JP3217195B2 - Track running vehicle running condition measuring device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for measuring a traveling state of a track running vehicle, and more particularly to a technique for measuring a deviation of a running direction of a running vehicle supported by rails.

[0002]

2. Description of the Related Art Like a stacker crane traveling in an automatic warehouse, the weight of a traveling portion is supported by one rail laid on the ground and one guide rail disposed on a ceiling. If the traveling wheels are attached to the rails at an angle, meandering may occur, which impairs operability.

[0003] In particular, it is often the case that a traveling vehicle body in a large crane or the like is manufactured in a factory in a divided state, and the traveling vehicle body is completed by on-site assembly work. In that case, it is difficult to increase the assembly processing accuracy, and this involves an error.

[0004] Generally, a plurality of wheels are arranged on a traveling vehicle body. However, if the traveling direction of the traveling wheels deviates from the center line of the rail, the traveling may meander, or the traveling wheels may not move. Wear of the flanges and rail heads is increased, and in the above-described stacker crane for an automatic warehouse, the automatic control of entry / exit and the like is disturbed, which affects the operation of the automatic warehouse.

[0005] As a method for detecting the deviation between the traveling direction of the traveling vehicle body and the rail, for example, the following method can be considered. A method of measuring the deviation of the direction of the running wheel by stretching a piano wire parallel to the rail, and observing the running state of the running wheel visually for vibration and sound, and at the same time, Is a way to observe how it behaves.

[0006]

However, in the former method of stretching the piano wire, when the diameter of the traveling wheel is small, the error in detecting the deviation angle between the piano wire and the traveling wheel is likely to be large, and the piano wire is difficult to detect. Skills are required for the work of accurately setting the angle and the work of detecting the angle. In the latter method, the determination is made by observing the running state, the determination requires experience and skill, and the variation based on individual differences increases. When correcting the deviation in the traveling direction, it is difficult to quantitatively detect and record the deviation, and the labor for repeatedly detecting the deviation is enormous.

[0007] The present invention has been made in view of the above circumstances, and a) to improve the accuracy of detecting a deviation in the traveling direction. b) To visualize the detection result. c) To facilitate storage and reproduction of records. It is intended for.

[0008]

As means for solving the problems, the following plurality of means are proposed. The first means is a device for detecting a deviation in a traveling direction of a traveling vehicle body supported by a rail, the input means for designating two-dimensional coordinates of a reference position, and an opposing distance between a side surface of a rail attached to the traveling vehicle body. A displacement detection distance sensor for detecting, a travel distance detection means for detecting the traveling distance of the traveling vehicle body, and a displacement detection distance sensor and a travel distance detection means for sequentially reading these detection data and two-dimensional coordinates with respect to a reference position; And a display means connected to the calculation means for displaying the stored two-dimensional coordinates. The second means is, in addition to the first means, a display means for displaying a basic image in which a traveling amount and a lateral displacement amount with respect to a traveling center are formed into a two-dimensional graph, and a traveling position is described in the basic image. A configuration having a running index is adopted. The third means is the first
In addition to the above-mentioned means, a configuration is adopted in which the traveling vehicle body is equipped with a wear detection distance sensor that detects the distance facing the side surface of the rail vertically.

[0009]

