track guided vehicle according to the present invention, a traveling wheel that rolls on a traveling rail to cause the vehicle body to travel, and a traveling wheel are held so that the vehicle body can turn freely via a turning shaft. A holding member to be attached, a guide roller arranged so as to sandwich two traveling rails on both sides of the traveling wheel from both sides, and a supporting member connected to the retaining member and swingably supporting the guide roller in a horizontal plane. And the guide roller swings in the horizontal plane along the traveling rail to change the turning angle of the traveling wheel.

By doing so, the guide roller oscillates in the horizontal plane along the traveling rail in both the straight portion and the curved portion, so that the curved portion having a small radius of curvature and the curved portions for both right and left bends. In, the turning angle of the traveling wheel can be changed so that the wheel axis of the traveling wheel always faces the center of curvature of the curved portion. As a result, it becomes possible to stably run the tracked bogie on the traveling rail in the traveling rail in which the straight portion and the curved portion having different radii of curvature and bending directions are combined.

Further, in the present invention, two support members are provided in front of and behind the traveling wheel, and the front support member supports two guide rollers arranged in front of the traveling wheel while interlocking with each other. And the rear support member supports two guide rollers arranged behind the traveling wheels, and swings them in conjunction with each other.

By doing so, the guide rollers of the two wheels sandwiching the traveling rail are interlocked and oscillate in the horizontal plane, so that the traveling rail can be brought into contact with the traveling rail along the curvature of the traveling rail without a gap, and therefore, the straight line can be obtained. Even if the width of the traveling rail is not changed between the traveling portion and the curved portion to provide a clearance between the traveling rail and the guide roller, the guide roller of the traveling wheel keeps the wheel shaft of the traveling wheel always facing the center of curvature of the curved portion. It is possible to change the turning angle and roll the wheeled carriage to stably run the tracked carriage on the travel rail.

Further, according to the present invention, as a means for interlocking the two guide rollers sandwiching the traveling rail as described above, the two guide rollers are interlocked in an arc shape with the pivot axis as the pivot center. It is preferable that each support member is provided with an arcuate movement portion that is swung by the above-mentioned method.

By doing so, the swing range in which the guide roller swings in the horizontal plane along the traveling rail can be reduced within a circle having a constant radius centered on the swing axis. The traveling unit can be downsized.

Further, in the present invention, it is preferable to provide a connecting member for swinging the two guide rollers arranged in front of the traveling wheels and the two guide rollers arranged behind the traveling wheels in synchronization with each other.

By doing so, the front and rear sides of the traveling wheels 2
Since the swinging of the guide rollers arranged wheel by wheel is restricted, the restraining force of the guide rollers that restrain the movement of the traveling wheels in the width direction of the traveling rail can be increased. Further, since all the guide rollers swing in the horizontal plane and come into contact with the traveling rail without any clearance, the guide rollers can roll the traveling wheels while smoothly turning the traveling wheels in the curved portion. As a result, it is possible to suppress the wobble and vibration of the track guided vehicle and smoothly run the track guided vehicle on the traveling rail.

[0018]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. The usage example of the track guided vehicle according to the present invention is the same as that described in FIG. 8, and the schematic configuration of the track guided vehicle is the same as that described in FIG. FIG. 9 is cited as an embodiment of the present invention.

1 and 2 are views showing the structure of a traveling unit in a track guided vehicle according to the present invention.
1A is an exploded perspective view of the traveling unit, FIG. 1B is a perspective view thereof, FIG. 2A is a plan view thereof, and FIG. 2B is a front view thereof. In FIG. 1, reference numeral 1 is a drive traveling unit to which a traveling motor 17 is connected. Reference numeral 2 denotes a traveling wheel that rolls on the traveling rail R, and a wheel shaft 4 of the traveling wheel 2 is connected to a bearing 3 a provided in the holding member 3 so that the traveling wheel 2 is rotatably held by the holding member 3. A swivel shaft 5 is provided above the holding member 3, and the swivel shaft 5 is pivotally connected to a mounting portion 6 (shown in FIG. 2B) having a bearing (not shown) therein. . Therefore, by fixing the attachment portion 6 to the vehicle body 101 (shown in FIG. 2) by the fixing member 18, the traveling wheel 2 is attached to the vehicle body 101 so as to be rotatable in a horizontal plane.

