JP5009913B2 - Self-propelled cart horizontal transfer mechanism - Google Patents

Description

  The present invention travels a carrier consisting of a container and a carriage along a rail laid horizontally on a floor and a ceiling and vertically on a wall over a plurality of floors of a building such as a building, and documents are sent to a station arranged along the rail. The present invention relates to a horizontal transport mechanism that causes a self-propelled carriage to always travel in a horizontal posture in a transport system in which a laminate such as a component is unloaded from a container or mounted on the container.

  This type of transport system automatically transports documents, postal items, stationery, etc. in offices, medical records in hospitals, parts and products in factories, and loads such as specimens and reagents to destinations. It is widely used because it can.

  This transport system is composed of rails laid horizontally and vertically inside a building, a plurality of carts as transport bodies that run on the rails, and a computer that controls the travel of the self-propelled cart. A self-propelled cart is formed by attaching a container for carrying a load to a cart that runs along a rail.

  Containers that are always transported in a horizontal position, such as cases that contain many specimens and reagents, are also installed. For this reason, the container is supported by the cart so as to be swingable by the gyro means, and when traveling in the vertical section, the container is often rotated 90 degrees on the cart so that the horizontal state is always maintained (for example, patents). Reference 1).

  On the other hand, among the self-propelled carts in this transport system, there are four sets of two pieces that are sandwiched from above and below by a rail (rail) on the left and right sides in the traveling direction, or that sandwich two rails from above and below. Some traveling wheels are arranged. In this self-propelled carriage, the carriage moves from horizontal to vertical (or from vertical to horizontal) in the section where the rail transitions from the horizontal section to the vertical section, that is, in the section where the rail is bent from horizontal to vertical or from 90 degrees to vertical. In order to change the running posture to a new posture, the container suspended by the carriage via the gyro means is rotated 90 degrees so that the horizontal posture of the container is maintained. However, it is known that if a heavy load is a single load in a container suspended by gyro means, the container is inclined due to the unbalanced load and the horizontal posture cannot be maintained.

In addition, it is equipped with a gyro means that keeps the attitude of the container always horizontal, and the bogie turns and moves from the horizontal rail to the vertical rail. Therefore, the curve radius of the section between the horizontal section and the vertical section of the rail has to be large. As a result, not only the whole system becomes large, but the curve radius is too large depending on the location. For this reason, there is also a problem that this transport system cannot be installed.
Japanese Patent Laid-Open No. 2005-047369

In view of the above-described present situation of such a transport system, the present invention can always maintain the container posture horizontally without gyroscopic means, and can reduce the curve curvature in the rail orientation change section. Therefore, it is an object of the present invention to provide a self-propelled trolley always horizontal posture transport mechanism that allows a compact construction of the entire system.

The first configuration of the horizontal transport mechanism of the present invention, which has been made for the purpose of solving the above problems, includes a rail laid horizontally and vertically inside a building, a rack laid along the rail, and the rail. In the transport mechanism including a traveling wheel that travels on top, a pinion that meshes with the rack, and a self-propelled carriage that has a drive unit for the pinion and on which a load is mounted, the rail may be vertically or vertically A curving section whose direction is changed horizontally from a horizontal section, and a vertical section following the curving section, a pinion rail having a rack meshing with the pinion, a traveling wheel rail parallel to the pinion rail and spaced from the rail, and the carriage Includes a pinion that meshes with the pinion rail and a traveling wheel supported by the traveling wheel rail on the left and right side surfaces, and the pinion rail and the traveling wheel The Lumpur, bogie that ash is disposed so as to be moved while in the horizontal position in vertical section following this section and the curve section.

  In the present invention, in the first configuration, the first pinion and the first traveling wheel are provided on one side surface orthogonal to the traveling direction of the carriage, and the same phase as the first pinion on the other side surface is provided. The second traveling wheel is provided with a second pinion at the same phase as the first traveling wheel, and the tilt of the carriage is suppressed by the first and second pinions and the traveling wheel having different arrangement phases on both side surfaces. is doing.

Further, the second configuration of the horizontal transport mechanism of the present invention, which has been made for the purpose of solving the above problems, includes a rail laid horizontally and vertically inside a building, a rack laid along the rail, In a transport mechanism including a traveling wheel that travels on the rail, a pinion that meshes with the rack, and a self-propelled carriage that has a drive unit for the pinion and on which a load is mounted, the rail extends from horizontal to vertical. Or, in a curve section whose direction is changed from vertical to horizontal and a subsequent vertical section, a pinion rail provided with a rack that meshes with the pinion and a traveling wheel rail parallel to and spaced from the pinion rail, The carriage includes, on the left and right side surfaces thereof, a pinion that meshes with the pinion rail and a running wheel supported by the running wheel rail, and the bogie and the running wheel. The wheel rail, truck and arranged so as to be moved while in the horizontal position in vertical section following this section and the curve section, the carriage is provided with a pinion coaxially position the same phase of the intermediate portion in the left and right side surfaces The front and rear wheels are sandwiched between the front and rear sides of the carriage in the traveling direction of the carriage, and the rotation axis of the pinion is disposed between the upper and lower sides. in vertical interval following the interval, before, on either one after, by the lower running wheels and pinions are supported on the respective rails, characterized in that to travel to hold the carriage in a horizontal position.

In the above two configurations, the pinion rail and the running wheel rail in the horizontal section of the rail are formed from a composite rail in which both rails are arranged in parallel, and the pinion rail and the running wheel rail forming the composite rail are: In some cases, the curve section is separated from the front and back in the vertical section.

  Next, a third configuration of the horizontal transport mechanism of the present invention capable of solving the above-described problems is a rail laid horizontally and vertically inside a building, a rack laid along the rail, and the rail In a transport mechanism including a traveling wheel traveling on top, a pinion that meshes with the rack, and a self-propelled carriage that has a drive unit for the pinion and on which a load is mounted, the carriage has the same intermediate portion on both the left and right sides. A pinion is provided on the same axis as the phase, and in the traveling direction of the carriage, a pair of front and rear horizontal traveling wheels that are paired by sandwiching the pinion in front and behind and a rotation axis of the pinion between the top and bottom are paired. The upper and lower vertical traveling wheels are provided, and the rail is provided with a curved rail having a rack that meshes with the pinion and a traveling surface of the horizontal traveling wheels in a curved section that changes direction from horizontal to vertical or from vertical to horizontal. In addition, the vertical section following the curve section includes a rack that meshes with the pinion and a vertical rail that includes the traveling surface of the vertical traveling wheel. In the curved section, the horizontal traveling wheel and the pinion are supported by the curved rail. In the vertical section following the curve section, the vertical traveling wheel and the pinion are supported by the vertical rail.

  Further, the fourth configuration of the horizontal transport mechanism of the present invention capable of solving the above-described problems is a rail laid horizontally and vertically inside a building, a rack laid along the rail, In the transport mechanism including a traveling wheel traveling on the vehicle, a pinion that meshes with the rack, and a self-propelled carriage that has a drive unit for the pinion and on which a load is mounted, the carriage has the same phase of the intermediate portion on both the left and right side surfaces. And a horizontal portion running wheel provided at the bottom of the carriage, and an upper and lower vertical portion running wheel provided so as to make a pair with the rotation axis of the pinion sandwiched between the top and bottom, The rail includes a curve rail including a car black meshing with the pinion and a running surface for restraining and guiding a vertical running wheel in a curve section whose direction is changed from horizontal to vertical or from vertical to horizontal. In a short vertical section following the curve section, a short rack that meshes with the pinion and a short vertical rail with a traveling surface of a vertical traveling wheel is provided, and the pinion is supported by the car black in the curve section. In the short vertical section following the curve section, the horizontal traveling wheels are supported by the curved rails, and the cart is always in a horizontal position with the pinion and the vertical traveling wheels supported by the vertical rails containing the short rack. It is characterized by doing.

