JP5403376B2 - Orbital anomaly detection system - Google Patents

Description

  The present invention relates to a trajectory abnormality detection system including a trajectory that guides traveling of a moving body and a deformation detection unit that detects whether or not a specific trajectory portion of the trajectory is deformed.

The above-described orbit abnormality detection system detects, as an abnormality, a state in which a specific orbit portion set as an abnormality detection target in an orbit is deformed by an earthquake or the like and the moving body does not travel normally. As a conventional example of the above-described orbit abnormality detection system, there is one in which a deformation detecting means for detecting deformation of a specific track portion includes a light projecting body and a light receiver at both ends of the specific track portion (for example, Patent Documents). 1).
In the conventional apparatus, detection light along the longitudinal direction of the track is irradiated from the light projecting body, and normality / abnormality of the track is determined based on whether or not the light receiving body receives the detection light. In other words, a specific orbital portion of the orbit is deformed due to an earthquake or the like, and the optical axis of the detection light emitted from the projector and the installation angle of the photoreceiver are shifted, so that the photoreceiver can receive the detection light. Disappear. Therefore, it is possible to detect an abnormality in the specific track portion based on whether or not the light receiving body receives the detection light.

Japanese Patent Laid-Open No. 7-69212

  However, in the configuration of the conventional orbit abnormality detection system, when only the middle portion of the specific track portion is deformed and the both ends to which the light projecting body and the light receiver are attached are not deformed, the middle portion of the specific track portion is used. In spite of the deformation, the detection light emitted by the light projecting body is received by the light receiving body, and the deformation of the specific orbital portion cannot be detected. Thus, the configuration of the conventional orbit abnormality detection system may not be able to accurately detect an abnormality in the specific orbit portion.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide a trajectory abnormality detection system that can accurately detect trajectory abnormalities.

In order to achieve this object, the first characteristic configuration of the trajectory abnormality detection system according to the present invention includes a trajectory that guides the traveling of the moving body, and a deformation detection means that detects whether or not the specific trajectory portion of the trajectory is deformed. In the provided orbit abnormality detection system,
The deformation detecting means is arranged in a posture along the longitudinal direction on the side of the specific track portion, one end portion is fixed with respect to the position of the end portion of the specific track portion, and the other end portion is the track. Between the one end part and the other end part of the object to be operated, provided at an intermediate position between the specific track part and the specific track part. An operating body that deforms the operated body and moves the other end from an initial position before the specific track portion is deformed, and detects that the other end of the operated body has moved from the initial position. And a detecting means for performing the above.

According to this characteristic configuration, the object to be operated is provided with one end portion fixed in a position relative to the position of the end portion of the specific track portion, but the other end portion is provided to be relatively movable with respect to the track. Therefore, for example, when a deformation occurs at an intermediate position of the specific track portion, the position of the operation body provided at the intermediate position of the specific track portion changes with the deformation of the track so that the operation body The operating body is deformed. As a result, the object to be operated with one end fixed is deformed, and the other end is moved from the initial position located before the specific track portion is deformed. When the other end of the operated body moves from the initial position, the detection means detects this. As described above, when the specific track portion is deformed, the other end portion of the object to be operated moves from the initial position, so that the track abnormality can be detected by detecting the movement by the detecting means.
Therefore, in the specific trajectory portion set as the abnormality detection target, for example, even when the deformation occurs only at the intermediate location, the deformation of the specific trajectory portion appears as a change in the position of the other end of the operated body. It can be detected as an abnormality.
As described above, according to this feature configuration, an orbit abnormality detection system capable of accurately detecting an orbit abnormality can be provided.

  A second characteristic configuration of the trajectory abnormality detection system according to the present invention is that the operated body penetrates the operating body in a slidable manner along the longitudinal direction of the trajectory.

