JP3401224B2 - Transport trolley - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a carrier truck for carrying a vehicle and other objects to be transported, and a traveling path along which the carrier truck travels.

[0002]

2. Description of the Related Art Usually, a parking room of a mechanical parking lot is composed of a plurality of layers, and in each layer, a traveling path on which a carrier vehicle for horizontal transportation travels, and vehicles arranged on both sides of this traveling path. A plurality of storage shelves for storage are provided. further,
The parking room is provided with a lift for vertically transporting the vehicle between the respective layers.

The traveling path in the parking room has a pair of iron rails on which the carrier truck travels. In addition, the transport carriage has four wheels mounted on each rail of the traveling path. The outer peripheral portion of each of these wheels is formed of a low elastic resin or iron material having low elasticity. Further, the carrier vehicle has a pair of side roller portions that are attached so as to project to one side thereof. The side roller portions are attached to the front side and the rear side of the transport carriage, respectively. Each side roller part includes a pair of rollers capable of sandwiching the outside and the inside of one rail,
Have Each of these rollers is made of low-elasticity resin or iron.

The transport carriage is guided so that it can travel along the longitudinal direction of the rail by sandwiching the rail between the rollers of the side roller portions on the front and rear sides thereof.

[0005]

However, if each wheel of the carrier is a resin wheel having a low elasticity, rolling noise during running becomes loud. In particular, the noise and vibration generated when the wheels pass through the joint of the rails are large. Further, since each roller of the side roller portion is made of resin or iron having low elasticity, noise and vibration are similarly generated. However, the noise generated in the mechanical parking lot needs to be below a predetermined value determined according to the installation location. For this reason, it is required to reduce noise and vibration when the transport vehicle travels.

In order to reduce such noise and vibration, a rubber vibration isolator may be installed below each rail. However, in such a case, when a lateral force is generated due to a mounting position of the vehicle on the transport vehicle when the transport vehicle travels, an asymmetric unbalanced load is applied to each rail, and each rail has Because the deflection will be different from each other,
The carrier truck leans to the left or right and cannot run stably.

Therefore , it is an object of the present invention to provide a carrier truck that can travel stably.

[0008]

In order to solve the above problems, the present invention adopts the following configurations.

[0009]

[0010]

[0011]

The carrier truck according to the present invention has a predetermined longitudinal direction.
Are laid parallel to each other and
First and second upper surfaces for mounting wheels having the same height
And a second rail and a car on the upper surface of this second rail
Parallel to the second rail inside the wheel mounting position
Is installed in the
The run consists of side rails with front and back sides
It is a carrier truck that carries an object to be transported on the road.
On the upper surface of the first rail in the traveling path
And a pair of wheels that roll on the upper surface of the second rail in the traveling path, and these wheels are rotatably supported so that their rotation axes are parallel to each other, and a transported object is mounted. A possible base, a pair of rollers abutting on one roller abutting surface of the side rail on the traveling path, and a pair of rollers abutting on the other roller abutting surface of the side rail, and each of these rollers. A roller shaft supporting member that pivotally supports the rotating shaft so as to be perpendicular to the upper surface of each rail in the traveling path, and a predetermined roller shaft supporting member that is parallel to the rotating shaft of each roller. this and side roller portion includes a plurality along the side rails having a fixed support member relative to the base and to stir displaceably journalled about a shaft
And are characterized.

The side roller portions may be provided in a pair with a predetermined space therebetween. Further, the elastic member having a vibration damping effect may be urethane or rubber.

Further, the carrier vehicle is provided with a control device for obtaining a moving distance by multiplying the number of rotations of each wheel by a unit traveling distance which is a distance that the base moves while the wheel makes one rotation. In addition, the control device makes the unit traveling distance when the transported object is mounted on the base larger than the unit traveling distance when the transported object is not mounted on the base. It is characterized by setting and acquiring the movement distance.

