JPH0614761B2 - Travel control device for self-propelled vehicles for transportation - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling control device for a self-propelled vehicle for transportation, which is used for transporting a load in a space or a factory, for example.

2. Description of the Related Art Conventionally, as a device of this type, for example, Japanese Patent Laid-Open No. 61-259
As disclosed in Japanese Patent No. 59, two rails for supporting and guiding a self-propelled vehicle are provided with two power supply rails and one signal rail, and the self-propelled vehicle can be slidably contacted with both power supply rails. A structure is provided in which two current collectors and one brush slidably contacting the signal rail are provided.

According to this conventional type, a current collector can be received by slidingly contacting a power supply rail, and various control signals can be transmitted and received by slidingly contacting a brush with a signal rail to control traveling.

Problems to be Solved by the Invention According to the above-mentioned conventional type, since the signal rail is provided over the entire length of the path, it is expensive, and the brush is constantly required to be slidably contacted with the signal rail, so that the brush needs to be frequently replaced due to abrasion. It also causes the generation of dust. Further, since a large number of rail devices are arranged in a continuous manner, the division of the rail devices becomes complicated due to the action of the signal rails arranged in these rail devices.

An object of the present invention is to use a magnetic flux to transmit and receive a traveling control signal without making a sliding contact, to arbitrarily delimit rail devices, and to self-propelled for transportation, which allows rail-side devices to be compactly assembled. The point is to provide a vehicle travel control device.

Means for Solving the Problems In order to solve the above-mentioned problems, the present invention is a travel control device for a self-propelled vehicle for transportation having an on-vehicle device and a rail-side device, wherein the on-vehicle device is A magnet for transmitting the signal of the self-propelled vehicle,
It has a sensor for receiving a stop signal, both of which are attached to the lower part of the self-propelled vehicle at positions distant from each other in the front-rear direction of travel, and the rail-side device has a pair of left and right magnetic pole plates with respect to the travel direction,
It has a pair of front and rear stop signal transmission coils and a sensor for receiving a self-propelled vehicle signal located between both coils, and it is mounted at a designated location on the rail device and has a sensor for receiving the self-propelled vehicle signal. When the magnetic flux of the magnet for transmitting the self-propelled vehicle is detected and both pole plates energize the coils for transmitting both stop signals, a magnetic flux is generated between both pole plates and the sensor for receiving the stop signal has both magnetic poles. The magnetic flux generated between the plates is detected.

Action According to the configuration of the present invention, the self-propelled vehicle travels on a fixed route while being guided by the rail device. Then, while running, by energizing the coil for transmitting the stop signal in the target rail-side device among the rail-side device group provided on the rail device side, a magnetic flux (stop signal) is generated between both magnetic pole plates. ,
By detecting this magnetic flux by a sensor for receiving a stop signal on the side of the self-propelled vehicle, the self-propelled vehicle can be automatically stopped.

In addition, a magnetic flux (self-propelled vehicle signal) is constantly generated from a magnet for self-propelled vehicle signal transmission of the self-propelled vehicle, and the sensor for receiving the self-propelled vehicle signal of the rail-side device detects this magnetic flux, whereby the self-propelled vehicle You can check the passage and the stop. And the rail side equipment can be compactly integrated.

Embodiment One embodiment of the present invention will be described below with reference to the drawings.

Reference numeral 1 denotes a self-propelled vehicle, which is a pair of left and right first wheels 4 rotatably attached to a machine frame 2 via an axle 3 and a position further away from the first wheel 4 in either direction of a fixed path 5. A pair of left and right second wheels 7 mounted on the axles 6 so as to freely rotate, and lateral movement restricting wheels 8 and 9 attached to the axles 3 and 6 constitute a main body. A motor 10 is arranged in a box-shaped machine frame 2 having at least an open lower surface, and the motor 10 is attached to the machine frame 2 side so as to be vertically swingable via a horizontal pin 11 in the front-rear direction intermediate portion. Further, the motor 10 is urged to swing toward the lower surface side by a spring 12 provided between the motor 10 and the machine frame 2. Reference numeral 13 is a stopper that regulates the amount of swinging against the spring 12.

