JP2005297683A - Track carriage system - Google Patents

Track carriage system Download PDF

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Publication number
JP2005297683A
JP2005297683A JP2004114424A JP2004114424A JP2005297683A JP 2005297683 A JP2005297683 A JP 2005297683A JP 2004114424 A JP2004114424 A JP 2004114424A JP 2004114424 A JP2004114424 A JP 2004114424A JP 2005297683 A JP2005297683 A JP 2005297683A
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Prior art keywords
roller
branch
guide
branching
guide rail
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JP2004114424A
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JP4120882B2 (en
Inventor
Takashi Nakao
敬史 中尾
Yoichi Nakamura
陽一 中村
Isao Fukuda
功 福田
Ryosuke Tawara
良祐 田原
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Murata Machinery Ltd
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Murata Machinery Ltd
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Priority to JP2004114424A priority Critical patent/JP4120882B2/en
Priority to TW093124685A priority patent/TWI291447B/en
Priority to KR1020040081555A priority patent/KR100792612B1/en
Priority to US10/989,412 priority patent/US7644664B2/en
Priority to DE602004023810T priority patent/DE602004023810D1/en
Priority to EP04027684A priority patent/EP1547894B1/en
Publication of JP2005297683A publication Critical patent/JP2005297683A/en
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Publication of JP4120882B2 publication Critical patent/JP4120882B2/en
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Abstract

<P>PROBLEM TO BE SOLVED: To prevent elevating/lowering of branching rollers from interfering with a guide rail, to eliminate need for deceleration in front of a branching part, and to travel on the branching part without any play at high speed in either branching or advancing straight. <P>SOLUTION: In a ceiling travel vehicle for switching between the branching and advancing straight by the elevating/lowering of the right and left branching rollers 22, 23, a gap is provided between a guide surface of the guide rail 56 and the branching rollers 22, 23 outside the branching part, and eliminated by expanding width of the guide rail in the branching part. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

この発明は有軌道台車の分岐制御に関し、特に分岐／直進共に分岐部を高速で走行でき、かつ分岐部での有軌道台車のガタツキが少ないシステムに関する。   The present invention relates to branch control of a tracked carriage, and more particularly, to a system that can travel at a high speed in a branch portion for both branching / straight running and has little rattling of the tracked carriage at the branching portion.

有軌道台車は走行レールに沿って走行し、クリーンルーム内や一般の工場、病院、図書館、野外などで物品を搬送する。走行レールのレイアウトを複雑にすると分岐が必要になり、特許文献１は有軌道台車の分岐制御について開示している。特許文献１では走行レール内にガイドレールを設け、有軌道台車には左右の分岐ローラを設ける。そして分岐ローラをガイドレールにガイドされる位置とフリーの位置の間で昇降させて、直進か分岐かを制御する。   A tracked carriage travels along a traveling rail and transports goods in a clean room, a general factory, a hospital, a library, and the outdoors. When the layout of the traveling rail is complicated, branching is required, and Patent Document 1 discloses branching control of a tracked carriage. In Patent Document 1, guide rails are provided in the traveling rail, and left and right branch rollers are provided in the tracked carriage. Then, the branching roller is moved up and down between the position guided by the guide rail and the free position to control whether the branching is straight or branching.

ところで分岐ローラを昇降させるには、ガイドレールとの間に隙間（ギャップ）が必要である。隙間は大きくできないのでガイドレールと分岐ローラとが昇降時に干渉することがあり、分岐部の手前で有軌道台車を減速し、分岐ローラの昇降を容易にする。発明者はさらに、この隙間が分岐部での有軌道台車のガタツキの原因となることに着目した。
特開２００３−２１２１１２号公報 By the way, in order to raise and lower the branch roller, a gap (gap) is required between the branch roller and the guide rail. Since the gap cannot be made large, the guide rail and the branching roller may interfere with each other during the raising and lowering, and the tracked carriage is decelerated in front of the branching part to facilitate the raising and lowering of the branching roller. The inventor further noted that this gap causes backlash of the tracked carriage at the branching portion.
JP 2003-212112 A

この発明の課題は、分岐ローラの昇降がガイドレールと干渉しないようにして、分岐部の手前での減速の必要を無くし、かつ分岐／直進のいずれの場合も、ガタツキ無しで高速で分岐部を走行できるようにすることにある。
請求項２の発明での追加の課題は、分岐部では分岐ローラがガイドレールの外面に接して隙間が生ぜず、直進区間では分岐ローラがガイドレールに接せず昇降と干渉しないようにするための、具体的な構成を提供することにある。
請求項３の発明での追加の課題は、ガイドレールの内側にガイドローラが確実に接するように、ガイドローラ位置を容易に調整できるようにすることにある。 The object of the present invention is to prevent the lifting and lowering of the branching roller from interfering with the guide rail, eliminating the need for deceleration before the branching part, and in any case of branching / straightening, the branching part can be moved at high speed without rattling. It is to be able to run.
An additional problem in the invention of claim 2 is that the branch roller contacts the outer surface of the guide rail at the branch portion so that no gap is formed, and the branch roller does not contact the guide rail and does not interfere with the elevation in the straight section. It is to provide a specific configuration.
An additional problem in the invention of claim 3 is to make it possible to easily adjust the position of the guide roller so that the guide roller is surely in contact with the inside of the guide rail.