In the first means, the two-dimensional coordinates of the reference position are designated by the input means, the traveling vehicle is caused to travel along the rail, and each data of the displacement detecting distance sensor and the traveling amount detecting means is obtained. The difference between the two-dimensional coordinates with respect to the reference position is calculated and stored by reading by the calculating means, and the amount of deviation of the traveling wheel for each traveling is displayed by the display means from the two-dimensional coordinates between the reference position and the traveling time. Done. In the second means, in addition to these, the relationship between the travel distance and the amount of deviation in the left-right direction is displayed by an image, and at this time, the travel position based on the travel index is also described. In the third means,
In addition to the first means, the position of the traveling wheel between the contact portion and the non-contact portion with the rail is detected based on the difference between the vertical position, and the degree of deviation of the detection distance between the vertical position indicates the degree of wear of the rail. An occurrence is detected.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a running state measuring device for a track running vehicle according to the present invention will be described below with reference to FIGS. In this embodiment, the track traveling vehicle is a traveling portion of the above-described stacker crane. In each figure, 1 is a rail (track), 2 is a traveling wheel, 3 is a traveling vehicle body (frame), 4A is a distance sensor for detecting slippage,
4B is a wear detection distance sensor, 5 is a traveling amount detecting means (rotary encoder), 6 is a traveling amount index plate, 7 is an index plate detecting sensor (optical sensor), 11 is a connection unit, and 12 is a computing unit (computing device). ), 13 is an operation unit, 14 is input means (measurement start position input means), 15 is storage means, 16 is display means, 17 is recording means, 21 is a basic image, 22 is a running index, HP is a reference position, Z Is a running locus.

As shown in FIG. 1, the traveling wheel 2 is rotatably mounted on the traveling vehicle body 3 via a bearing 3a and an axle 3b, and is spaced apart from the traveling vehicle body 3 in the front-rear direction. A plurality is arranged. The traveling wheel 2 is provided with a pair of left and right flange portions 2a for preventing occurrence of a wheel drop phenomenon due to a lateral shift when rolling on the rail 1.

The displacement detecting distance sensor 4A is located at a position near the traveling wheel 2 that is displaced in the traveling direction and avoids the flange 2a, as shown in FIG. For example, a pair of right and left wheels is attached, and also arranged near the front and rear traveling wheels 2 as necessary. A laser displacement sensor or the like is employed as the displacement detection distance sensor 4A,
Magnet base 4a magnetically attached to the surface of traveling vehicle body 3
And a support 4b attached to the magnet base 4a
A mounting bracket 4c attached to the column 4b; a lifting shaft 4d supported by the mounting bracket 4c so that the vertical position thereof can be adjusted; and a bracket integrally disposed along the horizontal direction at a lower end of the lifting shaft 4d. 4e, the vertical and horizontal positions are set. In other words, a pair of displacement detection distance sensors 4A are disposed on both left and right sides of the bracket 4e, and the position of the displacement detection distance sensor 4A is changed in the vertical direction to provide a wear detection distance sensor having the same function. 4B are arranged. The displacement detection distance sensor 4A and the wear detection distance sensor 4B are disposed apart from each other by a vertical distance S as shown in FIG.

The traveling distance detecting means 5 is connected to the axle 3b of the traveling vehicle body 3, as shown in FIG. 1, for example, and detects the traveling distance (travel distance) of the traveling vehicle body 3 by detecting the rotation amount.
And a rotary encoder or the like is applied.

As shown in FIG. 2, the travel distance indicator plate 6 is arranged in a parallel state at a lateral position separated from the rail 1, and has a distance discriminator 6a at equal intervals. As the distance identification unit 6a, for example, a unit that reflects light emitted from the index plate detection sensor 7, a unit that transmits light, and the like are applied.

The index plate detecting sensor 7 is an optical sensor or the like, and detects reflected light or transmitted light when light is applied to the distance discriminating portion 6a of the traveling amount index plate 6, and detects the reflected light or the transmitted light every fixed traveling distance. An identification signal is obtained.

As shown in FIG. 3, the connecting portion 11 includes a displacement detecting distance sensor 4A, a wear detecting distance sensor 4B,
The travel distance detecting means 5 and the index plate detecting sensor 7 are connected to the arithmetic means 12 to transmit data.
It is composed of a converter, an amplifier, an interface, etc.

The arithmetic means 12 is provided with a central processing unit (CP)
U) or the like, an input unit 14 such as a keyboard or a mouse connected to the arithmetic unit 13, a storage unit 15, a display unit 16 such as a display device, and a recording unit 17 such as a printer. The calculation, control, display, recording processing, and the like by the calculation means 12 will be described later with reference to FIGS. The storage means 15 includes a ROM (read only memory) in which a measurement program is written in advance, a RAM
(Random access memory), a device having an appropriate external storage device (floppy disk or hard disk drive) or the like is applied.
Measurement is performed based on the program read from.