The transported object may be a vehicle. This vehicle may be directly mounted on the carrier truck or may be mounted via a pallet. In the case of a carrier truck of a type in which a vehicle is mounted via a pallet, the transported object is the vehicle and the pallet on which the vehicle is mounted. In such a pallet type carriage, the base is either in an empty state in which these transported objects are not mounted, in an empty pallet state in which only pallets are mounted, or in an actual vehicle state in which a pallet on which a vehicle is mounted is mounted. Take the state of. And the said control apparatus each respond | corresponds a predetermined unit traveling distance according to the state of the said base, and acquires a moving distance. In addition,
Unit travel distance when the base is empty is U,
When the unit traveling distance when the base is in an empty pallet state is U1 and the unit traveling distance when the base is in an actual vehicle state is U2, a relational expression of U <U1 <U2 is established.

[0016]

DETAILED DESCRIPTION OF THE INVENTION An embodiment of the present invention will be described below with reference to the drawings. Generally, a mechanical parking lot includes an entry / exit room and a parking room. This parking room is made up of a plurality of layers, and each layer is provided with a traveling path W and a plurality of storage shelves (not shown) for storing vehicles arranged on both sides thereof. The transport vehicle M, which will be described later, can travel on the traveling path W with the vehicle mounted. Further, the parking room is provided with a lift (not shown) for transporting the vehicle between the respective layers.

<Structure of Traveling Road> FIG. 1 is a sectional view showing a traveling road W according to this embodiment. This traveling path W is the first
Rails 1, a second rail 2, and a pair of rail receiving portions (frames or shelves) 3 and 3 for fixing the rails 1 and 2, respectively.

Each of the rail receiving portions 3 and 3 is parallel to the floor surface in the parking room and is parallel to each other along a predetermined traveling direction set linearly, and is integrally formed with the floor surface. It is fixed. In addition, these rail receiving portions 3 and 3
Has a flat rectangular cross section, and an upper plate having an upper surface parallel to the floor is integrally attached to the upper part thereof. The upper surfaces of the upper plates of the rail receiving portions 3 and 3 are flush with each other.

The first rail 1 has a plurality of H-shaped steels 11 connected to each other in the longitudinal direction. This H-shaped steel 11
Is composed of a pair of flat plate-shaped portions that are parallel to each other and an intermediate portion that integrally connects these flat plate-shaped portions. That is, the H-shaped steel 11 has a cross-section shaped like an “H” lying sideways.

The H-section steels 11 adjacent to each other are connected by a pair of connecting members N, N. Each of these connecting members N, N is made of a metal plate formed in a rectangular shape, and is fixed by bolting so as to sandwich the intermediate portions of adjacent H-shaped steels from both sides thereof. Further, these H-shaped steels are connected to each other by the second connecting member 41 and the third connecting member 44.

The H-shaped steel 11 is fixed on the rail receiving portion 3 on the left side in FIG. 1 via the connecting member 41, the first vibration isolating member E1, and the mounting plate 42. The vibration damping member E1 is a long flat plate made of rubber. The mounting plate 42 is arranged on the rail receiving portion 3, and the vibration isolator E1 is sandwiched between the connecting member 41 and the mounting plate 42. The H-section steel 11 is arranged on the connecting member 41.

Then, the lower flat plate-shaped portion of the H-shaped steel 11, the connecting member 41, the vibration isolating member E1, and the mounting plate 4 are provided.
2 is fixed to the rail receiving portion 3 by bolting. A washer 43, a connecting member 44, and a ring-shaped second vibration isolating member E2 sandwiched between the washer 43 and the connecting member 44 are provided between the H-shaped steel 11 and the bolt.
Intervenes. The shaft of the bolt is covered with a tubular vibration-proof member (not shown). Therefore, the connecting members 44,
Since the H-shaped steel 11, the connecting member 41, the vibration isolator E1, and the mounting plate 42 are in contact with the tubular vibration isolator, they are not in direct contact with the bolt itself. That is, the H-shaped steel 11 and the rail receiving portion 3 are in a so-called edge-cutting relationship due to each rubber vibration-proof member.

