JP5678560B2 - Self-propelled carrier - Google Patents

Description

  The present invention relates to a self-propelled carrier that is supported and guided by a guide rail along a conveyance path including a curved path.

In a self-propelled carrier that is supported and guided by a guide rail along a conveyance route that includes a curved route as well as a straight route, the traveling speed on the curved route is set to prevent load collapse and derailment when traveling on a curved route. It is necessary to lower the traveling speed on a straight route.
In such a self-propelled carrier, in order to save time and effort at the time of recovery after a power failure or abnormal recovery, the carrier side can recognize the curve route and autonomously reduce the traveling speed As described above, a magnetic tape was continuously attached only to the guide rail of the curve path, a magnetic proximity sensor for detecting the magnetism of the magnet tape was provided at the front of the carrier, and the curve path was reached by the detection signal of the magnetic proximity sensor. Is detected and controlled so as to reduce the traveling speed by a control device provided on the carrier (see, for example, Patent Document 1), a pair of mutually parallel rails laid on the floor, the front part of the carrier A pair of rail detection sensors are provided at positions corresponding to the rails, and the position of one of the sensors is detected by detecting the state of being OFF. Detects that approaching the blanking path, controls such by a control device provided on the carrier lowering the running speed (e.g., see Patent Document 2.), And the like.

Japanese Patent Laid-Open No. 06-19539 JP 11-48963 A

In the configuration as disclosed in Patent Document 2, since the control device controls to reduce the traveling speed after detecting that the carrier on which the load is placed has approached the curve path, the load approaches the curve path. Deceleration cannot be completed before or slightly after entering the curve path, so load collapse or derailment may occur depending on the weight or size of the load.
Moreover, in a structure like patent document 1, since it is necessary to attach a magnetic tape to the guide rail of all the curve paths | routes, cost increases.

  Therefore, in view of the above-described situation, the present invention intends to solve the problem that the deceleration can be completed reliably before the load reaches the curve path or after entering the curve path, and the load is heavy. The object is to provide a self-propelled carrier capable of preventing collapse of goods and derailment even when the total length is long.

The self-propelled carrier according to the present invention is a self-propelled carrier that is self-propelled and supported by a guide rail along a conveyance route including a curved route as well as a straight route in order to solve the above problem. A load trolley supporting a load receiving body to be placed or supported; a front trolley positioned in front of the load trolley and connected to the load trolley by a connecting rod; and a vertical axis of the front trolley with respect to the connecting rod A rotation detecting means for detecting a relative rotation of the load trolley with respect to the connecting rod, a second rotation detecting means for detecting a relative rotation of the load trolley around a vertical axis, and the front trolley from the straight path. When the rotation detecting means detects a relative rotation around the vertical axis of the front trolley with respect to the connecting rod when entering the curved path, Control means for the running speed to a low speed based on the detection signal, or entry control means for the slow running speed after receiving the detection signal after a predetermined time elapses, the load trolley from the curve path to the straight path Control means for increasing the traveling speed based on the detection signal when the second rotation detecting means detects the relative rotation of the load trolley around the vertical axis with respect to the connecting rod at the time. It is characterized by that.

According to such a structure, the front trolley located in front of the load trolley that supports the load receiving body on which the load is placed or supported (downstream side) is connected by the connecting rod, and the self-propelled carrier is When entering a curved route from a straight route, the front trolley first enters the curved route.
Since the rotation detecting means for detecting the relative rotation of the front trolley around the vertical axis with respect to the connecting rod is provided, the rotation detecting means allows the front trolley to enter the curve path from the straight path in a high speed traveling state. Since the relative rotation around the vertical axis of the front trolley with respect to the connecting rod is detected at this time, a predetermined time elapses immediately after receiving the detection signal based on this detection signal or when the connecting rod is long Later, the traveling speed can be lowered by the control means.
Therefore, the road trolley that supports the consignment body can complete the deceleration before entering the curved path from the straight path or after entering the curved path with certainty. Therefore, even when the weight of the load is large or the total length is long, the collapse of the load and the derailment can be prevented.