A speed reducer 14 is connected to the swing end of the motor 10 in series.
A propulsion rotary wheel (friction rotary wheel) 16 located near the first wheel 4 is fixed to one end of a drive shaft 15 taken out laterally from the speed reducer 14, and a pinion gear 17 is fixed to the other end. To be done. On the machine frame 2 side, a pair of left and right collectors 18A, 18A
B is disposed, and the current collecting positions of these current collectors 18A and 18B are near the second wheel 7.

Sensors 19 and 20 for receiving a stop signal are attached to both ends in the lower part of the machine frame 2 in the front-rear direction, and a permanent magnet for transmitting a signal of a self-propelled vehicle is provided between the sensors 19 and 20. A magnet 21 is attached. These sensors 19 and 20 and the permanent magnet 21 constitute an in-vehicle device, and are located at the center of the main body in the width direction. A load storage unit (not shown) or the like is attached to the upper side of the machine frame 2.

Reference numeral 30 denotes a left-right symmetrical rail device that supports and guides the self-propelled vehicle 1. A self-propelled vehicle guide portion 32 having a C-shaped cross section having an opening 31 for running the self-propelled vehicle on one surface, and this self-propelled vehicle guide The U-shaped device arranging portion 33 is provided continuously outside the other surface of the portion 32. The self-propelled vehicle guide portion 32 with the opening portion 31 facing upward faces the first traveling guide surface 34 that comes into contact with the first wheel 4 from above, and the second traveling guide surface 34.
A second traveling guide surface 35 and a friction rolling surface 36 that come into contact with the wheel 7 and the propulsion rotary wheel 16 from below, and a third traveling guide surface 37 that comes into contact with the lateral movement regulating wheels 8 and 9 from the outside. Have
A rack 38 with which the pinion gear 17 engages in an inclined path or the like is provided near the second traveling guide surface 35.

A slit 39 for arranging a rail-side device is formed on the other side plate of the self-propelled vehicle guide 32 over the entire length, and the slit 39 connects the two parts 32 and 33 to each other. An insulating strip is provided at the end of the self-propelled vehicle guide portion 32 where the slit 39 is formed.
40A and 40B are externally fitted and mounted, and these insulating strips 40A and 40B
B is a power supply rail 4 on which the current collectors 18A and 18B are in sliding contact.
1, 41B is installed.

Rail-side devices 42 are arranged at a plurality of designated places (stations or the like) of the rail device 30. That is, the rail-side device 42 arranged from the slit 39 to the device arranging portion 33 has a pair of left and right magnetic pole plates 43A and 43B between the magnetic pole plates 43A and 43B with respect to the traveling direction of the vehicle 1. A pair of front and rear coils 44, 45 for transmitting a stop signal, and a sensor 46 provided between the coils 44, 45 for receiving the signal of the vehicle.
Composed of and.

Here, as shown in FIG. 7, the vertical magnetic flux A generated by the permanent magnet 21 for transmitting the self-propelled vehicle signal is detected by the sensor 46 for receiving the self-propelled vehicle signal, and
As shown in FIG. 4, both coils 4 for generating the stop signal are generated.
The left and right magnetic flux B generated between the magnetic pole plates 43A and 43B when electricity is supplied to the magnetic poles 4 and 45 is detected by the sensors 19 and 20 for receiving the stop signal.

The lower ends of both the magnetic pole plates 43A and 43B are engaged with the projecting pieces 47A and 47B integrally formed on the bottom plate portion of the device placement portion 33, whereby the rail-side device 42 is positioned. Also, in the basic type, the upper end projects into the self-propelled vehicle guide portion 32 as shown in FIG.
It is located on both sides of sensors 19 and 20 for receiving stop signals and permanent magnets 21, which are devices of the vehicle. And on the curved path,
The magnetic pole plate 43B located outside the curved arc is formed low, for example, as shown in FIG.