  The horizontal transport mechanism of the first configuration according to the present invention includes a rail laid horizontally and vertically inside a building, a rack laid along the rail, a traveling wheel traveling on the rail, and a rack. In a transport mechanism having a meshing pinion and a self-propelled carriage having a drive unit for the pinion and mounted with a load, the rail follows a curve section that changes its direction from horizontal to vertical or from vertical to horizontal. A vertical section includes a pinion rail provided with a rack that meshes with the pinion and a traveling wheel rail that is parallel to and spaced from the pinion rail, and the carriage is engaged with the pinion rail on the left and right side surfaces thereof. A traveling wheel supported by a matching pinion and a traveling wheel rail, and the carriage for the pinion rail and the traveling wheel rail in a horizontal position in the vertical section. Because it is arranged so that it can move, the attitude of the container can always be kept horizontal without gyro means, and the entire system can be made compact by reducing the curve curvature in the section where the rail orientation changes. Can do.

  That is, in the horizontal transport mechanism of the self-propelled carriage according to the first configuration of the present invention, the pinion rotates while meshing with the rack, and the traveling wheel rolls the rail for the traveling wheel, so that the carriage travels along the rail. To do. At this time, since the cart has a pinion meshing with the pinion rail and a running wheel supported by the running wheel rail on its left and right side surfaces, the attitude of the container is always kept horizontal without gyro means. Therefore, the load can always be transported horizontally even in a single-load state. The rail travels in parallel to and away from the pinion rail having a rack that meshes with the pinion in the curve section that changes direction from horizontal to vertical or from vertical to horizontal and the subsequent vertical section. Since it has a wheel rail, the radius of curvature of the pinion rail can be set independently of that of the running wheel rail, and the radius of curvature of the section between the horizontal section and the vertical section of the rail is reduced. be able to. That is, the space for rotating the container and the space for turning the carriage are not required, and the entire transport mechanism can be configured compactly.

  Further, in the horizontal transport mechanism of the second configuration according to the present invention, the carriage is provided with a pinion on the same phase coaxial in the middle part on both the left and right side surfaces, and the pair that sandwiches the front and rear in the traveling direction of the carriage. The front and rear horizontal running wheels and the upper and lower vertical running wheels that sandwich the pinion's rotation axis between the top and bottom, the rails are curved sections that change direction from horizontal to vertical or from vertical to horizontal In the vertical section following the curve section, the rack that meshes with the pinion and the vertical rail that includes the traveling surface of the vertical section traveling wheel are provided. In the curve section, the horizontal running wheels and pinions are supported by the curve rails, and in the vertical section following the curve sections, the vertical running wheels and pinions are Therefore, the container can always be maintained in a horizontal position without gyro means, and since the pinion and the running wheel run on one rail, it is not necessary to lay the rail separately. The entire system can be constructed compactly.

  Also in the horizontal transport mechanism of the third configuration, the pinion rotates while meshing with the rack, and the traveling wheel rolls on the traveling wheel rail, so that the carriage travels along the rail. At this time, the carriage is provided with a pinion in the same phase of the intermediate portion on both the left and right side surfaces, and a horizontal running wheel that forms a pair sandwiching the pinion in front and rear in the running direction of the carriage, and the rotation axis of the pinion is up, With vertical running wheels that make a pair sandwiched underneath, and traveling in the curve section and the vertical section that follows this section by the pinion and the vertical running wheels, the container transport posture is always maintained even without gyro means Even in a single-load state, the load can always be transported in a horizontal posture. For this reason, the rail includes a curved rail having a rack that meshes with the pinion and a traveling surface of the horizontal traveling wheel in a curved section that changes direction from horizontal to vertical or from vertical to horizontal, and a vertical section that follows the curved section. In this case, a vertical rail with a rack meshing with a pinion and a traveling surface of a vertical traveling wheel is provided, and a horizontal traveling wheel and a pinion are supported by the curved rail in a curved section, and the vertical section following the curved section is vertical. Since the partial traveling wheel and the pinion are supported by the vertical rail, the curve section and the subsequent vertical section can be configured by a single rail, and the entire transport mechanism can be configured compactly.

  Furthermore, in the horizontal transport mechanism of the fourth configuration according to the present invention, the carriage includes a pinion on the same phase coaxial in the middle portion on both the left and right side surfaces, and a horizontal traveling wheel provided at the bottom of the carriage, It has upper and lower vertical running wheels provided so as to make a pair with the rotation axis of the pinion sandwiched between the upper and lower sides, and the rail is connected to the pinion in a curve section that changes the direction from horizontal to vertical or from vertical to horizontal. A car rail having a running surface that restrains and guides the car black to be engaged with the vertical part traveling wheel, and a short rack that meshes with the pinion and a traveling surface of the vertical part traveling wheel in the short vertical section that follows the curve section. In the curve section, the pinion is supported by the car black and the horizontal running wheels are supported by the curve rail. In the following short vertical section, since the pinion and the vertical traveling wheel are supported by a vertical rail containing a short rack and the carriage always travels in a horizontal posture, the transport system is similar to the transport mechanism of the present invention configured as described above. In particular, a portion where the traveling direction changes from horizontal to vertical or vice versa can be formed compactly.

In the fourth horizontal transport mechanism of the present invention, the rack and rail of the curve section can be unitized to cope with the case where the carriage changes the running direction from the horizontal running to the vertical direction. The unitized curve section can be retracted to a position that does not interfere with the vertical traveling of the carriage.
As a result, the curve section of the fourth transport mechanism also has a function as a branching device for changing horizontal travel to vertical travel.

  Embodiments of the horizontal transport mechanism of the self-propelled carriage of the present invention will be described below with reference to the drawings. In the accompanying drawings, FIG. 1 is a front view showing an embodiment of a horizontal transport mechanism of a self-propelled carriage having a first configuration according to the present invention, FIG. 2 is a right side view of the horizontal transport mechanism shown in FIG. 1, and FIG. 4 is a perspective view of the horizontal transport mechanism having the first configuration shown in FIGS. 1 to 3, and FIG. 5 is an embodiment of the horizontal transport mechanism of the self-propelled carriage having the second configuration according to the present invention. FIG. 6 is a right side view of the horizontal transport mechanism shown in FIG. 5, FIG. 7 is a plan view of FIG. 6, and FIG. 8 is a perspective view of the horizontal transport mechanism of the second configuration shown in FIGS. 9 is a front view showing a third embodiment of the horizontal transport mechanism of the self-propelled carriage of the present invention, FIG. 10 is a right side view of the horizontal transport mechanism shown in FIG. 9, FIG. 11 is a plan view of FIG. Is a perspective view of the horizontal transport mechanism of the third configuration shown in FIGS. 9 to 11, and FIGS. 13 to 15 illustrate the movement of the carriage in the horizontal transport mechanism of the fourth configuration. FIG. 16 is a perspective view of an example in which the carriage travels horizontally-vertically on the conveyance path, FIG. 17 is a schematic side view of FIG. 16, and FIG. 18 shows an example in which the carriage travels vertically on the conveyance path. FIG. 19 is a schematic side view of FIG. 18, FIG. 20 is a side view of an example of a carriage used in an application example of the horizontal conveyance mechanism of the present invention having the fourth configuration, and FIG. 21 is a plan view of the carriage of FIG. FIG. 22 is a left side view of the cart of FIG. 20, FIG. 23 is a schematic perspective view of the cart shown in FIGS. 20 to 22, and FIG. 24 is a direction change rail (left rail) on which the cart of FIGS. FIG. 25 is a front view of the rail portion in a state in which the carriage of FIG. 22 enters the left and right direction change rail portions, and FIGS. 26A to 26F are direction change rail portions. It is the sectional side view which showed the state through which a trolley | bogie passes in time series.

  1 to 4, the horizontal transport mechanism according to the first configuration of the present invention includes a pair of left and right rails 10 laid horizontally and vertically inside a building and arranged in parallel with each other in the traveling direction of the carriage 30, and the rails 10. And a carriage 30 that travels above.

  As shown in FIG. 2, each rail 10 includes a horizontal rail that forms a horizontal section laid on the floor and the like, a curved rail that forms a curved section that changes the direction from horizontal to vertical or from vertical to horizontal, and And a vertical rail that forms a vertical section laid on the following walls and pillars. The curved section and the vertical section of each rail 10 are composed of a pinion rail 11 and a traveling wheel rail 12 which is parallel to the pinion rail 11 but spaced from it in the front-rear direction. The horizontal section is composed of one composite rail 14 in which both rails 11 and 12 are arranged in parallel.