この発明は、走行輪と左右一対のガイドローラと、該ガイドローラの左右両外側に設けた昇降自在の分岐ローラとを備えた有軌道台車が、前記ガイドローラと分岐ローラとの間にガイドレールを位置させて走行するようにしたシステムにおいて、分岐ローラとガイドレールとの間に隙間があるエリアをガイドレールの直進区間に設けて分岐ローラを昇降させると共に、ガイドレールの分岐部では、左右いずれかの側の分岐ローラとガイドローラとを共にガイドレールに当てつけるようにしたことを特徴とする。   According to the present invention, a tracked carriage including a traveling wheel, a pair of left and right guide rollers, and a vertically movable branch roller provided on both the left and right sides of the guide roller is provided between the guide roller and the branch roller. In a system that is positioned to travel, an area with a gap between the branch roller and the guide rail is provided in the straight section of the guide rail to raise and lower the branch roller. Both the branching roller and the guide roller on the side are brought into contact with the guide rail.

好ましくは、分岐部でガイドレールを直進区間よりも幅広にすることにより、前記の隙間を設ける。   Preferably, the gap is provided by making the guide rail wider than the straight section at the branch portion.

また好ましくは、前記左右一対のガイドローラの少なくとも一方を偏心ローラとする。   Preferably, at least one of the pair of left and right guide rollers is an eccentric roller.

この発明の有軌道台車システムでは、分岐ローラとガイドレールとの間に隙間がある直進区間のエリアで分岐ローラを昇降させて、分岐か直進かを選択する。分岐ローラの昇降はガイドレールと干渉しないので、分岐部の手前で有軌道台車が減速する必要がなく、分岐ローラの昇降も滑らかに行うことができる。また分岐部では、左右いずれかの側の分岐ローラとガイドローラとが、ガイドレールの外面と内面とにほぼ隙間無しに当てつけられことにより有軌道台車を支持するので、走行輪が踏面から離れた位置でも有軌道台車にガタツキや衝撃が加わらない。従って、分岐部を直進する場合も分岐する場合も高速で走行できる。   In the tracked cart system of the present invention, the branch roller is moved up and down in the area of the straight section where there is a gap between the branch roller and the guide rail, and it is selected whether to branch or go straight. Since the raising and lowering of the branch roller does not interfere with the guide rail, it is not necessary for the tracked carriage to decelerate before the branch portion, and the branch roller can be raised and lowered smoothly. Also, at the branching part, the branching roller and the guide roller on either the left or right side are applied to the outer surface and inner surface of the guide rail with almost no gap so that the tracked carriage is supported. There is no rattling or impact on the tracked vehicle even at the position. Therefore, the vehicle can travel at a high speed both when going straight through the branch and when branching.

好ましくは、ガイドレールの幅を分岐部で幅広にして、ガイドローラと分岐ローラとがガイドレールを隙間無しに挟み込むようにし、直進区間でガイドレールの幅を狭めて、分岐ローラとガイドレールとの間に隙間が生じるようにする。このようにガイドレールの幅を変えることにより、分岐ローラをガイドレールに接させたり、隙間を持たせたりできる。なおガイドレールの幅を変える代わりに、例えば分岐ローラを左右方向にスライドさせる手段を設けても良いが、機構が複雑になる。   Preferably, the width of the guide rail is widened at the branching portion so that the guide roller and the branching roller sandwich the guide rail without a gap, and the width of the guide rail is narrowed in the straight section so that the branching roller and the guide rail are Make a gap between them. By changing the width of the guide rail in this way, the branch roller can be brought into contact with the guide rail or a gap can be provided. Instead of changing the width of the guide rail, for example, means for sliding the branch roller in the left-right direction may be provided, but the mechanism becomes complicated.

分岐ローラとガイドレールとの相対位置を正確に規制するには、左右のガイドローラ位置も重要になる。そこで少なくとも一方のガイドローラを偏心ローラとして、即ち左右方向位置をローラの位置を調整自在にすると、左右のガイドローラが共にガイドレールの内面に接するように調整できる。   In order to accurately regulate the relative position between the branch roller and the guide rail, the positions of the left and right guide rollers are also important. Therefore, if at least one guide roller is an eccentric roller, that is, if the position of the roller is adjustable in the left-right direction, both the left and right guide rollers can be adjusted to contact the inner surface of the guide rail.

図１〜図１２に、天井走行車システムを例に、本発明を実施するための最適実施例を示す。   1 to 12 show an optimum embodiment for carrying out the present invention, taking an overhead traveling vehicle system as an example.

