JP2522672Y2 - Unmanned trolley wheel structure - Google Patents

Description

[Detailed description of the invention] [Industrial application field] The present invention relates to a wheel structure of an unmanned bogie that carries a load,
In particular, the present invention relates to a wheel structure of an unmanned bogie in which inner and outer rails of a U-turn portion are concentrically laid, and a radius of curvature of inner rails is small on a rail interval and a front and rear wheel interval.

[Related Art] Generally, as shown in FIG. 7, a cargo is carried in and out of an automatic warehouse after being carried out from a storage shelf a to a conveyor c by a crane b and then transferred to a carry-in / out conveyor e by an unmanned trolley d. After being carried out to the carry-in / out entrance f by the carry-in / out conveyor e, it is shipped. These operations were all performed by an automatic control device (not shown).

As shown in the figure, the carriage d travels on rails g laid in parallel in a loop to convey a load.

FIG. 8 shows an example of the prior art, in which 1 is an unmanned axle drive truck. This dolly 1 has rails that are laid in parallel with a central drive wheel 2 receiving the driving force of a rotary drive shaft 3. 5 is run. A traveling wheel 4 is provided on one side of the bogie 1 and runs on the basis of an outer rail 5a. A driven wheel 6 provided on the other side of the bogie 1 has an inner rail.
It is designed to run on 5b. As shown in FIG. 9, the driven wheel 6 is rotatably supported by an arm 7 rotatably provided on the truck 1. In the U-shaped curve of the rail 5b, the arm 7 is By turning following the traveling of No. 1, the driven wheel 6 travels on the rail 5b.

[Problem to be Solved by the Invention] By the way, in the shaft-driven unmanned trolley 1 of FIG. 8 described above, before and after being supported horizontally on each of the traveling wheels 4 fixed to the trolley 1 so as to be freely rotatable. Rotary shaft 4a, 4a
And the line connecting the front and rear turning shafts 6a and 6a that support each of the driven wheels 6 so as to be able to turn horizontally is provided in parallel with the width direction of the bogie 1, so that a U-shaped curve is formed. When traveling, the front and rear driven wheels 6 travel on different tracks without traveling on a track concentric with the reference rail 5a. That is, when the truck 1 travels in the direction of the arrow in FIG.
The running track 10 is, as shown in the figure, the front driven wheel 6
However, there is a problem that, when going from a straight line to a curve, it becomes a swollen track 10a, and when going from a curve to a straight line, the rear driven wheel 6 becomes a swollen track 10b.

In order to solve this problem, conventionally, as shown in FIG. 8, in a U-shaped curve, the width of the rail 5b is increased in advance so that the front and rear driven wheels 6 do not deviate from the rail 5b.

However, when a rail made of aluminum or the like is employed, as described above, there is a problem that it is difficult to process a part of the rail into an expanded shape, and a sensor (not shown) is provided along the rail 5b. In the case of mounting, since the driven wheel side rail 5b is not laid in parallel with the reference side rail 5a in a concentric circle, and the driven wheel side of the bogie 1 meanders at a bulge portion of the curve, the accurate detection value of the sensor There is a problem that a sensor cannot be provided on the rail 5b on the driven wheel side because it cannot be obtained.

The present invention has been made in order to solve the above-mentioned problem. The purpose of the present invention is to enable the vehicle to run even when the width of the rail on the driven wheel side in a curve such as a U-shape is uniform and to be parallel to the reference rail in a concentric manner. It is an object of the present invention to provide a wheel structure of an unmanned trolley in which a sensor can be provided along the rail by laying the vehicle.

[Means for Solving the Problems] To achieve the above object, the present invention lays rails in parallel, lays concentrically the inner and outer rails of the U-turn part, and the radius of curvature of the inner rail is In the wheel structure of the unmanned bogie for running between the linear portion and the U-turn portion, which is formed small with respect to the rail interval and the front and rear wheel interval of the unmanned bogie traveling on the rail, provided before and after the bogie, A drive wheel is provided on the outer rail and a driven wheel is provided on the inner rail. The drive wheel is rotatably provided on a drive wheel support member to which a drive motor is attached. The drive wheel support member is positioned on the outer rail via a rotating shaft and is provided so as to be horizontally pivotable, and a pair of front, rear, left and right gripping the outer rail on both front and rear sides of the drive wheel support member is provided. A driven roller is rotatably provided on the driven wheel support member, and a movable revolving shaft having a diameter larger than the width of the rail is provided on the driven wheel support member. A fixed swing axis is provided on the inner rail of the vehicle, and the fixed swing axis is horizontally swingable and an arm extending rearward is provided, and a movable swing axis is horizontally swingably provided at a rear end of the arm. A roller support member is provided on the front and rear portions of the driven wheel support member so as to sandwich the inner rail from the front and rear of the driven wheel, and a pair of front, rear, left and right guide rollers for holding the inner rail is provided on the roller support member. Furthermore, the fixed pivot axis of the driven wheel is formed so that the front-rear interval of the fixed pivot axis of the driven wheel is smaller than the front-rear interval of the rotary axis of the drive wheel, and the fixed pivot axis supporting the driven wheel is located substantially at the front edge of the driven wheel. The length of the arm is set as described above, and the diameter of the movable turning shaft is set to be sufficiently larger than the diameter of the fixed turning shaft.