Engagement portions 48A, 48B are formed in the inner surfaces of the power supply rails 41A, 41B facing each other, and the engagement portions 48A, 48B are formed in a recessed manner.
An insulating cover 49 for opening and closing the slit 39 is detachably provided via the. As shown in FIG. 4, the insulating cover 49 has convex portions 50A and 50B for covering the upper ends of the magnetic pole plates 43A and 43B.
And one of the protrusions 50A and 50B is the first in the curved path.
It becomes low as shown in the figure. The rail-side device 42 is arranged at a designated location in the length direction, and a concave insulating cover 49 is provided at a location other than this location as shown in FIG.
a is used.

The width 1 of the device placement portion 33 is narrower than the width L of the self-propelled vehicle guide portion 32, so that both side surfaces of the rail device 30 are formed in steps. A erection locking portion 60 is formed in a concave shape on the outer end of the side surface of the device placement portion 33. As shown in FIG. 1, the floor-side installation tool 61 with the opening 31 facing upward has a pair of engagement pieces 62 that can be engaged with and disengaged from the outside with respect to the locking portion 60, and bolts for tightening and connecting the engagement pieces 62. 63 and nut 64, both engaging pieces
It is composed of a base frame 66 and the like that supports the 62 via fixtures (bolts and nuts) 65.

As shown in FIG. 8, the ceiling-side installation tool 70 includes a pair of engagement pieces 71 that can be engaged with and disengaged from the locking portion 60 from the outside, and these engagement pieces 71.
A bridging member 73 disposed via a bolt 72 between them, and both engaging pieces 71
And a suspension rod 74 that is tightened and connected to.

Next, the traveling control of the vehicle 1 in the above embodiment will be described.

In the traveling of the self-propelled vehicle 1, the rotational force of the motor 10 is transmitted to the propulsion rotary wheel 16 via the speed reducer 14 and the drive shaft 15, and the propulsion rotary wheel 16 is brought into pressure contact rolling on the friction rolling surface 36. It can be done by At this time, the traveling is performed by rolling the first wheel 4 with respect to the first traveling guide surface 34, rolling the second wheel 7 with respect to the second traveling guide surface 35, and lateral movement regulating wheel 8 with respect to the third traveling guide surface 37. , 9 rolling stably on the fixed path 5 such as horizontal or inclined without shaking. Then, in the ascending and descending inclined paths, the pinion gears 17 are engaged with the rack 38 to allow slip-free traveling.

During such traveling, the coil 4 for transmitting the stop signal
When power is not supplied to 4, 45, sensor 19 for receiving a stop signal passing between both magnetic pole plates (convex portions) 43A, 43B,
20 does not receive a stop signal. However, as shown in FIG. 7, since the sensor 46 for receiving the self-propelled vehicle signal detects the vertical magnetic flux (self-propelled vehicle signal) A constantly generated from the permanent magnet 21, this self-propelled vehicle signal reception It is detected that the self-propelled vehicle 1 has passed through the place where the sensor 46 for the vehicle is installed (being seated in a certain section), and the detection signal is given to the control unit.

Then, when stopping the designated self-propelled vehicle 1 at a designated place (station or the like), the self-propelled vehicle 1 is arranged at the designated place before the self-propelled vehicle 1 arrives, and the stop signal for the rail side device 42 is transmitted. Energize the coils 44 and 45. Then the first
As shown in FIGS. 4, 4 and 6, both magnetic pole plates 42A, 43B
A magnetic flux (stop signal) B in the left-right direction (direction intersecting with the magnetic flux A) will be generated between the upper ends of the two, and therefore, the stop signal receiving sensors 19 and 20 that have moved integrally with the self-propelled vehicle 1. Detects the magnetic flux B, thereby stopping the motor 10 and applying the brake. By this, self-propelled vehicle 1
Is stopped after traveling the braking distance. Due to this stop, it faces the sensor 46 for receiving the permanent magnet 21 self-propelled vehicle signal,
Similarly to the above, the magnetic flux A is detected, and the control unit confirms the stop.

When traveling on a curved path, the self-propelled vehicle 1 is swung outward by centrifugal force, and the sensors 19 and 20 for receiving the stop signal and the permanent magnet 21 also move outward. As shown in, the magnetic pole plates 43A and 43B and the convex portions 50A and 50B
These collisions do not occur because those outside of and are formed low.