According to this feature configuration, since the operated body penetrates the operating body, the operated body is separated from the operating body when the track is deformed, and the operating body cannot deform the operated body. Occurrence can be prevented. In addition, since the operating body is slidable along the longitudinal direction of the track with respect to the operating body, the operating body and the operating body move relative to each other when the position of the operating body changes. Troubles such as the body being forcibly pulled and damaged can be prevented.
In addition, when a structural change occurs in a form in which the track is divided at an intermediate location and separated in the track longitudinal direction, in the conventional configuration described above, the detection that the light projecting body irradiates unless the optical axis of the detection light is displaced. The light is received by the photoreceptor, and the structural change of the trajectory cannot be detected.
On the other hand, according to this feature configuration, when the track is divided at the intermediate position of the specific track portion and separated in the track longitudinal direction, the operation body is slidably moved along the track longitudinal direction. The entire object to be operated is slid to the one end side. Thereby, the other end part of a to-be-operated body moves to a track | orbit longitudinal direction. Therefore, in the specific track portion set as the abnormality detection target, for example, even when the track is divided at the intermediate position of the specific track portion and separated in the track longitudinal direction, the structural change of the specific track portion is changed. It appears as a change in the position of the other end of the track, so that it can be detected as an abnormality in the trajectory by detecting the movement by the detecting means.
In this way, by detecting a structural change such as deformation or division of the track as a change from the initial position of the other end of the operated body, the track abnormality can be detected accurately.

  According to a third characteristic configuration of the track abnormality detection system according to the present invention, the specific track portion includes a plurality of divided track portions arranged side by side along a longitudinal direction of the track, and an arrangement direction of the plurality of divided track portions. And a pair of adjacent track portions adjacent to each other at both ends, and the plurality of split track portions are between the adjacent track portions and with other split track portions adjacent in the longitudinal direction of the track. Arranged in a state in which a gap is formed between them, and provided so as to be slidable in the longitudinal direction of the track, and the operating body uses the plurality of divided track portions as the intermediate points, respectively. There is a point provided in each.

According to this characteristic configuration, a plurality of divided track portions are arranged between a pair of adjacent track portions in a slidable manner in a state of being aligned along the longitudinal direction of the track. Since a gap is formed between the divided track portion and the adjacent track portion, the plurality of divided track portions slide and move along the longitudinal direction of the track by a distance corresponding to the sum of the gap lengths at the maximum. it can. Therefore, for example, when a track is provided across different adjacent buildings, the track is provided so that the specific track portion is located at the boundary of the building, so that even if the buildings move closer to and away from each other due to an earthquake, Since the divided track portion slides in the track portion, the building can be allowed to move to some extent. Therefore, the deformation of the track can be prevented as much as possible.
And when the place where the track is provided is greatly shaken by the earthquake, when one of the plurality of divided track parts is changed from the posture along the longitudinal direction of the track and the specific track part is deformed, as described above, It can be detected as a deformation abnormality.

  According to a fourth characteristic configuration of the trajectory abnormality detection system according to the present invention, the object to be operated is configured by a plate-like member arranged in a vertical direction, and the plate-like member is in a non-deformed state of the specific track portion. The both side surfaces of the plurality of operating bodies penetrate the plurality of operating bodies in a state where they are not in contact with the plurality of operating bodies.

  According to this characteristic configuration, the object to be operated is easily deformed in the horizontal direction by configuring the object to be operated by the plate-like members arranged vertically. In addition, since the operated body penetrates without being in contact with the plurality of operating bodies arranged in the longitudinal direction of the track, when one of the operating bodies is deformed in the horizontal direction, It can slide in the longitudinal direction with a small sliding resistance with the operating body. For this reason, the operated body is likely to obtain a deformation following the position change in the horizontal direction of the operating body. Therefore, when the operating body changes its position in the horizontal direction due to the rolling of the earthquake, the other end of the operating body changes appropriately from the initial position, and the deformation of the track can be detected accurately.

  According to a fifth characteristic configuration of the trajectory abnormality detection system according to the present invention, the specific trajectory is detected when the detection unit continuously detects that the other end of the operated body has moved from the initial position for a set time or more. It is in the point provided with the discrimination means which discriminate | determines that the part deform | transformed.

  According to this characteristic configuration, the movement of the other end of the object to be operated from the initial position is intermittently detected by the detection means for a short period of time less than the set time during the occurrence of the shaking due to the earthquake. Alone, it cannot be determined that the specific trajectory portion is deformed. If the detection means detects that the other end of the object to be moved has moved from its initial position for more than the set time during or after the shaking has occurred Is determined to be deformed. Therefore, it is possible to prevent erroneous detection that an abnormality has occurred in which a specific track portion is deformed by detection information in a short time when a shake due to an earthquake occurs.

