JPH0350062A - Self-travelling truck device - Google Patents

Abstract

PURPOSE:To perform travelling and stopping on the fixed path smoothly without slips both on a straight line and a curve by engaging a pinion, interlocked with a travel-drive unit on the self-travelling truck side, with a rack fitted at a guide rail, and providing a feeder device on the running rail side and a current collecting device on the bracket side. CONSTITUTION:A self-travelling truck 20 supported at running rails 1A, 1B through wheels 22A, 22B travels by rotating a pinion 27 engaged with a rack 11 by a travel-drive unit 24. At this time, the travel is performed on the fixed path by the guide of a guide rail 10 positioned between the running rails 1A, 1B through a guide roller 30. Travelling/ driving force can be thereby obtained at the cross direction center part of the self-travelling truck 20 without generating slips and the like, and running and stopping on the fixed path can be performed smoothly and reliably both on a straight line and a curve. In this case, a feeder device 14 is provided on the running rail side and a current collecting device 33 is provided on the bracket side.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a self-propelled trolley device that is supported and guided by a rail M installed in a factory, for example, and can travel along a fixed route.

2. Description of the Related Art Conventionally, this type of device has been developed, for example, by
The configuration found in the 3451 publication is provided. In this conventional type, the bogie is supported by a pair of left and right rails via wheels, a drive device is interlocked with one of the main bells, and guide rollers that can come into contact with both sides of both rails are provided on the bogie side. , this trolley is configured to be able to travel freely along a fixed route.

A connecting member is provided between both rails, a horizontal power feeding device is provided on this connecting member, and a current collecting device that can be slidably contacted with the power feeding device is provided on the cart side.

According to this conventional system, a cart placed on a rail via wheels travels along a fixed path while being guided by guide lobes by forcibly rotating the wheels using a drive device. At this time, the current collector comes into sliding contact with the power supply device, thereby transmitting and receiving signals from the ground side to the control device of the bogie and supplying power. Additionally, collision prevention sensors are usually provided on the front and rear surfaces of such a truck to detect when another object is present on a certain path and automatically stop the truck.

Problems to be Solved by the Invention According to the above-mentioned conventional system, since one wheel is driven, the propulsion force acts on an eccentric position, making it difficult to travel smoothly. Because of this, slipping occurs easily when running or stopping, making it impossible to drive or stop accurately.

Furthermore, by associating guide lobes with both rails, distortion tends to occur mainly on curved routes. Therefore, unlike the conventional type, a special structure that allows the other wheel group to move freely in the width direction of the bogie must be adopted. It won't happen.

According to the above-mentioned conventional type, dust generated when the current collector comes into sliding contact with the power supply device falls onto the floor and pollutes the surrounding area.

Furthermore, when the above-mentioned conventional method is adopted for a linear reciprocating route, the terminal end of this reciprocating route cannot be brought close to an obstacle such as a wall. That is, since the truck stops when the anti-collision sensor detects an obstacle, there are restrictions on the formation of the reciprocating route.

A first object of the present invention is to provide a self-propelled trolley device that can run and stop along a fixed route such as a straight line or a curve, smoothly and without slipping.

A second object of the present invention is to provide a self-propelled trolley device that can quickly catch dust generated in a power feeding section and quickly and easily remove dust.

Furthermore, the third object of the present invention is to - make it possible to freely travel back and forth on a fixed route, and to have a fixed shape, but to have a terminal end sufficiently close to an obstacle such as a wall; The object of the present invention is to provide a self-propelled trolley device that is not subject to any restrictions.

Means for Solving Issue M In order to achieve the purpose of constant temperature 1 described above, the self-propelled trolley device of the first invention has covers arranged in series on opposite sides of a pair of left and right running rails, and A slit is formed between the free ends of the cover, and a placket that passes through the slit is vertically provided from a self-propelled cart supported by the traveling rail via wheels, and this placket contacts a guide tray arranged under the cover. A movable guide roller is provided, a pinion interlocked with the traveling drive device on the self-propelled cart side is engaged with a rack attached to the guide rail, a power supply device is provided on the traveling V-ru side, and a power supply device is provided on the placket side. A current collector is installed.

In order to achieve the above-mentioned second object, the self-propelled trolley device of the second invention is supported by a traveling rail and has a guide V-
Providing a self-propelled cart that can freely run on a fixed route guided by ~, disposing a power supply device along the fixed route,
A self-propelled trolley is equipped with a current collector that can be slid into contact with this power supply device,
A tray is disposed below the power supply device, and adhesive tape is laminated on the soil surface of the tray.

Furthermore, in order to achieve the above-described third object, the self-propelled trolley device of the third invention includes a self-propelled trolley that is supported by a traveling rail p and is guided by a guide tray and can freely travel back and forth on a fixed route. A collision prevention sensor is provided on each of the front and rear surfaces of the self-propelled vehicle to stop the self-propelled vehicle by a detection operation, a detected object is provided on the guide rail at the end of the fixed path, and the self-propelled vehicle is , a detection device that can freely face the object to be detected, and a control device that decelerates the traveling drive device by detecting the detection device and ignoring the detection operation of the collision prevention sensor.

