JPH01311803A - Apparatus for towing conveying vehicle - Google Patents

Abstract

PURPOSE:To improve an operating efficiency by coupling a tow car with a conveying vehicle at the time of an emergency, such as the fall, stop, etc., of the conveying vehicle, and moving the conveying vehicle to its destined position. CONSTITUTION:When a conveying vehicle is dropped, a tow car 5 is traveled in a magnetically levitated state. When the dropped conveying vehicle is detected by a conveying vehicle detection sensor 22 provided on the bumper 21 of the car 5, a driving motor 18 is started to drive driving wheels 33. Then, the car 5 is supported upward by auxiliary wheels 46, 56 at the upper inner faces of emergency guide rails 3A, 3B. Subsequently, driven wheels 50 and driving wheels 33 are brought into contact with the lower inner faces of the guide rails 3A, 3B to be braked. After the dropped conveying vehicle is coupled with the car 5 through the hook 23, the motor 18 of the car 5 is again controlled to move the dropped vehicle to its destined position.

Description

[Detailed Description of the Invention] [Purpose of the Invention (Industrial Application Field) The present invention mainly relates to a magnetic levitation type conveyance device for conveying small articles in a non-contact manner, and particularly relates to a magnetic levitation type conveyance device for conveying small items without contact. When a magnetically levitated carrier falls or stops when operating on the same guide rail, the carrier is closed to a carrier traction device suitable for recovery for a short period of time.

(Conventional technology) In recent years, office automation (0△), FAX] ~
As part of Lee Automation (FA) Kasa's m-, it is widely practiced to transport slips, documents, cash, materials, workpieces, parts, etc. between multiple points within a building using the W1 transport device. .

The 1112 transport device used for such transport is required to transport objects quickly and quietly.

For this reason, in this type of conveyance apparatus, a system is often adopted in which the conveyance vehicle is supported on a guide noll in a non-contact manner. In order to support non-contact during transportation, it is common to use air or magnetism, and among these methods, the method of magnetically supporting the transportation vehicle has excellent followability to guide rails and noise reduction effect. Excellent for J3 and most fi ei! This can be said to be a suitable support method.

(Problems to be Solved by the Invention) In the conventional magnetic float type conveying device, there is no problem in transporting objects within a predetermined weight. However, the ΦM of the conveyed object is often changed due to improvements in conveyance efficiency, changes in the purpose of the conveyed object in response to market needs, etc. For this reason, the gap between the secondary conductor plate and the stator of the initial linear induction electric machine is specified. operating at the limit or exceeding the specified value,
A Φm thing called the stomach was being used as a staring contest.

If the air gap between the stator and the secondary conductor of the transport vehicle exceeds the specified value, it may cause the transport vehicle to fall or stop due to adsorption due to factors such as reduced thrust and reduced running efficiency. When emergencies such as these occur, it is necessary to move the conveyance vehicle manually, and there is a problem of reducing movement efficiency.

The present invention was made in view of the above-mentioned circumstances, and the stator is installed at strategic points on the track. When operating, in an emergency such as the transport rg falling or stopping, the tow truck is connected during transport and the transport is automatically moved to the target position, reducing maintenance costs and shortening the time. It is an object of the present invention to provide a transport vehicle traction device designed to improve operational efficiency such as recovery.

[Structure of the invention] (Means for solving the problem) In order to achieve the above object, the present invention has the following features: During conveyance, the support iron structure (supported by a guide 1 knoll whose face is made of a ferromagnetic material at least at least a facet part, and magnetically along this guide rail) is carried up, and when attached to this conveyance vehicle. With the secondary conductor? The guide rails are arranged along the guide rails between the guide rails, and are arranged along the guide rails with a V gap, and generate a thrust between them and the secondary conductor to prevent the transport vehicle from traveling.
In a two-type magnetic floating transport device equipped with a stator of a rear induction motor,
and a drive wheel that contacts an emergency guide rail disposed along the guide rail at the bottom of the building, supporting steel structure, etc. (1), and the drive wheel is driven by a drive motor. A magnetic drive mechanism consisting of a drive mechanism, a drive control device that wirelessly controls the drive of the drive motor, a power supply unit that supplies a power source for the drive motor, and a coupling mechanism that connects the conveyor. Draw a floating towing vehicle L
:It is something.

