JPH0218082Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] This invention relates to a switching device for a guide rail for a traveling vehicle.

[Conventional technology]

In general, moving vehicles such as forklifts that carry out cargo handling work inside a ship while underway are at risk of slipping or falling due to the rolling or pitching motion of the ship. A running guide device is provided which engages the guide rail. That is, as shown in FIGS. 1 and 2, wheels 3 of a traveling vehicle 2 are placed on a floor plate 1.
A guide rail 4 having an I-shaped cross section that is small enough to be climbed over is laid along the traveling path of the traveling vehicle 2, and a cylinder rod 5 that can freely move up and down is located at the center between both wheels 3 on the lower surface of the traveling vehicle 2. A traveling guide device 8 is provided, which includes a rotatable guide roller section 6 provided at the lower end of the cylinder rod 5 and a pair of guide rollers 7 having a flange extending from the lower surface of the guide roller section 6. . Note that the operation of the traveling guide device 8 is controlled by a hydraulic circuit (not shown).

When the traveling vehicle 2 is made to travel along the guide rail 4, the traveling vehicle 2 is first positioned on the center line of the guide rail 4, and the cylinder rod 5 of the traveling guide device 8 is lowered as shown in FIG. Then, both guide rollers 7 of the guide roller section 6 are positioned on both left and right sides of the guide rail 4, and then,
In this state, the guide roller section 6 is rotated to engage the flanges of both guide rollers 7 with the side surfaces of the guide rail 4, as shown in FIG. engulf it.

Then, when the traveling vehicle 2 moves in this state,
A pair of guide rollers 7 of the traveling guide device 8 rotate while sandwiching the guide rail 4, and the traveling vehicle 2
This will reliably prevent slips and falls.

Incidentally, since the traveling vehicle 2 guided by the guide rail 4 is required not only to travel straight but also to switch direction, a switching device as shown in FIG. 3 has been conventionally provided. That is, a circular switching point hole 9 is transparently provided in the floorboard 1 of the ship's hold, and four guide rails 4a, 4b, 4c, and 4d for guiding the traveling vehicle 2 on the floorboard 1 have their respective ends connected to the switching point. A disc-shaped rotary table 10 is installed at equal intervals around the periphery of the switching point hole 9, and a disc-shaped rotary table 10 is rotatably provided in the switching point hole 9. A straight rail 11 that connects two guide rails 4a to 4d that face each other.
and two curved rails 12 located on both sides of the straight rail 11 and connecting two adjacent guide rails 4a to 4d are laid.

Then, when the rotary table 10 is rotated by a predetermined angle, that is, every 45 degrees, the two opposing guide rails 4a to 4d are connected by the straight rail 11, or the adjacent guide rails 4a to 4d are connected by the curved rail 11. The running vehicle 2 can move straight or turn left on the rotary table 10.
You can switch to a right turn.

[The problem that the idea aims to solve]

By the way, in the switching device as described above,
In order to reliably switch the traveling vehicle 2 between going straight, turning left, and turning right on the rotary table 10, it is necessary not only to control the rotation angle of the rotary table 10 with high precision, but also to ensure that the rotation of the rotary table 10 after a predetermined rotation is made. It is necessary to reliably guide the traveling of the traveling vehicle 2 by suppressing this.

In particular, traveling vehicles such as fork-head trolleys 2
Since the stabilizer, that is, the traveling guide device 8 exerts a maximum force of 4 tons on the guide rails 4a to 4d, for example, a rotary table 10 of 1000 mmφ needs to have a locking ability against a torque of 2000 Kg·m. Yes, rotary table 1
A means for reliably fixing the zero rotational position is required.

This invention was made with the above points in mind, and its purpose is to provide a guide rail switching device for a traveling vehicle that can accurately control the rotation angle of a rotary table and also reliably fix the stopping position. This is what we are trying to provide.