By removing the insulating covers 49, 49a, the inside of the device placement portion 33 is cleaned, the rail-side device 42 is inspected and confirmed, and the rail-side device 42 is checked.
Can be replaced and the arrangement position can be changed.

Although the sensors 19 and 20 for receiving the stop signal are attached to the front and rear ends of the self-propelled vehicle 1 in the above embodiment, only one of them may be provided. It should be noted that by installing two of them, the one on the rear side suitably works at the time of overrun, and both forward and backward running can be suitably performed.

EFFECTS OF THE INVENTION According to the present invention having the above configuration, the self-propelled vehicle can be guided by the rail device and run on a fixed route. Then, while running, of the rail-side device group provided on the rail device side, by energizing the coil for stop signal transmission in the target rail-side device to generate a magnetic flux (stop signal) between both magnetic pole plates, A sensor for receiving a stop signal on the side of the self-propelled vehicle detects this magnetic flux, and the self-propelled vehicle can be automatically stopped at a designated place.

In addition, a magnetic flux (self-propelled vehicle signal) is constantly generated from the magnet for self-propelled vehicle signal transmission of the self-propelled vehicle, and the sensor for receiving the self-propelled vehicle signal of the rail-side device detects this magnetic flux, It is possible to confirm the passage of a running vehicle (being seated in a certain section) or stopping at a station.

As described above, according to the present invention, the control signal can be transmitted and received without sliding contact, the expensive full length of the signal rail can be dispensed with, and abrasion can be prevented. Further, the rail-side devices can be compactly assembled, and the rail devices can be arbitrarily separated because they can be attached to necessary places.

[Brief description of drawings]

The drawings show one embodiment of the present invention, and FIG. 1 is a longitudinal rear view,
FIG. 2 is a partially cutaway side view, FIG. 3 is a partially cutaway plan view, and FIGS. 4 and 5 are longitudinal rear views of main parts, FIG. 6 and FIG.
FIG. 8 is a schematic side view showing a working state, and FIG. 8 is an explanatory view of a hanging type. 1 ... self-propelled vehicle, 5 ... constant route, 16 ... propulsion wheel,
18A, 18B ... collector, 19,20 ... sensor for receiving stop signal, 21 ... permanent magnet (magnet for transmitting vehicle signal),
30 …… Rail device, 32 …… Self-propelled vehicle guide section, 33 …… Device distribution section, 36 …… Frictional rolling surface, 41A, 41B …… Feed rail,
42 …… Rail side equipment, 43A, 43B …… Magnetic pole plate, 44, 45…
… Coil for sending stop signal, 46 …… Sensor for receiving self-propelled vehicle signal, 49,49a …… Insulation cover, 50A, 50B …… Convex part, A, B …… Magnetic flux.

Claims (1)

[Claims] 1. A traveling control device for a self-propelled vehicle for transportation, comprising an on-vehicle device and a rail-side device, wherein the on-vehicle device includes a magnet (21) for transmitting a self-propelled vehicle signal of the own vehicle.
It has a sensor (19, 20) for receiving a stop signal, and both (21, 19, 20) are attached to the lower part of the self-propelled vehicle (1) at positions distant from each other in the front-rear direction and the rail-side device. (42) is a pair of left and right magnetic pole plates (43A, 43B), a pair of front and rear stop signal transmitting coils (44, 45), and a self-positioning unit located between both coils (44, 45) with respect to the traveling direction. While having a sensor (46) for receiving a vehicle signal,
Mounted at a specified location on the rail device (30), the sensor (46) for receiving the vehicle signal detects the magnetic flux (A) of the magnet (21) for transmitting the vehicle signal, and both magnetic pole plates ( 43A,
When 43B) energizes both stop signal transmitting coils (44, 45), magnetic flux (B) is generated between both magnetic pole plates (43A, 43B), and stop signal receiving sensors (19, 20) Is for detecting the magnetic flux (B) generated between both magnetic pole plates (43A, 43B).