Further, from the upper flat plate-shaped portion of the H-shaped steel 11, a protruding portion 11a horizontally protruding toward one side wall at the installation location is formed. A plurality of the protruding portions 11a are formed at predetermined intervals in the longitudinal direction. A mounting member 45 is arranged on each protruding portion 11a. The mounting member 45 is formed in the same shape as that of a strip-shaped horizontal plate portion and a vertical plate portion that vertically extends upward from the vicinity of one end side of the horizontal plate portion.

The mounting member 45 is fixed to the protruding portion 11a of the H-shaped steel 11 at its horizontal plate portion by bolting. In this state, the vertical plate portion of the mounting member 45 faces the side wall in parallel. The vertical plate portion of the mounting member 45 is fixed to a mounting seat S protruding from a side wall (a shelf in a parking compartment). That is, one side of the vertical plate portion of the mounting member 45 is opposed to the mounting seat S integrally protruding from the side wall via the third vibration isolating member E3 formed in the elongated flat plate, and The other surface side is fixed by bolting in a state of being opposed to the washer 46 via another vibration isolating member E3.

Further, the shaft of the bolt is also covered with a tubular vibration-proof member (not shown). Therefore, the washer 46, the vibration isolating members E3 and E3, the mounting member 45, and the side wall mounting seat S are in contact with the tubular vibration isolating member, and are not in direct contact with the bolt itself. That is, the H-shaped steel 11 and the side wall mounting seat S are in a so-called edge-cutting relationship due to the respective rubber vibration-damping members.

The second rail 2 has a structure similar to that of the first rail 1 except that L arranged on the H-shaped steel 21.
It further has a shaped steel 22. The L-shaped steel 22 is a long member having an L-shaped cross section, and is an H-shaped steel 2
1 is intermittently welded onto the H-shaped steel 21 along the longitudinal direction. The welding positions of the L-shaped steel 22 are set so as to be symmetrical on the left and right sides in FIG. Therefore, the L-shaped steel 22 is fixed with its longitudinal direction accurately oriented with respect to the traveling direction without being curved. The flat plate portion (vertical portion) of the L-shaped steel 22 facing vertically upward corresponds to a side rail. The front and back surfaces of the vertical portion of the L-shaped steel 22 correspond to the roller contact surfaces, respectively.

The second rail 2 is fixed to the other rail receiving portion 3. The fixing to the rail receiving portion 3 is substantially the same as that of the first rail. However, instead of the lower mounting plate 42 used for fixing the first rail 1, a lower mounting plate 42 ′ that is thinner than the lower mounting plate 42 is
It is used. The upper surface of the H-shaped steel 11 on the first rail 1 and the upper surface of the L-shaped steel 22 on the second rail are flush with each other. Furthermore, the second rail 2
The protruding portion 21a is fixed to the mounting seat S on the other side wall. The fixing to the mounting seat S is similar to that of the first rail 1.

<Construction of Transport Carriage> Next, the above traveling path W
The transport vehicle M traveling above will be described. Figure 2
FIG. 4 is a plan view showing the carrier truck M, and FIG. 3 is a side view showing the carrier truck M. FIG. 4 is a diagram of the transport vehicle M as seen in the direction of IV in FIG. FIG. 5 shows V- in FIG.
FIG. 6 shows a cross-sectional view taken along line V, and FIG.
7 shows a cross-sectional view taken along the line VI.

As shown in these figures, the carriage M
Is a base 5, a pair of wheels 6 axially supported by the base 5, a drive mechanism 7 for rotationally driving one of the two pairs of wheels 6, and a pair of the other. A pair of driven bearing portions 8 and 8 and a pair of side roller portions 9 and 9 are provided.

The base 5 comprises a pair of long frames 5
1, 51, and a plurality of ribs 52. The respective frames 51 are arranged in parallel with each other with their longitudinal directions oriented in the left-right direction in FIG. Each of these ribs 52 is an elongated member shorter than each frame 51, 51. The ribs 52 connect the two frames 51, 51 with their longitudinal directions oriented perpendicularly to the longitudinal directions of the frames 51, 51.