  As illustrated in FIGS. 3 and 4, the pinion rail 11 is formed of a U-shaped cross section or a channel-shaped cross section member including front and rear walls 11 a and 11 b and a side wall 11 c. The traveling wheel rail 12 is also made of a U-shaped or channel-shaped cross-sectional member composed of front and rear walls 12a, 12b and a side wall 12c. These rails 11 and 12 are integrated by a connection wall 13. The connecting wall 13 is an extension of the side wall 12 c of the traveling wheel rail 12, and its extended end is connected to the open end edge of the front wall 11 a of the rail 11.

  The composite rail 14 in the horizontal section has a U-shaped or channel-shaped cross section composed of upper and lower walls 14a and 14b and a side wall 14c, and is disposed with its open surfaces facing left and right. The composite rail 14 is connected to the pinion rail 11 and the traveling wheel rail 12 separated before and after forming the vertical section through the curved section.

  The curve section will be described in detail. In the rail 10 located on the right side of FIG. 1 and on the front side of FIGS. 2 and 3, the front wall 11 a of the pinion rail 11 in the vertical section extends to the upper wall 14 a of the composite rail 14. Connected to. As shown in FIG. 2, the rear wall 11b of the pinion rail 11 extends to the lower wall 14b of the composite rail 14 through the curved wall 15 and is integrated with the side wall 14c. The front wall 12a of the traveling wheel rail 12 is cut off by the upper wall 14a of the composite rail 14, the rear wall 12b extends to and connects to the lower wall 14b of the composite rail 14, and the side wall 12c together with the connection wall 13 The composite rail 14 is connected to the lower wall 14b.

  Further, in the rail 10 located on the left side of FIG. 1 and on the back side of FIGS. 2 and 3, the front wall 11a of the pinion rail 11 extends to and connects to the upper wall 14a of the composite rail 14, and the rear wall 11b is The curved wall is connected to the lower wall 14b of the composite rail 14, and the side wall 11c extends to the lower wall 14b of the composite rail 14 and is integrated with the side wall 14c. The front wall 12 a of the traveling wheel rail 12 is connected to the upper wall 14 a of the composite rail 14, the rear wall 12 b is connected to the lower wall 14 b of the composite rail 14, and the side wall 12 c is combined with the connection wall 13. The rail 14 extends to and is connected to the upper wall 14a.

  A rack (also referred to as a rack gear; hereinafter the same) 20 is disposed on and fixed to the rear wall 11 b of the pinion rail 11, the curved wall 15, and the lower wall 14 b of the composite rail 14.

The carriage 30 has a traveling wheel 31 and a drive wheel pinion (also referred to as pinion gear; hereinafter the same) 33 on one side (right side) of the carriage body 35, and the traveling wheel 32 and pinion 34 on the opposite side of the carriage body 35. Provided on the side (left side). Each traveling wheel 31, 32 is held by a bearing in the carriage main body 35 on each shaft. The pinion 33 is arranged coaxially with the traveling wheel 32 on the left side of the carriage main body 35 where the traveling wheel 31 is located, and the pinion 34 is arranged coaxially with the traveling wheel 31 on the right side of the carriage main body 35 where the running wheel 32 is located. The pinions 33 and 34 are connected to respective shafts by a drive unit (not shown) including an electric motor, a speed reducer and the like installed inside the carriage main body 35.

  For example, when the carriage 30 travels from a vertical section to a horizontal section, the peripheral surfaces of the traveling wheels 31 and 32 are positioned between the front and rear walls 12a and 12b of the traveling wheel rails 12, and pinions 33 and 34 are disposed. Are arranged between the rails 10 with the racks 20 laid on the pinion rails 11. The carriage 30 travels along the rack 20 by the drive unit as the pinions 33 and 34 rotate while being engaged with the rack 20. That is, the pinions 33 and 34 rotate while meshing with the rack 20 in the vertical section and the curve section of the rail 10 and travel inside the pinion rail 11, and rotate while meshing with the rack 20 in the horizontal section. 14 inside. At the same time, the traveling wheels 31, 32 roll along the front and rear walls 12a, 12b constituting the traveling wheel rail 12 in the vertical section and the curve section, and roll along the upper and lower walls 14a, 14b of the composite rail 14 in the horizontal section. Move. Therefore, the carriage 30 is supported by the engagement of the pinions 33 and 34 and the rack 20 and the running wheels 32 and 33 are supported by the running wheel rail 12, so that the carriage 30 remains in a horizontal position in the vertical section. Move in parallel and move from the vertical section to the horizontal section through the curve section. Even when the carriage 30 enters the vertical section from the horizontal section through the curve section, the carriage 30 moves in the horizontal posture as described above.

  Power feeding to the drive unit is performed by an overhead line arranged along the rail 10, and travel control is performed by communication between a computer device outside the horizontal transport mechanism and a controller in the carriage 30, and communication that runs parallel to the overhead line. Signals are exchanged between the external computer device and the controller through the wire.

  In this embodiment, a container consists of a container with a lid | cover as an example, and is installed in the upper surface of the trolley | bogie main body 35, or is integrated in the trolley | bogie main body 35 inside. Several stations are installed along the composite rail 14.

  At the start of the operation, a load, for example, a case containing a sample or a reagent is mounted on the container by an operator. When the operator designates a transfer station to the external computer device by the terminal, the controller of the cart 30 operates the drive unit according to a command from the external computer device, causes the cart 30 to travel to the target transport station, and loads the load to the target station. Transport.

  At this time, the pinions 33 and 34 arranged on the left and right side surfaces of the carriage 30 are engaged with the rack 20, and the carriage 30 travels in the vertical section from the horizontal section of the rail 10 through the curved section, thereby moving the carriage 30 in parallel. At the same time, the pinions 33 and 34 are arranged in front of and behind the carriage 30 to suppress the running direction of the carriage 30 and the inclination in the direction orthogonal to the running direction, thereby causing the carriage 30 to travel in a horizontal posture. This horizontal posture is complemented by the traveling wheels 31 and 32, and the carriage 30 is translated without tilting. That is, since the cart 30 can always run in a horizontal posture, a gyro means for keeping the container horizontal is unnecessary. For this reason, even a load that requires a horizontal posture can be conveyed without any problem.

  Traveling in which not only the vertical section of the rail 10 but also the curved section that is the boundary between the horizontal section and the vertical section, the pinion rail 11 and the traveling wheels 31, 32 laid with the rack 20 meshing with the pinions 33, 34 roll. The wheel rails 12 are separated from each other at the front and rear, and the rails 11 and 12 can be set to different radii of curvature. Thereby, the curvature radius of the rails 11 and 12 in a curve area can be made small, and the whole conveyance system provided with this horizontal conveyance mechanism can be constructed | assembled compactly.

  In the embodiment of the horizontal transport mechanism according to the first configuration of the present invention described above, the carriage 30 includes the first pinion 33 and the first traveling wheel 31 on one side surface orthogonal to the traveling direction, The second traveling wheel 32 is provided in the same phase (coaxially) as the first pinion 33 on the opposite side surface, and the second pinion 34 is provided in the same phase (coaxially) as the first traveling wheel 31 and arranged on both side surfaces. By including the first and second pinions 33 and 34 and the first and second traveling wheels 31 and 32 having different phases, the traveling direction of the carriage 30 is changed from the horizontal posture to the vertical direction. At this time, the cart 30 is controlled so as not to tilt. The horizontal transport mechanism of the self-propelled carriage according to the present invention can be realized by the second configuration embodiment of the transport mechanism of the present invention shown in FIGS.

  In the horizontal transport mechanism of the present invention having the second configuration illustrated in FIGS. 5 to 8, the carriage 130 includes pinions 133 and 134 coaxially with the same phase (same position) in the middle portion on both the left and right side surfaces. Similar to the pair of upper and lower first traveling wheels 131a and 131b, which are on the front side and the rear side in the traveling direction of the pinions 133 and 134, and are vertically positioned with respect to the rotation axes of the respective pinions 133 and 134, the traveling wheels 132a. 132b, and the second traveling wheels 136a and 136b, the traveling wheels 137a and 137b are arranged, and in the curve section and the vertical section, either the front or the rear, the pair of lower traveling wheels and the pinion are rails. By being supported by 111 and 112, the vehicle can travel while maintaining a horizontal posture even in a curve section and a vertical section.

