JP3635344B2 - Self-propelled driving assist device - Google Patents

Description

[0001]
[Industrial application fields]
The present invention relates to a travel assist device for a monorail electric self-propelled vehicle, and more particularly to a device that assists the travel when the self-propelled vehicle climbs or descends.
[0002]
[Prior art]
As this type of device, for example, as disclosed in Japanese Patent Application Laid-Open No. 52-97573, an apparatus composed of a lower horizontal track, an inclined track, and an upper horizontal track that are successively connected in the rail length direction. The traveling rail, the auxiliary rail arranged in parallel with the inclined track, and when the self-propelled vehicle travels on the inclined track, the traveling wheel is transferred from the traveling rail to the auxiliary rail to lift the traveling wheel from the traveling rail. An auxiliary wheel provided in the self-propelled vehicle, an endless chain disposed above the inclined track and having a lower movement path extending parallel to the inclined track, and a follower claw provided in the self-propelled vehicle And a drive claw provided on the chain so as to be able to engage with the driven claw. When an auxiliary wheel rides on the auxiliary rail, the driving of the self-propelled vehicle is stopped and the driven claw is applied to the driven claw. To touch and push this Accordingly, those inclined orbit as the motor vehicle is climbing is known.
[0003]
[Problems to be solved by the invention]
The above apparatus has the following problems. First, the structure of the device is extremely complex. Second, since the self-propelled vehicle is stopped at the start of the inclined track, a loss occurs in the conveyance time. Third, there is a large shock when the driven claw and the driving claw come into contact with each other.
[0004]
An object of the present invention is to provide a traveling assist device for a self-propelled vehicle that solves the above-described problems.
[0005]
[Means for Solving the Problems]
A self-propelled vehicle traveling assist device according to the present invention includes a self-propelled vehicle traveling rail configured by a lower horizontal track, a downward arc track, an inclined track, an upward arc track, and an upper horizontal track that are sequentially linked in the rail length direction. An endless chain disposed above the self-propelled vehicle traveling rail and having a lower movement path extending in parallel with the self-propelled vehicle traveling rail, a drive claw provided on the chain, and a drive claw so that it can be engaged A follower claw provided in the self-propelled vehicle, traveling means for traveling the self-propelled vehicle on the lower horizontal track and the upper horizontal track at a constant speed, and the speed of the self-propelled vehicle traveling on the lower horizontal track and the upper horizontal track. Controls the drive means to drive the chain at the same speed and to start driving when the self-propelled vehicle approaches one of the downward arc path and the upward arc path and stop when it passes the other In which and a that control means.
[0006]
[Action]
The traveling assistance device for a self-propelled vehicle includes a self-propelled vehicle traveling rail composed of a lower horizontal track, a downward arc track, an inclined track, an upward arc track, and an upper horizontal track that are sequentially linked in the rail length direction. Since it is equipped with an endless chain that is located above the traveling rail and has a lower movement path extending parallel to the traveling rail, the downward arc of the chain is determined by the traveling distance of the downward traveling arc track. The chain movement distance of the portion parallel to the track is shorter, and the chain movement distance of the portion parallel to the upward arc track is longer than the moving distance of the self-propelled vehicle of the upward arc track.
[0007]
Further, the traveling assist device of the self-propelled vehicle includes a driving claw provided on the chain, a driven claw provided on the self-propelled vehicle so as to be able to engage with the driving claw, a lower horizontal track, and an upper horizontal track. Traveling means for traveling the self-propelled vehicle at a constant speed, driving means for driving the chain at the same speed as the traveling vehicle traveling on the lower horizontal track and the upper horizontal track, and one of the downward arc track and the upward arc track The vehicle is equipped with control means for controlling the drive means so that it starts when the self-propelled vehicle approaches and stops when it passes the other direction. The distance between the driven claw and the driving claw is gradually narrowed when passing through the downward arc path, and the distance between the driven claw and the driving claw is gradually increased when the self-propelled vehicle passes through the upward arc path. Self-propelled when driving downhill When the vehicle passes the upward arc track, the distance between the driven claw and the driving claw is gradually narrowed.When the self-propelled vehicle passes the downward arc track, the distance between the driven claw and the driving claw is gradually expanded. The driven claw and the driving claw are automatically engaged and disengaged.