Further, the base 5 includes a drive mechanism mounting plate 53,
And a bearing portion mounting plate 54. Drive mechanism mounting plate 5
3 is formed in a rectangular plate shape, and both frames 51, 5
In the vicinity of the left end of FIG. 1 of FIG. 1, it is suspended and fixed on both of these frames 51, 51. Further, the bearing portion mounting plate 54 is formed in a strip plate shape, and is hung and fixed on both the frames 51, 51 near the right ends of the frames 51, 51 in FIG. Further, the base 5 has a plurality of pallet rollers R on which the pallet P is placed and fixed and which can be conveyed in the lateral direction thereof.

The drive mechanism 7 is the drive mechanism mounting plate 5 of the base 5.
It is fixed on 3. The drive mechanism 7 includes a pair of motors 71, 71, a speed reducer 72, and a pair of bearings 73.
Is equipped with.

The speed reducer 72 has an input shaft and an output shaft arranged in parallel to each other, and is arranged in the central portion on the drive mechanism mounting plate. The input shaft and the output shaft of the speed reducer 72 are arranged in a predetermined plane parallel to the drive mechanism mounting plate 53 in the vertical direction of FIG.
The input shaft of the speed reducer 72 is more
Close to the edge of.

Each end of the input shaft of the speed reducer 72 is connected to each motor 7 via a coupling.
The output shafts 1, 71 are coaxially attached. Also,
At each end of the output shaft of the speed reducer 72, shafts axially supported by the bearings 73, 73 are coaxially mounted via couplings. The wheels 6 and 6 are fixed to the other ends of these shafts, respectively. These wheels 6 and 6 are mounted on the rails 1 and 2, respectively. That is, among the wheels 6, 6, the lower wheel 6 in FIG. 2 is placed on the upper surface of the H-shaped steel 11 in the rail 1, and the upper wheel 6 in FIG. 2 is the L-shaped steel 22 in the rail 2. Is placed on the upper surface of.

Further, the driven bearing portions 8 are arranged on the bearing portion mounting plate 54 of the base 5 such that their shafts are coaxial with each other. The shafts of the driven bearings 8 and 8 are arranged perpendicular to the frame 51 of the base 5. The wheels 6 and 6 are fixed to the ends of the shafts of the driven bearings 8 and 8, respectively. Each of these wheels 6, 6 has a corresponding rail 1,
2 are mounted on each. That is, these wheels 6, 6
The lower wheel 6 of FIG. 2 is placed on the upper surface of the H-shaped steel 11 in the rail 1, and the upper wheel 6 of FIG.
It is placed on the upper surface of the L-shaped steel 22 in the rail 2.

The wheels 6, 6 pivotally supported by the driven bearings 8, 8 and the wheels 6, 6 connected to the drive mechanism 7 are made of urethane at their outer peripheral portions. These are so-called urethane wheels.

Then, when both motors 71 of the drive mechanism 7 rotate, the speed reducer 72 rotationally drives the wheels 6 and 6 axially supported by the bearings 73 and 73, respectively. In addition,
The wheels 6 and 6 axially supported by the driven bearings 8 and 8, respectively,
Since the carrier truck M is driven to rotate,
In the longitudinal direction (the traveling direction of the traveling path W).

However, since the two pairs of wheels 6 of the carrier truck M are only mounted on the rails 1 and 2, the carrier truck M cannot be made to travel straight ahead accurately only by these wheels 6. In order that the transport vehicle M can accurately travel in the traveling direction and go straight, the transport vehicle M is guided so as not to be displaced in a direction orthogonal to the traveling direction in the horizontal plane (hereinafter, referred to as lateral direction). Must have been done. The side roller portions 9, 9 are used as a mechanism for this guide.

The structure of the side roller portion 9 will be described below with reference to FIGS. In addition, FIG.
FIG. 9 is a plan view of the side roller portion 9, and FIG. 8 is a side view showing a vertical cross section of a part of the side roller portion 9. In addition, FIG.
FIG. 8 is a view of FIG. 7 viewed in the IX direction.