  That is, the carriage 130 has a pinion 133 on the one side surface of the carriage main body 135 (the center part on the right side surface) and a pair of traveling wheels 131a, 131b and 136a, 136b sandwiching the pinion 133 from the front and rear. Is arranged. The cart body 135 also has a pinion 134 coaxially with the pinion 133 on the opposite side surface thereof on the opposite side surface (center portion on the left side surface), and the running wheel 131a on the right side surface with the pinion 134 sandwiched from the front and rear. 131b and 136a and 136b and a pair of traveling wheels 132a and 132b and 137a and 137b. The left and right pinions 133 and 134 have their shafts connected to a drive unit including an electric motor, a speed reducer, and the like installed inside the carriage main body 135.

  The rail 110 is arranged in parallel with each other on the left and right sides. The left and right rails 110 arranged in the vertical section include a pinion rail 111 and a traveling wheel rail 112 laid along walls and pillars. As shown in FIGS. 7 and 8, the pinion rail 111 in the vertical section is made of a substantially L-shaped cross-section member, and the traveling wheel rail 112 is made of a U-shaped cross-section or a channel-shaped cross-section member. The rails 111 and 112 are integrally formed with a rear wall 111b of the rail 111 that forms an open surface and a front wall 112a of the rail 112. The rails 111 and 112 arranged on the left and right are arranged in parallel with the open surfaces facing each other. The left and right rails 110 in the horizontal section are composed of rails 114 having a substantially U-shaped or channel-shaped cross section, and are arranged with their open surfaces facing each other.

  The rear wall 111b of the pinion rail 111 in the vertical section (the front wall 112a of the traveling wheel rail 112) is connected to the lower wall 114b of the rail 114 in the horizontal section via a curved wall 115 forming a curved section. The side wall 111c in the vertical section extends to the upper wall 114a of the rail 114 in the horizontal section and is integrated with the side wall 114c of the rail 114b. A front wall 112 a of the traveling wheel rail 112 in the vertical section extends to the upper wall 114 a of the rail 114 in the horizontal section, and a passage hole 117 is formed in the rail 114. The rear wall 112b of the vertical section extends to and is connected to the lower wall 114b of the rail 114 of the horizontal section. The side wall 112c in the vertical section extends to the lower wall 114b of the rail 114 in the horizontal section.

  The upper wall 114a of the rail 114 in the horizontal section corresponds to the width of the pinion rail 111 in the vertical section, specifically, the sum of the rear wall 111b of the pinion rail 111 and the front wall 112a of the traveling wheel rail 112 in the vertical section. An opening 116 having a width is provided, and a guide wall 118 is erected around the opening 116. The side wall of the guide wall 118 is integrated with the side wall 111c of the pinion rail 111 in the vertical section.

  The left and right racks 120 for guiding the left and right pinions 133 and 134 include the front surface of the rear wall 111b of the pinion rail 111 in the vertical section, the inner surface of the curved wall 115 forming the curved section, and the rail 114 forming the horizontal section. It is laid over the upper surface of the lower wall 114b.

  The carriage 130 is mounted on the rail 110 in the vertical section, the outer peripheral surfaces of the traveling wheels 136a, 136b and 137a, 137b are positioned between the front wall 112a and the rear wall 112b of the traveling wheel rail 112 in the vertical section. 133 and 134 are meshed with a rack 120 laid on the lower wall 114b of the rail 114 near the boundary between the horizontal section and the curved section. Here, as for the mounting of the carriage 130 on the rail 110 in the horizontal section, the upper and lower pair of traveling wheels 131a to 137b on the left and right sides of the carriage body are guided to the inner surfaces of the upper wall 114a and the lower wall 114b of the rail 114, The left and right pinions 133 and 134 are engaged with and supported by the left and right racks 120 formed on the inner surface of the lower wall of the rail 114. Although not shown, power supply to the electric motor of the drive unit is performed by an overhead line disposed along the rail 110 as an example, and the traveling control is performed as an example by a computer device arranged outside the rail 110; It is assumed that signals are transmitted and received between the external computer device and the controller through a communication line that runs through the rail 110 and parallel to the overhead line along the rail 110.

  When the drive unit (not shown) rotates the pinions 133 and 134 while meshing with the rack 120, the carriage 130 travels in the horizontal section and the curve section of the rail 110, and then travels in the vertical section. Here, the distance between the upper wall 114a and the lower wall 114b of the rail 114 in the horizontal section is the distance between the upper end of the traveling wheel 131a of the carriage 130 and the lower end of 131b, that is, the traveling wheels 131a, 131b, 136a. 136b, 132a and 132b, and 137a and 137b are approximately equal in height, so that the traveling wheels 131a and 131b, 136a and 136b, 132a and 132b, and 137a and 137b extend along the upper and lower walls 114a and 114b of the rail 114. Rolls and the carriage 130 moves horizontally. After the carriage 130 travels in a horizontal posture in this way, the left and right traveling wheels 136a and 136b, and 137a and 137b along the front and rear walls 112a and 112b constituting the traveling wheel rail (multi-rail portion) 112 in the vertical section. The traveling wheels 131a and 131b and 132a and 132b pass through the opening 116 in a manner guided by the guide wall 118 and move to the outside of the single rail 114. Accordingly, the carriage 130 moves from the horizontal section of the horizontal posture to the vertical section while maintaining the horizontal posture, and travels in the vertical section in the horizontal posture (see FIGS. 6 and 8).

The horizontal transport mechanism of the present invention having the second configuration shown in FIGS. 5 to 8 also includes a container with a lid (not shown) as an example, and the container is installed on the upper surface of the carriage main body 135 , or This is an installation mode incorporated in the inside of the cart body 135 . For example, load composed of case was placed a sample or reagent is accommodated in a container, by instructing the transfer station by an electrical terminal connected to the external computer, the electric motor of the drive unit is activated, the object carriage 130 Travel to the transfer station where you want to stop.

Thus, in the horizontal transport mechanism of the embodiment according to the second configuration of the present invention, the carriage 130 has the pinions 133 and 134 arranged on the left and right side surfaces, and is driven along the rack 120 by the pinions. The carriages 130a and 131b, 132a and 132b, 132a and 132b, 136a and 136b, and 137a and 137b are provided on the left and right side surfaces of the pinion 133 and 134, the rack 120, and the carriage 130, and are tilted. since it has can be suppressed, even if the inclination to the carriage 130 can translate in slope within the allowable range, thus, the horizontal section of the installed container truck 130 in a horizontal position, of course, the curve segment or a vertical Even in a section, the vehicle can be driven in a horizontal posture. This eliminates the need for gyro means, so that the type and amount of the load can be increased.

Further, in the horizontal section, a pair of rails for pinion, in which left and right racks 120 meshing with the left and right pinions 133 and 134 of the carriage 130 formed on the rail 114, are provided on the left and right sides of the carriage, and are paired with each other. The rail 110 from the curve section to the vertical section is formed at a portion where the traveling wheel rails on which the traveling wheels 131a and 131b, 132a and 132b, 136a and 136b, and 137a and 137b roll form a vertical section from the curve section. Since the pinion rail 111 and the traveling wheel rail 112 are separately formed, the rails 111 and 112 can be set to different radii of curvature. Therefore, the curvature radius of the pinion rail 111 and the rack 120 can be reduced, and the entire transport system can be constructed compactly.

  Next, the horizontal transport mechanism of the self-propelled carriage according to the third configuration of the present invention can be realized by the embodiment shown in FIGS. Hereinafter, embodiments of the horizontal transport mechanism according to the third configuration will be described with reference to FIGS.

