JPH0848241A - Rail traveling device - Google Patents

Abstract

PURPOSE:To prevent a collector ring on a traveling body from being broken by increasing thrust at the time of traveling on a slope, and bringing the collector ring into a specific contact condition to a feeder on a rail. CONSTITUTION:Driven wheels 14, 15 are brought into contact with a rail 1 at a specific distance respectively on the upstream side and downstream side in the traveling direction Q of a driving wheel 12 to the center line R which passes through a driving wheel contact point P to the rail 1 and is orthogonal to the traveling direction Q, and the driving wheel 12 and both the driven wheels 14, 15 oppose the direction of the force working upon the rail 1. The load of a traveling body 7 and the like works upon the driving wheel 12 as a moment around the upstream driven wheel 14 in a traveling condition on a slope. When a traveling body 7 ruses through direction changing parts 16, 17, the upstream driven wheel 14 and the downstream driven wheel 15 roll on supporting recessed surfaces 26a, 27a and supporting protruding surfaces 28, 29 while being supported by respective guide protruding surfaces 18, 21, 23, 24 and respective guide recessed surfaces 19, 20, 22, 25, thus providing a stable traveling locus.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rail traveling device, in which a traveling body hung or placed on the rail is supported by driving wheels and driven wheels, and the traveling body is stabilized at a direction changing portion of the rail. It relates to a structure for running the vehicle. Here, the direction changing portion mainly refers to an inclined portion between the lower rail and the upper rail when changing the height of the rail on a vertical plane.

[0002]

2. Description of the Related Art In a conventional rail traveling apparatus shown in FIG. 10 (a), a drive wheel 12 contacts a rail 1 on a downstream side in a traveling direction Q on a traveling body 7 which can travel along the rail 1. The driven wheel 14 is provided so as to be capable of contacting the rail 1 on the upstream side in the traveling direction Q. In addition, the power supply line 6 is provided on the rail 1 along the traveling direction Q.
a is provided, and the traveling body 7 is provided with a current collector 6b capable of coming into contact with the power supply line 6a. In the traveling height conversion unit shown in FIG. 10B, an elevating rail 1E is installed between the first rail 1A and the second rail 1B.
Is continuous with the first rail 1A when descending, the traveling body 7
Was transferred from the first rail 1A to the lifting rail 1E,
The traveling body 7 moves from the lifting rail 1E to the second rail 1 in a state where the lifting rail 1E continues to the second rail 1B when rising.
It can be transferred to B. In this conventional rail traveling device, the rail 1 is divided into the first rail 1A, the elevating rail 1E, and the second rail 1B, and a device for elevating the elevating rail 1E is required. There was a problem.

[0003] Therefore, as for the rail type not divided, Japanese Utility Model Laid-Open No. 62-137764 (cited example 1).
There is a rail traveling device disclosed in Japanese Patent Laid-Open No. 3-32974 (Cited example 2). Regarding the positional relationship between the driving wheels and the driven wheels in these rail traveling devices, except for the difference in whether they are on the upstream side or the downstream side in the traveling direction, the positional relationship between the driving wheels and the driven wheels is basically the same as that of the conventional technique shown in FIG. Is similar to.

[0004]

When the driving wheels and the driven wheels are arranged in this manner, thrust is insufficient when climbing uphill by inclining at the direction changing portion of the rail, and the above-mentioned reference 1 is used. As shown, the climbing means by the rack and the pinion and the climbing means by the chain conveyor as shown in the above-mentioned reference 2 must be additionally provided, which also causes a problem in that the structure is complicated. For the reason why the thrust becomes insufficient, refer to the description of FIGS. 5 and 6 in the embodiment.

Further, since the traveling locus is not constant during such an inclined traveling, and the traveling body swings on a vertical plane including the traveling direction, the current collector can move in a constant contact state with the power supply line. There was a risk of damage.

According to the first aspect of the present invention, the positional relationship between the driving wheel and the driven wheel is improved to increase the thrust at the turning portion of the rail, and the structure is simplified without the need to attach a special climbing means. It is an object.

In addition to the object of the first invention, the second invention is
The purpose is to improve the shape of the direction change part of the rail to reduce the runout of the traveling body and prevent damage to the current collector.