The side roller portion 9 includes two pairs of rollers 91,
A holder 92 for axially supporting each of the rollers 91, and
It has a pin 93 that pivotally supports the holder 92. The pin 93 is formed in a substantially columnar shape, but has an outer flange-shaped protruding portion formed at one end thereof. Holder 9
No. 2 has a flat rectangular parallelepiped with a substantially square bottom surface, and has an outer shape equivalent to that of a pair of opposed twills on the upper surface cut out in a rectangular shape.

A bush B is fixed inside the holder 92. The bush B is a substantially cylindrical flange bush having an outer flange formed at one end (lower end in FIG. 8). The bush B is arranged with its central axis aligned with a straight line orthogonal to the bottom surface of the holder 92 at the center thereof. The holder 92 is fitted to the pin 93 in a state where the protruding portion of the pin 93 is in contact with the flange-side end of the bush B.

The pin 93 is fixed while penetrating the rectangular tubular bracket 55 protruding from the base 5 with the end portion on the side where the protruding portion is formed facing downward. There is. An upper plate 94 is fixed to the upper surface of the bracket 55. Then, as shown in FIG. 9, a strip-shaped key plate 95 is fixed on the upper plate 94 by bolting. This key plate 9
5 has one end thereof fitted into a groove formed on the side surface of the pin 93, so that the pin 93 is attached to the bracket 5
It is fixed to 5. A washer 96 fitted to the pin 93 is interposed between the bracket 55 and the holder 92.

In this way, the holder 92 is attached to the bracket 5
A pin 93 fixed to the shaft 5 rotatably supports in the horizontal plane. The bracket 55 and the pin 93 correspond to a supporting member. Also, the holder 92
Corresponds to a roller shaft support member.

The outer peripheral portion of each roller 91 is made of urethane. Then, each roller 91 has a holder 92.
Is supported by. That is, the holder 92 is placed perpendicularly to the bottom surface and close to the four corners of the bottom surface.
One roller shaft is fixed, and each roller 91 is rotatably attached to each roller shaft via a bearing. The rollers 91 are arranged below the holder 92 with their outer peripheral surfaces facing each other.

In this way, the side roller parts 9, 9 are
It is fixed to each bracket 55 that protrudes only to the upper side in FIG. 2 from both ends in the longitudinal direction of the base 5. In addition,
These brackets 55 are arranged at such a height that the rollers 91 of the side roller portions 9, 9 can sandwich the L-shaped steel 22 of the rail 2.

One of the two pairs of rollers 91 of the side roller portion 9 is arranged outside the rail 2 (the upper side in FIG. 2, the right side in FIG. 8) and the two pairs of rollers 91 are arranged. While the other pair is arranged inside the rail 2 (the lower side in FIG. 2, the left side in FIG. 8), the two rollers 91, 91 on the one side and the two rollers 91, 91 on the other side are arranged on the rail 2
The vertical portion of the L-shaped steel 22 is sandwiched.

In this state, when the motor 71 of the drive mechanism 7 in the carriage M rotates, the speed reducer 72 rotates both wheels 6 and 6 connected to the drive mechanism 7.
Then, the carrier vehicle M travels in the traveling direction. At this time, a lateral force is generated in the carrier M due to the arrangement of vehicles mounted on the pallet P and other factors. However, since the carrier vehicle M is guided by the side roller portions 9 and 9, the carrier vehicle M can always run in a stable traveling direction.

When a lateral force (horizontal force) is applied to the transport vehicle M while the transport vehicle M is running, the side roller portion 9 causes one of the two pairs of rollers 91 to move,
It contacts the vertical portion of the L-shaped steel 22. That is, in FIG. 8, when the horizontal force acts to the left, both rollers 91,
When 91 is in contact with the right side surface of the vertical portion of the L-shaped steel 22 and the horizontal force acts to the right, both left rollers 91, 91 are in contact with the left side surface of the vertical portion of the L-shaped steel 22. Thus, the side roller portion 9 shares the horizontal force with the two rollers 91, 91. Therefore, this side roller portion 9
Each roller 91 can be downsized as compared with the method in which only one roller receives the horizontal force, and each roller 91
The load per hit is small.