天井走行車の構造
図において、２は天井走行車で、４，５は前後一対のボギー台車で、６は天井走行車本体である。天井走行車本体６は前後の軸８，８によりボギー台車４，５の下部に支持され、前後の軸８，８を接続するようにフレーム１０が設けられ、フレーム１０上の走行モータ１２を介して駆動輪１４を駆動する。駆動輪１４は、走行レールの上部下面に図示しない付勢手段で押し付けられて、天井走行車２を走行させる。 In the structural diagram of the overhead traveling vehicle, 2 is an overhead traveling vehicle, 4 and 5 are a pair of front and rear bogies, and 6 is an overhead traveling vehicle body. The overhead traveling vehicle main body 6 is supported by the front and rear shafts 8 and 8 below the bogies 4 and 5, and a frame 10 is provided so as to connect the front and rear shafts 8 and 8. To drive the drive wheels 14. The drive wheels 14 are pressed against the upper lower surface of the traveling rail by an urging means (not shown) to cause the overhead traveling vehicle 2 to travel.

前後のボギー台車４，５には自由輪の走行輪１６，１８を設けて、走行レールの下部の上面を踏面として走行する。ボギー台車４，５の上部に例えば前後左右各１輪で合計４輪のガイドローラ２０，２１を設けて、ガイドレールの内側のガイド面によりガイドする。なおガイドローラ２１は偏心ローラでその構造を図３に示し、ガイドローラ２０は通常のフリーローラである。またボギー台車４，５の走行方向中央部付近で、ガイドローラ２０，２１の左右方向外側に一対の分岐ローラ２２，２３を設ける。そして分岐ローラ２２，２３は位相を逆にして昇降する。   The front and rear bogies 4 and 5 are provided with free running wheels 16 and 18 and run with the upper surface of the lower part of the running rail as a tread. For example, a total of four guide rollers 20, 21 are provided on the top of the bogies 4, 5 for each of the front, rear, left, and right wheels, and are guided by the guide surfaces inside the guide rails. The guide roller 21 is an eccentric roller and its structure is shown in FIG. 3, and the guide roller 20 is a normal free roller. In addition, a pair of branch rollers 22 and 23 are provided on the outer sides of the guide rollers 20 and 21 in the left-right direction in the vicinity of the center in the traveling direction of the bogies 4 and 5. The branch rollers 22 and 23 move up and down with the phases reversed.

２４，２５は左右のカムプレートで、共通の昇降モータ２６とブレーキ２８とにより駆動され、３０は揺動アームで、３２はその揺動中心となるピンである。また揺動アーム３０の一端に昇降体３４を取り付け、昇降体３４は分岐ローラ２２，２３と共に昇降する。３６は昇降体３４の昇降運動をガイドするための昇降ガイドで、例えばリニヤガイドを用い、３５は昇降体３４に設けた溝で、揺動アーム３０の先端に設けたピンなどを昇降体３４に対して摺動させる。   Reference numerals 24 and 25 are left and right cam plates, which are driven by a common lifting motor 26 and a brake 28, 30 is a swing arm, and 32 is a pin serving as a swing center. An elevating body 34 is attached to one end of the swing arm 30, and the elevating body 34 moves up and down together with the branch rollers 22 and 23. Reference numeral 36 denotes an elevating guide for guiding the elevating motion of the elevating body 34. For example, a linear guide is used. Reference numeral 35 denotes a groove provided in the elevating body 34. A pin provided at the tip of the swing arm 30 is attached to the elevating body 34. Slide against.

カムプレート２４，２５には、その回動中心３７の周囲に螺旋状のカム溝３８を設け、揺動アーム３０の端部に設けたカムフォロワ４０をカム溝３８でガイドする。なおカムプレート２４，２５に設けるカムは、溝状のカムに限らず、カムフォロワを案内する螺旋状のカムであればよい。またカムプレート２４，２５や揺動アーム３０は例えば鉛直面内で回動して、分岐ローラ２２，２３を昇降させる。カム溝３８には回動中心３７からの曲率半径が一定の同心円状のエリアが例えば３箇所あり、最も曲率半径が小さいエリアが低位置エリア４２で、ここからカムプレート２４，２５を例えば約１８０゜回動させた位置に中位置エリア４３があり、さらに例えば１８０゜回動させた位置に高位置エリア４４がある。   The cam plates 24 and 25 are provided with a spiral cam groove 38 around the rotation center 37, and a cam follower 40 provided at the end of the swing arm 30 is guided by the cam groove 38. The cams provided on the cam plates 24 and 25 are not limited to the groove-shaped cams, but may be any spiral cams that guide the cam followers. Further, the cam plates 24 and 25 and the swing arm 30 are rotated in, for example, a vertical plane to raise and lower the branch rollers 22 and 23. The cam groove 38 has, for example, three concentric areas with a constant radius of curvature from the rotation center 37, and the area with the smallest radius of curvature is the low position area 42, from which the cam plates 24 and 25 are moved to about 180, for example. There is a middle position area 43 at a position rotated by .degree., And a high position area 44 at a position rotated by 180.degree., For example.