Moreover, since the enter the straight path, the traveling speed by control means after the loading trolley supporting the load receiving member has passed through the curve path is faster from the curve path self-propelled carriers in the low-speed traveling state, the load Since the trolley does not travel on a curved path while traveling at high speed, it is possible to prevent load collapse and derailment even when the load is heavy or long, and the load trolley passes through the curved path. Then, since the traveling speed of the self-propelled carrier can be increased immediately after entering the straight path, it is possible to suppress a decrease in the conveyance efficiency.

Further, a self-propelled carrier according to the present invention is a self-propelled carrier that is supported and guided by a guide rail along a conveyance path including a curved path and a self-propelled carrier for solving the above-described problem. A load trolley that supports a load receiving body on which the load trolley is placed or supported, a front trolley that is positioned in front of the load trolley and is connected to the load trolley by a connecting rod, and a vertical position of the front trolley with respect to the connecting rod A rotation detecting means for detecting a relative rotation around an axis; and the load trolley has a front load trolley and a rear load trolley connected by a second connecting rod, and the rear load trolley with respect to the second connecting rod a second rotation detection means for detecting a relative rotation around the vertical axis, put in the front trolley has entered the curve path from the straight path When the rotation detecting means detects relative rotation of the front trolley around the vertical axis with respect to the connecting rod, control means for reducing the traveling speed based on the detection signal, or receiving the detection signal Control means for reducing the traveling speed after a predetermined time has elapsed , and relative to the second connecting rod about the vertical axis of the rear load trolley when the rear load trolley enters the straight path from the curved path. a rotation upon detecting said second rotation detection means, characterized in that a control means for the running speed to a high speed based on the detection signal.

According to the configuration like this, 置又placing the load are connected by a front trolley connecting rod located in front (downstream side) of the loading trolley supporting the load receiving member to be Tsuri支, self-propelled carrier When the car enters the curved path from the straight path, the front trolley enters the curved path first.
Since the rotation detecting means for detecting the relative rotation of the front trolley around the vertical axis with respect to the connecting rod is provided, the rotation detecting means allows the front trolley to enter the curve path from the straight path in a high speed traveling state. Since the relative rotation around the vertical axis of the front trolley with respect to the connecting rod is detected at this time, a predetermined time elapses immediately after receiving the detection signal based on this detection signal or when the connecting rod is long Later, the traveling speed can be lowered by the control means.
Therefore, the road trolley that supports the consignment body can complete the deceleration before entering the curved path from the straight path or after entering the curved path with certainty. Therefore, even when the weight of the load is large or the total length is long, the collapse of the load and the derailment can be prevented.
Moreover, since the self-propelled carrier enters the straight path from a curve path at a low speed running state, the running speed by the control means after the after loading trolley has passed through the curve path for supporting the load receiving member is in a high speed, The front load trolley and the rear load trolley that support the consignment body do not travel on a curved route in a high-speed traveling state, so that even if the load is heavy or the total length is long, it prevents load collapse and derailment. In addition, since the traveling speed of the self-propelled carrier can be increased immediately after the rear load trolley passes through the curved route and enters the straight route, it is possible to suppress a decrease in the conveyance efficiency.

  As described above, according to the self-propelled carrier according to the present invention, the front trolley located in front of the load trolley that supports the consignment body is connected by the connecting rod, and the self-propelled carrier curves from the straight path. When entering the path, the front trolley first enters the curved path, and when the front trolley enters the curved path from the straight path in the high speed traveling state by the rotation detection means, the front trolley around the vertical axis of the front trolley with respect to the connecting rod. Since the relative rotation is detected and the traveling speed is lowered by the control means based on this detection signal, the deceleration can be completed without fail before the load reaches the curve path. Even when it is large or when the entire length is long, it is possible to prevent a load collapse or derailment.

It is a front view of the self-propelled carrier concerning an embodiment of the invention. It is arrow XX sectional drawing of FIG. It is a top view which shows the state which the rotation detection means detected the relative rotation around the vertical axis | shaft of the front trolley with respect to the 1st connection rod when a front trolley approached the curve path | route from the straight path | route. It is a principal part enlarged front view which shows the structural example of a rotation detection means. It is a principal part enlarged plan view similarly. It is a principal part enlarged plan view which shows the state of the rotation detection means when a front trolley rotates relatively to the surroundings of the vertical axis with respect to the 1st connection rod. It is a top view which shows the state which the 2nd rotation detection means detected the relative rotation of the back load trolley around the vertical axis with respect to the 2nd connecting rod when a back load trolley approached the linear path | route from the curve path | route. It is a principal part enlarged front view which shows the structural example of a 2nd rotation detection means. It is a principal part enlarged plan view similarly.