Even if a force other than the horizontal force acts on the carriage M at the joint between the rails 1 and 2, for example, the side roller portion 9 is at least one of the two pairs of rollers 91. One of the one pair and the other of the other pair are always brought into contact with the respective surfaces of the vertical portion of the L-shaped steel 22. That is, since the holder 92 of the side roller portion 9 can be rotationally displaced about the pin 93, at least one of the two pairs of rollers 91 can be used even if the carriage M swings in various directions. One of the pair and one of the other pair always rotate in a driven manner with the L-shaped steel 22 sandwiched therebetween.

Next, the control of the carriage M will be described. FIG. 10 is a block diagram schematically showing a control system of the transport carriage M. As shown in FIG. 10, the carrier truck M includes a control device C, an encoder C1, a position sensor C2,
And a state sensor C3. Encoder C1
Is attached to one of the motors 71 and detects the number of rotations of the motor 71.

The position sensor C2 is a light emitting and receiving sensor which is attached to the side of the base 5 so as to correspond to a rectangular plate-shaped vane (not shown) attached to the rail 2. In addition,
The vane is arranged near a predetermined stop position of the carriage M on the rail 2. Then, when the carriage M travels and its position sensor C2 approaches the vane position,
This vane blocks the optical axis of the position sensor C2. Then, the position sensor C2 detects that the transport carriage M has reached a predetermined stop reference position near the stop position.
The transport carriage M moves by a predetermined distance from the stop reference position and stops completely at the stop position.

The carrier vehicle M is in an empty state in which neither the vehicle nor the pallet P is mounted, an empty pallet state in which only the pallet P is mounted, or an actual vehicle state in which the pallet P on which the vehicle is mounted is mounted. , Run. Status sensor C3
Detects whether the carriage M is in an empty state, an empty pallet state, or an actual vehicle state.

Further, as shown in FIGS. 3 and 4, a substantially rectangular plate-shaped mounting plate G is arranged above the drive mechanism 7. The control device C is mounted in the rectangular area D on the mounting plate G. Further, the control device C is connected to the encoder C1, and the motor 71
It is possible to obtain the rotation speed of. Further, the control device C is connected to the position sensor C2, and the carriage M
Has reached the stop reference position. Further, the control device C is connected to the state sensor C3, and can recognize whether the transport vehicle M is in an empty state, an empty pallet state, or an actual vehicle state. Further, the control device C is configured such that each motor 71, 71
Respectively, and controls these motors 71, 71.

Then, the controller C controls the motors 71, 7
By rotating 1 the transport carriage M from a predetermined position
Run. While the transport vehicle M is traveling, the control device C
Acquires the rotation speed of the motor 71 output from the encoder C1 and calculates the rotation speed of each wheel 6 from this rotation speed. The control device C stores in advance, in a storage unit (not shown), a traveling distance (unit traveling distance) that the transport vehicle M travels per rotation of the wheels 6. And the carriage M
Calculates the traveling distance of the carriage M by multiplying the calculated rotational speed of the wheel 6 by the unit traveling distance. Therefore, the control device C always recognizes the position of the carrier vehicle on the traveling path W.

The carrier vehicle M can travel at high speed. For example, the maximum speed of this carrier truck M is about 20.
It is 0 m / min to 300 m / min. Therefore, in order for the control device C to reliably stop the transport vehicle M at the stop position, the transport vehicle M must already be sufficiently decelerated when the stop reference position is reached.

Therefore, when the control device C recognizes that the position of the carriage M acquired based on the rotation speed of the motor 71 approaches the stop reference position, the controller C decelerates the carriage M. When the control device C recognizes from the output signal from the position sensor C2 that the transport vehicle M has reached the stop reference position, the control device C further decelerates the transport vehicle M and moves a predetermined distance from the stop reference position. Completely stop at the point (stop position).

However, the transport vehicle M has different unit traveling distances depending on its state. That is, the carriage M
When the unit traveling distance of the wheels 6 in the empty state is U, the unit traveling distance of the wheels 6 in the empty pallet state of the transport vehicle M is U1 larger than U. Further, the unit traveling distance of the wheel 6 when the transport vehicle M is in the actual vehicle state is U2, which is larger than U1.