  In the horizontal transport mechanism according to the third configuration of the present invention shown in FIGS. 9 to 12, the carriage 230 includes pinions 233 and 234 on the same phase in the middle of both left and right sides. In addition, horizontal traveling wheels 231a, 231b, 232a, 232b are provided on the front side and the rear side in the traveling direction of the pinions 233, 234, and the vertical traveling is performed above and below the pinions 233, 234. Rings 236a, 236b, 237a, 237b are provided. In the vertical section, the carriage 230 has a pair of upper and lower vertical traveling wheels 236a, 236b, 237a, 237b, and pinions 233, 234 supported by the rail 211, so that the carriage 230 can be moved horizontally from the horizontal section. You can drive while maintaining your posture.

  That is, the carriage 230 is provided with a pinion 233 at the center of one side surface (right side center) of the carriage main body 235, and a pair of horizontal portion traveling wheels 231 a and 231 b in the front-rear direction sandwiching the pinion 233 and the pinion 233. A pair of vertical traveling wheels 236a and 236b are arranged in the vertical direction with the sandwiched therebetween. A pinion 234 is provided coaxially with the pinion 233 at the opposite side surface center (left side center) of the carriage main body 235. The pinion 234 is sandwiched from the front and rear and from the top and bottom, and the horizontal portion traveling wheels 232a and 232b. Vertical portion traveling wheels 237a and 237b are arranged. All the traveling wheels are formed to have the same diameter, but are smaller than the diameters of the pinions 233 and 234.

  9 to 12, a pair of left and right rails 210 in the horizontal section are arranged in parallel to each other. In the vertical section, vertical rails 211 are laid along walls and columns, and the pinions 233 and 234 of the carriage 230 and the vertical portion traveling wheels 236a, 236b, 237a, and 237b pass therethrough. As shown in FIGS. 11 and 12, the vertical rail 211 is made of a U-shaped cross-section material, the inner sides of the front and rear walls 211a and 211b are the traveling paths of the traveling wheels, and the outer side close to the connecting wall 211c is the pinion 233. This is a rack travel path on which 234 travels. Each rail forming the horizontal section is composed of one horizontal rail 214 on either side. In the horizontal rail 214, a pinion rail having a cross section in which an upper wall 214a, a lower wall 214b, and a connection wall 214c are joined to each other at right angles has the same cross section as the vertical rail 211, and is formed in an inverted L-shaped cross section on the upper wall 214a. The traveling wheel guide wall 219a is formed, and the lower wall 214b is integrally formed with a traveling wheel guide wall 219b having an L-shaped cross section.

The rear wall 211b of the vertical rail 211 is connected to and integrated with the lower wall 214b of the horizontal rail 214 via a curved wall 215 forming a curved section. A tunnel 217 through which the traveling wheels 231b and 232b of the carriage 230 pass is formed on the rear wall 211b which is a curved surface forming a curved section. The tunnel 217 includes a vertical opening having a width obtained by extending the front and rear walls 211 a and 211 b of the vertical rail 211 and a horizontal opening having a width obtained by extending the horizontal rail 214. The front wall 211a is formed so as to be connected to the upper wall 214a of the vertical rail, but a part of the curve section is cut off to form an opening 216 through which the traveling wheels 236a and 237a of the carriage 230 pass. The side wall 211c extends to the side wall 214c of the horizontal rail 214 and is integrated with the side wall 214c.

In the vertical rail 211 of FIGS. 9 to 12, the width of the rail portion for the traveling wheel and the rail portion for the pinion that are sandwiched between the front and rear walls 211a and 211b are different. That is, the portions that form the travel paths of the traveling wheels 236a and 236b and 237a and 237b, which are close to the connection wall 211c, are formed to have a width close to the diameter of these traveling wheels and become the travel paths of the pinions 233 and 234. Is formed in a width wider than the diameter of these pinions. The pinion rack 220 is laid across the rear wall 211b of the vertical rail 211 forming the vertical section, the curved wall 215 forming the curved section, and the lower wall 214b of the horizontal rail 214 forming the horizontal section. A guide member 243 having a curved surface is disposed on the rear surface of the rear wall 211b in order to support the horizontal traveling wheels 231b and 232b in the curved section.

  9 to 12, the carriage 230 is mounted on the rail 210 in such a manner that the circumferential surfaces of the horizontal portion traveling wheels 231 a, 231 b, 232 a, and 232 b are disposed between the upper and lower walls 214 a and 214 b of the horizontal rail 214 and the vertical portion traveling wheels. 236a and 237a are arranged on the outer surface of the upper wall 214a, the vertical traveling wheels 236b and 237b are arranged on the outer surface of the lower wall 214b, and the pinions 233 and 234 are engaged with the rack 220 of the horizontal rail 214. . Although not shown in the drawings, the pinions 233 and 234 are coupled to a drive unit including an electric motor, a speed reducer, and the like, whose shaft is installed inside the carriage main body 235. Power supply to the electric motor of the drive unit is, for example, by an overhead line arranged along the rail 210, and traveling control is, for example, communication between a computer device outside the rail 210 and a controller in the carriage 230. It is assumed that a signal is exchanged between the external computer device and the controller through a communication line that runs along the rail 210 in parallel with the overhead line.

  In the horizontal transport mechanism of the present invention according to the third configuration shown in FIGS. 9 to 12, the carriage 230 travels in the horizontal section by rotating the pinions 233 and 234 that engage with the rack 220 on the rack, and pulls it. Next, the vehicle travels along the curve section and the vertical section of the rail 210.

  When traveling in the horizontal section, the carriage 230 travels along the horizontal rail 214 in a horizontal posture by the horizontal portion traveling wheels 231a, 231b, 232a, 232b and the pinions 233, 234. At this time, the vertical traveling wheels 236a, 236b, 237a, 237b roll on the outer surfaces of the upper and lower walls 214a, 214b of the horizontal rail 214 to complement the horizontal posture of the carriage 230.

  When the carriage 230 enters the curve section, as shown in FIG. 10, the pinions 233 and 234 roll while meshing with the rack 220, and the vertical traveling wheels 236 a and 237 a are curved at the lower end of the front wall 211 a of the vertical rail 211. Are guided between the front and rear walls 211a and 211b, the vertical traveling wheels 236b and 237b pass through the tunnel 217 and face the front and rear walls 211a and 211b, and the horizontal traveling wheels 231a and 232a are connected to the upper wall 214a of the horizontal rail 214. It is guided upward by a slope at the end of the. At this time, the traveling wheel 231a rolls in contact with the upper wall 214a of the horizontal rail 214 and the traveling wheel 231b contacts the guide member 243 on the back surface of the vertical rail 211, and ascends to the carriage 230 while maintaining the horizontal posture. To start.

  When the carriage 230 is further raised by the rotation of the pinions 233 and 234, the vertical traveling wheels 236a, 236b, 237a, and 237b move along the traveling surface formed on the front and rear walls 211a and 211b, and the horizontal traveling wheels 231a and 232a. Goes up through the opening 216 and the traveling wheels 231b and 232b go up through the guide member 243 and go up. The carriage 230 moves up the vertical section while maintaining the horizontal posture because the vertical traveling wheels 236a, 236b, 237a, 237b roll between the front and rear walls 211a, 211b of the vertical rail 211 across the pinions 233, 234. To do.

  Also in the horizontal transport mechanism of the present invention according to the third configuration described above with reference to FIGS. 9 to 12, the container is installed on the upper surface of the carriage 230 or incorporated in the inside of the carriage body 235 of the carriage 230. Yes. In this container, for example, a load consisting of a case containing a sample or a reagent is accommodated. When the carriage 230 is instructed to the transfer station by a terminal electrically connected to an external computer, the electric motor of the drive unit is activated, travels to the target transfer station, and stops there.

  As described above, in the horizontal transport mechanism of the embodiment according to the third configuration of the present invention, the carriage 230 is disposed on the pinions 233 and 234 on the left and right side surfaces, and is caused to travel along the rack 220 by the pinions. At the same time, the pinions 233 and 234 and a pair of racks 220 in which these pinions mesh with each other, horizontal traveling wheels 231a and 231b, 232a and 232b, horizontal rails 214 supporting the same, vertical traveling wheels 236a, 236b, 237a and 237b The horizontal posture of the carriage 230 is maintained by the vertical rail 211 that supports the rail 220 and the rail 210 in the curved section provided with the rack 220 and the rails 214 and 211 that are continuous with the rail. For this reason, the carriage 230 can move in parallel with little inclination, and the container incorporated in the carriage 230 can travel not only in the horizontal section but also in the curved section and the vertical section while maintaining the horizontal posture. As a result, the gyro mechanism is not required because the vehicle can travel while maintaining the horizontal posture in any of the horizontal section, the curve section, and the vertical section, and therefore, the container loading capacity can be increased.