  In a sixth characteristic configuration of the trajectory abnormality detection system according to the present invention, the other end portion of the object to be operated is formed with a passing portion through which detection light having an optical axis in a direction intersecting with a longitudinal direction of the trajectory is passed. The detection means is configured by an optical sensor that detects detection light that is shielded by the operated body in the deformed state of the operated body and that passes through the passage portion in the non-deformed state of the operated body. There is in point.

  According to this feature configuration, it is only necessary to detect that the other end portion of the object to be operated has moved from the initial position based on the on / off information of the optical sensor, compared to other configurations using mechanical switches or image recognition. It is relatively easy to configure. Thus, according to this feature configuration, a preferred embodiment of the orbit abnormality detection system can be obtained.

Schematic diagram of an orbital abnormality detection system according to an embodiment Plan view of specific track III-III sectional view in FIG. IV-IV sectional view in FIG. VV sectional view in FIG. Enlarged view of the bottom of the dolly Enlarged view of both ends of stainless sheet Rail check process flowchart

An embodiment of an orbit abnormality detection system according to the present invention will be described with reference to the drawings.
As shown in FIG. 1, a first building 1 and a second building 2 are provided adjacent to each other. The conveyance cart 3 for conveying articles as a moving body is guided by a pair of tracks 4 laid on the floors of the two buildings and is movably provided. Although illustration is omitted, the transport carriage 3 includes an article transfer device configured by a chain transformer or the like, and transports articles between transport stations set in a plurality of locations in the first building 1 and the second building 2. To do.

  The transport carriage 3 includes a traveling motor 5 provided in the traveling carriage unit 3b, four traveling wheels 6 including one driving wheel 6d and three driven wheels 6f that are rotationally driven by the traveling motor 5, and a ground-side controller H1. Are equipped with a cart communication device 7 for wirelessly communicating driving information and the like, a cart controller H2 for controlling the driving motor 5 based on the driving command from the ground controller H1, and for controlling the article transfer device.

  Further, as shown in FIG. 6, the traveling carriage unit 3 b of the transport carriage 3 is in contact with both lateral side surfaces of the pair of tracks 4 to position the traveling position of the transportation carriage 3 in the travel path width direction. Four guide rollers 6 g are provided for each traveling wheel 6. The carriage 3 is provided with a current collecting device 19 having a current collecting brush that is in sliding contact with a power supply rail 18 provided along the track 4, and is operated from a ground-side power supply device (not shown). The power supply can be received.

  As shown in FIGS. 1 and 2, the presence or absence of deformation of the specific track portion 4 a in the track 4 is detected beside one track 4 of the specific track portion 4 a set as the abnormality detection target in the pair of tracks 4. A deformation detecting means D is provided. The on / off information of the optical sensor 16 in the deformation detection means D is wirelessly communicated to the operation controller H2 by the sensor signal transmission communication device 17 installed on the floor surface of the first building. The operation controller H2 is preferably installed in the first building 1 which is the same building as the sensor signal transmission communication device 17 from the viewpoint of ensuring communication reliability.

  As shown in FIG. 2, the specific track portion 4 a has a plurality of divided track portions 9 arranged side by side along the longitudinal direction of the track 4, and two of the plurality of divided track portions 9 are positioned at both ends in the alignment direction. A pair of adjacent track parts 9 adjacent to one split track part 9 (the split track part 9a located on the left side of the page in FIG. 2 and the split track part 9c installed in the second building 2 among those installed in the first building 1) 8 (first building side adjacent track portion 8a located in the first building 1 and second building side adjacent track portion 8b located in the second building 2), and the plurality of divided track portions 9 are adjacent track portions. 8 and the other divided track portions 9 adjacent to each other in the longitudinal direction of the track 4, and are arranged so as to be slidable in the longitudinal direction of the track 4. In the present embodiment, the gap G is 5 mm.

  As shown in FIGS. 4 and 6, the divided track portion 9 is configured by connecting a pair of rail members 23 installed at intervals in the path width direction with connecting members 24 along the path width direction. . Both vertical surfaces of the rail member 23 are parallel to each other and inclined at a predetermined angle (45 ° in the figure) with respect to the rail cross section, and parallel to the end surface of the rail member 23 in the adjacent track portion 8 or the adjacent divided track portion 9. Is formed. Then, a plurality of slide blocks 21 are fixed to the lower part of the pair of rail members 23 in a state of being distributed in the longitudinal direction (see FIG. 1), and the floor surface of the first building 1 and the second building 2 are fixed. The slide block 21 is slidably engaged with upper portions of guide rails 22 laid on each floor surface. Incidentally, the guide rail 22 on the first building 1 side is common to the divided track portions 9a and 9b arranged on the first building 1 side (see FIG. 1).