<Function> According to the above-mentioned configuration, if the transport vehicle falls (or stops) due to a reduction in the lightning source capacity or a sudden shift while traveling,
The tow vehicle travels in a non-contact manner in the transport path (m) until it reaches the position where it is being transported, and its driving wheels are engaged with the emergency guide rail. Here, the towing vehicle is connected to the falling lIl feed width by a coupling mechanism.

The drive motor is then controlled by the drive control device to move the drive wheels forward and backward. As a result, the object being transported is towed by the towing vehicle to a predetermined position.

(Example) Hereinafter, the present invention will be explained based on one embodiment shown in the drawings.

FIGS. 1 to 7 relate to the first embodiment of the present invention, and
The figure is a perspective explanatory view of the conveyance vehicle traction device, and Figure 2 is the same as in Figure 1.
Figure 3 is a longitudinal cross-sectional view taken in the direction of the ■-■ arrow in Figure 1, Figure 4 is a vertical cross-sectional view taken in the +V-rv direction in Figure 1, and Figure 5 shows the transport vehicle traction device. Fig. 6 is a longitudinal view for explaining the magnetic circuit of the guided vehicle traction device;
FIG. 7 is a control block diagram of the drive wj device of the truck towing device.

The track frame 1, which is an example of a supporting steel structure, has an open surface shaped like an inverted 1+ character, and is laid in a manner to avoid piles of books in an office space, for example. J
3. These guide rails 2A and 2B are made by painting a flat plate member 2a, at least the lower surface of which is made of ferromagnetic material, in white, and have a split structure to simplify the installation work in an office. The joint portion Δ of each flat member 2a is subjected to a predetermined joining process. Emergency guide rails 3A and 3B each having a U-shaped cross section are laid on the inner surfaces of both side walls of the track frame 1, with their open sides facing each other. A towing vehicle 5 is disposed below the guide rails 2A, 2B so as to be able to run freely along the guide rails 2A, 2B. Also, on the lower surface of the upper wall of the track frame 1, the guide rail 2△,
A stator 6 of a linear induction motor is arranged at a predetermined interval along the guide rails 2A and 2B between the guide rails 2B.

Next, the configuration of the towing vehicle 5 will be explained. A base 8 is arranged so as to face the lower surfaces of the universal rails 2Δ, 2B, and this base 8 has two flat divided plates 8A, 813 arranged in the traveling direction, and these divided plates 8A. , 8B while maintaining a predetermined gap to enable smooth cornering during rotation while traveling.
It is composed of 8G. The base 8 also serves as a conductor plate which is an operating element of the linear induction motor, and is placed at a height facing the stator 6 with a slight gap when the device is in operation.

Magnetic support units 1 to 9 are mounted at the four corners of the upper surface of the base 8, respectively. These magnetic support units 9 are
Each of the 13 units is attached to the upper surface of the 13 units 8 using a bolt 1o and a pedestal 11. , the magnetic support unit 1-9 is the first
As shown in the figure and Fig. 3, the upper end is the guide rail 2A.
, 2B, two IC electromagnets 12A, 12 are disposed in a direction perpendicular to the traveling direction of the towing vehicle 5 so as to face the lower surface of the towing vehicle 5.
B, and a permanent magnet 13 interposed between the lower side surfaces of the electromagnets 12A and 12B, and has a ( ) shape as a whole. Further, the electromagnets 12Δ, 12B each include a yoke 14 made of a ferromagnetic material and an excitation coil 15 wound around the yoke 14, and each excitation coil 15 is formed by an electromagnet 12A112B. They are connected in series in such a direction that the magnetic fluxes applied to each other are added to each other.