  In addition, there is a single rail that forms the curve section and the vertical section that follows it, that is, the rail for the pinion and the rail for the running wheel are integrally formed as a composite rail, so each rail is individually There is no need to lay in. For this reason, the space which each rail occupies can be made small. In particular, since the curve curvature can be kept small in the curve section, the entire transport system can be constructed in a compact manner.

  In addition, depending on the type of load, the traveling wheel guide walls 219a and 219b of the horizontal rail 214 can be omitted, and the same configuration as the cross section of the vertical rail 211 can be obtained, so that the installation cost and the occupied space can be further reduced. Can do.

  In addition to the above-described embodiments of the transport mechanism according to the first to third configurations of the present invention, the cart can be moved from the horizontal section to the vertical section via the curve section while maintaining the horizontal posture. There is a transport mechanism according to the present invention having a configuration of 4. Accordingly, an embodiment of a horizontal transport mechanism having a fourth configuration will be described with reference to FIGS.

  In the horizontal transport mechanism according to the fourth configuration of the present invention shown in FIGS. 13 to 19, the carriage 330 to be used is, for example, four horizontal sections with two as one set before and after the bottom of the carriage main body 335. Horizontal running wheels 331a and 331b for running are provided. A driving force for traveling is input to the horizontal traveling wheels 331a or 331b. In addition, the left and right drive pinions 333 for the vertical section (the pinion on the opposite surface in the drawing is not visible) and the pinion 333 are positioned in a manner sandwiching the upper and lower sides at a substantially intermediate position between the left and right side surfaces of the carriage 330. There are provided traveling wheels 336a and 336b for the lower two vertical sections (the traveling wheels on the opposite surface of the figure cannot be seen). The pinion 333 may be replaced with one of the traveling wheels 336a or 336b for the vertical section, and preferably with the lower one 336b.

On the other hand, the rails of the horizontal transport mechanism according to the fourth configuration are arranged in such a manner that the horizontal rails 310 on which the traveling wheels 331a and 331b roll and the vertical rails 311 are orthogonal to each other. The horizontal rail 310 is formed by a stationary horizontal rail portion 310a and a undulating rail portion 310b that is pivotally connected to a tip portion of the rail portion 310a in a horizontal and upright manner by a driving force of a cylinder or a motor (not shown). .
On the other hand, the vertical rail 311 has stationary vertical rail portions 311a and 311b arranged in a direction orthogonal to the stationary horizontal rail portion 310a, and the length of the undulating rail portion 310b is substantially equal to the length of the undulating rail portion 310b. It is formed by a separation rail portion 311c that is separated and separated above the position on the extension line.
The separation rail portion 311c has a function of being operated so as to be separated from and joined to the rail portions 311a and 311b in a direction orthogonal to the vertical rail portions 311a and 311b by a driving force of a cylinder or the like. . The vertical rail 311 is provided with a rack 311d for engaging and guiding the pinion 333 on the inner surface of both the stationary vertical rail portions 311a and 311b and the separation rail portion 311c.

  In the horizontal conveyance mechanism of the present invention according to the fourth configuration, when the separation rail portion 311c is separated from the stationary vertical rail portions 311a and 311b in addition to the vertical and horizontal rails 310 and 311, the upper and lower stationary portions are arranged. The direction changing rail portion 312 that is shifted between the vertical rail portions 311a and 311b and changes the direction of the carriage 330 that has traveled on the horizontal rail 310 to the upper stationary vertical rail portion 311a is used as a curved rail. It arrange | positions so that it may operate | move in a horizontal direction synchronizing with the rail part 311c.

The direction-changing rail portion 312 as a curve rail has a vertical portion 312a whose upper end is joined to the lower end of the upper stationary vertical rail portion 311a, and three curves in which three routes are arranged vertically below the vertical portion 312a. Parts 312b, 312c, and 312d. The vertical portion 312a includes a rack 312e joined to the rack 311d.
Here, the upper three curved portions 312b, 312c, and 312d, and the lower two curved portions 312b and 312d sandwich the pinion 333 in the carriage 330 on the horizontal rail 310, and the lower traveling wheels 336a and 336b. The intermediate curved portion 312c is formed on the curved rail provided with a rack 312f for guiding the pinion 333.

  A curved portion 312c formed on the direction changing rail portion 312 as a curved rail for guiding the pinion 333 is provided with a rack 312f that meshes with the pinion 333 on the inner lower surface. In the case where the pinion 333 is provided so as to be replaced with the traveling wheel 336b for the vertical section, the rack 312f that meshes with the pinion 333 is provided on the lower surface inside the lower curved portion 312d.

  In the transport mechanism of the fourth configuration of the present invention comprising the carriage 330 having the above configuration and the horizontal and vertical rails 310 and 311, as illustrated in FIGS. 13 to 15, When the carriage 330 that has traveled with the traveling wheels 331a and 331b reaches the direction changing rail portion 312 joined to the upper vertical rail portion 311a, the upper and lower traveling wheels 336a and 336b become the direction changing rail portion. The pinion 333 enters the rail with the rack 312f of the intermediate curve portion 312c at the same time as it enters the rails of the upper and lower curve portions 312b and 312d in 312.

  The traveling wheels 336a, 336c and the pinion 333 that have entered the curved portions 312b, 312d, and 312c are guided by the respective curved rails to reach the vertical portion 312a of the direction changing rail portion 312 and the pinion 333 and the pinion 333 are connected. The rack 312e that engages and guides travels by entering the upper stationary vertical rail portion 311a (see FIGS. 14, 16, and 17).

  Here, the carriage 330 includes the traveling wheels 336a.., Which are arranged in a row in the section of the vertical rail portion 311a including the vertical portion 312a of the direction changing rail portion 312. Since the three rolling elements of 336b and the pinion 333 support the vertical rail 311, the carriage 330 is held in the horizontal posture that has traveled on the horizontal rail 310 as a whole, and the direction changing rail portion. Via 312, the vehicle can travel along the vertical rail 311 while maintaining the horizontal posture (see FIG. 15).

  When the cart 330 that has traveled horizontally enters the upper vertical rail portion 311a, the undulating rail portion 310b is raised (see FIGS. 18 and 19), and the direction changing rail portion 312 and the vertical rail portion 311a are When the horizontal shift is performed (to the side of the undulating rail portion 310b) so as to release the joint, the separation rail portion 311c of the vertical rail 311 is synchronized with the upper and lower stationary vertical rail portions 311a. 311b, the entire vertical rail 311 is coupled in a penetrating state, so that the carriage 330 that has entered the vertical rail portion 311a can be run along the upper vertical rail portion 311a as it is, or It is possible to travel toward the lower vertical rail portion 311b or to select the traveling direction.

  As described above, the transport mechanism according to the fourth configuration of the present invention has a function as a mechanism that can change the traveling direction of the carriage 320 from the horizontal rail 310 to the vertical rail 311 while maintaining the horizontal posture. Since the traveling direction in the vertical direction of the cart 320 entering the vertical rail from 310 can be selected either upward or downward, there is also an action as a branching mechanism in the traveling direction.

Next, an application example of the horizontal transport mechanism according to the fourth configuration of the present invention described above with reference to FIGS. 13 to 19 will be described with reference to FIGS. 20 to 26, the same reference numerals as those in FIGS. 13 to 19 denote the same members or the same parts.
In the horizontal transport mechanism of the present invention to which the fourth configuration described with reference to FIGS. 13 to 19 is applied, the carriage 330 to be used is configured as illustrated in FIGS. 20 to 23. 20 to 23, a carriage 330 includes horizontal traveling wheels 331a and 331b, each of which is a set of two, before and after the bottom of the carriage body 335, and a guide rail (not shown) for preventing wheel removal. Z) is provided with horizontal assist wheels 331c and 331d. In the illustrated example, a horizontal running wheel 331D for obtaining a horizontal running force is provided at the center of the bottom of the carriage main body 335. The driving force for horizontal traveling may be input to either or both of the traveling wheels 331a and 331b. In this way, the horizontal running wheel 331D becomes unnecessary.