低位置エリア４２と高位置エリア４４とでは、それぞれカムプレート２４，２５の回転角（位相）が４５゜の範囲で、カム溝３８は同心円状であり、中位置エリア４３では例えば位相が９０゜の範囲でカム溝３８が同心円状である。そしてカムプレート２４，２５の回動範囲は３６０゜強である。カムプレート２４，２５には他の部分よりも半径方向に突き出した被検出部４５，４６を設け、位相センサ４８により、被検出部４５，４６を検出する。位相センサ４８は例えば被検出部４５，４６の段差（エッジ）を検出し、エッジの位置はエリア４２，４３，４４が同心円状となっている部分のほぼ中央部である。即ちカムフォロワ４０がエリア４２，４３，４４のほぼ中心に来たことを、被検出部４５，４６のエッジを用いて位相センサ４８により検出する。   In the low position area 42 and the high position area 44, the rotation angle (phase) of the cam plates 24 and 25 is in the range of 45 °, the cam groove 38 is concentric, and in the middle position area 43, for example, the phase is 90 °. In this range, the cam groove 38 is concentric. The rotation range of the cam plates 24 and 25 is slightly over 360 °. The cam plates 24 and 25 are provided with detected portions 45 and 46 protruding in the radial direction from other portions, and the detected portions 45 and 46 are detected by the phase sensor 48. For example, the phase sensor 48 detects a step (edge) of the detected portions 45 and 46, and the position of the edge is substantially the center of the portion where the areas 42, 43 and 44 are concentric. That is, it is detected by the phase sensor 48 using the edges of the detected portions 45 and 46 that the cam follower 40 has come to substantially the center of the areas 42, 43 and 44.

左右一対のカムプレート２４，２５は昇降モータ２６とブレーキ２８とにより回動し、カム溝３８の配置をカムプレート２４，２５で変えて、カムプレート２４側でカムフォロワ４０が高位置エリア４４にある時、カムプレート２５ではカムフォロワは低位置エリア４２にあるようにする。また左右のカムプレート２４，２５で、中位置エリア４３は同じ位相で表れるようにする。このようにカムプレート２４，２５ではカムの位相を１８０゜異ならせる。そして制御部４９で位相センサ４８の信号により、昇降モータ２６とブレーキ２８とを制御し、分岐ローラ２２，２３の高さを制御する。ただし分岐ローラ２２，２３の昇降機構自体は任意である。   The pair of left and right cam plates 24 and 25 are rotated by the lift motor 26 and the brake 28, and the cam groove 38 is changed by the cam plates 24 and 25 so that the cam follower 40 is located in the high position area 44 on the cam plate 24 side. At this time, the cam follower is located in the low position area 42 in the cam plate 25. Further, the left and right cam plates 24 and 25 make the middle position area 43 appear in the same phase. In this way, the cam plates 24 and 25 make the cam phase 180 ° different. Then, the controller 49 controls the lifting motor 26 and the brake 28 based on the signal from the phase sensor 48 to control the heights of the branch rollers 22 and 23. However, the raising / lowering mechanism itself of the branch rollers 22 and 23 is arbitrary.

図３にガイドローラ２１の例を示すと、２１ｒはフリーローラからなる偏心ローラで、その軸２１ｂと取付部２１ｃの軸とが偏心しており、取付部２１ｃのネジを回すことにより、左右一対のガイドローラ間の距離を現場で調整できる。なお偏心ローラ側の分岐ローラ、例えばここでは分岐ローラ２２、も同様に偏心ローラとして、左右方向位置を調整自在にすることが好ましい。   FIG. 3 shows an example of the guide roller 21. An eccentric roller 21r is a free roller. The shaft 21b and the shaft of the mounting portion 21c are eccentric. By turning the screws of the mounting portion 21c, a pair of left and right shafts are provided. The distance between the guide rollers can be adjusted on site. The branch roller on the eccentric roller side, for example, the branch roller 22 in this case, is also preferably an eccentric roller so that the position in the left-right direction can be adjusted.

走行レールと天井走行車の分岐動作
図４〜図１２を参照し、走行レール５０の構成と、分岐部での天井走行車の動作とを説明する。各部材の符号は、図４〜図１２にない符号でも、図１〜図３の符号をそのまま使うことがある。５１は走行レール５０の分岐部、５２は直進区間で、分岐や合流が無い区間の意味である。ボックス状の走行レール５０の下部上面に左右の踏面５３，５３を設けて、走行輪１６，１８を支持し、その間に開口５４を設けて、ボギー連結用の軸８を通す。また走行レール５０の上部底面の左右に、鉛直方向下向きに突き出したガイドレール５６を設ける。ガイドレール５６の幅を直進区間５２と分岐部５１とで異ならせて、分岐部５１では直進区間５２よりも例えば１mm程度左右方向の外側（分岐ローラ２２，２３の接する側）に幅広の幅広部５８とする。 Branching operation of traveling rail and overhead traveling vehicle The configuration of the traveling rail 50 and the operation of the overhead traveling vehicle at the branching portion will be described with reference to FIGS. The reference numerals of FIGS. 1 to 3 may be used as they are even if the reference numerals of each member are not shown in FIGS. Reference numeral 51 denotes a branching portion of the traveling rail 50, and 52 denotes a straight traveling section, which means a section where there is no branching or merging. Left and right treads 53 and 53 are provided on the lower upper surface of the box-shaped running rail 50 to support the running wheels 16 and 18, and an opening 54 is provided between them to pass the shaft 8 for bogie connection. In addition, guide rails 56 that protrude downward in the vertical direction are provided on the left and right of the upper bottom surface of the traveling rail 50. The width of the guide rail 56 is made different between the straight traveling section 52 and the branching section 51, and the branching section 51 has a wide section wider than the straight traveling section 52 by, for example, about 1 mm in the lateral direction (side where the branching rollers 22 and 23 are in contact). 58.