On the lower surface of the dividing plates 8A and 8B, there are 11 parts 4116A,
a drive control device 19 that controls the drive motor 18 and the magnetic support unit 9 via 16B, 16G, and 160;
A power supply unit 20 having a drive motor power supply 20AJ3 and a magnetic support unit power supply 20B which supply power to the drive motor 18 and the magnetic support unit 9 are each provided at 81. Further, the dividing plates 8Δ, 8B are provided with bumpers 21 disposed in a direction perpendicular to the direction of movement thereof, and the bumpers 21 are equipped with a transport vehicle detection sensor 22 and a hook 23 which is an example of a connecting line drawing during transport. Each is equipped with 6 pieces. In addition, at the four corners of the lower surface of the base 8, even when the magnetic force of the magnetic support unit 1 is lost, the non-1B guide rails 3△ and 3B are fused to the inner surfaces of the upper and lower walls of the 3B to move the tractor 5 in the vertical direction. Four vertical wheels 25 for support, and four wheels for supporting the tow vehicle 5 in the left-right direction (A-B direction in FIG. 1) by contacting the inner surfaces of the upright walls of the emergency guide rails 3A and 3B. lateral wheels 26 are respectively attached.

Optical gap sensor → J28A, 28B are support members 29
It is fixed between the electromagnets 12A and 12[3 via. The optical gap sensors 28A, 28B use, for example, a reflective photo coupler, and the light emitted from the light emitting element toward the lower surface of the guide rail 2A12B is reflected on the lower surface of the guide rail 2A, 2B. The length of the gap C between the lower surface of the guide rails 2A, 2B and the upper surface of the magnetic support unit 9, that is, the length of the V-shaped protrusion P, is determined by the strength of the reflected light. It is designed to detect.

On the other hand, on the upper surface of the power supply section 20, there is also a drive mechanism 31 (Fig. 4) for driving the towing ftt5 to drive when restoring the fallen conveyance vehicle.
On the upper surface of 9, a driven mechanism 32 (
(Fig. 3) are arranged respectively.

In this drive mechanism 31, the drive wheels 33 are connected to the drive shaft 3.
5, and an electromagnetic clutch 36 and a drive shaft pulley 38 are attached to the middle part of this drive fJI@35. This drive shaft pulley 38 and drive motor 18
A drive belt 41 is wound between the reducer pulley 40 of the reducer 39 and the reducer pulley 40 .

The drive shaft 35 is supported at one end of a movable support guide 42 incorporating a bearing, and an auxiliary @45 supported by a solenoid valve 43 is movably supported at the other end of the id 42. As the solenoid valve 43 moves upward, the auxiliary wheels 46 are fixed to both ends of the auxiliary shaft 45.
The guide rail 3Δ for regular use is placed before the OJ vehicle transport 33,
The drive wheels 33 engage and separate from the inner upper surface of the emergency guide rails 3A and 3B, and then drive wheels 33 engage and release from the inner lower surfaces of the emergency guide rails 3A and 3B. Detection of this contact wheel [The contact wheel 48 faces the movable support guide 42 7:
, is fixed to the base 8. Also, a fixed support guide 49A and a movable support guide 4 that support the electromagnetic clutch 36
The fixed support guide 49B supporting the intermediate portion of the solenoid valve 43 is provided with an arcuate notched groove so that the drive shaft 35 can smoothly follow the vertical movements of the solenoid valve 43.

In the slave 8 mechanism 32, the driven wheels 50 are fixed to both ends of the driven shaft 51 and are structured to be driven as the drive wheels 33 are driven. Kakeru again! Similarly to the 1l Ji 31, the driven @ 51 is supported at one end of the movable support guide 52 incorporating a bearing, and the auxiliary shaft 55 supported by the solenoid valve 53 is attached to the (l) of the movable support guide 52.
! ! supported at the ends. B1] As the solenoid valve 53 moves up and down, the auxiliary wheels 56 fixed to both ends of the auxiliary shaft 55 are first brought into contact with the inner upper surfaces of the emergency guide rails 3A and 3B by the auxiliary V wheels 50. The wheels are separated, and then the emergency guide rails 3Δ and 3B are mounted on the inner lower surface of the driven drive Φ50
A contact wheel detection sensor 58 for detecting the contact wheel is fixed to the base 8 facing the movable support guide 52. The fixed support guide 59 that supports the drive unit 31 is provided with an arc-shaped notch groove in accordance with the fixed support guide 49B that supports the II dynamic support 15 side 42 of the drive unit 31. One control device consists of a magnetic support unit/control circuit 61, a motor drive circuit 62, and an operation command circuit 63, and the operation command circuit 63 receives wireless operation commands (ffi device 64, wireless operation command transmitter 6 ( j
It has the following functions.