Next, embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments shown in the accompanying drawings, and includes all the embodiments that satisfy the requirements described in the claims. It is a waste.
Note that the setting speed when the load trolley supporting the load (conveyed object) is located on a straight path is “high speed”, and the setting speed is “high speed” when the load trolley is located on a curved path (horizontal curve path). For convenience, the set speed with reduced speed is expressed as “low speed”.
Further, in this specification, along the moving direction of the self-propelled carrier (see arrow F in the figure), the front side (downstream side) is the front side, the rear side (upstream side) is the rear side, and the left and right sides are the front side. The figure seen from the left shall be the front view.

As shown in FIG. 1, the self-propelled carrier A according to the embodiment of the present invention is supported and guided by the guide rail GR and travels along a conveyance path including a curved path along with a straight path. To do.
The self-propelled carrier A includes a front load trolley 2 that is a load trolley that supports a load and a rear trolley between a front trolley 1 that is a free trolley that does not support a load (conveyed object) and a rear trolley 4 that is a rear end. A load trolley 3 is provided. The front trolley 1 and the front load trolley 2 are connected via a first connecting rod 11, and the front load trolley 2 and the rear load trolley 3 are connected via a second connecting rod 12. 3 and the rear trolley 4 are connected via a third connecting rod 13.
Here, to the second connecting rod 12 that connects the front load trolley 2 and the rear load trolley 3, a load receiver (not shown) on which a load is placed, the control means 7, and the battery 8 are attached.

  The front end of the first connecting rod 11 is rotatable about the front trolley 1 and the vertical shaft 1A, and the rear end of the first connecting rod 11 is the front end of the front load trolley 2, the vertical shaft 2A and the horizontal axis. The front end portion of the second connecting rod 12 is rotatable about the axis (left-right direction axis) 2B, and the rear end portion of the second connecting rod 12 is rotatable about the front load trolley 2 and the vertical axis 2C. The third end of the third connecting rod 13 is pivotable about the rear end of the rear load trolley 3 and the vertical shaft 3A and the horizontal shaft 3B. The rear end portion of the connecting rod 13 is connected to the rear trolley 4 and the vertical shaft 4A so as to be rotatable.

As shown in FIG. 2, the guide rail GR is, for example, a monorail having an I-shaped cross section. The guide rail GR is fixed to the upper surface of the support member 14 by welding or the like, and uses the support bolt 15 and the anchor bolt 16 (see FIG. 4). It is laid in a state spaced upward from the surface FL.
The guide rail GR is not limited to a monorail, and may be two rails on the left and right.

As shown in FIGS. 1 and 2, the front load trolley 2 and the rear load trolley 3 include side rollers 9A, 9A,... That rotate around a vertical axis, and traveling wheels 9B that rotate around a horizontal axis (lateral axis). Are sandwiched between the left and right vertical surfaces of the guide rail GR by the side rollers 9A, 9A,... And the traveling wheel 9B rolls on the horizontal upper surface of the guide rail GR. Further, the front trolley 1 and the rear trolley 4 are attached with side rollers 10A, 10A,... Rotating around a vertical axis and traveling wheels 10B rotating around a horizontal axis, and the side rails 10A, 10A,. While sandwiching the left and right vertical surfaces of GR, the traveling wheel 10B rolls on the horizontal upper surface of the guide rail GR.
Since the traveling wheel 9B of the front load trolley 2 that is a drive trolley is driven by an actuator that is a geared motor, for example, the self-propelled carrier A engages the trolleys 1, 2, 3, and 4 on its front and rear with the guide rail GR. While maintaining the state supported and guided by the guide rail GR, the vehicle travels along the guide rail GR forming a predetermined transport path, and the traveling speed is controlled by the control means 7.