7a to 7d (7d is shown in FIG. 2A)
As shown in FIGS. 1B and 2B, is a four-wheel guide roller arranged so as to sandwich the traveling rail R laid on the floor G at the front F and rear B of the traveling wheel 2. Is. Of the four wheels, the guide rollers 7a and 7b arranged in front F of the traveling wheel 2 are supported by the support member 8a,
Guide roller 7 arranged at the rear B of the traveling wheel 2.
c and 7d are supported by a support member 8c. The supporting members 8a and 8c have arcuate movement portions 8b and 8d (8d in FIG.
(Shown in (a)), of which the support member 8
The cam followers 12a and 12c and the sleeve 12b are inserted in the circular arc moving portion 8b of a. Then, the bracket 9a, the cam followers 12a and 12c and the sleeve 12b inserted in the arcuate movement portion 8b of the support member 8a, and the plate 13a are respectively bolts 11a, 11b and 1b.
The support member 8a is sandwiched and supported by the bracket 9a and the plate 13a by passing through 1c and connecting the male screw provided on the bolts 11a, 11b, 11c and the female screw provided on the plate 13a. At this time, the interval between the bracket 9a and the plate 13a is defined by the height of the sleeve 12b, and the height of the sleeve 12b is set to be slightly larger than the thickness of the support member 8a, so that the support member 8a is supported in a movable state. To be done. Also,
The bolts 11a and 11c are shoulder bolts having a large-diameter leg portion having no screw portion and a small-diameter screw portion provided at the tip of the leg portion, and the cam followers 12a and 12c are provided on the leg portions, respectively. Is inserted. The cam followers 12a and 12c are slightly lower in height than the sleeve 12b and are rotatable around the bolts 11a and 11c, and guide the inner wall of the circular arc motion portion 8b when the support member 8a circularly moves. It has a function to do. Then, the support member 8 a is held by the holding member 3 by connecting the bracket 9 a to the holding member 3 with the bolts 10 a and 10 b. The support member 8c has a similar structure and is sandwiched and supported by a bracket 9b and a plate 13b (not shown). The bracket 9b is connected to the holding member 3 and is held by the holding member 3.

As a result, the support member 8a is moved in the circular arc moving section 8a.
Using the cam followers 12a and 12c and the sleeve 12b inserted in b as a guide, the swing shaft 5 swings in a circular arc in the swing directions X1 and X2 (shown in FIG. 2A) about the swing center. The guide rollers 7a and 7b supported by the support member 8a are swung in a circular arc shape in the horizontal plane in the swing directions X1 and X2 about the swing shaft 5 as the swing center. At this time, the moving range of the supporting member 8a in the swinging direction X1 is restricted by the inner wall of the circular arc moving portion 8b contacting the cam follower 12c, and the moving range of the supporting member 8a in the swinging direction X2 is circular motion. The inner wall of the portion 8b is regulated by coming into contact with the cam follower 12a. Similarly, the support member 8c swings in an arc shape in a horizontal plane in the swinging directions X1 and X2 around the swivel axis 5 as a swing center, and the guide rollers 7c and 7d supported by the support member 8c are swung along the swivel axis. 5 is oscillated in an arc shape in the horizontal plane in the oscillating directions X1 and X2 around the oscillating center.

Reference numeral 15 is a connecting member, which is the upper rotary unit 1.
5c and the shaft hole 3b of the holding member 3 penetrate the shaft 16 and are rotatably held by the holding member 3. Interlocking grooves 15a and 15b are formed in the lower portion of the connecting member 15, and the interlocking grooves 15a and 15b are rotatable protrusions 14a and 14b which are erected on the upper end portions of the support members 8a and 8c, respectively.
Is fitted.

As a result, when the connecting member 15 rotates about the shaft 16 and tilts in the tilting direction V1 shown in FIG. 2 (b), the supporting members 8a and 8c are synchronized with each other in the swinging direction X1.
The guide rollers 7a and 7b supported by the support member 8a and the guide rollers 7c and 7d supported by the support member 8b also swing in an arc shape in the swing direction X1 in synchronization with each other. On the contrary, when the connecting member 15 rotates about the shaft 16 as the center of rotation and tilts in the tilt direction V2, the supporting members 8a and 8a
c swings in an arc shape in the swing direction X2, and the guide rollers 7a and 7b supported by the support member 8a and the guide rollers 7c and 7d supported by the support member 8b are synchronized with each other in the swing direction X2.
It swings to 2 in an arc shape.

Next, the operation of each part when the traveling unit of the guided vehicle with the above structure travels along the curved portion will be described with reference to FIGS. 3 and 4. Since the driving traveling units 1a to 1h shown in FIGS. 3 and 4 are the same as the driving traveling unit 1 described in FIGS. 1 and 2, the reference numerals of the respective portions are the same as those in FIGS. The same reference numerals are used, and a part of the structure is omitted for simplification.