  A movement restricting portion 20 for restricting the slide movement range of the divided track portion 9 that slides on the guide rail 22 is provided on the connecting member 24 of the divided track portion 9. The movement restricting portion 20 is a state in which a U-shaped member 20a having an upward opening with a set width in the longitudinal direction and a hook member 20b formed with an engaging portion bent downward are engaged with each other. It is connected to each of the connecting members 24 of the adjacent divided track portions 9. The movement regulating unit 20 regulates the relative slide amount in the approach direction and the separation direction of the adjacent divided track portions 9 to 5 mm, which is the same as the gap G, and one divided track portion 9 slides, After the rail member 23 of the divided track portion 9 comes into contact with the rail member 23 of the adjacent divided track portion 9, both slide together so that the relative movement is restricted by the movement restricting portion 20. It has become. In this embodiment, the limit slide amount that is the sum of the maximum slide amounts of the plurality of divided track portions 9 is 5 mm × 4 and 20 mm in each of the approach direction and the separation direction.

  As shown in FIG. 1, FIG. 4, and FIG. 6, the first building side adjacent track portion 8 a located in the first building 1 is in a fixed position with a mounting base 10 provided on the floor surface of the first building 1. It is supported. The same applies to the second building side adjacent track portion 8b located in the second building 2.

  As shown in FIGS. 1 and 2, in the deformation detection means D, one end 12 a is bolted to the rail member 23 of the first building side adjacent track portion 8 a of the track 4 in a posture along the longitudinal direction of the track 4 ( 3), the other end portion 12b is provided between the long linear stainless steel sheet 12 as an object to be operated, which is provided so as to be relatively movable with respect to the track 4, and the intermediate portion between the specific track portion 4a, that is, the specific track portion. 4a is provided at a position located between one end 12a and the other end 12b of the stainless steel sheet 12 in the longitudinal direction, and the one end 12a and the other end 12b of the stainless steel sheet 12 are deformed along with the deformation of the specific track portion 4a. A support bracket 11 as an operating body for deforming the linear stainless steel sheet 12 and moving the other end portion 12b from an initial position before the deformation of the specific track portion 4a. The other end portion 12a of the less sheet 12 is constituted by a light sensor 16 as a detecting means for detecting that it has moved from the initial position.

  As shown in FIG. 4, a plurality of support brackets 11 are provided with each of the divided track portions 9 as an intermediate portion, and an inner cylinder through which a linear stainless steel sheet 12 penetrates beside the divided track portions 9. Are fixed to the rail member 23 of the divided track portion 9 with bolts so that the longitudinal direction of the track is in a posture along the longitudinal direction of the track 4. As shown in FIG. 5, the other end 12b of the stainless steel sheet 12 is supported by an end support bracket 11T that is bolted to the rail member 23 of the second building-side adjacent track portion 8b. Moreover, the stainless steel sheet 12 is arrange | positioned with the attitude | position from which a surface direction becomes vertical. That is, in the present embodiment, the object to be operated is configured by a plate-like member arranged vertically.

  As shown in FIG. 4, the length of the track 4 with respect to the plurality of support brackets 11 in a state where the both side surfaces 12 s of the stainless steel sheet 12 do not contact the side surface portions 11 s of the plurality of support brackets 11 when the specific track portion 4 a is not deformed. It penetrates slidably along the direction. The support bracket 11 slidably mounts and supports the lower end portion of the stainless steel sheet 12, so that the stainless steel sheet 12 is slidable in the longitudinal direction of the track 4 with respect to the support bracket 11. Further, since the stainless steel sheet 12 penetrates the support bracket 11, the engagement between the stainless steel sheet 12 and the support bracket 11 is not disengaged even if a shake due to an earthquake occurs.