Therefore, the control device C obtains the first corrected unit traveling distance U1 in the empty pallet state by multiplying the unit traveling distance U in the empty state by a predetermined first correction coefficient t1 larger than 1. is doing. Also, the control device C
Acquires the second unit traveling distance U2 in the actual vehicle state by multiplying the unit traveling distance U in the empty state by a predetermined second correction coefficient t2 larger than t1. In this way, the control device C selects either the unit traveling distance U, the first corrected unit traveling distance U1, or the second corrected unit traveling distance U2 according to the state of the transport carriage M. By calculating the moving distance of the transport vehicle M by using the above, the position of the transport vehicle M on the traveling path W can always be accurately recognized.

<Operation of the Embodiment> As described above, the traveling path W of the present embodiment is not only provided with the vibration isolator E1 below the rails 1 and 2, but also on each rail 1 thereof. ，
2 is fixed to each side surface of the installation place via a vibration isolator E3. Therefore, noise and vibration are less likely to be generated from the rails 1 and 2. Furthermore, even if sound or vibration is generated in each rail 1 or 2, each vibration isolation member E1 to E3 makes it difficult to transmit these sound or vibration to the installation location.

Further, even if a lateral force is generated when the transport vehicle M travels, since the rails 1 and 2 are fixed to the side walls, the transport vehicle M travels stably without tilting. be able to. In addition, since the outer peripheral portion of each wheel 6 is made of urethane, generation of noise and vibration is reduced as compared with resin wheels.

Further, the running path W uses the vertical portion of the L-shaped steel 22 of the rail 2 as a side rail. Since the vertical portion of the L-shaped steel 22 is arranged from the inside on the H-shaped steel 21, it is possible to arrange each roller 91 of the side roller portion 9 between the vertical portion and the side wall at the installation location. Enough space is secured.

Then, when a lateral force acts on the carrier truck M while the carrier truck M is running, the side roller portion 9
Brings one of the two pairs of rollers 91 into contact with the vertical portion of the L-shaped steel 22. That is, the side roller portion 9
Since the horizontal force is shared by the two rollers 91, 91, the load per each roller 91 is smaller than that in the system in which only one roller receives the horizontal force.

Each roller of the conventional side roller portion had to have a small diameter because the installation space was limited. On the other hand, in the side roller portion 9 of the present embodiment, each roller 91 does not have to have a diameter smaller than necessary. Therefore, the area of the contact portion of each roller with respect to the L-shaped steel 22 becomes large, so that the load applied per unit area can be suppressed to be small. Therefore, each roller 9
The outer peripheral portion of No. 1 can be made of urethane, which has a smaller allowable surface pressure than resin or iron.

Further, the holder 92 of the side roller portion 9 can be rotationally displaced about the pin 93.
Therefore, even if the carriage M swings in various directions,
At least one of the two pairs of rollers 91 and one of the other pair are always L
The vertical portions of the shaped steel 22 are in contact with the front and back surfaces, respectively. Therefore, the carrier M can always go straight in a stable state without vibrating.

Further, the control device C of the transport vehicle M always accurately recognizes the position of the transport vehicle M on the traveling path W. In order to stop the transport vehicle M at the stop position, the control device C decelerates the transport vehicle M in advance when the transport vehicle M approaches the stop reference position before the stop position. There must be. Since the conventional control device does not accurately recognize the position of the carriage M, the carriage M is decelerated with a margin before it comes too close to the stop reference position. On the other hand, since the control device C of the present embodiment always accurately recognizes the position of the transport carriage M, it is possible to delay the deceleration timing of the transport carriage M more than before. Therefore, the time required to move the carriage M is shortened.

[0066]

According to the present invention configured as described above, since the side rails are disposed inside the rails on the rails, the side roller portions are located inside the contact portions of the wheels of the carrier truck. The space for each roller can be wide. Therefore, it is possible to reduce noise and vibration generated by forming each roller of the side roller portion of the carrier by using an elastic member having a vibration damping effect.