[0008]
【Example】
Embodiments of the present invention will be described below with reference to the drawings.
[0009]
In the following description, the term “front and rear” refers to the front side (the side indicated by the arrow in the drawing) on which the traveling self-propelled vehicle travels and the opposite side to the rear.
[0010]
Referring to FIG. 1, a rail 11 extending forward and a self-propelled vehicle 12 traveling along the rail 11 are shown.
[0011]
The rail 11 is composed of a lower horizontal track 21, a downward arc track 22, an inclined track 23, an upward arc track 24, and an upper horizontal track 25 that are sequentially linked from the rear to the front.
[0012]
The self-propelled vehicle 12 includes a front drive trolley 31 and a rear driven trolley 32, a load bar 33 secured to both the trolleys 31 and 32, and a hanger arm 34 suspended from the load bar 33. . The front drive trolley 31 is provided with a travel motor 35. The traveling motor 35 has a capacity for traveling the self-propelled vehicle 12 on the lower horizontal track 21 and the upper horizontal track 25 at a constant speed, but has a capacity for traveling the inclined track 23 at the same speed. Not. A driven claw 36 is provided on the driven trolley 32 so as to protrude upward.
[0013]
A lower self-propelled vehicle detection switch 37 is disposed at the front end of the lower horizontal track 21, and an upper self-propelled vehicle detection switch 38 is disposed at a position before the rear end of the upper horizontal track 25.
[0014]
A driven sprocket 41 is disposed above the position behind the lower self-propelling vehicle detection switch 37, and a driving sprocket 42 is disposed above the position behind the upper self-propelling vehicle detection switch 38. An endless chain 43 is wound around the driven sprocket 41 and the drive sprocket 42. The lower movement path of the chain 43 extends in parallel with the rail 11. The drive sprocket 42 is provided with a drive motor 44. The chain 43 is provided with the two drive claws 45 so as to have the same interval, and the spare claws 46 are provided at predetermined intervals from the two drive claws 45, respectively.
[0015]
Referring to FIG. 2, the center C1 of the downward arc track 22 and the center C1 of the chain moving path parallel to the downward arc track 22 are made to coincide. The radius R1 of the downward circular arc track 22 is larger than the radius R2 of the chain moving path. Therefore, the length L1 of the downward circular arc track 22 is larger than the length L2 of the chain moving path.
[0016]
Referring to FIG. 3, the center C2 of the upward arc track 24 and the center C2 of the chain moving path parallel to the upward arc track 24 are made to coincide. The radius R3 of the upward arc trajectory 24 is smaller than the radius R4 of the chain moving path. Therefore, the length L3 of the upward arcuate track 24 is smaller than the length L4 of the chain moving path.
[0017]
The chain 43 is stopped in a posture in which one drive claw 45 faces rearward around the driven sprocket 41 and the other drive claw 45 faces forward around the drive sprocket 42.
[0018]
When the self-propelled vehicle 12 arrives at the front end of the lower horizontal track 21, this is detected by the lower self-propelled vehicle detection switch 37, and the chain 43 starts to be driven based on the detection signal. Then, the chain 43 starts to move at the same speed as the self-propelled vehicle 12, and the driving claw 45 descends behind the driven claw 36. When the self-propelled vehicle 12 reaches the downward circular arc track 22, there is a certain distance E1 between the driving claw 45 and the driven claw 36. As the self-propelled vehicle 12 moves along the downward circular arc track 22, the distance between the driving pawl 45 and the driven pawl 36 is gradually increased due to the difference between the length L1 of the downward circular arc track and the length L2 of the chain moving path. As the self-propelled vehicle 12 approaches the front end of the downward circular arc track 22 as it is narrowed, the drive claw 45 catches up with the driven claw 36. For this purpose, the distance E1 between the driving claw 45 and the driven claw 36 is preferably smaller than the difference between the length L1 of the downward arc trajectory and the length L2 of the chain movement path. Even if it is large, since the speed of the self-propelled vehicle 12 becomes slow when the self-propelled vehicle 12 reaches the inclined track 23, the drive claw 45 catches up with the driven claw 36 eventually. After the driving claw 45 catches up with the driven claw 36, the driving claw 45 pushes the driven claw 36, so that the driving car 12 is assisted by the power of the driving motor 44 in addition to the power of the driving motor 35. Will travel on the inclined track 23 without slowing down.