  As shown in FIGS. 5 and 7, the other end portion 12 b of the stainless steel sheet 12 passes the detection light of the optical sensor 16 installed so as to be an optical axis in a direction intersecting with the longitudinal direction of the track 4. A round hole 13 as a part is formed. On both side surfaces of the end support bracket 11T, bracket side passage holes 14 through which the optical axis of the optical sensor 16 passes are also formed as round holes. The round hole 13 formed in the stainless steel sheet 12 is larger than the effective diameter of the detection light of the optical sensor 16, and the diameter of the bracket side passage hole 14 is larger than the round hole 13 of the stainless steel sheet 12. A reflecting plate 15 is provided at a location adjacent to the side opposite to the optical sensor 16 with respect to the end support bracket 11T. When one end portion 12a of the stainless steel sheet 12 is formed with a long hole 25 for adjusting the mounting position, the plurality of divided track portions 9 are in an arrangement state in which all the gaps G are properly formed. The attachment position of the linear stainless steel sheet 12 is adjusted so that the optical axis of the optical sensor 16 passes through the position indicated by X in FIG.

  As a result, when the first building 1 and the second building 2 approach or separate from each other due to an earthquake caused by an earthquake, the other end portion 12b of the stainless steel sheet 12 is pushed or pulled, and the optical sensor 16 The detection light is shielded by the stainless sheet 12, and the optical sensor 16 is switched from the on state to the off state.

  When the first building 1 and the second building 2 are shaken such that the first building 1 and the second building 2 approach and separate beyond the maximum limit slide amount of the plurality of divided track portions 9, the first building 1 and When the 2nd building 2 approaches exceeding the limit slide amount of the some division | segmentation track | orbit part 9, the deformation | transformation which bends in any location of the specific track | orbit part 4a arises. When such deformation of the specific track portion 4a occurs, even if the first building side adjacent track portion 8a and the second building side adjacent track portion 8b return to the positional relationship before the occurrence of the earthquake after the shaking is stopped, the specific track portion 4a is specified. Since the intermediate portion of the track portion 4a is deformed, a part of the stainless steel sheet 12 is deformed, and the other end portion 12b of the stainless steel sheet 12 is moved in the longitudinal direction of the track 4 from the end support bracket 11T. It is located at a different position from before the earthquake.

  Therefore, after a deformation that bends at any part of the specific track portion 4a due to the earthquake, the detection light of the optical sensor 16 is shielded by the stainless steel sheet 12, and the optical sensor 16 is maintained in the off state. Is done. Therefore, by confirming the detection state of the optical sensor 16, it is possible to detect a state where the specific track portion 4a is deformed. Thus, in this embodiment, the detection means detects the detection light that is shielded by the stainless steel sheet 12 in the deformed state of the stainless steel sheet 12 and whose name passes through the round hole 13 in the non-deformed state of the stainless steel sheet 12. It is comprised by the optical sensor 16 to do.

  In addition, when the first building 1 and the second building 2 are separated beyond the limit slide amount of the plurality of divided track portions 9, the movement restricting unit 20 is destroyed and the identification is made even after the earthquake shake has stopped. The structure of the track portion 4a does not return to the original state, and the other end portion 12b of the stainless steel sheet 12 moves from the end support bracket 11T in the longitudinal direction of the track 4 and is positioned at a position different from that before the occurrence of the earthquake. . Therefore, by checking the detection state of the optical sensor 16, it is possible to detect a state in which the structure of the specific track portion 4a has changed.

  Detection information of the optical sensor 16 is periodically transmitted to the operation controller H1 by the sensor signal transmission communication device 17. The operation controller H1 executes an emergency stop process when the optical sensor 16 is switched from the on state to the off state. In the emergency stop process, the transmission of the operation command is stopped, the operation of the transport carriage 3 is stopped, and if there is a traveling carriage 3 that is traveling, the emergency stop instruction is instructed to the traveling carriage 3 and conveyed. The carriage 3 is stopped from traveling.

  Detection information of the earthquake detection means W that detects the occurrence of an earthquake is also input to the operation controller H1. Even when the operation controller H1 receives earthquake occurrence information (including a forecast) from the earthquake detection means W, the operation controller H1 executes the emergency stop process. The earthquake detection means W may be configured using a seismometer, or may be configured using an earthquake early warning receiving terminal capable of receiving an earthquake early warning distributed by the seismic motion forecasting business permitting company via the Internet. .