[0008]

A rail traveling device according to a first aspect of the present invention includes a traveling body that can travel along a rail, drive wheels that are mounted on the traveling body and can contact the rail, and the traveling body. Drive wheel drive means attached to the. In particular, with respect to the center line that passes through the drive wheel contact points with respect to the rail and is orthogonal to the traveling direction of the drive wheels, a predetermined distance is set on each of the upstream side and the downstream side in this traveling direction
The driven wheel is provided so as to be in contact with the rail, and the directions of the forces exerted on the rail by the drive wheel and both driven wheels are opposite to each other.

The rail traveling device according to the second invention has the following structure added to the first invention. A power supply line is provided on the rail along the traveling direction, and a current collector that can contact the power supply line is provided on the traveling body.

The rail is provided with a turning portion between the first rail and the second rail. In the direction change portion of the rail, the first driven wheel guide surface that is continuous from the first rail drives the first guide convex surface that is far from the drive wheel guide surface and the first guide concave surface that is near the drive wheel guide surface. They are arranged side by side along the direction of the center of rotation of the wheels.

In the second driven wheel guide surface continuous to the second rail, a second guide concave surface located near the drive wheel guide surface is provided continuously from the first guide convex surface on the first rail side in the traveling direction. A second guide convex surface at a position far from the drive wheel guide surface is provided continuously from the first guide concave surface on the first rail side in the traveling direction, and the second guide concave surface and the second guide convex surface on the second rail side. And are arranged side by side along the direction of the center of rotation of the drive wheels.

The downstream driven wheel is provided with a support concave surface located near the rotational center of the downstream driven wheel and a support convex surface located far from the center of rotation of the downstream driven wheel so as to come into contact with any of these guide uneven surfaces. They are arranged side by side along the direction of rotation center of the downstream driven wheels.

The upstream driven wheel has a supporting convex surface located far from the rotation center of the upstream driven wheel and a supporting concave surface located near the rotational center of the upstream driven wheel so as to be able to come into contact with any one of these guide uneven surfaces. They are arranged side by side along the rotation center direction of the upstream side driven wheel, and the supporting concave surface of the downstream side driven wheel faces the supporting convex surface of the upstream side driven wheel along the traveling direction and at the same time as the supporting concave surface of the upstream side driven wheel. On the other hand, the support convex surfaces of the downstream driven wheels are opposed to each other along the traveling direction.

[0014]

In the rail traveling device according to the first aspect of the present invention, in the inclined traveling state, the weight of the traveling body or the like acts on the drive wheels as a moment around the upstream driven wheels, and the traveling thrust increases.

In the rail traveling apparatus according to the second aspect of the present invention, when the traveling body moves from the first rail to the second rail through the direction changing portion while the driving wheels roll on the guide surface in the inclined traveling state, The side driven wheel and the downstream driven wheel roll while being supported by the guide convex surface and the guide concave surface on the rail side by the supporting concave surface and the supporting convex surface thereof. Therefore, the traveling body travels along the rail without swinging in the vertical plane along the traveling direction, and the traveling locus is stable.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS First, a rail traveling device according to a first embodiment of the present invention will be described with reference to FIGS. 1 to 4, 5 (b) and 6 (b).
Will be described with reference to.

As shown in FIGS. 1 and 2, the rail 1 is made of an I-shaped section, has an upper flange 2, a lower flange 3 and a web 4, and is supported by an arm 5. In the straight portion of the rail 1, the upper guide surface 2a of the upper flange 2
The distance between the lower guide surface 3a and the lower guide surface 3a of the lower flange 3 is constant. A plurality of power supply lines 6 a are provided on one side of the web 4 along the extending direction of the rail 1. 8 running body 7
Is an inverted T-shaped body frame 8 and this body frame 8
It comprises a pair of upper and lower brackets 9 attached to the vertical member 8a and a hanger 10 attached to the horizontal member 8b of the main body frame 8. A drive motor 11 is attached to the upper end of the vertical member 8a of the main body frame 8. The drive wheel 12 is mounted on the output shaft 11a, and is placed on and in contact with the upper guide surface 2a of the upper flange 2. Four guide rollers 13 are respectively supported by the pair of upper and lower brackets 9, and each guide roller 13 has both guide surfaces 2b of the upper flange 2 and both guide surfaces 3 of the lower flange 3.
The rail 1 is held in contact with b. Body frame 8
The vertical member 8a is provided with a current collector 6b capable of contacting the power supply line 6a on the rail 1.

