JP4311593B2 - Posture control mechanism for rail travel vehicle - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a mechanism that keeps the posture of a traveling vehicle that travels along a rail laid along a slope.
[0002]
[Prior art]
In the transportation of a relatively small number of people and goods on an inclined land, a rail is laid along the inclined land, and a drive wheel having a pinion wheel or a pin projection on a rack provided on the rail or a locking tooth such as a pin hole. A rail conveyance device using a traveling vehicle that meshes with each other and is self-propelled is used. In such a rail conveyance device, the following techniques are known in order to keep a cabin or a loading platform of a traveling vehicle horizontal.
[0003]
First, as shown in FIG. 3, the traveling rail 21 is laid so as to have a constant inclination angle, and traveling is performed using a cabin 22 that is angled in advance so that the floor surface is horizontal according to the inclination angle. There is a way to do it. However, this method has the disadvantage that the pedestal columns 23 for supporting the rails must be arranged at different heights in accordance with the undulations of the ground, and the travel line is expensive.
[0004]
Next, as shown in JP-A-9-249119, JP-A-11-208459, or JP-A-10-217952, the cabin is rotatably attached to the carriage, and the A technique is known in which a driving force is applied to a cabin and control is performed so as to keep the posture horizontal.
[0005]
The techniques disclosed in Japanese Patent Application Laid-Open Nos. 9-249119 and 11-208459 support a cabin on a traveling carriage so as to be able to swing like a bowl, and the cabin is driven by an electric motor according to an inclination angle. Etc., so that it is kept horizontal by driving. Further, in the technique disclosed in Japanese Patent Application Laid-Open No. 10-217952, a parallel link mechanism is formed between the traveling carriage and the work table, and a link driving means such as a cylinder is connected to the parallel link mechanism for posture control. It was made. However, these technologies require a dedicated control device, mechanism, and drive device for detecting the tilt angle and controlling the posture, and the structure becomes complicated, resulting in difficulties in cost and maintenance.
[0006]
Next, a technique disclosed in Japanese Patent Laid-Open No. 4-153184 is also known. This technology lays a first guide rail on which the slope upside wheel travels and a second guide rail on which the slope downside wheel travels, and the vertical distance between the two guide rails corresponds to the inclination angle. It was made to change and keep the basket horizontal. In this technique, although the structure of the car or the cabin is simple, at least two guide rails must be laid at least in the track, and there are problems in terms of cost and construction.
[0007]
[Problems to be solved by the invention]
The present invention has been made in view of the above-described points, and has a simple structure and is configured at low cost, and is a rail traveling vehicle that can maintain the posture of the vehicle horizontally in response to a change in the inclination angle. An object of the present invention is to provide an attitude control mechanism.
[0008]
[Means for Solving the Problems]
In order to solve the above-described problems, the present invention is a rail traveling vehicle that self-travels along a rail laid on a slope, and the rail traveling vehicle includes two drive carts that are independently driven, Alternatively, it comprises a cabin for loading cargo and a support frame for connecting the cabin and one of the drive carts, and one end of the cabin is pivotally attached to one of the drive carts so as to be rotatable in the vertical direction. The other end of the cabin is connected to the other drive carriage by the support frame pivotally attached at least vertically to the other drive carriage, and the one drive carriage is pivoted to the lower part of the cabin at one end of the cabin. The support frame is pivotally attached to the lower part of the cabin at the other end of the cabin, and the length of the support frame is connected to the support frame when the rail vehicle is at the steepest slope portion in the track. The other drive carriage has a length such that the pivot point is located immediately below the pivot position of the cabin with the support frame, and the cabin is horizontal, A straight line connecting the pivot points of the support frame is inclined with respect to the moving direction of the other drive cart so that the pivot point with the drive cart is located below the pivot point with the cabin. The horizontal posture of the cabin is maintained by changing the relative speed of each drive carriage.
[0009]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a front view schematically showing the structure of a rail vehicle according to the present invention.
[0010]
In the figure, a rail 1 is provided with locking teeth such as a rack or a pin hole and is laid on an inclined ground, and a traveling vehicle travels on the rail 1. The traveling vehicle includes two drive carts 3 and 4, a cabin 2 for carrying a person or cargo, and a support frame 5 that is interposed between the drive cart 4 and the cabin 2 and connects them. It has become.
[0011]
Each of the drive carriages 3 and 4 includes traveling wheels 6 and 6 that roll on the rail 1 while supporting a load, and drive wheels 7 and 7 such as a pinion that mesh with the locking teeth of the rail 1 to obtain thrust. With An electric motor (not shown) is connected to each of the drive wheels 7 and 7 and is controlled by a control device so as to drive each electric motor independently.
[0012]
In addition to the function of controlling the speed of the electric motor, the control device also has a function of connecting a pulse transmitter, an encoder or the like coaxially with the electric motor shaft and calculating a traveling position and a traveling speed from these electric signals.
[0013]