4r, in Figure 5, 6G is a charging device, 6ε3△, 6
8B is a movable support guide for the solenoid valve 43.53.

Next, the operation of the (1) floating towing vehicle according to the first embodiment of the present invention will be explained.

When the magnetic floating L-type conveyor (hereinafter referred to as the device) is in a stopped state, the longitudinal wheels 25 of the traction m5 G,l! , the emergency guide rails 3A, 3 due to the attractive force of the permanent magnet 13.
It is in contact with the upper surface of the inner wall of the emergency guide rails 3A and 3B due to its own weight during towing 5.

When the device is started in this state, the drive control device 19
A gap C of a predetermined length is created between the magnetic support unit 9 and the guide rails 2A, 2B, so that the magnetic flux generated by the permanent magnet 13 is opposite to or the same direction as the magnetic flux generated in the electromagnets 12A, 12B. In order to do this, the current flowing through the excitation coil 15 is controlled.

As a result, the permanent magnet 13 - the yoke 14 - the gap C - the guide rails 2A, 2B -
A working circuit consisting of a path from the first yoke 14 to the permanent magnet 13 is formed to the air gap C. Gear Tsubu P is the iI of the supported object such as the tow vehicle 5! The length is set so that the suspension and the magnetic attraction force between the magnetic support unit]-9 and the guide rails 2Δ and 2B due to the magnetomotive force of the permanent magnet 13 are exactly balanced.

Now, when the towing vehicle 5 is directly under the stator 6, when the stator 6 is energized, the base 8 receives an electromagnetic force from the stator 6, so the towing vehicle 5 is at rAi. The vehicle starts traveling along guide rails 2Δ and 2B while remaining in the floating state. Towing 5
If the stator 6 is opened and opened again to the true -L position of the traction 1115 while the stator 6 is completely still under the influence of air resistance etc., the traction 5 will be energized again and n ID rail 2Δ
, 2B.

This movement continues to the destination point, and thus the tow vehicle can be moved to the destination point without contact.

By the way, during the movement of the towing vehicle 5, the optical sensors 28Δ, 28B detect the following signals:
By irradiating light onto 2B and receiving the reflected light, the distance between the magnetic support piece 1-9 and the guide rails 2Δ and 2B is detected. In addition, if the towing vehicle 5 that has been moved to the destination is equipped with a stop position detection sensor on the stator 6 in the direction of movement toward the target falling conveyance vehicle, it is braked by flowing reverse excitation 7δ current. The drive motor 18 is started at a pre-controlled speed and the following reduction gear 41 - reduction gear booley 40 -
Drive belt 41 - drive shaft pulley 38 - electromagnetic clutch 36
- Drive shaft 35 - Drive wheels 33 are sequentially driven and while the towing vehicle 5 is in a floating state, the emergency guide rail 3A,
First, support the towing vehicle 5 upward with the auxiliary wheels 46, 56 from the inner upper surface of the
The driven wheels 50 and the drive wheels 33 are brought into contact with each other on the inner lower surface of A13B, and the drive motor 18 runs to bring the tow vehicle 5 close to the target drop conveyance vehicle, and hook 23 of the tow vehicle 5.
After connecting with the drop transport vehicle, it is towed again at a controlled speed.
! The drive motor 18 of No. 5 is accelerated or reversed to move the drop transport vehicle to the target position while being pulled or pushed.

In addition, if there is no stop position detection sensor on the stator 6 in front of the target drop carrier in the direction of movement, the vehicle continues non-contact running and approaches the target drop carrier, and prepares for the bumper 21 of the towing vehicle 5. When the conveyed vehicle detection sensor 22 detects a fallen conveyed vehicle, the drive motor 18 is started at a pre-controlled speed as described above to drive the drive wheels 33 and the tow vehicle 5 is kept in a floating state. Emergency guide rail 3~. From the inside top surface of 3B, first the auxiliary wheels 46.56
The towing vehicle 5 is supported upwardly by the emergency guide rails 3A and 3B, and then the driven wheels 50 and the driving wheels 33 are braked by engaging with the inner lower surfaces of the emergency guide rails 3A and 3B, and the vehicle is towed to the target falling conveyance vehicle. After approaching the vehicle 5 and connecting it to the drop carrier using the hook 23 of the lever type 5, the drive motor 18 of the towing vehicle 5 is accelerated or reversed again at a controlled speed to move the drop carrier to the target position. Move while towing or pushing.