Hereinafter, the occurrence of deviation (meandering) during traveling will be described with reference to FIG. The meandering phenomenon when the running wheel 2 rolls on the rail 1 occurs when the center line of the rail 1 and the center line of the running wheel 2 are inclined and have an angle α. That is, when the traveling wheel 2 moves from the point A to the point B, at the point A, the left flange portion 2a with respect to the forward direction is in contact with the left side surface of the rail 1. However, when the traveling wheel 2 starts to rotate, if the traveling direction of the traveling wheel 2 has an angle α with respect to the center line of the rail 1, the left side flange portion 2a gradually increases as the traveling amount increases. At point B, which has left the left side surface of the rail 1 and has traveled the distance L, the opposite right flange portion 2a comes into contact with the right side surface of the rail 1. After that, traveling continues with the right flange 2a in contact with the right side surface of the rail 1. When the angle α increases, the contact pressure of the flange 2a with the rail 1 increases, and when the contact distance increases, the rail 1
Wear of the head portion and the flange portion 2a of the traveling wheel 2 proceeds early.

In FIG. 2, the meandering amount (traverse amount) H when the traveling wheel 2 moves by the traveling distance L in the direction of the angle α.
Is expressed by the following equation: H = L × tan α. Therefore, if the traveling distance L and the meandering amount H are detected, the angle α can be obtained.

Next, with reference to FIGS. 3 to 5, a description will be given of how the meandering amount is detected when the traveling wheel 2 is moved. Displacement detection distance sensor 4A, travel distance detection means 5,
When the calculating means 12 and the like are activated, the detecting distance sensor 4A detects the facing distance to the side surface of the rail 1, transmits this distance data to the calculating means 12, and the travel distance detecting means 5 The travel distance data is transmitted by the movement of No. 2.

S1: [Selection of Measurement Items] When the calculation means 12 is operated, a "measurement mode" for measuring the amount of meandering, a "meaning adjustment screen mode" for displaying a special display on the display means 14, " The execution categories of the “wear measurement mode” and the “other mode” are displayed, and the designation is performed by the input unit 14.

S2: [Input of measurement start position] The traveling vehicle body 3 is aligned with the reference position HP of the rail 1,
The two-dimensional coordinates at the position HP, that is, the coordinates in the traveling direction and the left-right direction are input. At this time, as shown in FIG. 1, a pair of displacement detection distance sensors 4A is provided on the left and right, and when these are of the same specification, the rail 1 is detected by the detection data of the pair of displacement detection distance sensors 4A. It is possible to detect the amount of displacement with respect to the center line. When the displacement detecting distance sensor 4A is arranged on only one side,
When manual input is performed, a method of actually measuring the amount of deviation from the center line of the rail 1 and inputting it to the calculating means 12 is adopted. In any case, the measurement start position (the reference position HP,
Point A).

S3: [Start of Measurement] By moving the traveling vehicle body 3 from the point A to the point B in FIG. 2, the deviation amount and the traveling amount during traveling can be measured by the deviation detecting distance sensor 4A and the traveling amount detecting means 5. And the detection data is transmitted to the calculating means 12 and
After performing necessary arithmetic processing in step 3, each data is stored in the storage means 15. At this time, if the index plate detection sensor 7 is operated, the data is written in a state where the position of the distance identification unit 6a is superimposed on the travel distance and associated with the travel distance.

S4: [Output of Measurement Result] The measurement result is read out from the storage means 15 at any time for each calculation, or collectively after the measurement is completed, and is read out from the display means 16
And the display is performed. The display result of the display unit 16 can be output to the recording unit 17 and printed. In the measurement and data collection, the traveling distance L and the meandering amount H are associated with each other, and the position of the distance identification unit 6a is additionally described. It is possible to adjust the meandering amount H with these, but in order to more accurately and surely check the meandering state, the processing from S5 is performed.