Particularly, a pair of driven wheels 14 and 15 are supported on the cross member 8b of the main body frame 8. These driven wheels 14 and 15 pass from a contact point P of the drive wheel 12 to the upper guide surface 2a of the upper flange 2 and a vertical center line R of the rail 1 which is orthogonal to the traveling direction Q of the drive wheel 12, The upper guide side 3a and the lower guide surface 3a of the lower flange 3 can come into contact with each other while being separated from each other on the upstream side and the downstream side in the traveling direction Q. A distance S between the rotation center 14a of the upstream driven wheel 14 and the center line R and a distance S between the rotation center 15a of the downstream driven wheel 15 and the center line R are equal to each other. In addition, the rotation center 14a of the upstream drive wheel 14
And the rotation center 12a of the drive wheel 12, and the rotation center 15a of the downstream drive wheel 15 and the rotation center 1 of the drive wheel 12.
The distances to 2a are equal to each other. Therefore,
The shape formed by the line segments connecting the respective rotation centers 12a, 14a, 15a is an isosceles triangle. Furthermore, rail 1
On the other hand, the direction F _{1 of the} force exerted by the drive wheel 12 and the direction F _{2 of the} force exerted by the driven wheels 14 and 15 on the rail 1 are opposite to each other,
It is the opposite of 180 degrees. Here, "opposite directions of force" is broadly interpreted, and the driving wheel 12 and both driven wheels 14 and 15 are supported by the rail 1, and the traveling body 7 is the rail 1
It means to move in the traveling direction Q along the rail 1 without moving away from. Therefore, it does not necessarily have to be in the opposite direction of 180 degrees.

In the rail 1 shown in FIGS. 3 and 4,
A first rail 1A that extends linearly in the horizontal direction, a direction changing portion 16 that is continuous from the first rail 1A, and a second rail 1B that continuously inclines upward from the direction changing portion 16 in a straight line, A first rail 1C that continuously slopes in the same direction from the second rail 1B, a direction changing portion 17 that continues from the first rail 1C, and a straight line that continuously extends from the direction changing portion 17 in the horizontal direction. It has two rails 1D. In each of the direction changing portions 16 and 17, the upper guide surface 2a of the upper flange 2 with which the drive wheel 12 contacts is
Both boundary lines J ₁ passing through the bending center points J and H,
An arc shape is formed within the range of the circumferential angle α between J ₂ , H ₁ and H ₂ .
It is straight outside the range.

At the lower guide surface 3a of the lower flange 3 which is continuous from the first rail 1A at the direction changing portion 16 between the first rail 1A and the second rail 1B, the direction of the rotation center 12a of the drive wheel 12 is increased. The arc-shaped first guide convex surface 18 having the bending center point J as a center is provided on one side along the boundary line J of the circumferential angle α.
It is formed in a line-symmetrical shape centered on ₁ . In addition, the rotation center 1 of the drive wheel 12 is adjacent to the first guide convex surface 18.
On the other side along the direction of 2a, a linear first guide concave surface 19 is linearly continuous from the lower guide surface 3a of the first rail 1A and formed in the same line symmetrical shape. Therefore, the drive wheels 12
The first guide convex surface 18 is located far from the upper guide surface 2a that supports the first guide concave surface 19, and the first guide concave surface 19 is located closer to the upper guide surface 2a.

Further, at the direction changing portion 16, the second rail 1
On the lower guide surface 3a of the lower flange 3 continuing to B, on one side along the direction of the rotation center 12a of the drive wheel 12,
The linear second guide concave surface 20 is the boundary line J _{2 of the} circumferential angle α.
Is formed in a line-symmetrical shape with the center as the center, and is linearly continuous to the lower guide surface 3a of the second rail 1B. The second guide convex surface 21, which is adjacent to the second guide concave surface 20 and arranged in parallel along the direction of the rotation center 12a of the drive wheel 12, has a line-symmetrical shape similar to an arc centered on the bending center point J. Has been formed. Therefore, the second guide concave surface 20 is closer to the upper guide surface 2 a than the second guide convex surface 21. The second guide convex surface 21 and the first guide convex surface 18 are smoothly continuous as an arc centered on the bending center point J.