  As described above, the operation controller H1 executes the emergency stop process using the detection information of both the trajectory abnormality detection system and the earthquake detection system as a trigger, thereby preventing an accident of the transport carriage 3 due to the shaking of the earthquake as much as possible. . Note that the operation controller H1 does not receive the earthquake occurrence information from the earthquake detection means W, and when the optical sensor 16 is switched from the on state to the off state, the operation controller H1 is not shaken by the earthquake. Assuming that the detection state of the optical sensor 16 is switched, it is determined that a system abnormality has occurred, and system abnormality information is reported to an operator or the like.

  If the structure of the specific track portion 4a changes due to the shaking of the earthquake, the specific track portion 4a needs to be repaired, and in the case of a large shaking earthquake, other abnormalities than the track 4 also become a problem. Cannot be resumed immediately. However, when the shaking of the earthquake is weak (for example, about seismic intensity 0.1 to 1), the first building 1 and the second building 2 are only within a range that does not exceed the limit slide amount of the plurality of divided track portions 9. Since it does not approach and separate, each of the plurality of divided track portions 9 slides within the maximum slide amount, so that the specific track portion 4a is deformed or divided by the first building 1 and the second building 2 approaching and separating from each other. There is no structural change. Therefore, there is almost no possibility that an abnormality will occur in the track 4, and if there is a slight shaking, there is little possibility that an abnormality will occur in other equipment. Therefore, even if the detection state of the optical sensor 16 is switched from the on state to the off state, the operation controller H1 does not have the specific orbital portion 4a in the track 4 as long as it is not in the off state continuously for the set time T or longer. It is not determined that there has been a structural change, and the operation of the transport carriage 3 is resumed as soon as possible.

  As a configuration for this, the operation controller H1 deforms the specific track portion 4a when the optical sensor 16 continuously detects that the other end 12a of the stainless steel sheet 12 has moved from the initial position for a set time T or longer. Is provided in the software format. Specifically, the operation controller H1 realizes the function of the determination unit P1 by executing a rail check processing program. Hereinafter, the contents of the rail check process executed by the operation controller H1 will be described based on the flowchart shown in FIG.

  As shown in FIG. 8, the operation controller H1 constantly executes the rail check process (for example, every second) to constantly check whether the detection state of the optical sensor 16 is switched from the on state to the off state. Monitoring (step # 1). When the detection state of the optical sensor 16 is switched to the OFF state, a timer for measuring the set time T is started (step # 2). And the time measurement by a timer is continued until the optical sensor 16 switches to an ON state again (step # 3- # 4). If the optical sensor 16 returns to the ON state before the timer counts up the set time T (for example, 30 seconds), the timer count value is reset (step # 5). If the timer counts up the set time T while the optical sensor 16 is off, it is determined that a structural abnormality has occurred in the track 4 and the rail abnormality determination process in step # 6 is executed. In the rail abnormality determination process, for example, a process for reporting the occurrence of an abnormality in the track 4 and a process for generating prohibition information for prohibiting the resumption of operation of the transport carriage 3 are performed.

  As described above, according to the orbit abnormality detection system of the present embodiment, the orbit 4 is detected by detecting a structural change such as deformation or division of the orbit 4 as a change from the initial position of the other end 12a of the stainless steel sheet 12. When the position of the other end portion 12a of the stainless steel sheet 12 is changed by the swing, the position of the other end portion 12a of the stainless steel sheet 12 is changed. Since it is not determined that the track 4 is abnormal, the operation can be restarted as soon as possible.

[Another embodiment]
The invention made by the inventor has been specifically described based on the embodiment of the invention. However, the present invention is not limited to the embodiment described above, and various modifications can be made without departing from the scope of the invention. Hereinafter, another embodiment of the present invention will be illustrated.

(1) In the above embodiment, the detection means is configured by the optical sensor 16. However, the present invention is not limited to this, and the detection means is configured by a sensor of another form such as a limit switch. Also good.

(2) In the above embodiment, the specific track portion in the track is configured to include a plurality of divided track portions. However, the specific track portion may be a part of the track continuous in the longitudinal direction.

(3) In the above embodiment, the passage portion formed at the other end portion of the operated body is exemplified by the round hole 13, but the passage portion may be a hole having another shape. Further, it may be formed in a notch shape without being formed in a hole shape.