[Means to solve the problem]

In order to achieve the above object, the switching device for a guide rail for a traveling vehicle of this invention includes a rotary table rotatably provided in a switching point hole in a floor plate and having a rotation stop position every 45 degrees, and the rotary table. A clutch brake plate is fixed to the lower surface of the clutch brake plate and has a plurality of teeth formed on the lower surface of the outer periphery.
A stop plate made of a magnetic material is disposed below the clutch brake plate so as to be movable up and down, and has a plurality of teeth formed on the upper surface of its outer periphery that removably mesh with each of the teeth; A spring for fixing the rotary table at rotational positions of every 45 degrees by meshing the respective teeth of the two plates, and a coil are installed, and when the coil is energized, the stop plate is attracted to each of the two plates. a coil casing made of a magnetic material that detaches the teeth of the rotary table; an electric motor that rotates the rotary table; and when switching to rotate the rotary table by a predetermined angle, the coil is energized and the electric motor is driven in normal rotation to rotate the rotary table. The present invention is characterized by comprising a control panel that switches the electric motor to reverse drive in the second half of rotation at a predetermined angle and stops energization of the coil and driving of the electric motor at the end of rotation at the predetermined angle.

[Effect]

According to the above-described configuration, when switching to rotate the rotary table by a predetermined angle, the control panel energizes the coil and at the same time drives the electric motor in normal rotation.

Therefore, the stop plate is attracted by the electromagnetic attraction force generated by energizing the coil and moves downward against the bias of the spring, so the stop plate is separated from the clutch brake plate and the rotary table can be freely rotated. The electric motor starts rotating the rotary table.

Then, when the rotary table rotates to the second half of the predetermined angle, the electric motor is switched to reverse drive and braking is applied to the rotation of the rotary table.

Furthermore, at the end of rotation at a predetermined angle, the control panel stops the coil energization and the motor drive, and the stop plate moves upward under the force of the spring and comes into contact with the clutch brake plate, and the inertia of the rotary table Both plates slip, each tooth of the stop plate meshes with each tooth of the clutch brake plate at a predetermined angle position, and the rotation of the rotary table is blocked by the stop plate via the clutch brake plate, and the rotation position of the rotary table is changed. is securely fixed.

〔Example〕

Next, this idea will be described in the fourth section showing one example of it.
This will be explained in detail with reference to the drawings below.

In these drawings, the same symbols as above indicate the same things, 13 is a deck provided horizontally below the floor plate 1, and 14 is a cylindrical plate concentric with the rotary table 10 erected on the deck 13. support stand,
15 is a lower support cylinder supported by the support stand 14, 16
1 is an upper support tube fixed on the lower support tube 15;
7 is a support ring fixed to the upper end circumference of the upper support cylinder 16; 18 is an annular swing ring bearing fixed to the support ring 17 by bolts and knock pins; 19
is an annular inner ring fixed to the lower surface of the rotary table 10 with bolts and dowel pins and rotatably supported on the inner periphery of the bearing 18; the inner ring 19 is arranged concentrically with the rotary table 10, and 10 is rotatably supported by a bearing 18 via an inner ring 19. Reference numeral 20 denotes an annular clutch brake plate which is bolted to the inside of the inner ring 19 on the lower surface of the rotary table 10 and has a plurality of teeth 20' formed at equal intervals on its lower surface.

21 is an annular guide frame which is bolted to the support ring 17 and has internal teeth 21' formed in the vertical direction on its inner peripheral surface; 22 is an annular guide frame made of a magnetic material and which is bolted to the support ring 17 together with the guide frame 21; The coil casing 22 has eight spring storage holes 23 opened at an upper surface formed at equal intervals on the outer periphery of the coil casing 22. 24 is an annular coil installed inside the coil casing 22;
The coil 24 is housed in the annular hole on the inner circumference of the coil 24 and is fixed with adhesive.
The coil 24 is securely fixed by bolting it to the coil casing 22.

Reference numeral 26 designates an annular armature that is vertically movable and serves as a stop plate between the clutch brake plate 20 and the coil casing 22 below the clutch brake plate 20. The armature 26 is made of a magnetic material, and as shown in FIG. There is a clutch brake plate 2 on the top surface.
A plurality of teeth 26' facing each tooth 20' of 0 and removably meshing with each tooth 20' are formed at equal intervals,
Further, external teeth 26'' that mesh with internal teeth 21' of the guide frame 21 are formed on the outer peripheral surface of the armature 26, so that the armature 26 is connected to the guide frame 21.
It is prevented from rotating and is guided so as to be able to move up and down. The teeth 20' of the clutch brake plate 20 and the teeth 26' of the armature 26 are each formed, for example, 16 in number so that they can be indexed every 45 degrees.
As shown in FIG. 6, the angle of inclination α is approximately 40 degrees to ensure smooth engagement and disengagement.