In the direction change portion 17 between the first rail 1C and the second rail 1D, which is continuous from the second rail 1B, the lower guide surface 3a of the lower flange 3 which is continuous from the first rail 1C The first guide concave surface 22 located near the guide surface 2a and the first guide convex surface 23 located far from the guide surface 2a are the drive wheels 12.
Are arranged in parallel along the direction of the rotation center 12a of the lower guide surface 3a of the lower flange 3 which is continuous to the second rail 1D, and is close to the second guide convex surface 24 located far from the upper guide surface 2a. The second guide concave surface 25 at the position is also provided in parallel. The first guide concave surface 22 and the first guide convex surface 23 are line symmetrical with respect to the boundary line H ₁ of the circumferential angle α,
The second guide convex surface 24 and the second guide concave surface 25 also have a circumferential angle α.
Has a line-symmetrical shape centered on the boundary line H ₂ . The first and second guide concave surfaces 22 and 25 are formed in an arc shape centered on the bending center point H and are smoothly continuous.
The first and second guide convex surfaces 23, 24 are linearly continuous with the lower guide surface 3a of the first and second rails 1C, 1D.

In the following description, first, with reference to the description of FIG. 4 in the brief description of the drawings described later, FIGS.
Please read carefully after understanding the relationship with (b) to (i).
In the downstream driven wheel 15, the direction changing portion 16
First guide convex surface 18 and second guide convex surface 2 of the direction changing portion 17.
A peripheral groove 26 into which 4 and 4 are inserted is formed. A support concave surface 26a, which is an inner bottom portion of the circumferential groove 26, can come into contact with the guide convex surfaces 18 and 24. In the upstream driven wheel 14, a peripheral groove 27 into which the second guide convex surface 21 of the direction changing portion 16 and the first guide convex surface 23 of the direction changing portion 17 are inserted is formed, and the inner bottom of the peripheral groove 27 is formed. These guide convex surfaces 21 and 23 can come into contact with the supporting concave surface 27a which is a part. In addition, the downstream driven wheel 15
At the outer circumference of the first guide concave surface 19 of the direction changing portion 16.
And the support convex surface 28 with which the second guide convex surface 21 and the first guide convex surface 23 and the second guide concave surface 25 of the direction changing portion 17 can contact.
Is formed, and at the outer periphery of the upstream driven wheel 14, the first guide convex surface 18 and the second guide concave surface 20 of the direction changing portion 16 and the first guide concave surface 22 and the second guide convex surface 24 of the direction changing portion 17. A supporting convex surface 29 is formed so that it can come into contact with. The support concave surface 26a and the support convex surface 28 of the downstream driven wheel 15, and the support convex surface 29 and the support concave surface 2 of the upstream driven wheel 14
7a are arranged in parallel along the direction of the rotation centers 15a and 14a of the driven wheels 15 and 14, and the support concave surface 26a of the downstream driven wheel 15 is different from the support convex surface 29 of the upstream driven wheel 14. The support convex surface 28 of the downstream driven wheel 15 is opposed to the support concave surface 27 a of the upstream driven wheel 14 along the traveling direction Q while facing the travel direction Q. These support concave surfaces 26a and 27a are driven wheels 1
The positions 5 and 14 are close to the rotation centers 15a and 14a, and the supporting convex surfaces 28 and 29 are far from the rotation centers 15a and 14a.

While the driving wheel 12 rolls on the upper guide surface 2a of the rail 1, the traveling body 7 moves from the first rail 1A to the direction changing portion 1.
6, the second rail 1B, the first rail 1C, and the direction changing portion 17
When going up to the second rail 1D after passing through, the upstream driven wheel 14 and the downstream driven wheel 15 have their supporting concave surfaces 26a, 27.
a and the guide convex surfaces 1 on the rail 1 side by the supporting convex surfaces 28 and 29
8, 21, 23, 24 and concave guide surfaces 19, 20, 2
Rolls while always being supported by 2,25. Therefore,
The traveling body 7 travels along the rail 1 without swinging in a vertical plane along the traveling direction Q, and the traveling locus is stable.
Therefore, the current collector 6b on the traveling body 7 is in a constant contact with the power supply line 6a on the rail 1 and damage to the current collector 6b can be prevented.