(4) In the above embodiment, the one where the one end portion of the operated body is supported by the adjacent track portion is illustrated, but the installation location where the one end portion of the operated body is provided with the adjacent track portion (for example, floor or ceiling) ) May be supported by a support member provided in (4).

(5) In the above embodiment, the moving body travels on a pair of tracks, but the moving body may travel on a single track. Moreover, as a mobile body, not only the conveyance trolley 3 but a stacker crane or an overhead conveyance vehicle may be sufficient.

(6) In the above-described embodiment, the specific trajectory portion is illustrated as being linear, but the specific trajectory portion may be curved. The conventional orbit abnormality detection system detects the deformation of the orbit by using the linearity of the detection light, so it can be applied to the straight part of the orbit, but not to the curved part of the orbit. However, in the present invention, the curved portion of the track can be set as the specific track portion by configuring the object to be operated in a curved shape.

(7) In the above-described embodiment, an example in which the specific trajectory portion is set independently in the trajectory is illustrated, but a plurality of specific trajectory portions may be set in the trajectory. In this case, a plurality of specific trajectory portions may be set in a distributed manner or may be set continuously. Furthermore, when two specific track portions are set in succession, the portion to be manipulated may be shared. That is, two specific track portions that are continuous along the longitudinal direction of the track are set, and one end portion of the operated object for one specific track portion and one end portion of the operated object for the other specific track portion are activated. It may be located at the same position in the longitudinal direction. In this case, one end of the operated body can be fixed with a common fixture, but the operated body for one specific track portion and the operated body for the other specific track portion are continuously connected in the track longitudinal direction. You may comprise with a series of to-be-operated bodies.

D Deformation detecting means G Gap T Setting time P1 Discriminating means 3 Moving body 4 Track 4a Specific track portion 8 Adjacent track portion 9 Divided track portion 11 Operating body 12 Plate member 12s Both side surfaces 13 Passing portion 16 Optical sensor

Claims (6)

A trajectory that guides the traveling of the moving object, and
A trajectory abnormality detection system comprising a deformation detection means for detecting presence or absence of deformation of a specific trajectory portion in the trajectory,
The deformation detection means;
Arranged in a posture along the longitudinal direction on the side of the specific track portion, one end is fixed in position relative to the end of the specific track portion, and the other end is provided relative to the track. The controlled object,
Provided at an intermediate position of the specific track portion, and with the deformation of the specific track portion, the operated body is deformed between one end and the other end of the operated body and the other end is specified. An operating body that is moved from an initial position before the deformation of the track portion;
A trajectory abnormality detection system comprising detection means for detecting that the other end of the operated body has moved from the initial position.   The trajectory abnormality detection system according to claim 1, wherein the operated body penetrates the operating body in a slidable manner along a longitudinal direction of the trajectory. The specific track portion includes a plurality of divided track portions arranged side by side along the longitudinal direction of the track, and a pair of adjacent track portions adjacent to the divided track portions located at both ends in the alignment direction. Consists of
The plurality of divided track portions are disposed in a state in which a gap is formed between the adjacent track portions and another divided track portion adjacent in the longitudinal direction of the track, and in the longitudinal direction of the track. Slidably provided,
3. The track abnormality detection system according to claim 2, wherein each of the plurality of divided track portions is provided in each of the plurality of divided track portions, with each of the plurality of divided track portions serving as the intermediate portion.   The object to be operated is configured by a plate-like member arranged in a vertical direction, and the both sides of the plate-like member are not in contact with the plurality of operation bodies in a non-deformed state of the specific track portion. The orbit abnormality detection system according to claim 3 which penetrates a plurality of operation bodies.   Claiming means is provided for discriminating that the specific track portion has been deformed when the detecting means has continuously detected that the other end of the operated body has moved from the initial position for a set time or longer. Item 5. The orbit abnormality detection system according to any one of items 1 to 4. The other end portion of the object to be operated is formed with a passing portion that allows the detection light of the optical axis in the direction intersecting the longitudinal direction of the orbit to pass through,
The detection means is configured by an optical sensor that detects detection light that is shielded by the operated body in a deformed state of the operated body and that passes through the passage portion in an undeformed state of the operated body. The orbit abnormality detection system according to any one of claims 1 to 5.

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