On the other hand, the left and right drive pinions 333 and 334 for the vertical section and the pinions 333 and 334 are positioned so as to be sandwiched between the upper and lower sides at approximately the middle position of the left and right side surfaces of the carriage 330, and two lower ones. Traveling wheels 336a, 336b and 337a, 337b for the vertical section are provided on the inner side (closer to the cart body) than the pinions 333, 334 when viewed from the front (back surface) of the cart body 335. Further, on the outer surface side of both the pinions 333 and 334 on the same axis as the pinions 333 and 334, separation prevention rollers 333a and 334a for preventing the pinions 333 and 334 from coming off the rack are respectively provided. . The detachment prevention rollers 333a and 334a have the same shape and are smaller in diameter than the pinion pinions 333 and 334, respectively. 20 to 23, CT schematically shows a container mounted on the cart body 335.
Here, detachment prevention rollers 333a and 334a provided coaxially with the above-described pinions 333 and 334 have the same purpose as the rollers, and the horizontal transport mechanism of the present invention having the second and third configurations described above. It can also be applied to the pinions 133 and 134 and 233 and 234 provided in the carts 130 and 230 in FIG.

  The direction changing rail portion 312 that is changed in direction from the horizontal direction to the vertical direction after the carriage 330 has traveled is an intersection of the horizontal rail 310 and the vertical rail 311 in the transport mechanism of the present invention of the fourth configuration. 24 and has the form shown in FIG.

The direction change rail part 312 in FIG. 24 includes pinions 333 and 334 on the left and right sides of the carriage main body 335 in a state where the carriage 330 schematically shown in FIG. 25 is viewed from the front (or the back), and vertical section traveling wheels 336a and 336b. 337a and 337b and the detachment prevention rollers 333a and 334a have end face (cross-sectional) shapes shown in FIG.
FIG. 24 shows the configuration of the left rail portion 312 in FIG. 25 in the left and right direction change rail portions 312 whose cross-section (end face) shape is shown in FIG. Here, since the left and right direction change rail portions 312 have the same shape that is left-right symmetric, the configuration of the left direction change rail portion 312 in FIG. 25 will be described below with reference to FIG. 24 (see also FIG. 25).

The horizontal rail 310 and the vertical rail 311 to which the left and right direction changing rails 312 are applied include at least a stationary horizontal rail portion 310a and a stationary vertical rail portion 311a, as in the example described with reference to FIGS. Shall.
The direction changing rail portion 312 includes a vertical portion 312a whose upper end is joined to the lower end of the upper stationary vertical rail portion 311a, and three curve portions 312b in which three routes are lined up and down below the vertical portion 312a. , 312c, 312d. The vertical portion 312a includes a rack 312e joined to the rack 311d of the vertical rail portion 311a.

Here, the three curved portions 312b, 312c, and 312d shown in FIG. 24 are arranged such that the upper and lower curved portions 312b and 312d sandwich the pinion 334 (333) in the carriage 330 on the horizontal rail 310, The lower traveling wheels 337a and 337b (336a and 336b) are formed on a curved rail that guides from the horizontal direction to the vertical direction, and an intermediate curved portion 312c is coaxially disconnected from the pinion 334 (333) and each pinion. It is formed on a curved track rail of a double track (multiple traveling path) having a rack 312f and a guide groove 312g for guiding the prevention rollers 334a (333a) in parallel.
Further, in order to guide the detachment prevention roller 334a (333a), the double track configuration having the guide groove 312g arranged in parallel with the rack 312f is provided in the cart of the horizontal transport mechanism of the present invention having the second and third configurations described above. When the pinions 133 and 134 and 233 and 234 are provided with a prevention roller, the present invention is also applied to a curved rail provided with a rack that meshes with the pinion.

  A curved portion 312c formed on a double track curved rail that guides the pinion 334 (333) and the detachment prevention roller 334a (333a) is provided with a rack 312f that meshes with the pinion 334 (333) on the inner lower surface.

  In the transport mechanism to which the fourth configuration of the present invention including the carriage 330 having the configuration described with reference to FIGS. 20 to 25, the horizontal and vertical rails 310 and 311, and the direction changing rail portion 312 is applied. As illustrated in FIG. 26, the carriage 330 that has traveled on the horizontal rail 310 from the left side of the figure by the traveling wheels 331a and 331b reaches the direction changing rail portion 312 joined to the upper vertical rail portion 311a. Then, the left and right side upper and lower vertical section traveling wheels 336a and 336b and 337a and 337b enter the rails of the upper and lower curved portions 312b and 312d in the left and right direction conversion rail portion 312 and at the same time Pinions 333 and 334 and coaxial separation prevention rollers 333a and 334a are connected to the rack 312f and the guide groove 312g of the intermediate curve portion 312c. Entering the rail having in parallel.

  The traveling wheels 336a, 336b and 337a and 337b for the vertical section that have entered the curved portions 312b, 312d and 312c, the pinions 333 and 334, and the coaxial slip-off prevention rollers 333a and 334a are guided to the respective curved rails. Then, it reaches the vertical portion 312a of the direction changing rail portion 312, and the action of the left and right racks 312e for engaging and guiding the pinions 333 and 334 and the pinions 333 and 334, respectively, and both the pinions 333 and 334 are the respective racks 312e. The anti-separation rollers 333a and 334a that prevent them from coming off and the guide grooves 312g that guide the respective rollers correctly enter the upper left and right stationary vertical rail portions 311a to travel (FIG. 26 (a) to FIG. 26). (See (f)).

  As shown in FIG. 26 (f), the carriage 330 is arranged in the section of the vertical rail portion 311a including the vertical portion 312a of the left and right direction changing rail portions 312, and the left and right traveling wheels 336a, 336b and 337a, 337b. , And the left and right vertical rails 311 are supported by the three rolling elements on the left and right sides of the left and right pinions 333 and 334, respectively. The vehicle can travel along the vertical rail 311 while being held in a horizontal posture (see FIG. 26 (f)). This is the same as the previous embodiment described with reference to FIGS.

  In the embodiment according to the first to fourth configurations described above and the application examples thereof, the horizontal rail of the horizontal section is formed by one composite rail having a channel-shaped cross section. Accordingly, it may be composed of a pinion rail and a traveling wheel rail in the same manner as the vertical section, and the traveling of the carriage in the horizontal section may adopt a traveling wheel system that receives driving force in addition to the rack and pinion. Therefore, it can be easily implemented by applying existing technology as a transport mechanism that can always maintain a horizontal posture. In particular, in the application example of the fourth configuration of the present invention, on the same axis of the pinion that meshes with the rack and outputs the driving force of the vertical section traveling from the curve section, the pinion is prevented from coming off from the rack. Since the roller is provided, the meshing state of the pinion and the rack in the curve section where the traveling mode is converted from horizontal to vertical can be secured stably.

  Further, in the above embodiment, the vertical rail and the horizontal rail are laid along the floor and wall of the building, but the horizontal transport mechanism of the present invention is formed even if these rails are laid on a pillar or a ceiling. be able to. For example, if the item to be transported must maintain a specific posture and must travel on the ceiling, select the horizontal rail cross-sectional shape, traveling wheel support structure, or rail laying method as appropriate. By doing so, the horizontal posture of the container is maintained without gyroscopic means on the ceiling and walls, such as by laying the rails that make up the horizontal section, the curved sections, and the rails that make up the subsequent vertical section in a staircase pattern. In this state, the cart equipped with the container can be run.