As shown in FIG. 1, the self-propelled carrier A includes rotation detection means 5 that detects relative rotation of the front trolley 1 around the vertical axis 1 </ b> A with respect to the first connecting rod 11.
That is, as shown in FIGS. 4 and 5, the rotation detecting means 5 includes a limit switch 5 </ b> A attached to the front end portion of the first connecting rod 11 and a dog 5 </ b> B attached to the front trolley 1. As shown in FIG. 3, when the front trolley 1 and the front load trolley 2 are in the straight path SR, since the limit switch 5A is pushed by the dog 5B, the limit switch 5A is on. As shown in FIG. When the car enters the curved path (horizontal curved path) CR from the straight path SR, the front trolley 1 rotates relative to the first connecting rod 11 around the vertical axis 1A (angle B in the figure). (Refer to FIG. 6.) Since the dog 5B is disengaged from the limit switch 5A as indicated by a two-dot chain line in FIG. 6, the limit switch 5A is turned off.

Therefore, it is possible to detect that the front trolley 1 has entered the curve route CR from the straight path SR by such a rotation detection means 5, and the control means 7 shown in FIG. Based on the detection signal (state change from on to off) when the front trolley 1 enters the curved route CR from the straight route SR, the traveling speed of the self-propelled carrier A (the traveling wheel of the front load trolley 2 which is a drive trolley) The speed command signal of the actuator that drives 9B is controlled to be low.
Alternatively, when the first connecting rod 11 is long, the control means 7 starts the timer after receiving the detection signal from the rotation detection means 5, and the self-propelled carrier after a predetermined time which is a set time of the timer has elapsed. You may control so that the travel speed of A may be made low.

According to such a configuration, the front trolley 1 located in front of the front load trolley 2 that supports the load receiver on which the load is placed is connected by the first connecting rod 11, and the self-propelled carrier A is When entering the curve route CR from the straight route SR, the front trolley 1 first enters the curve route CR.
And since the rotation detection means 5 which detects the relative rotation of the front trolley 1 around the vertical axis 1A with respect to the first connecting rod 11 is provided, the rotation detection means 5 causes the front trolley 1 to move at a high speed. Since the relative rotation around the vertical axis 2A of the front trolley 1 with respect to the first connecting rod 11 when entering the curved path CR from the straight path SR is detected immediately based on this detection signal or first When the connecting rod 11 is long, the traveling speed can be reduced by the control means 7 after a predetermined time has elapsed since the detection signal was received.
Therefore, since the front load trolley 2 that supports the consignment can surely complete deceleration before entering the curve route CR from the straight route SR or after slightly entering the curve route CR, the load trolley (pre-load trolley 2 and the rear load trolley 3) do not travel along the curve route CR in a high-speed traveling state, so that load collapse or derailment can be prevented even when the weight of the load is large or the total length is long.

As shown in FIG. 1, the self-propelled carrier A includes second rotation detection means 6 that detects relative rotation about the vertical axis 3 </ b> C of the rear load trolley 3 with respect to the second connecting rod 12. .
That is, as shown in FIGS. 8 and 9, the second rotation detection means 6 includes a limit switch 6 </ b> A attached to the rear end portion of the second connecting rod 12 and a dog 6 </ b> B attached to the rear load trolley 3. When the rear load trolley 3 is on the curve route CR, the dog 6B is disengaged from the limit switch 6A, so the limit switch 6A is turned off, and the rear load trolley 3 is turned on the curve route CR as shown in FIGS. Since the limit switch 6A is pushed by the dog 6B when the vehicle enters the straight path SR, the limit switch 6A is turned on.

Therefore, the rotation detecting means 6 can detect that the rear load trolley 3 has entered the straight path SR from the curve route CR, and the control means 7 shown in FIG. The traveling speed of the self-propelled carrier A (the traveling wheel of the front road trolley 2 which is a drive trolley) based on the detection signal (state change from off to on) that the rear road trolley 3 entered the straight path SR from the curve path CR The speed command signal of the actuator that drives 9B is controlled to be high speed.
Note that the second rotation detecting means 6 is eliminated and only the rotation detecting means 5 is provided, and the front trolley 1 around the vertical axis 1A of the front trolley 1 with respect to the first connecting rod 11 when the front trolley 1 enters the straight path SR from the curve path CR. The time from when the control means 7 receives the signal (the state change from OFF to ON) detected by the rotation detection means 5 until the rear load trolley 3 passes the curve path CR, or Control may be performed so that the traveling speed is increased after a period of time from when the control means 7 receives the detection signal until the rear load trolley 3 reaches the vicinity of the exit of the curve route CR (before the exit).