FIG. 3 is a diagram showing a traveling state of the traveling unit in the track guided vehicle according to the present invention. In FIG. 3, 1a to 1d are drive units for driving during traveling.
C1 is a curved portion of the traveling rail R that turns to the left in the traveling direction. The driving traveling unit 1a is in a state of traveling on the straight portion S1. At this time, the four-wheel guide rollers 7a-
7d does not swing, the supporting members 8a and 8c do not move circularly, and are kept neutral, and the connecting member 15 does not rotate and is not inclined. Therefore, the traveling wheels 2 roll on the traveling rail R without turning.

Then, the driving unit for driving is the curved portion C1.
When you start traveling, like the drive unit 1b,
The front guide rollers 7a and 7b oscillate in an arc shape in the oscillating direction X2 toward the inside of the curved portion C1 and come into contact with the traveling rail R without a gap. At the same time, the support member 8a and the support member 8a
Since the protrusion 14a provided upright swings in an arc shape in the swinging direction X2 toward the inside of the curved portion C1, the protrusion 14a
The interlocking groove 15a in which is fitted is pulled inside the curved portion C1, and the connecting member 15 is inside the curved portion C1 (see FIG. 2).
(V) direction in (b)). As a result, the interlocking groove 15b also inclines inside the curved portion C1, and the interlocking groove 15b
The projection 14b fitted in the support member 8c and the support member 8c are
Since it swings in an arc shape in the swinging direction X2 toward the inner side of the curved portion C1, the rear guide rollers 7c and 7d move to the curved portion C1.
It oscillates in an arc shape in the oscillating direction X2 toward the inside of, and contacts the traveling rail R without a gap. At this time, as shown in FIG. 6, the front guide rollers 7a and 7b are aligned in a straight line toward the center of curvature O (center of rotation) of the curved portion C1, and the rear guide rollers 7c and 7d are also curved to the curvature of the curved portion C1. Line up in a straight line toward the center O. Also, the front guide roller 7a
And 7b and the rear guide rollers 7c and 7d swing in synchronization with each other by the connecting member 15, so that the wheel shaft 4 and the center of curvature are
The guide roller 7 in front of the straight line NL connecting O
The angle formed by a straight line FL connecting a and 7b and the center of curvature O and the angle formed by a straight line FB connecting the rear guide rollers 7c and 7d and the center of curvature O are both the same angle θ. And
As the traveling unit 1b for driving moves from the traveling unit 1c for driving, the traveling wheel 2 changes the turning angle on the traveling rail R so that the wheel shaft 4 always faces the center of curvature of the curved portion C1. .

After that, the driving traveling unit 1 is moved to the curved portion C.
When traveling through the straight line portion S2 after passing through 1, the front guide rollers 7a, 7b that were swinging in an arc shape in the swinging direction X2 toward the inside of the curved portion C1 come into contact with the running rail R without any gap. By doing so, it swings in an arc shape in the swinging direction X1 and returns to the original neutral state. And at the same time, the support member 8a
And the protrusion 14a provided upright on the support member 8a also has a curved portion C.
From the state of swinging in an arc shape in the swinging direction X2 toward the inside of 1, swings in an arc shape in the swinging direction X1 and returns to the original neutral state. Further, the interlocking groove 15a in which the protrusion 14a is fitted is pulled to the outside of the curved portion C1, and the connecting member 15
Returns to the original vertical state from the state of being inclined inside the curved portion C1. As a result, the protrusion 14b fitted in the interlocking groove 15b and the support member 8c swing in an arc shape in the swing direction X1 and return to the neutral state, so that a circle is formed in the swing direction X2 toward the inside of the curved portion C1. The rear guide rollers 7c and 7d, which were swinging in an arc shape, swing in an arc shape in the swing direction X1 and return to the original neutral state while contacting the traveling rail R without any gap. Then, like the drive unit 1d for traveling, the traveling wheel 2 changes the turning angle on the traveling rail R such that the wheel shaft 4 is orthogonal to the longitudinal direction of the traveling rail R, and ends the turning.

FIG. 4 is a diagram showing another traveling state of the traveling unit in the track guided vehicle according to the present invention. In FIG. 4, 1e to 1h are drive units for driving during traveling. C2 is a curved portion of the traveling rail R that bends to the right in the traveling direction, and has a smaller radius of curvature than the curved portion C1 in FIG. The operation of each part during traveling is as described in FIG. 3, and the guide wheels 7a to 7d synchronously oscillate in an arc shape toward the inner side of the curved portion C2, whereby the traveling wheel 2 is moved to the wheel shaft 4a. The curved portion C2
The turning angle is changed on the traveling rail R toward the center of curvature of the turning.