Reference numeral 27 indicates eight spring storage holes formed on the lower surface of the outer periphery of the armature 26 facing the spring storage holes 23 of the coil casing 22, and reference numeral 28 indicates the eight spring storage holes 23 of the coil casing 22 and the 8 spring storage holes of the armature 26. The 8 springs are housed between the respective spring storage holes 27 and supported by the assembly guide bolts 29.
The armature 26 is urged upward from the coil casing 22 by each spring 28, and the armature 26 is pressed against the clutch brake plate 10, and the teeth 20', 2
6' are designed to mesh with each other. Reference numeral 30 denotes a pusher for emergency manual operation provided on the rotary table 10. By pushing the pusher 30 downward, the armature 26 moves downward, and the armature 26 separates from the clutch brake plate 20, and the rotary table 10 It will be in a free rotation state.

31 is a spline shaft bolted to the center of the lower surface of the rotary table 10; 32 is a motor whose motor shaft 33, which is bolted to the lower surface of the coil casing 22 and led upward, is located directly below the spline shaft 31; 34 is a spline shaft. This is a spline coupling that directly connects the shaft 31 and the motor shaft 33, and the rotary table 10 is directly rotated by the drive of the motor 32. 35 is a pulse encoder attached to the lower surface of the electric motor 32 via a frame 36 and connected to the lower end of the motor shaft 33 via a bellows coupling 37, and the shaft of the encoder 35 also makes one rotation for one rotation of the rotary table 10. do. This encoder 35 is 360 degrees of that axis.
The degree rotation angle is divided into 3600 equal parts, making it possible to identify rotation angles in 0.1 degree increments. 38 is encoder 35
39, 40, 41 are coil 2
4. Electric wire connection box for electric motor 40 and encoder 35.

In addition, a control panel (not shown) with a built-in pulse counter that is electrically connected to the pulse encoder 35
For the final stage output, the motor 32 rotates forward, reverse,
A relay is provided for energizing the coil 24 and for energizing the coil 24.

Next, the operation of the embodiment will be explained.

Under normal conditions, the current to the coil 24 is cut off.
The drive of the electric motor 32 is also stopped, and therefore,
The armature 26 is pressed against the clutch brake plate 20 by the spring force of the spring 28, and the rotary table 10 is prevented from rotating by the armature 26 via the clutch brake plate 20.

Next, when rotating the rotary table 10 by 45 degrees to switch, first the electric motor 32 enters normal rotation operation, the coil 24 is energized, and the coil 24 is energized.
4, the armature 26 overcomes the spring force of the spring 28 and is attracted to the lower coil casing 22, the armature 26 separates from the clutch brake plate 20, and the rotary table 10 becomes rotatable by the electric motor 32. Thereafter, the rotary table 10 starts rotating forward at once by the electric motor 32, and the rotation angle of the rotary table 10 is detected by the pulse encoder 35.

When the rotation angle detected by the pulse encoder 35 reaches 22 degrees (±5 degrees), the control panel relay ends the normal rotation of the motor 32 and switches to reverse drive. Rotary table 10 at this time
The rotation speed is approximately 100 rpm. Therefore, the rotary table 10 is braked by the reverse torque of the electric motor 32, and its rotational speed gradually decreases, and when this decreases to about 5 rpm,
The rotation angle of the rotary table 10 has reached 44.5 degrees, and at this point, the electric current between the electric motor 32 and the coil 24 is cut off. For this reason, armature 2
6 is moved upward by a spring 28, and the armature 26
The teeth 26' of the clutch brake plate 20 and the teeth 20' of the clutch brake plate 20 come into contact with each other a little before they engage with each other, and thereafter they slip due to the inertia of the rotary table 10.
They engage at a 45 degree engagement position, and the rotary table 10 is fixed.

Next, when switching the rotary table 10 to 135 degrees, when the corresponding switching signal enters the control panel,
The forward rotation relay of the electric motor 32 and the energization relay of the coil 24 operate, and the armature 2
6 is detached from the clutch brake plate 20, and the rotary table 10 is rapidly accelerated in the forward direction by the electric motor 32.

Then, the rotation angle of the rotary table 10 is
When 135/2-0.5=67 degrees (±5 degrees) is reached, the forward rotation relay of the electric motor 32 is switched to the reverse rotation relay, the rotation speed of the rotary table 10 is gradually reduced, and then the rotation angle of the rotary table 10 is but
When the temperature reaches 134.5 degrees, the reversing relay of the motor 32 and the energizing relay of the coil 24 stop operating.
Therefore, the clutch brake plate 20 slips 0.5 degrees with respect to the armature 26 and engages with the armature 26 at a position of 135 degrees, and the rotary table 10 is stopped. Here, the rotation speed of the rotary table 10 is set to approximately 5 rpm when the relay stops operating.
It is necessary to adjust 67 degrees within a range of ±5 degrees.