この結果、直進区間５２では分岐ローラ２２，２３とガイドレール５６の間に例えば１mm程度の隙間が生じ、分岐部５１の幅広部５８ではガイドレールの外面と分岐ローラとの間に左右方向の隙間は無い。また左右のガイドレール５６，５６間の間隔は直進区間５２でも分岐部５１でも一定で、設置時などに偏心したガイドローラ２１を用いて、ガイドローラ２０，２１間の間隔を調整するので、ガイドレール５６，５６の内面にガイドローラ２０，２１が常時密着する。   As a result, in the straight section 52, a gap of, for example, about 1 mm is generated between the branch rollers 22 and 23 and the guide rail 56, and in the wide portion 58 of the branch portion 51, a left-right gap is formed between the outer surface of the guide rail and the branch roller. There is no. Further, the distance between the left and right guide rails 56, 56 is constant in both the straight section 52 and the branching section 51, and the guide roller 21, which is eccentric at the time of installation or the like, is used to adjust the distance between the guide rollers 20, 21. The guide rollers 20 and 21 are always in close contact with the inner surfaces of the rails 56 and 56.

走行レール５０のレイアウトでは、図４の下から上への走行が直進で、下から右側への走行が分岐である。開口５４の左側寄りにはガイドレール５６やその幅広部５８が隙間無く配置され、右寄りにもカット部６４を除いてガイドレール５６やその幅広部５８が配置されている。分岐部には開口５４がＹ字状となるＹ字部６２がある。   In the layout of the traveling rail 50, traveling from the bottom to the top in FIG. 4 is straight, and traveling from the bottom to the right is a branch. The guide rail 56 and its wide portion 58 are arranged without a gap on the left side of the opening 54, and the guide rail 56 and its wide portion 58 are also arranged on the right side except for the cut portion 64. A branch portion has a Y-shaped portion 62 in which the opening 54 is Y-shaped.

図５に直進区間５２での、ガイドレール５６に対するガイドローラ２０，２１や分岐ローラ２２，２３の位置を示す。ガイドレール５６，５６の内面がガイド面６０で、外面がガイド面６１で、ガイド面６０，６０間の間隔配置によらず一定で、ガイド面６１の位置は幅広部ではガイドレール５６の外側向きに１mm程度シフトする。直進区間では分岐ローラ２２，２３は例えば中位置の高さにあり、ガイド面６１との間に隙間ｇがあるので、ガイドレール５６と干渉せずに昇降できる。そして直進区間では、左右のガイドローラ２０，２１が左右のガイド面６０，６０に隙間無しに接することにより、天井走行車がガイドされる。   FIG. 5 shows the positions of the guide rollers 20 and 21 and the branch rollers 22 and 23 relative to the guide rail 56 in the straight section 52. The inner surfaces of the guide rails 56 and 56 are the guide surface 60 and the outer surface is the guide surface 61, which is constant regardless of the spacing between the guide surfaces 60 and 60, and the position of the guide surface 61 is directed toward the outer side of the guide rail 56. Shift by about 1mm. In the straight section, the branch rollers 22 and 23 are at, for example, the height of the middle position, and since there is a gap g between the guide surface 61 and the branch rollers 22 and 23, the branch rollers 22 and 23 can move up and down without interfering with the guide rail 56. In the straight section, the left and right guide rollers 20 and 21 are in contact with the left and right guide surfaces 60 and 60 without a gap, thereby guiding the overhead traveling vehicle.

分岐部を直進する場合、図６に示すように、分岐ローラ２３が高位置で、分岐ローラ２２は低位置にあり、図４のＹ字部６２で幅広部５８やガイドレール５６の底面の下を通過する。Ｙ字部６２ではローラ２１，２２は共にガイドレールに接していないが、ガイドローラ２０と分岐ローラ２３が幅広部５８のガイド面６０，６１に共に隙間無しに接することにより、ボギー台車の姿勢が保持される。   As shown in FIG. 6, the branch roller 23 is at the high position and the branch roller 22 is at the low position, and the Y-shaped portion 62 of FIG. Pass through. In the Y-shaped part 62, the rollers 21 and 22 are not in contact with the guide rail, but the guide roller 20 and the branching roller 23 are both in contact with the guide surfaces 60 and 61 of the wide part 58 without a gap, so that the posture of the bogie is changed. Retained.