By doing so, the guide rollers 7a to 7d are always swung in the swinging directions X1 and X2 in an arc shape in the horizontal plane and are in contact with the traveling rail R without a gap, so that the straight line portion S and the curved portion are formed. Even if the width of the traveling rail R is not changed at C, the traveling wheel 2 can roll on the traveling rail R at the straight line portion S and the curved portion C. Also, four-wheel guide rollers 7
Since a to 7d swing in synchronization, the restraining force that restrains the movement of the traveling wheel 2 in the width direction of the traveling rail R can be strengthened, and the traveling wheel 2 smoothly turns on the traveling rail R. be able to. Then, as a result, in the automated warehouse system 60 as shown in FIG. 8, the tracked carriage 100 is mounted on the traveling rail R in which the straight line portion S and various curved portions C1 and C2 having different radii of curvature and bending directions are combined. Enables stable traveling while suppressing the occurrence of vibration and the like, and the load W can be conveyed.

In the above-mentioned embodiment, the case where the guide rollers 7a to 7d oscillate in an arc shape in the horizontal plane by the arc motion portions 8b and 8d provided on the support members 8a and 8c is taken as an example. By doing so, the guide rollers 7a to 7d swing in an arc shape around the swing shaft 5 provided in the support member 3 as a swing center, so that the swing range is reduced and the traveling unit 1 is downsized. be able to. That is, as shown in FIG. 7A, the guide rollers 7a to 7d
Is arranged so as to be inscribed in a circle having a radius A with the turning axis 5 as the center during straight running, even if the guide rollers 7a to 7d swing at the curved portion of the rail as shown by the chain double-dashed line, Since the range is always within the circle with the radius A, a wide space is not required for swinging the guide rollers 7a to 7d, and the traveling unit can be downsized. However, the present invention is not limited to this, and other than this, the guide rollers 7a to 7d may be swung by the structure shown in FIG.

FIG. 5 is a view showing the structure of another traveling unit in the track guided vehicle according to the present invention.
5A is a perspective view and FIG. 5B is a plan view. The same reference numerals are used for the same reference numerals as those described with reference to FIG. 1 and FIG. In FIG. 5, of the four guide rollers 7a to 7d, the traveling wheel 2 is used.
The guide rollers 7a and 7b arranged on the front side F of the vehicle are supported by the support member 19a, and the guide rollers 7c and 7d arranged on the rear side B of the traveling wheel 2 are formed on the support member 19b.
It is supported by. The support member 19a includes the bolt 11
bracket 9a and plate 13a connected by b
It is sandwiched and supported between (shown in FIG. 1A). The bracket 9a is connected to the holding member 3 by the bolts 10a and 10b, so that the support member 19a is held by the holding member 3. The supporting member 19b is also held by the holding member 3 with the same structure.

As a result, as shown in FIG. 5B, when the guide roller 7a swings in the swinging direction Y1 in the horizontal plane, the supporting member 19a swings so as to rotate in the horizontal plane around the bolt 11b. The guide roller 7b in the swinging direction Y2.
Rock in a horizontal plane. On the contrary, when the guide roller 7b swings in the horizontal direction in the swinging direction Y1, the support member 19a also swings so as to rotate in the horizontal plane about the bolt 11b as an axis, and the guide roller 7a moves in the swinging direction Y2. Swing in a horizontal plane. Similarly, the guide rollers 7c and 7d swing in the swing directions Y3 and Y4 in the same manner in the horizontal plane.

Reference numerals 21a to 21c are connecting members for connecting the support member 19a and the support member 19b, and the support member 19a.
A connecting member 21a rotatably connected to the connecting member 20a provided on the upper end of the supporting member 19b, a connecting member 21b rotatably connecting to the connecting member 20b provided on the upper end of the supporting member 19b, and a holding member 3 Holding metal fittings 22 attached to
Is rotatably supported by the connecting member 21a and the connecting member 21.
and a connecting member 21c that rotatably connects b.