Effects According to the first aspect of the present invention, the self-propelled cart supported on the running rail can be made to travel via the wheels by rotating the binion meshing with the rack by the traveling drive device, and at this time the traveling rail is rotated. Since the vehicle is guided by guide rollers between the position M and the position guide rail, it can run on a fixed route.

Further, according to the second aspect of the present invention, the dust that is generated and fallen when the current collector comes into sliding contact with the power supply device can be quickly caught by adhering it to the adhesive tape, and can be quickly caught by the adhesive tape. After confirming this, by peeling off the top layer of the adhesive tape, dust can be removed and a new adhesive tape can be exposed.

Furthermore, according to the third aspect of the present invention, when a person or other object enters the predetermined path during normal running, the collision prevention sensor detects the movement and automatically stops the self-propelled trolley. When the self-propelled trolley reaches near the end of the fixed route and the detection device detects the detected object, the traveling drive device decelerates, ignoring the detection operation of the collision prevention sensor, and as a result, the self-propelled trolley gradually decelerates. It will stop at a predetermined position at the end. Therefore, a constant path can be formed without being constrained by obstacles.

Example An embodiment of the present invention will be described below based on the drawings.

1A and 1B are a pair of left and right running rails μ, each of which is mounted on the floor 3 via members 2A, 2B, etc., and the parallel interval is provided between opposing inner surfaces to form a eu-shaped connection. It is maintained by material 4. Both running rails lA, IB
Floor plates 6A and 6B are disposed on the upper part of the outer surface of the housing through support brackets 5A and 5B, and covers 8A and 8B are placed opposite each other through support brackets 7A and 781 on the upper part of the interior surface. It is connected to the side.

Here, running v-1vIAIIB, floorboards 6A, 6B, and cover 8A.

The upper surface of cover 8B is flush with cover 8A and 8B.
A slit 9 of a predetermined width is formed between the free ends. A guide rail IO is arranged below the slit 9 between the traveling rails IA and IB, and this guide rail /L/10 is fixed by the connecting member 4. At one end of this guide tray IvlO is attached a rack 11 facing one of the traveling trays/'IA side, and at the bottom a detection plate 12 for high-speed cutting is attached. On the inner surface of one of the running lanes/I'LA,
A power supply device 14 is provided via a power supply 13 or the like.

Reference numeral 20 denotes a self-propelled trolley, which is installed at the lower opening of its main body 21.* 22A and 22B represent the above-mentioned traveling V −/' IAel
Supported by B. On each of the front and rear surfaces of the main body 21,
A collision prevention sensor 23 that stops the self-propelled trolley 20 by a detection operation is provided, and a travel drive device (such as a motor) 24 is provided at the center in the left-right direction and in the middle in the front-rear direction. This travel drive device 24 and the collision prevention sensor 2
3 and the like are connected to a control device 25 provided in the main body 21. A downward drive shaft 26 from the travel drive device 24 passes through the slit 9t and projects below the covers 8A, 8B, and a pinion 27 that meshes with the rack 11 is attached to the lower end. A bracket 28 that passes through the slit 9 is vertically installed from the lower part of the main body 21, and the bracket 28 is divided into front and rear portions with respect to the drive shaft 26. A horizontal base plate 29 is attached between the lower ends of the placket portion, and a plurality of guide rollers 30t that can freely come into contact with both sides of the guide tray/I/10 are attached to the lower surface side of this base plate 29, thereby automatically Running trolley 20
It is possible to run freely on a fixed route 38. The base plate 29 is provided with a detection device 31 for high-speed cutting that can correspond to the detection plate 12, and a detection device [32] for fixed position detection.
These detection devices 31 and 32 are connected to the control device 5. The detection plate 15, to which the detection device 32 can be used, is provided on the other traveling rail IvIB side.

Further, the base plate 29 is provided with a current collector 33 that is slidably in contact with the power supply device 14 . A tray 16 is provided below the feeding device 14.
is supported by the connecting member 4. The tray 16 has a channel shape, and an adhesive tape 17 is attached to the top surface of the tray 16.
(has been layered before).

The fixed path 38 is formed in a free end shape such as a straight line, and allows the self-propelled cart 20i to freely travel back and forth. And - fixed route 3
8 is close to an obstacle 39 such as a wall, a temporary detection body 18 made of, for example, magnetic tape is attached to the side of the guide tray 1v10 in f811 at this end.
is provided, which can freely face the detected object 18 and is connected to the control device 25, and a ratio detection device 34 is connected to the base plate 2.
9. The control device 25 ignores the detection operation of the collision prevention sensor and decelerates the travel drive device 24 when the detection device 34 performs the detection operation.