One of the drive carts 3 and 4 is pivotally supported by, for example, a pin or the like so that the front lower end portion of the cabin 2 can rotate in the vertical direction. On the other hand, the rear lower end of the other drive carriage 4 and the cabin 2 are connected via a support frame 5, and both ends of the support frame 5 are pivotally attached to the drive carriage 4 and the cabin 2 so as to be rotatable in the horizontal and vertical directions, respectively. To do. With this configuration, the traveling vehicle can travel even if the rail 1 is bent in the left-right direction. In the case of a track configuration in which the rail 1 is not displaced in the left-right direction, the support frame 5, the drive carriage 4 and the cabin 2 may be pivotally attached only in the vertical direction. Further, as shown in FIG. 2, the length L1 of the support frame 5 is such that the traveling vehicle has the steepest slope in the track, and the cabin 2 is placed horizontally when the drive carriage 4 is located almost directly below the rear lower end of the cabin 2. It has a supporting length.
[0014]
The traveling vehicle configured as described above can change the angle of the cabin 2 by changing the distance between the drive carriages 3 and 4. That is, as shown in FIG. 1, the distance L2 between the drive carriages 3 and 4 is kept wide when the slope is gentle, and the level is maintained. When the slope is steep as shown in FIG. Thus, the end of the cabin 2 is lifted, and thus the cabin 2 is kept horizontal.
[0015]
Next, an operation when the rail traveling vehicle travels on the rail will be described. When the traveling vehicle travels in a portion where there is no change in gradient, the driving wheels of the front and rear driving carts 3 and 4 are driven at the same speed, the distance L2 between the driving carts 3 and 4 is kept constant, and the attitude of the cabin 2 is kept horizontal. Then run.
[0016]
When the drive carriage 3 reaches a steep portion, the control device detects this position and controls the speed of the drive wheels 7 of the support carriage 5 side drive carriage 4 to be increased. By being controlled in this way, the distance L2 between the drive carriages 3 and 4 is narrowed, and the attitude of the cabin 2 is made horizontal corresponding to the gradient as described above. At this time, the control device is programmed in advance to determine the rotational speed of the electric motor from the running speed and the amount of change in the gradient, and is controlled based on this program so that the cabin corresponds to the amount of change in the gradient. The posture of 2 is kept horizontal.
[0017]
When the change of the gradient is finished and a constant gradient is obtained, each of the drive wheels 7 and 7 is again operated at the same speed, and when the change of the gradient is opposite to the above, that is, when the gradient changes from a steep gradient to a gentle gradient, Control is performed so that the speed of the drive wheels 7 of the drive carriage 4 is reduced, and the distance L2 between the drive carriages 3 and 4 is widened to keep the cabin 2 horizontal.
[0018]
【The invention's effect】
The driving wheel and the control device described above are originally provided in the rail traveling vehicle, and in the present invention, the speed control of the driving wheel is performed by using this, and the attitude control of the cabin is performed. No special dedicated attitude control equipment is required and no extra cost is required. In addition, since it is a simple configuration in which the drive carriage and the cabin are simply connected by a support frame, maintenance is easy and there are few causes of failure. Furthermore, in the rail transport device, the rail and the driving wheel always run in mesh with each other, so that there is no slip between the rail and the driving wheel unlike friction driving such as tire driving. It is performed reliably and is easy to control.
[0019]
As described above, according to the present invention, a rail traveling vehicle that can maintain the cabin in a level state in response to a change in the inclination angle of the rail, is simple and inexpensive, and is suitable for a rail transportation device. Can be provided.
[Brief description of the drawings]
FIG. 1 is a front view of a rail traveling vehicle at a gentle slope.
FIG. 2 is a front view of a rail traveling vehicle at a steep slope.
FIG. 3 is a front view of a rail transport device showing an embodiment of the prior art.
[Explanation of symbols]
1 Rail 2 Cabin 3, 4 Drive Bogie 5 Support Frame 6 Traveling Wheel 7 Drive Wheel 21 Traveling Rail 22 Cabin 23 Leg Pillar L1 Support Frame Length L2, L2 ′ Distance between Bogies

Claims (1)

A rail traveling vehicle that self-travels along a rail laid on a slope, the rail traveling vehicle having two drive carts that are independently driven, a cabin for carrying a person or cargo, It comprises a support frame for connecting a cabin and one of the drive carts, one end of the cabin pivotally pivoted in the vertical direction with one drive cart, and the other end of the cabin is the other drive cart The one drive carriage is pivotally attached to a lower part of the cabin at one end of the cabin, and the support frame is connected to the cabin in addition to the cabin. It pivots to the lower cabin of the end, and the length of the support frame is the pivot point of the other drive carriage connected to the support frame when the rail vehicle is at the steepest slope portion in the track. The cabin is positioned immediately below the pivoting position of the cabin with the support frame, and has a length such that the cabin is horizontal, and the pivot point of the support frame with the other drive carriage is the distance between the cabin and the cabin. said the straight line connecting both pivot points of the support frame by changing the relative speed of each drive carriage are inclined relative to the direction of movement of the other drive dolly so as to be positioned below the pivot point cabin A posture control mechanism for a rail traveling vehicle, characterized in that the horizontal posture is maintained.

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