Thereby, for example, the guide roller 7a
Is swung in the swing direction Y1 in the horizontal plane, the support member 19
a swings around the bolt 11b so as to rotate in a horizontal plane, and the connecting member 21a is pulled in the operation direction W1 via the connecting member 20a. As a result, the connecting member 21c rotates, and the connecting member 21b moves in the movement direction W1 of the connecting member 21a.
Is pressed in the opposite direction W2. And the connecting member 2
0b, the supporting member 19b swings so as to rotate in the horizontal plane about the bolt 11e, and the guide roller 7c swings in the swinging direction Y4 in the horizontal plane. That is, the connecting member 2
By the operation of each part of 1a to 21c, the support members 19a and 1a
Guide rollers 7a, 7b which are oscillated so as to rotate in a horizontal plane in cooperation with each other and are supported in front F of the traveling wheel 2.
And the guide roller 7 supported on the rear side B of the traveling wheel 2.
c and 7d start to swing in synchronization with each other.

By doing so, the guide rollers 7a to 7d for the four wheels can be constantly swung in synchronization with each other so that the guide rollers 7a to 7d can be brought into contact with the traveling rail R without any gaps. It becomes possible to stably drive 100 on the traveling rail R. In the case of FIG. 5, the swinging range of the guide rollers 7a to 7d is, as shown in FIG.
The swing range becomes larger by the amount of BA than in the case of (a). Therefore, in order to reduce the swinging range and downsize the traveling unit 1, it is preferable to employ the structure as shown in FIG. 1 described above.

In the above embodiment, the driving traveling unit 1 in the track guided vehicle 100 is described as an example, but the present invention is not limited to this, and the driven motor to which the traveling motor 17 is not connected is used. It can also be applied to traveling units.

[0037]

According to the present invention, since the guide roller oscillates in the horizontal plane and always comes into contact with the traveling rail without a gap, the traveling wheel can be rolled while smoothly swiveling on the traveling rail. It is possible for the track guided vehicle to travel stably on a traveling rail in which a straight line portion and various curved portions having different radii of curvature and bending directions are combined.

[Brief description of drawings]

FIG. 1 is a perspective view showing a structure of a traveling unit in a guided vehicle according to the present invention.

2A and 2B are a plan view and a front view showing the structure of a traveling unit in a track guided vehicle according to the present invention.

FIG. 3 is a diagram showing a traveling state of a traveling unit in the track guided vehicle according to the present invention.

FIG. 4 is a diagram showing another traveling state of the traveling unit in the track guided vehicle according to the present invention.

FIG. 5 is a diagram showing a structure of another traveling unit in the track guided vehicle according to the present invention.

FIG. 6 is a diagram illustrating a positional relationship between a guide roller and a turning center.

FIG. 7 is a diagram illustrating a swing range of a guide roller.

FIG. 8 is a diagram showing an example of use of a guided vehicle in an automatic warehouse system.

FIG. 9 is a plan view showing a schematic structure of a track guided vehicle.

FIG. 10 is a diagram showing a traveling unit in a conventional track guided vehicle.

FIG. 11 is a diagram showing another traveling unit in the conventional tracked carriage.

FIG. 12 is a diagram showing another traveling unit in the conventional guided vehicle.

[Explanation of symbols]

2 running wheels 3 holding member 5 swivel axis 7a Guide roller 7b Guide roller 7c guide roller 7d guide roller 8a support member 8b Circular motion part 8c support member 8d circular motion section 15 Connection member 100 tracked carriage 101 car body B rear C curve part F front R traveling rail S straight section

Claims (4)

[Claims] 1. A tracked vehicle that travels on a traveling rail composed of a straight portion and a curved portion; traveling wheels that roll on the traveling rail to travel a vehicle body; A holding member that is rotatably attached to the running wheel via a turning shaft; guide rollers that are arranged in front of and behind the running wheel so that two running rails are sandwiched from both side surfaces of the running rail; A support member that swingably supports a roller in a horizontal plane, wherein the guide roller swings in a horizontal plane along the traveling rail to change a turning angle of the traveling wheel. Tracked trolley. 2. The guided vehicle according to claim 1, wherein the support member is provided in front of and behind the traveling wheel, and the front support member is two guide rollers arranged in front of the traveling wheel. A tracked track characterized by supporting each of them and swinging them in conjunction with each other, and a rear supporting member swinging each of them in conjunction with each other while supporting two guide rollers arranged behind the traveling wheels. Dolly. 3. The tracked bogie according to claim 2, wherein each of the front and rear two-wheel guide rollers is provided with an arc motion section that causes the guide rollers of the front and rear wheels to swing in an arc shape around the swing axis as a swing center. A tracked carriage that is provided on a member. 4. A guided vehicle according to claim 2 or 3, wherein the two guide rollers arranged in front of the traveling wheels and the two guide rollers arranged behind the traveling wheels are oscillated in synchronization. A tracked bogie having a connecting member for moving.