[Operation] The driven wheel travels on the rail on the driven wheel side by the turning of the arm that horizontally turns following the traveling of the bogie. During the traveling, the guide roller rolls while nipping the rail, so that the driven wheel does not deviate from the rail. Also,
Since the driven wheel is supported by a support member provided at the rear end of the revolving arm so as to be freely rotatable horizontally, when traveling on a curve such as a U-shape, the arm revolves to move the revolving axis. It is positioned on the inner rail to adjust the position of the front and rear driven wheels, and the guide roller regulates the angle of the driven wheel along the curve of the inner rail, so the traveling turning force when traveling on the curve is determined by the arm. Without applying load to the guide rollers
A driven wheel does not deviate from a rail having a uniform width in a curve. Further, in a curve, the rail on the driven wheel side can be laid concentrically and parallel to the reference side rail. Thus, even if a sensor is provided on the rail on the driven wheel side, the detection value of the sensor can be obtained accurately.

Since the front-rear spacing of the fixed turning shaft of the driven wheel is formed smaller than the front-rear spacing of the rotating shaft of the driving wheel, the radius of curvature of the inner rail in the U-turn portion is smaller than the rail spacing and the front-rear wheel spacing. Unmanned bogies can run on rails with a radius. In addition, the fixed turning shaft that supports the driven wheel,
Since the length of the arm was set so as to be located substantially at the front edge of the driven wheel and the diameter of the movable turning shaft was set sufficiently large with respect to the diameter of the fixed turning shaft, the unmanned bogie provided a U-turn portion having a small radius of curvature. Even when traveling, the driven wheel can smoothly follow the rail without vibrating or swinging.

When the vehicle is traveling straight, the driven wheels follow a fixed pivot provided at a position above the rail of the truck. Furthermore, since the driven wheel support member is formed in a substantially triangular shape, the driven wheel support member does not come into contact with the fixed turning shaft even when the arm turns, so that the distance between the bogie and the rail is reduced accordingly. can do.

In the case of manufacturing a rail made of aluminum or the like, since the rail width is uniform, the rail can be easily manufactured by extrusion, and the bending of the rail can be easily performed by bending.

Embodiment An embodiment of the present invention will be described with reference to the accompanying drawings.

1 to 6 show the wheel structure of the unmanned trolley according to the present invention. In the drawings, reference numeral 11 denotes a trolley, and the trolley 11 is laid in parallel in a loop as shown in FIG. It is provided to be able to run along the rail 12.

As shown in FIG. 4, the bogie 11 is provided with driving wheels 13 running along the outer rail 12a before and after one side of the bogie, and the inner front and rear wheels on the other side. A driven wheel 14 that runs along the rail 12b is provided.

The drive wheel 13 is directly connected to a drive motor 15 as shown in FIG. 5, and is rotatably mounted on a drive wheel support member 17 provided on the carriage 11 via a rotary shaft 16 so as to be horizontally pivotable. Supported. At the lower end of the driving wheel support member 17, a pair of front and rear left and right guide rollers 18 that roll while sandwiching the reference rail 12a are rotatably provided, and the guide rollers 18 are laid along the rail 12a. By slidingly contacting the supplied power supply device 19, the power is supplied from the power supply device 19 to the drive motor 15 or the unillustrated devices provided in the carriage 1 via the inverter 20 (shown in FIG. 4). It has become.

On the other hand, the driven wheel 14, as shown in FIGS. 1 and 2,
An arm 22 having a length substantially equal to the radius of the driven wheel is provided so as to be horizontally rotatable via a fixed swivel shaft 21 fixed to the carriage 11, and is horizontally swivelable via a movable swivel shaft 23 at the distal end of the arm 22. , And is rotatably supported by a driven wheel support member 24 provided at the front end. As shown, the driven wheel support member 24 is formed in a substantially triangular shape, is connected to the lower end of the movable turning shaft 23, and supports the driven wheel 14 from both sides thereof via a shaft 14a.
Further, as shown in FIG. 1, the front and rear portions of the driven wheel support member 24 are suspended from the front and rear of the driven wheel 14 so as to sandwich the driven wheel 14,
A roller support member 25 whose lower end is bent in the axial direction of the driven wheel 14 is provided.A pair of rotatable front, rear, left and right guide rollers 27 are provided at the bent portion 26 so as to sandwich the rail 12b. It is provided in.

 Next, the operation of the above embodiment will be described.

The carriage 11 travels by rotating and driving the drive wheels 13 along the outside of the rails 12 laid in parallel along the reference rails, and carries a load or the like.

In the traveling, the driven wheel 14 travels on the rail 12b on the driven wheel side without vibrating or swinging right and left because the traveling direction is determined by the arm 22 that turns and follows the traveling direction of the carriage 11 . At this time, since the guide roller 27 rolls while nipping the rail 12b, the driven wheel 14
Do not deviate from b.