S5: [Display on meandering adjustment screen] By instructing the input means 14 to switch to the meandering adjustment screen mode, the meandering adjustment screen shown in FIG. 5 is selectively displayed.

S6: [Display of Measurement Result] In the basic image 21 in the meandering adjustment screen mode, FIG.
As shown in the figure, the meandering dimension display column 23 is displayed in a state where the running index 22 is also written. In the meandering dimension display column 23,
The travel trajectory Z of the figure converted so that the dimension of the meandering amount H is exaggerated with respect to the dimension of the traveling distance L, the auxiliary horizontal line 23a for facilitating the reading of the meandering amount H, and the distance identification unit 6
An auxiliary vertical line 23b based on the position of a is arranged, and a measurement direction display field 24 for displaying the forward or backward direction, a measurement date / time display field 25, and a code are provided near the travel index 22 and the meandering dimension display field 23. A board interval display field 26 and the like are arranged. Therefore, the display means 16 as shown in FIG.
, The traveling locus Z, the traveling distance L, the meandering amount H, and the like can be easily visually confirmed.

S7: [Wandering Adjustment] The traveling distance L and the meandering amount H are detected, and in the traveling locus Z shown in FIG. In the case where the traveling wheel 2 is running (excluding a portion where the flange portion 2a of the traveling wheel 2 is traveling while strongly contacting the side surface of the rail 1), the position of the bearing 3a on which the traveling wheel 2 is attached to the traveling vehicle body 3 is determined as follows. It is easy to calculate in which direction and how much to move. These calculations are appropriately performed by manual calculation or by inputting a calculation program into the calculation means 12 in advance.

S8: [Confirmation Measurement] After the meandering adjustment operation is completed, it is confirmed whether or not the meandering adjustment has been sufficiently performed by repeating steps S3 to S6. If the adjustment is insufficient, a confirmation measurement is made after readjustment.

On the other hand, the wear state of the rail 1 can be measured by using the wear detection distance sensor 4B.
That is, as shown in FIG. 1, the displacement detection distance sensor 4A
At the detection height, the opposing distance to the side surface of the rail 1, which is the portion in contact with the flange portion 2a of the traveling wheel 2, is measured. In other words, the opposing distance to the side surface of the rail 1, which is the portion where the flange portion 2a does not contact, is measured. In the wear measurement mode, the heights of both the displacement detection distance sensor 4A and the wear detection distance sensor 4B are measured, and for example, the displacement detection distance sensor 4A and the wear detection distance sensor are displayed on the basic image 21 shown in FIG. By displaying two trajectories based on the detection data of 4B, it is possible to accurately detect which part of the rail 1 is worn and how much.

[Other Embodiments] In the present invention, the following technology can be adopted in place of the above embodiment. a) To determine the traveling trajectory Z by forward and backward reciprocal measurement and display each of them, or display an averaged one. b) When both the displacement detection distance sensor 4A and the wear detection distance sensor 4B are arranged vertically, measurement is performed using one of them, or the vertical position of one sensor is changed. c) Changing the position of the index plate detection sensor 7 in the front-rear direction,
For example, it is necessary to detect two traveling directions (forward and backward) and display them while simultaneously using them for distance display. d) The traveling body 3 is of a crane other than a stacker crane or a general track traveling vehicle. e) The travel distance detecting means 5 is constituted by something other than the rotary encoder.

[0031]