In addition, a charging device (not shown) is attached to the bumper 21 of the tow vehicle 5, and when the tow vehicle 5 is connected to the drop transport vehicle, the battery shortage of the drop transport vehicle is compensated for by the charging device, and transport due to the lack of 7fi source is performed. It is possible to levitate a conveyance vehicle that has fallen on the road.

FIG. 8 shows a second embodiment of the present invention, which differs from the first embodiment in that the two-wheel drive system is changed to a four-wheel drive system, and the drive mechanism 71 includes driving wheels 73A, 73B and It consists of auxiliary wheels 76A and 76B. The other configurations and operations are the same as those shown in the first embodiment, and their explanations will be omitted.

J3, 78 in FIG. 8 is a driven shaft boot.

Additionally, a charging device (not shown) is installed on the bumper 21 of the towing vehicle 5.
When the towing vehicle 5 is connected to the falling guided vehicle, a battery shortage of the falling guided vehicle can be compensated for by the charging device, and a guided vehicle that has fallen in the conveying path due to a lack of power can be levitated.

[Effects of the Invention] As described above, according to the present invention, when an emergency situation such as a conveyance type ditch occurs due to a decrease in the thrust of the conveyance tli due to an excess weight of the conveyed object, a decrease in running efficiency, etc. The robot approaches the position of the drop transport vehicle in a non-contact manner and connects therewith, and then the drop transport vehicle is pulled to a predetermined position by motor-driven travel.

As a result, it is possible to improve the efficiency of maintenance of the transport vehicle in the event of an emergency, and
The transport vehicle can be restored in a short time and operational efficiency can be improved.

[Brief explanation of the drawing]

1 to 7 relate to a first embodiment of the present invention, FIG. 1 is a perspective explanatory view of a conveyance vehicle traction device, and FIG. 2 is an If of FIG. 1.
-If arrow side view, Figure 3 is a vertical cross-sectional view in the ■-I [[ arrow direction in Figure 1, Figure 4 is a vertical cross-sectional view in the rV-rV direction in Figure 1, Figure 5 is a guided vehicle traction A side view showing the device partially cut away;
FIG. 6 is a sectional view for explaining the magnetic circuit of the transport 11 traction device, and FIG. 7 is a drive tiIIII of the transport vehicle traction device.
FIG. 8, a control block diagram of the I device, is a perspective explanatory view showing a part of the conveyance type traction V device according to the second embodiment of the present invention. 1... Track frames 2A, 2B, which are examples of supporting steel structures... Guide rails 3A13B... Emergency guide rails 5... Magnetic levitation type traction vehicle 6... Stator 18... Drive motor 19・
... Drive 11 control device 20 ... Power supply section 23 ...
Hook 31, which is an example of a coupling mechanism during transportation...Drive mechanism 33...R11 wheels for drive

Claims (1)

[Claims] A guide rail that is supported by a building, supporting steel structure, etc. and whose lower surface is made of a ferromagnetic material, a carrier that levitates magnetically along the guide rail, a secondary conductor attached to the carrier, and an air gap. a magnetic levitation type conveyor comprising a stator of a linear induction motor that is arranged along the guide rails between the guide rails and generates a thrust force that causes the conveyance vehicle to travel between the stator and the secondary conductor; The device includes a mechanism for non-contact traveling within the conveyance path of the conveyance vehicle, and a drive wheel that contacts an emergency guide rail disposed along the guide rail at the bottom of the building, support steel structure, etc. and a drive mechanism that drives the drive wheels by a drive motor, a drive control device that wirelessly controls the drive of the drive motor, a power supply unit having a power source for the drive motor, etc., and the transport vehicle. A conveyance vehicle traction device characterized by comprising a magnetic levitation type traction vehicle comprising a coupling mechanism.