Note that the signal from the pulse encoder 35 is differentiated and used as a speed signal, which is used during the above-mentioned adjustment.

Further, although a reduction gear is not used in the above embodiment, this is because the speed of the rotary table 10 is normally high during a predetermined rotation. Although some impact torque is generated, this is to reduce this impactive inertia torque.

Therefore, according to the embodiment, when switching the rotary table 10, the armature 26 is connected to the clutch brake plate 20 by energizing the coil 24.
The rotary table 10 can be rotated freely by separating from the rotary table 10, and can be rotated by a directly connected electric motor 32 to 45 degrees, 90 degrees,
Switching can be performed by rotating the motor 32 by 135 degrees, and the rotation angle of the motor 32 is detected by the pulse encoder 35, and the operation of the motor 32 is controlled based on the detection signal.
This allows accurate rotation adjustment of the rotary table 10, and furthermore, by stopping energization to the coil 24 at the end of the above-mentioned switching, the armature 26 moves toward the clutch brake plate 20.
The rotary table 10 can be securely fixed by meshing with the rotary table 10.

[Effect of idea]

Since this invention is configured as described above, it produces the effects described below.

The rotation of the rotary table is stopped by meshing the teeth of the clutch brake plate fixed to the underside of the rotary table and the stop plate, which is moved up and down by controlling the energization of the coil. It can be fixed securely and guide the running vehicle reliably, and the control panel controls the coil energization and forward rotation of the motor during rotation, and reverse rotation drive of the motor during the second half of rotation. In addition to providing braking force,
Since the coil and the motor are stopped at the end of rotation, there is no problem such as when the rotary table is abruptly stopped at a predetermined angle, and the rotation of the rotary table can be controlled stably and accurately.

[Brief explanation of the drawing]

Figure 1 is a front view of a portion of a traveling vehicle, Figure 2 is a front view of a portion of a traveling guide device, and Figure 3 is a plan view of a rotary table of a conventionally used guide rail switching device for a traveling vehicle. The following drawings show one embodiment of the switching device for a guide rail for a traveling vehicle of this invention, FIG. 4 is an overall cutaway front view, FIG. 5 is a perspective view of the armature, and FIG. FIG. 2 is an enlarged view of the teeth of the armature. 1...Floor plate, 2...Running vehicle, 4a to 4d...
Guide rail, 9...Switching point hole, 10...
...Rotary table, 11...Straight rail, 12
...Curved rail, 20...Clutch brake plate,
20'...teeth, 22...coil casing, 24
... Coil, 26 ... Armature, 26' ...
Teeth, 28... spring, 32... electric motor.

Claims (1)

[Scope of Claim for Utility Model Registration] A disc-shaped rotary table is rotatably provided in a circular switching point hole provided in a transparent floorboard, and four guide rails for guiding a traveling vehicle are respectively installed on the floorboard. are laid so that the ends of the switching point holes are positioned at equal intervals around the switching point hole, and
On the rotary table, a straight rail passing through the center of the rotary table and connecting the two opposing guide rails, and a straight rail connecting the two adjacent guide rails located on both sides of the straight rail. A switching device for a guide rail for a traveling vehicle in which a straight curved rail is installed includes a clutch brake plate fixed to the lower surface of the rotary table and having a plurality of teeth formed on the lower surface of the outer periphery; a stop plate made of a magnetic material that is arranged to be movable up and down and has a plurality of teeth formed on the upper surface of its outer circumference that removably mesh with each of the teeth; a spring that engages the teeth of the rotary table to fix the rotary table at rotational positions of every 45 degrees, and a magnetic material that includes a coil and attracts the stop plate to separate the teeth of the plates when the coil is energized. a coil casing consisting of a coil casing, an electric motor for rotating the rotary table, and energizing the coil at the time of switching to rotate the rotary table at a predetermined angle, and driving the electric motor in normal rotation during the second half of rotation of the rotary table at the predetermined angle; A switching device for a guide rail for a traveling vehicle, comprising a control panel that switches the electric motor to reverse drive and stops energizing the coil and stopping driving of the electric motor at the end of rotation at the predetermined angle.