分岐部で分岐する場合、図７に示すように、分岐ローラ２２が高位置で、分岐ローラ２３が低位置にある。図４のＹ字部６２では、分岐ローラ２３が幅広部５８の底面下部を通過する。Ｙ字部６２でガイドローラ２０も分岐ローラ２３もガイドレールに接していないが、ガイドローラ２１と分岐ローラ２２が幅広部５８のガイド面６０，６１に共に隙間無しに接することにより、ボギー台車の姿勢が保持される。   When branching at the branching section, as shown in FIG. 7, the branching roller 22 is at the high position and the branching roller 23 is at the low position. In the Y-shaped portion 62 of FIG. 4, the branch roller 23 passes through the bottom bottom portion of the wide portion 58. Although the guide roller 20 and the branch roller 23 are not in contact with the guide rail at the Y-shaped portion 62, the guide roller 21 and the branch roller 22 are both in contact with the guide surfaces 60 and 61 of the wide portion 58 without any gaps. Posture is maintained.

Ｙ字部６２を通過する際の走行輪１６等の姿を、図８の実線で示す。Ｙ字部６２で走行輪１６等が踏面５３から外れると、図の鎖線のように僅かに沈み込んで、ボギー台車がガタつくが、実施例ではローラ２０，２３もしくはローラ２１，２２が幅広部５８を隙間無しに挟み込んで、ガタツキを防止できる。   The appearance of the traveling wheels 16 and the like when passing through the Y-shaped portion 62 is indicated by a solid line in FIG. When the traveling wheel 16 or the like comes off the tread surface 53 at the Y-shaped portion 62, it slightly sinks as shown by a chain line in the figure, and the bogie is rattled. In the embodiment, however, the rollers 20, 23 or the rollers 21, 22 are wide portions. It is possible to prevent rattling by sandwiching 58 without a gap.

図９，図１０に、直進時の動作を示す。図では分岐ローラ２３が高位置、分岐ローラ２２が低位置にある。右側の分岐ローラ２２はガイドレール５６に接触せず、左側の分岐ローラ２３とガイドローラ２０がガイドレール５６の幅広部５８を隙間無しに挟み込んで直進を選択する。直進のための分岐ローラ２２，２３の昇降は手前の直進区間５２で行い、この時、分岐ローラ２２，２３の昇降はガイドレール５６と干渉せず、ガタつかずに高速で分岐部を直進できる。   9 and 10 show the operation during straight travel. In the figure, the branch roller 23 is in the high position and the branch roller 22 is in the low position. The right branch roller 22 does not come into contact with the guide rail 56, and the left branch roller 23 and the guide roller 20 sandwich the wide portion 58 of the guide rail 56 without a gap so as to select straight travel. The branch rollers 22 and 23 are moved up and down in the straight section 52 at the front. At this time, the branch rollers 22 and 23 do not interfere with the guide rail 56 and can move straight through the branch portion without rattling. .

図１１，図１２に分岐時の状態を示す。ここで右側の分岐ローラ２２は高位置で、ガイドローラ２１と共に幅広部５８を隙間無しに挟み込むようにしてガイドされ、左側の分岐ローラ２３は低位置で、ガイドレールの下側を通過する。また分岐のための分岐ローラ２２，２３の昇降は手前の直進区間５２で行い、ガタつかずに高速で分岐部を分岐できる。   11 and 12 show the state at the time of branching. Here, the right branch roller 22 is guided at a high position so as to sandwich the wide portion 58 together with the guide roller 21 without a gap, and the left branch roller 23 passes under the guide rail at a low position. Further, the branch rollers 22 and 23 for branching are moved up and down in the straight section 52 in front, so that the branch section can be branched at high speed without rattling.

実施例の効果と補足
実施例では直進区間５２の全体で、ガイドレールの幅を幅広部５８よりも狭くしたが、分岐部の手前の所定のエリアでのみ幅を狭くしても良い。また分岐部に変えて合流部を設ける場合、図４の上から下へと天井走行車を走行させればよい。その場合の分岐ローラ２２，２３等の動作は、図４の上から下へと直進する場合は図９と同様にし，図４の右上から下へと走行して合流する場合は図１１と同様にする。実施例では、分岐ローラ２２，２３の高さ位置を３段階としたが、分岐／直進の２段階として、例えば直進区間では原則として直進とし、分岐する場合は分岐部の手前で切り替えるようにしても良い。 In the effect of the embodiment and the supplementary embodiment, the width of the guide rail is made narrower than the wide portion 58 in the entire straight section 52, but the width may be narrowed only in a predetermined area before the branch portion. Moreover, what is necessary is just to drive an overhead traveling vehicle from the top to the bottom of FIG. In this case, the operation of the branch rollers 22, 23, etc. is the same as in FIG. 9 when traveling straight from top to bottom in FIG. 4, and the same as in FIG. 11 when traveling from the upper right to the bottom in FIG. To. In the embodiment, the height positions of the branch rollers 22 and 23 are set to three stages. However, as two stages of branch / straight, for example, in a straight section, in principle, straight travel is performed, and when branching, switching is performed before the branch section. Also good.

また実施例では、ガイドローラ２０，２１をボギー台車当たり前後に各一対設け、分岐ローラを台車前後方向でそれらの中間に配置したが、この逆に分岐ローラを前後に各一対設けて、それらの前後方向の中間にガイドローラを設けても良い。この場合、ボギー台車当たり、分岐ローラが４個，ガイドローラが２個となる。   Further, in the embodiment, a pair of guide rollers 20 and 21 are provided before and after the bogie, and the branch rollers are arranged in the middle in the longitudinal direction of the carriage. A guide roller may be provided in the middle of the direction. In this case, there are four branch rollers and two guide rollers per bogie.