Further, when each of these rails is fixed to the floor surface and the side wall of the installation site via the vibration isolating member, both generation and transmission of noise and vibration are reduced.

In addition, when the side roller portion of the carrier truck sandwiches the side rail by the pair of rollers and the other pair of rollers, and the roller shaft support member can be rotationally displaced,
At least two rollers are always in contact with each roller contact surface of the side rail per one side roller portion. Therefore, the carrier vehicle can travel stably without vibrating.

[Brief description of drawings]

FIG. 1 is a cross-sectional view showing a traveling road according to an embodiment of the present invention.

FIG. 2 is a plan view showing a carrier truck according to an embodiment of the present invention.

FIG. 3 is a side view showing a carrier truck according to an embodiment of the present invention.

FIG. 4 is a view of FIG. 3 viewed in the direction of IV.

5 is a sectional view taken along line VV in FIG.

6 is a sectional view taken along line VI-VI in FIG.

FIG. 7 is a plan view of a side roller portion.

FIG. 8 is a partial sectional side view of a side roller portion.

9 is a diagram of FIG. 7 viewed in the IX direction.

FIG. 10 is a block diagram schematically showing a control system of a carrier vehicle.

[Explanation of symbols]

W road 1 first rail 11 H type steel 2 second rail 21 H type steel 22 L-shaped steel E1, E2, E3 Anti-vibration member M carrier truck 6 wheels 7 Drive mechanism 71 motor 9 Side roller part 91 Side roller 92 holder 93 pin 55 bracket C control device

─────────────────────────────────────────────────── ─── Continuation of the front page (56) Reference JP-A-4-24164 (JP, A) JP-A-7-238706 (JP, A) JP-A-8-53952 (JP, A) JP-A-10- 148041 (JP, A) JP 11-1156055 (JP, A) JP 61-106397 (JP, A) Actual development 1-168665 (JP, U) (58) Fields investigated (Int.Cl. ⁷ , DB name) E04H 6/12 E04H 6/18 609 B61B 13 / 00,13 / 12 B66B 23/00 F16F 15/00 G05D 1/02

Claims (3)

(57) [Claims] 1. Longitudinal directions are parallel to each other with a predetermined direction.
Wheels laid on the same height of each other
First and second rails having an upper surface for mounting, and this first rail
Inside the wheel mounting position on the upper surface of the rail of No. 2
And is installed parallel to the second rail
Roller contact surfaces perpendicular to the upper surface are formed on the front and back
The transported object is mounted on the road consisting of the side rails
A transporting vehicle that travels in a rolling manner and rolls on the upper surface of the first rail in the traveling path.
A pair of rolling wheels and rolling on the upper surface of the second rail on the traveling path.
A pair of wheels, a base on which the wheels are supported so that their rotation axes are parallel to each other, and on which an object to be transported can be mounted, and one roller contact surface of the side rail on the traveling path. A pair of rollers abutting against each other, and a pair of rollers abutting against the other roller abutting surface of the side rail, such that the rotation axes of these rollers are perpendicular to the upper surface of each rail in the traveling path. A roller shaft supporting member for supporting the shaft, and the roller shaft supporting member for supporting the roller shaft so as to be rotationally displaceable around a predetermined shaft parallel to the rotating shafts of the respective rollers and fixed to the base. And a side roller portion having a supporting member on the side rail.
A carrier truck having a plurality of units along the line . 2. The outer peripheral portion of the wheel and the side lobe
The outer peripheral portion of each roller of the roller section has a vibration-proof effect.
The carrier according to claim 1, wherein the carrier is made of an elastic member.
Trolley. 3. A control device is further provided, which obtains a moving distance by multiplying a rotation speed of each wheel by a unit traveling distance that is a distance that the base moves while the wheel makes one rotation. The control device sets the unit traveling distance when the transported object is mounted on the base to be larger than the unit traveling distance when the transported object is not mounted on the base, and moves the unit. transport carriage according to claim 1, wherein the obtaining the distance.