According to the running state measuring device for a track running vehicle according to the present invention, the following effects can be obtained. (1) A displacement detecting distance sensor for detecting a distance facing the side surface of the rail, a traveling amount detecting means for detecting a traveling distance of the traveling vehicle body, and detection data of the displacement detecting distance sensor and the traveling amount detecting means are sequentially read. Along with the calculating means for calculating the displacement of the two-dimensional coordinates with respect to the reference position, and a display means for displaying each two-dimensional coordinates, while traveling the traveling body along the rail, the traveling amount and meandering amount Is read, and the deviation amount of the traveling wheel is displayed from the two-dimensional coordinates.Even when the inclination angle of the traveling wheel is small, the absolute value of the deviation is increased together with the traveling amount to facilitate reading, In addition, it is possible to improve the detection accuracy of the deviation of the traveling wheel. In addition, the running state can be measured only by moving the running body in an arbitrary range. (2) The display means includes a traveling image and a traveling index along with a traveling index on a basic image obtained by two-dimensionally graphing the traveling distance and the amount of displacement in the left-right direction with respect to the traveling center. By emphasizing the amount of shift in the left-right direction and also by describing the running position, it is possible to easily and promptly confirm the shift visually and reduce the meandering adjustment labor. (3) By adopting a configuration in which the traveling vehicle body is equipped with a wear detection distance sensor that detects the distance facing the side surface of the rail vertically and separately, the distance between both the contacting and non-contacting portions of the traveling wheel and the rail is obtained. Is measured, and the occurrence of wear on the rail can be easily detected based on the degree of the difference. (4) By storing the travel distance and the shift amount in two-dimensional coordinates and storing them, storage and reproduction of the record are facilitated, and comparison before and after the meandering adjustment can be performed, so that adjustment workability can be improved.

[Brief description of the drawings]

FIG. 1 is a front view of an embodiment of a track state vehicle traveling state measuring device according to the present invention, in a state where a measurement sensor is mounted.

FIG. 2 is a plan view showing a meandering state of a traveling wheel of FIG. 1 and a measurement procedure.

FIG. 3 is a block diagram of an arithmetic unit or the like that processes a detection signal of each sensor shown in FIG. 1;

FIG. 4 is a flowchart showing a meandering adjustment work procedure using FIG. 3;

FIG. 5 is a model diagram showing an example of a meandering adjustment screen on which two-dimensional coordinates and the like processed in FIG. 3 are visualized.

[Explanation of symbols]

 Reference Signs List 1 rail (track) 2 running wheel 2a flange 3 running body (frame) 3a bearing 3b axle 4A displacement detection distance sensor 4B wear detection distance sensor 4a magnet base 4b support 4c mounting bracket 4d lifting shaft 4e bracket 5 travel distance detection Means (rotary encoder) 6 Travel distance indicator plate 6a Distance discriminating unit 7 Indicator plate detecting sensor (optical sensor) 11 Connection unit 12 Computing means (computing device) 13 Computing unit 14 Input means (measurement start position input means) 15 Storage means Reference Signs List 16 display means 17 recording means 21 basic image 22 running index 23 meandering dimension display field 23a auxiliary horizontal line 23b auxiliary vertical line 24 measurement direction display field 25 measurement date and time display field 26 code plate interval display field HP reference position Z travel locus L travel distance H Meandering amount

Continuation of the front page (72) Inventor Shinichi Suzuki 3-11-13 Iidabashi, Chiyoda-ku, Tokyo Within IHI I Logistic Technology Co., Ltd. (56) References JP-A-6-11331 (JP, A JP-A-52-154655 (JP, A) JP-A-62-231111 (JP, A) JP-A-4-213017 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B66C 9 / 16,13 / 22 B61K 9/12 G01B 21/00

Claims (3)

(57) [Claims] An apparatus for detecting a deviation of a traveling vehicle body supported by a rail in a traveling direction, comprising: input means for designating two-dimensional coordinates of a reference position; A distance sensor for detecting the displacement, a travel distance detecting means for detecting the traveling distance of the traveling vehicle body, and a distance sensor for detecting the displacement and the travel distance detecting means. A traveling state measuring device for a track traveling vehicle, comprising: computing means for computing and storing coordinate deviations; and display means for displaying each two-dimensional coordinate stored in the computing means. 2. A basic image in which a display means displays a two-dimensional graph of a travel amount and a lateral shift amount with respect to a travel center;
The traveling state measuring device for a track traveling vehicle according to claim 1, further comprising a traveling index in which a traveling position is described in the basic image. 3. The traveling state measuring device for a track traveling vehicle according to claim 1, wherein a wear detecting distance sensor for detecting a distance facing the side surface of the rail vertically is separately mounted on the traveling vehicle body. .