実施例では天井走行車を示したが、走行レールを地上に敷設した有軌道台車でも良い。また天井走行車の場合でも、走行レールの上側に開口を設けて、この開口上に荷台などを配置したものでも良い。この場合、ガイドレールは走行レールの上部底面で開口の左右などに設ける。   Although the overhead traveling vehicle is shown in the embodiment, a tracked vehicle with a traveling rail laid on the ground may be used. In the case of an overhead traveling vehicle, an opening may be provided on the upper side of the traveling rail, and a cargo bed or the like may be disposed on the opening. In this case, the guide rail is provided on the upper bottom surface of the traveling rail on the left and right sides of the opening.

実施例では以下の効果が得られる。
(1) ガタつかずに分岐でも直進でも高速で分岐部を走行できる。
(2) 分岐か直進かの選択で、分岐ローラの昇降のために減速する必要がない。
(3) ガイドレールの幅を分岐部で左右方向外側に拡げることにより、分岐ローラが直進区間ではガイドレールに接せず、分岐部でのみ隙間無しに接するようにできる。
(4) 左右のガイドローラが共にガイドレールの内面に隙間無しに接するように、ガイドローラの間隔を現場で調整できる。
In the embodiment, the following effects can be obtained.
(1) It can travel at high speeds at high speeds, whether it is straight or straight, without rattling.
(2) It is not necessary to decelerate to raise or lower the branch roller by selecting whether to branch or go straight.
(3) By expanding the width of the guide rail outward in the left-right direction at the branching portion, the branching roller can be brought into contact with the guide rail without a gap only in the straight section without contacting the guide rail.
(4) The distance between the guide rollers can be adjusted on site so that both the left and right guide rollers are in contact with the inner surface of the guide rail without any gap.

実施例で用いた天井走行車の前後のボギー台車の要部を示す平面図The top view which shows the principal part of the bogie truck before and behind the overhead traveling vehicle used in the Example 実施例で用いた天井走行車の分岐ローラの昇降機構を示す要部側面図Side view of essential parts showing the lifting mechanism of the branch roller of the overhead traveling vehicle used in the embodiment 実施例で用いた偏心ローラの側面図Side view of the eccentric roller used in the example 実施例の天井走行車システムでの、分岐部の走行レールを示す水平断面図Horizontal sectional view showing a traveling rail of a branching portion in the overhead traveling vehicle system of the embodiment 直線区間でのガイドローラと分岐ローラのガイドレールに対する位置を示す図The figure which shows the position with respect to the guide rail of a guide roller and a branch roller in a straight section 分岐部を直進する際の、ガイドローラと分岐ローラのガイドレールに対する位置を示す図The figure which shows the position with respect to the guide rail of a guide roller and a branch roller when going straight in a branch part 分岐部で分岐する際の、ガイドローラと分岐ローラのガイドレールに対する位置を示す図The figure which shows the position with respect to the guide rail of a guide roller and a branch roller when branching in a branch part 踏面のカット部を走行輪が通過する際の姿を模式的に示す図The figure which shows typically the figure at the time of a running wheel passing the cut part of a tread 図４の分岐部を天井走行車が直進する際の姿を模式的に示す図The figure which shows typically the figure when an overhead traveling vehicle goes straight through the branch part of FIG. 図９のX-X方向に沿って、直進時の走行レール内のガイドローラと分岐ローラ並びに走行輪の配置を模式的に示す図The figure which shows typically arrangement | positioning of the guide roller in the driving | running | working rail, branching roller, and driving | running | working wheel along the XX direction of FIG. 図４の分岐部を天井走行車が分岐する際の姿を模式的に示す図The figure which shows typically the figure when an overhead traveling vehicle branches the branch part of FIG. 図１１のXii-Xii方向に沿って、分岐時の走行レール内のガイドローラと分岐ローラ並びに走行輪の配置を模式的に示す図The figure which shows typically arrangement | positioning of the guide roller in the driving | running rail at the time of a branch, a branch roller, and a driving | running | working wheel along the Xii-Xii direction of FIG.