The front view which shows embodiment of the horizontal conveyance mechanism of the self-propelled trolley | bogie by the 1st structure of this invention. The right view of the horizontal conveyance mechanism shown in FIG. The top view of FIG. The perspective view of the horizontal conveyance mechanism shown in FIGS. The front view which shows embodiment of the horizontal conveyance mechanism of the self-propelled trolley | bogie by the 2nd structure of this invention. The right view of the horizontal conveyance mechanism shown in FIG. The top view of FIG. The perspective view of the horizontal conveyance mechanism shown in FIGS. The front view which shows embodiment of the horizontal conveyance mechanism of the self-propelled trolley | bogie by the 3rd structure of this invention. The right view of the horizontal conveyance mechanism shown in FIG. The top view of FIG. The perspective view of the horizontal conveyance mechanism shown in FIGS. The side view for demonstrating the movement condition of the horizontal section of the trolley | bogie in the horizontal conveyance mechanism by the 4th structure of this invention. The side view for demonstrating the movement condition of the curve area of the trolley | bogie in the horizontal conveyance mechanism of a 4th structure. The side view for demonstrating the movement condition of the vertical section of the trolley | bogie in the horizontal conveyance mechanism of a 4th structure. The perspective view which shows the figure of the trolley | bogie and each rail in the example which a trolley | bogie drive | works from a horizontal area to a vertical area. FIG. 17 is a schematic side view of FIG. 16. The perspective view which shows the figure of the trolley | bogie and each rail in the example which a trolley | bogie drive | works with a horizontal attitude | position in a vertical section. FIG. 19 is a schematic side view of FIG. 18. The side view of an example of the trolley | bogie used by the application example of this invention horizontal conveyance mechanism of a 4th structure. The top view of the trolley | bogie of FIG. The left view of the trolley | bogie of FIG. The typical perspective view of the trolley | bogie shown in FIGS. The perspective view which showed typically the form of the direction change rail (left side rail) which the trolley | bogie of FIGS. 20-23 travels. The front view of the said rail part in the state in which the trolley | bogie of FIG. 22 enters into a right-and-left direction change rail part. (a)-(f) is a sectional side view which showed the state through which a trolley passes the direction change rail part in time series.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Rail 11 Pinion rail 12 Running wheel rail 14 Compound rail 15 Curved wall 20 Rack 30 Bogie 31, 32 Running wheel 33, 34 Pinion 35 Bogie body 110 Rail 111 Pinion rail 112 Running wheel rail 114 Single rail 115 Curved wall 116 opening 117 hole 118 guide wall 120 rack 130 bogie 131a, 131b running wheel 132a, 132b running wheel 133, 134 pinion 135 bogie main body 136a, 136b running wheel 137a, 137b running wheel 210 rail 211 vertical rail 214 horizontal rail 215 curved wall 216 Opening 217 Tunnel 220 Rack 230 Bogies 231a, 231b Horizontal running wheels 232a, 231b Horizontal running wheels 233, 234 Pinion 235 Bogie bodies 236a, 236b Vertical running wheels 237 , 237b vertical portion running wheels

Claims (7)

Rails laid horizontally and vertically inside the building, racks laid along the rails, traveling wheels that run on the rails, pinions that engage with the racks, and drive units for the pinions are mounted on the tower. In a transport mechanism equipped with a self-propelled carriage
The rail has a pinion rail having a rack that meshes with the pinion in a curved section that changes its direction from horizontal to vertical or from vertical to horizontal, and a vertical section that follows the rail, and a traveling parallel to and away from the pinion rail. And a rail for wheels,
The carriage includes, on the left and right side surfaces thereof, a pinion that meshes with the pinion rail and a traveling wheel supported by the traveling wheel rail, and the pinion rail and the traveling wheel rail are arranged in a curve section and this section. Place the carriage so that it can move in the horizontal position in the subsequent vertical section ,
A first pinion and a first traveling wheel are provided on one side surface orthogonal to the traveling direction of the carriage, and a second traveling wheel is disposed on the other side surface at the same phase as the first pinion. Self-propelled, characterized in that a second pinion is provided at the same phase as that of one traveling wheel, and the tilt of the carriage is suppressed by the first and second pinions and the traveling wheel having different arrangement phases on both side surfaces. Horizontal transport mechanism for trolleys. Rails laid horizontally and vertically inside the building, racks laid along the rails, traveling wheels that run on the rails, pinions that engage with the racks, and drive units for the pinions are mounted on the tower. In a transport mechanism equipped with a self-propelled carriage
The rail has a pinion rail having a rack that meshes with the pinion in a curved section that changes its direction from horizontal to vertical or from vertical to horizontal, and a vertical section that follows the rail, and a traveling parallel to and away from the pinion rail. And a rail for wheels,
The carriage includes, on the left and right side surfaces thereof, a pinion that meshes with the pinion rail and a traveling wheel supported by the traveling wheel rail, and the pinion rail and the traveling wheel rail are arranged in a curve section and this section. Place the carriage so that it can move in the horizontal position in the subsequent vertical section ,
The carriage is provided with a pinion coaxially at the same phase position in the middle part on both the left and right side surfaces, and sandwiches the pinion in front and rear in the traveling direction of the carriage, and sandwiches the rotation axis of the pinion above and below. The front and rear traveling wheels and the pinion are supported by the rails in the curve section and the vertical section following this section, and the carriage is supported by each rail. A horizontal transport mechanism for a self-propelled carriage characterized by being driven while being held in a horizontal posture . The pinion rail and the running wheel rail in the horizontal section of the rail are formed of a composite rail in which both rails are arranged in parallel, and the pinion rail and the running wheel rail forming the composite rail are a vertical section from the curve section. The horizontal transport mechanism according to claim 1 or 2, wherein the horizontal transport mechanism is arranged separately in front and rear. Rails laid horizontally and vertically inside the building, racks laid along the rails, traveling wheels that run on the rails, pinions that mesh with the racks, and drive parts of the pinions are mounted. In a transport mechanism equipped with a self-propelled carriage
The carriage has a pinion on the same phase coaxial in the middle of the left and right side surfaces, and also has a pair of front and rear horizontal running wheels that sandwich the pinion in the running direction of the carriage, and a rotation shaft of the pinion. The upper and lower vertical running wheels that make a pair sandwiched between the upper and lower,
The rail includes a curve rail having a rack that meshes with a pinion and a traveling surface of a horizontal traveling wheel in a curved section that changes direction from horizontal to vertical or from vertical to horizontal, and in the vertical section that follows the curved section, the pinion A vertical rail with a rack and a running surface of a vertical running wheel are provided. In a curved section, a horizontal running wheel and a pinion are supported by the curved rail, and in a vertical section following the curved section, the vertical section travels. A horizontal transport mechanism for a self-propelled carriage characterized in that the wheel and the pinion are supported by a vertical rail. Rails laid horizontally and vertically inside the building, racks laid along the rails, traveling wheels that run on the rails, a pinion that meshes with the rack, and a drive unit for the pinion In the transport mechanism with a self-propelled carriage on which things are mounted,
The carriage is provided with a pinion on the same phase coaxial in the middle part on both the left and right side surfaces, and a pair of horizontal running wheels provided at the bottom of the carriage and the rotation axis of the pinion between the upper and lower sides. The upper and lower vertical running wheels provided in
The rail includes a curve rail having a running surface that restrains and guides the car black engaged with the pinion and a vertical running wheel in a curve section in which the direction is changed from horizontal to vertical or from vertical to horizontal. In the following short vertical section, it has a short rack that meshes with the pinion and a short vertical rail with the traveling surface of the vertical section traveling wheel, and in the curved section, the pinion is supported by the car black and the horizontal section The running wheel is supported by the curved rail, and in the short vertical section following the curved section, the pinion and the vertical running wheel are supported by the vertical rail containing the short rack, and the carriage always runs in a horizontal posture A horizontal transport mechanism for self-propelled carts. The horizontal transport mechanism for a self-propelled carriage according to any one of claims 3 to 6, wherein pinions provided on the left and right sides of the carriage are provided with coaxial prevention rollers, respectively.   The curve rail arranged in the curve section includes a rack that meshes with the left and right pinions of the carriage, and a guide groove that supports and guides the pinion and the detachment prevention roller coaxial with the pinion so as to form a double track with the rack. The horizontal conveyance mechanism of the self-propelled carriage according to claim 2.

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