  According to such a configuration, the self-propelled carrier A enters the straight route SR from the curve route CR in a low-speed traveling state, and after the load trolley 3 that supports the load receiver passes the curve route CR, or the load Since the traveling speed is increased by the control means 7 after the rear load trolley 3 supporting the receiver reaches the vicinity of the exit of the curve route CR, the front load trolley 2 and the rear load trolley 3 supporting the receiver are Since the vehicle does not travel on the curve route CR in a high-speed traveling state, it is possible to prevent the collapse of the load and the derailment even when the weight of the load is large or the total length is long. Since the traveling speed of the self-propelled carrier A can be immediately increased after passing through the CR and entering the straight path SR, it is possible to suppress a decrease in the conveyance efficiency.

In the above description, the rotation detecting means 5 for detecting the relative rotation around the vertical axis 1A of the front trolley 1 with respect to the first connecting rod 11 is constituted by the limit switch 5A and the dog 5B, and Although the case where the second rotation detecting means 6 for detecting the relative rotation of the rear load trolley 3 around the vertical axis 3C is constituted by the limit switch 6A and the dog 6B has been shown, the rotation detecting means 5 and the second rotation detecting means are shown. The detection means 6 may be constituted by a photoelectric switch or the like.
Furthermore, in the above description, the case where the self-propelled carrier A is a floor type is shown, but the self-propelled carrier A may be an overhead type, and when the self-propelled carrier A is an overhead type. The load trolley supporting the load receiving body on which the load (conveyed object) is supported may be only one, and in this case, this one load trolley becomes the drive trolley.

A Self-propelled carrier SR Straight path CR Curve path FL Floor GR Guide rail 1 Front trolley 1A Vertical shaft 2 Front load trolley (drive trolley)
2A, 2C Vertical axis 2B Horizontal axis 3 Rear load trolley 3A, 3C Vertical axis 3B Horizontal axis 4 Rear trolley 4A Vertical axis 5 Rotation detection means 5A Limit switch 5B Dog 6 Second rotation detection means 6A Limit switch 6B Dog 7 Control means 8 Battery 9A, 10A Side roller 9B, 10B Traveling wheel 11 First connecting rod 12 Second connecting rod 13 Third connecting rod 14 Support member 15 Support bolt 16 Anchor bolt

Claims (2)

A self-propelled carrier that is supported and guided by a guide rail along a conveyance route including a curved route along with a straight route,
A load trolley that supports a load receiving body on which a load is placed or supported;
A front trolley located in front of the load trolley and connected to the load trolley by a connecting rod;
Rotation detecting means for detecting relative rotation of the front trolley around the vertical axis with respect to the connecting rod;
Second rotation detecting means for detecting relative rotation of the load trolley around the vertical axis with respect to the connecting rod;
Based on the detection signal when the rotation detecting means detects a relative rotation around the vertical axis of the front trolley with respect to the connecting rod when the front trolley enters the curved path from the straight path. Control means for reducing the traveling speed, or control means for reducing the traveling speed after a predetermined time has elapsed since receiving the detection signal ;
When the second rotation detecting means detects relative rotation around the vertical axis of the load trolley with respect to the connecting rod when the load trolley enters the linear path from the curved path, the detection signal A self-propelled carrier characterized by comprising control means for increasing the traveling speed on the basis thereof . A self-propelled carrier that is supported and guided by a guide rail along a conveyance route including a curved route along with a straight route,
A load trolley that supports a load receiving body on which a load is placed or supported;
A front trolley located in front of the load trolley and connected to the load trolley by a connecting rod;
Rotation detecting means for detecting relative rotation of the front trolley around the vertical axis with respect to the connecting rod;
The load trolley includes a front load trolley and a rear load trolley connected by a second connecting rod, and a second rotation detection for detecting a relative rotation around the vertical axis of the rear load trolley with respect to the second connecting rod. Means,
Based on the detection signal when the rotation detecting means detects a relative rotation around the vertical axis of the front trolley with respect to the connecting rod when the front trolley enters the curved path from the straight path. Control means for reducing the traveling speed, or control means for reducing the traveling speed after a predetermined time has elapsed since receiving the detection signal;
When the second rotation detecting means detects relative rotation around the vertical axis of the rear load trolley with respect to the second connecting rod when the rear load trolley enters the linear path from the curved path, A self-propelled carrier comprising control means for increasing a traveling speed based on the detection signal .

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