符号の説明Explanation of symbols

２ 天井走行車
４，５ ボギー台車
６ 天井走行車本体
８ 軸
１０ フレーム
１２ 走行モータ
１４ 駆動輪
１６，１８ 走行輪
２０，２１ ガイドローラ
２２，２３ 分岐ローラ
２４，２５ カムプレート
２６ 昇降モータ
２８ ブレーキ
３０ 揺動アーム
３２ ピン
３４ 昇降体
３５ 溝
３６ 昇降ガイド
３７ 回動中心
３８ カム溝
４０ カムフォロワ
４２ 低位置エリア
４３ 中位置エリア
４４ 高位置エリア
４５，４６ 被検出部
４８ 位相センサ
４９ 制御部
５０ 走行レール
５１ 分岐部
５２ 直進区間
５３ 踏面
５４ 開口
５６ ガイドレール
５８ 幅広部
６０，６１ ガイド面
６２ Ｙ字部
６４ カット部
ｇ 隙間 2 Overhead traveling vehicles 4, 5 Bogie cart 6 Overhead traveling vehicle body 8 Axis 10 Frame 12 Traveling motor 14 Driving wheel 16, 18 Traveling wheel 20, 21 Guide roller 22, 23 Branch roller 24, 25 Cam plate 26 Elevating motor 28 Brake 30 Swing arm 32 Pin 34 Lifting body 35 Groove 36 Lifting guide 37 Turning center 38 Cam groove 40 Cam follower 42 Low position area 43 Middle position area 44 High position areas 45, 46 Detected part 48 Phase sensor 49 Control part 50 Traveling rail 51 Branch portion 52 Straight section 53 Tread surface 54 Opening 56 Guide rail 58 Wide portion 60, 61 Guide surface 62 Y-shaped portion 64 Cut portion g Clearance

Claims (3)

走行輪と左右一対のガイドローラと、該ガイドローラの左右両外側に設けた昇降自在の分岐ローラとを備えた有軌道台車が、前記ガイドローラと分岐ローラとの間にガイドレールを位置させて走行するようにしたシステムにおいて、
分岐ローラとガイドレールとの間に隙間があるエリアをガイドレールの直進区間に設けて分岐ローラを昇降させると共に、ガイドレールの分岐部では、左右いずれかの側の分岐ローラとガイドローラとを共にガイドレールに当てつけるようにしたことを特徴とする有軌道台車システム。 A tracked carriage having a traveling wheel, a pair of left and right guide rollers, and a vertically movable branch roller provided on both right and left sides of the guide roller, the guide rail is positioned between the guide roller and the branch roller. In a system designed to run,
An area with a gap between the branch roller and the guide rail is provided in the straight section of the guide rail to raise and lower the branch roller. At the branch portion of the guide rail, both the left and right branch rollers and the guide roller are A tracked carriage system characterized by being applied to a guide rail. 分岐部でガイドレールを直進区間よりも幅広にすることにより、前記の隙間を設けたことを特徴とする、請求項１の有軌道台車システム。 The tracked carriage system according to claim 1, wherein the gap is provided by making the guide rail wider than the straight section at the branching portion. 前記左右一対のガイドローラの少なくとも一方を偏心ローラとしたことを特徴とする、請求項１または２の有軌道台車システム。
3. The tracked carriage system according to claim 1, wherein at least one of the pair of left and right guide rollers is an eccentric roller.
JP2004114424A 2003-12-26 2004-04-08 Tracked cart system Expired - Fee Related JP4120882B2 (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
JP2004114424A JP4120882B2 (en) 2004-04-08 2004-04-08 Tracked cart system
TW093124685A TWI291447B (en) 2003-12-26 2004-08-17 Track guided vehicle system
KR1020040081555A KR100792612B1 (en) 2003-12-26 2004-10-13 Track carriage system
US10/989,412 US7644664B2 (en) 2003-12-26 2004-11-17 Track guided vehicle system
DE602004023810T DE602004023810D1 (en) 2003-12-26 2004-11-22 System with track-guided vehicle
EP04027684A EP1547894B1 (en) 2003-12-26 2004-11-22 Track guided vehicle system

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WO2011158373A1 (en) * 2010-06-18 2011-12-22 ムラテックオートメーション株式会社 Rail-guided cart system and branching control method for a rail-guided cart system
JP2020131985A (en) * 2019-02-21 2020-08-31 株式会社ダイフク Ceiling transportation vehicle
JP7518930B2 (en) 2022-01-24 2024-07-18 盟立自動化股▲フン▼有限公司 Aerial-type automated guided vehicle system, automated guided vehicle and mobility kit

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JP2010247683A (en) * 2009-04-16 2010-11-04 Murata Machinery Ltd Conveyance vehicle system
WO2011158373A1 (en) * 2010-06-18 2011-12-22 ムラテックオートメーション株式会社 Rail-guided cart system and branching control method for a rail-guided cart system
JP5440701B2 (en) * 2010-06-18 2014-03-12 村田機械株式会社 Tracked cart system and branch control method in tracked cart system
KR101423183B1 (en) 2010-06-18 2014-07-25 무라다기카이가부시끼가이샤 Rail-guided cart system and branching control method for a rail-guided cart system
US8813653B2 (en) 2010-06-18 2014-08-26 Murata Machinery, Ltd. Rail-guided cart system and branching control method for a rail-guided cart system
TWI480193B (en) * 2010-06-18 2015-04-11 Murata Machinery Ltd Branch Control System for Trolley System and Trolley System
JP2020131985A (en) * 2019-02-21 2020-08-31 株式会社ダイフク Ceiling transportation vehicle
JP7103265B2 (en) 2019-02-21 2022-07-20 株式会社ダイフク Ceiling carrier
JP7518930B2 (en) 2022-01-24 2024-07-18 盟立自動化股▲フン▼有限公司 Aerial-type automated guided vehicle system, automated guided vehicle and mobility kit

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