In the earth mud embodiment, the self-propelled trolley 20 placed on the running rails LA and IB via the respective wheels 22A and 22B, fully operates the running drive device 24 in response to a running instruction, and the pinion 2
By forcibly rotating 7, 7i (
is made a return trip. That is, since the rotation of the pinion 27 is meshed with the rack 11, it is converted into a reliable running force, and since it is guided to the guide tray A/10 via the guide roller 30, the self-propelled cart 20 follows a fixed path 38. The vehicle travels at a predetermined speed on the top of the vehicle. During normal running, when the detection device 31 detects the detection plate 12, the high speed is cut off and deceleration begins, and when the detection device 32 detects the plate 15, the self-propelled cart moves to the end. It is stopped at a fixed position such as station or intermediate station.

During normal running as described above, when an obstacle such as a person enters the fixed route 38, the obstacle collision prevention sensor 23 detects (yes) and causes the self-propelled trolley 20 to make an emergency stop.

When the self-propelled trolley 20 reaches near the end of the fixed path 38, the detection device 34 detects the detected object 18, and the traveling drive device is thereby decelerated, and the self-propelled trolley 20 is gradually decelerated and then detected. It is stopped when the device 32 detects the movement. In this case, since the movement detected by the collision prevention sensor 23 is ignored, the self-propelled trolley 20 can be brought sufficiently close to the obstacle 39 and stopped, regardless of the detection range of the collision prevention sensor 23.

In the above embodiment, a linear reciprocating route is shown as the constant route 38, but in the first invention and the second invention, it may be a loop-shaped unidirectional route.

Effects of the Invention According to the configuration of the first invention described above, by rotating the binion meshing with the rack by the traveling drive device,
A self-propelled trolley supported by running rails via wheels can be run, and at that time, it is guided by guide rails located between the running rails via guide rollers, so it can run on a fixed route. I can do it. As a result, the propulsion force can be obtained at the widthwise center of the self-propelled trolley without slipping, and it is possible to smoothly and reliably run and stop on a fixed route such as a straight line or a curve.

Furthermore, by locating the guide knob in the center, it is possible to provide guidance that does not cause twisting on curved routes without using special JfiJ construction.

Further, according to the configuration of the second invention, the dust that is generated and fallen when the collector JC device comes into sliding contact with the power supply device can be quickly caught by attaching it to the adhesive tape.
This prevents dust from falling onto the floor and contaminating the surrounding area. Then, by peeling off the top layer of adhesive tape periodically or after checking the adhesive state, dust can be quickly and easily removed.

Furthermore, according to the configuration of the third invention, when a person or other object enters a certain path during normal running, the collision prevention sensor detects and automatically stops the self-propelled dolly. When the vehicle reaches near the end of the fixed path and the detection device detects the object to be detected, it is possible to ignore the detection operation of the collision prevention sensor and decelerate the travel drive device, thereby gradually decelerating the self-propelled trolley. can be stopped at a predetermined position at the end. Therefore, the constant path can be formed without being constrained by obstacles, such as by allowing its ends to be sufficiently close to obstacles such as walls.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention, and FIG. 1 is a longitudinal sectional front view;
Fig. 2 is a cross-sectional plan view, Fig. 3 is a front view of the dust collecting section, Fig. 4 is a schematic plan view, and Fig. 5 is an explanatory diagram of the operation. LA, IB... Traveling rail, 4... Connecting material, 8A,
8B...Cover 9...Slit, 10...Guide rail, 11...Book, 14...Power supply device, 1
6...Tray, 17...Adhesive tape, 18.
...Detected object, 20...Self-propelled trolley, 22A. 22B...Wheel, 23...Collision prevention sensor, 24.
...Traveling drive device, 25...Control device, 27...Bimi on, A...Buffet, 29...Pace plate, 30...Guide roller, 31.32...Detection device, 4... Current collector, 34... Detector, 38...
- Fixed route, 39...Obstacles.

Claims (1)

[Claims] 1. Covers are provided in series on opposite sides of the pair of left and right running rails, and a slit is formed between the free ends of these covers;
A placket that passes through the slit is provided vertically from the self-propelled cart supported by the traveling rail via wheels, and a guide roller that can freely come into contact with a guide rail disposed under the cover is provided on this placket, and the self-propelled A pinion interlocked with a traveling drive device on the bogie side is meshed with a rack attached to the guide rail, a power supply device is provided on the traveling rail side, and a current collector is provided on the placket side. Running trolley device. 2. A self-propelled trolley supported by a running rail and guided by a guide rail so as to be able to travel along a fixed route is provided, a power supply device is disposed along the fixed route, and a collection unit that can freely come into sliding contact with the power supply device is provided. 1. A self-propelled cart device, characterized in that an electric device is provided on the self-propelled cart, a tray is provided below the power supply device, and an adhesive tape is laminated on the upper surface of the tray. 3. Collision prevention that includes a self-propelled trolley that is supported by a traveling rail and can freely travel back and forth on a fixed path while being guided by a guide rail, and that the self-propelled trolley is stopped by a detection operation on each of the front and rear surfaces of the self-propelled trolley. A sensor is provided, a detected object is provided on the guide rail at the end of the fixed path, a detection device is provided on the self-propelled cart that can freely face the detected object, and the detection movement of the detection device prevents the collision. A self-propelled trolley device characterized by being provided with a control device that decelerates a travel drive device ignoring the detection operation of a sensor.