As shown in FIG. 6, when traveling on a U-shaped curve, the front and rear drive wheels 13 are regulated by guide rollers 17 and change the traveling angle along the arc of the rail 12a about the rotating shaft 16 as an axis. Run while running.

In addition, the driven wheel 14 is regulated on the rail 12b by the guide roller 27, the arm 22 horizontally turns around the fixed turning shaft 21, and a driven turning shaft 23 supported by the arm 22 is used as the driven wheel 14 Travels along the arc of the rail 12b while changing the traveling angle.

Further, since the driven wheel support member 24 is formed in a substantially triangular shape, the driven wheel support member 24 does not come into contact with the fixed turning shaft 21 even when the arm 22 turns, so that the carriage 11 and the rail 12 Can be reduced. In addition, since the length of the arm 22 is approximately the length of the radius of the driven wheel 14, the bogie 11 does not vibrate during traveling, and the bogie 11 does not shake greatly when turning a curve.

As described above, the driven wheel 14 travels on the rail 12b while being regulated by the guide roller 27. Therefore, even if the rail width of the rail 12b on the driven wheel side is uniform, the driven wheel 14 is driven from the rail 12b. The driven wheel side rail 12b can be laid concentrically and parallel to the reference side rail 12a without deviating from the driving wheel.

Thereby, a sensor can be provided along the rail 12b on the driven wheel side, and the sensor can be accurately detected.

In addition, when a rail is manufactured using a material such as aluminum which is difficult to process, the rail width is uniform, so that the rail can be easily manufactured by extrusion molding, and the curve of the rail 12 can be easily processed by bending.

[Effects of the Invention] According to the present invention, the following excellent effects are achieved.

(1) The front-rear spacing of the fixed turning shaft of the driven wheel is formed smaller than the front-rear spacing of the rotating shaft of the driving wheel, and each of the front and rear driven wheels travels along the curved rail while changing the traveling angle. Therefore, even when the driven wheel runs on a rail having a uniform width, the driven wheel does not deviate. Further, rails on a curve can be laid in a concentric manner in parallel. Thereby, the sensor can be provided on the rail on the driven wheel side.

(2) Since the fixed turning shaft is provided on the bogie, the front end of the arm is provided on the fixed turning shaft so as to be able to turn horizontally, and the driven wheels are supported via the driven wheel support members behind the fixed turning shaft. Since the arm receives the traveling turning force of the following, the driven wheel can smoothly follow the inner rail, the guide roller only needs to be changed in the direction of the driven wheel, and a smooth U-turn without applying a load to the guide roller can be performed.

(3) Rails made of difficult-to-machine materials such as aluminum can be easily machined.

[Brief description of the drawings]

FIG. 1 is a sectional view showing an essential part of an embodiment of the present invention, FIG. 2 is a view taken along the line II-II of FIG. 1, FIG. 3 is a perspective view showing an appearance of the unmanned bogie of the present invention, FIG. 4 is a schematic plan view of the unmanned trolley of the present invention, FIG. 5 is a cross-sectional view showing drive wheels of the trolley, FIG. 6 is a schematic plan view showing the operation of the unmanned trolley of the present invention, and FIG. Schematic diagram showing a system for loading and unloading cargo in,
FIG. 8 is a schematic plan view showing a conventional unmanned trolley, and FIG. 9 is a sectional view showing a driven wheel of the trolley. In the figure, 11 is a truck, 12a and 12b are rails, 14 is a driven wheel, 22 is an arm, 24 is a driven wheel support member, and 27 is a guide roller.

Claims (1)

(57) [Scope of request for utility model registration] A rail is laid in parallel, inner and outer rails of a U-turn part are laid concentrically, and a radius of curvature of an inner rail is a distance between the rails and front and rear wheels of an unmanned bogie traveling on the rail. In the wheel structure of an unmanned bogie that is formed small with respect to the interval and travels between the straight portion and the U-turn portion, a drive wheel provided before and after the bogie and provided on the outer rail, The driven wheel is rotatably provided on a driving wheel supporting member to which a driving motor is attached, and the driving wheel supporting member is mounted on an outer rail via a rotating shaft. And a pair of front, rear, left and right guide rollers for sandwiching an outer rail are provided on both front and rear sides of these drive wheel support members. The driven wheel support member is rotatably provided, and on the driven wheel support member, a movable swing shaft having a diameter larger than the width of the rail is provided, while a fixed swing shaft located on the inner rail of the bogie is provided. An arm is provided that is provided and the fixed turning shaft is horizontally swingable, and an arm extending rearward is provided, and the movable turning shaft is provided at the rear end of the arm so as to be horizontally swingable, and at the front and rear portions of the driven wheel support member, A roller support member is provided to sandwich the inner rail from the front and rear of the driven wheel, and a pair of front, rear, left and right guide rollers for holding the inner rail is provided on the roller support member. The length of the arm is set so that the distance between the fixed turning shafts of the driven wheels is smaller than the distance between the shafts, and the fixed turning shaft supporting the driven wheels is located substantially at the front edge of the driven wheels. Wheel structure of an unmanned carriage, characterized in that set sufficiently large diameter moving pivot axis relative to the diameter of the fixed pivot while.