[0019]
When the self-propelled vehicle 12 passes through the inclined track 23, reaches the downward arc track 24, and passes through the downward arc track 24, the interval between the driving claw 45 and the driven claw 36 is gradually increased. Eventually, the interval E2 is equal to the interval E1. When the self-propelled vehicle 12 reaches the upper horizontal track 25, the self-propelled vehicle 12 travels on the upper horizontal track 25 by itself only by the power of the travel motor 35. On the other hand, when the self-propelled vehicle 12 reaches the upper horizontal track 25, the upper self-propelled vehicle detection switch 38 detects this, and the drive of the chain 43 is stopped based on the detection signal.
[0020]
The case where the self-propelled vehicle climbs has been described above. Next, the case where the self-propelled vehicle descends will be described.
[0021]
When the self-propelled vehicle 12 reaches the upward arcuate track 24 from the upper horizontal track 25, the distance between the driving claw 45 and the driven claw 36 is gradually reduced. When the self-propelled vehicle 12 reaches the inclined track 23, the driven claw 36 is received by the driving claw 45. Thereby, the self-propelled vehicle 12 can pass through the inclined track 23 without running away. When the self-propelled vehicle 12 passes through the downward circular arc track 22, this time, the distance between the driving claw 45 and the driven claw 36 is gradually increased. Run.
[0022]
【The invention's effect】
According to the present invention, the chain movement distance of the portion parallel to the downward circular arc track of the chain is shorter than the moving distance of the self-propelled vehicle of the downward arc track, and The chain travel distance of the parallel part is long, and when the self-propelled vehicle climbs the slope, when the self-propelled vehicle passes the downward circular arc track, the distance between the driven claw and the driving claw is gradually narrowed, and the self-propelled vehicle is facing upward The distance between the driven claw and the driving claw is gradually increased when passing through the arcuate track, and the distance between the driven claw and the driving claw is increased when the self-propelled vehicle passes through the upward arcuate track on the downhill of the self-propelled vehicle. When the self-propelled vehicle passes through the downward circular arc track, the distance between the driven claw and the driving claw gradually increases, so that the driven claw and the driving claw automatically engage and disengage. So easy The structure, without stopping the self-propelled vehicle, moreover, a small shock may be uphill, downhill the self-propelled vehicle.
[Brief description of the drawings]
FIG. 1 is a side view of a self-propelled vehicle travel assist device according to the present invention.
FIG. 2 is a partially enlarged side view of FIG. 1;
FIG. 3 is a partially enlarged side view of a portion different from FIG. 2 in FIG. 1;
[Explanation of symbols]
11 rails
21 Lower horizontal orbit
22 downward arc trajectory
23 Inclined orbit
24 upward inclined orbit
25 horizontal trajectory
36 Followed claw
37 Lower self-propelled vehicle detection switch
38 Upper self-propelled vehicle detection switch
43 chain
44 Drive motor
45 Driving claw

Claims (1)

A self-propelled vehicle running rail 11 composed of a lower horizontal track 21, a downward arc track 22, an inclined track 23, an upward arc track 24 and an upper horizontal track 25 sequentially connected in the rail length direction;
The self-propelled vehicle 12 has the capacity to drive the self-propelled vehicle 12 on the lower horizontal track 21 and the upper horizontal track 25 at a constant speed, but the capacity to drive the inclined track 23 at the same speed. a traveling motor 35 that does not have,
An endless chain 43 disposed above the self-propelled vehicle travel rail 11 and having a lower movement path extending parallel to the self-propelled vehicle travel rail 11, and
A driven claw 36 provided in the self-propelled vehicle 12,
A driving claw 45 provided on the chain 43 so as to be able to engage with the driven claw 36;
Drive means 44 for driving the chain 43 at the same speed as the speed of the self-propelled vehicle 12 traveling on the lower horizontal track 21 and the upper horizontal track 25 in addition to the power of the travel motor 35 ;
Control means 37, 38 for controlling the drive means 44 to start driving before the self-propelled vehicle 12 finishes passing through one of the lower horizontal track 21 and the upper horizontal track 25, and to stop driving when approaching the other. ,
A self-propelled vehicle driving assist device.

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