Next, the driving wheel 12 and the driven wheels 14 and 15 during traveling will be considered mechanically. Figure 5 (b)
Shows the horizontal running state. When the total weight including the traveling body 7 is W and the rolling friction coefficient is λ, the rolling resistance is W × λ. When the wheel friction coefficient is β, the thrust is W ×
Beta. In this case, both driven wheels 14 for the rail 1,
Since the frictional resistance of 15 is small, it is ignored. On the other hand, in the horizontal traveling state in the conventional traveling apparatus shown in FIG. 5A, the rolling resistance is 0.5 W × λ × 2 and the thrust is 0.5 W ×
Beta. Therefore, the rolling resistance of the traveling apparatus of this embodiment is the same as the rolling resistance of the conventional traveling apparatus, but the thrust is doubled.

FIG. 6B shows an inclined traveling state. When the inclination angle is θ, the rolling resistance is Wcosθ × λ + Ws
in θ. L, K, and Z respectively indicate the illustrated distances. When the thrust is calculated using the rotational moment about the upstream driven wheel 14, the thrust is calculated from the total load W, W × (L / K) × β, or from both component forces of W (( Wcos θ + W sin θ × Z / K) × β.
On the other hand, in the inclined traveling state of the conventional traveling apparatus shown in FIG. 6A, the rolling resistance is Wcosθ × λ + Wsinθ.
And the thrust is 0.5 W × cos θ × β. For example, the inclination angle θ is 30 °, the rolling friction coefficient λ is 0.0
2. If the friction coefficient β of the wheel is 0.5, the rolling resistance of the conventional traveling device is 0.52 W and the thrust is 0.22 W. On the other hand, in the traveling device of this embodiment, the rolling resistance is 0.52W. If L / K is 2,
Thrust is W. When Z / K is 2.3, thrust is W
Becomes

As a result, the thrust of the conventional traveling device is 0.2.
Although 2W is smaller than the rolling resistance of 0.52W, it is impossible to climb the hill. However, in the traveling apparatus of the present embodiment, the thrust W is larger than the rolling resistance of 0.52W, and therefore it is possible to climb the hill. The traveling device of the present embodiment is different from the conventional device in that the traveling thrust increases because the weight W acts on the drive wheels 12 as a moment around the upstream driven wheel 14.

In the second embodiment shown in FIGS. 7 and 8, the power supply line 6a and the current collector 6b of the first embodiment are eliminated,
Instead, the battery 30 is mounted on the traveling body 7. Therefore, the deviation of the traveling locus is allowed, and the shape of the lower guide surface 3a of the lower flange 3 in the direction changing portions 16 and 17 of the rail 1 is simpler than that in the first embodiment.

In the first and second embodiments, the traveling body 7 is suspended on the rail 1, but in the third embodiment shown in FIG. 9, the traveling body 7 is mounted on the rail 1 so as to travel. Has become. An upper guide surface 2a and a lower guide surface 3a are provided in the rail 1 so as to face each other, a drive wheel 12 is placed on the lower guide surface 3a, and an upstream driven wheel 14 is provided above the drive wheel 12 and above the drive wheel 12. And the downstream driven wheel 15 is in contact with the upper guide surface 2a. When compared with the first embodiment, the rail 1 is different in shape in the third embodiment, and the drive wheel 1 is
Although 2 and both driven wheels 14 and 15 are turned upside down, the positional relationship between the drive wheel 12, the upstream driven wheel 14, and the downstream driven wheel 15 is basically the same as that of the first embodiment. Is similar to. Therefore, as in the case of the first embodiment, the thrust force when traveling on a slope becomes large.

In each of the above-described embodiments, the shape of each line segment connecting the rotation center 12a of the drive wheel 12, the rotation center 14a of the upstream driven wheel 14 and the rotation center 15a of the downstream driven wheel 15 is an isosceles triangle. However, regarding the positional relationship and distance between them, the rotation centers 12a, 14a, 15
It is sufficient that a triangular shape can be formed between a and it can be arbitrarily changed.

[0031]

According to the rail traveling device of the first aspect of the present invention, the arrangement of the driven wheels with respect to the drive wheels is improved, so that the thrust force during tilting is greater than that of the conventional one, and is added to the conventional traveling device. There is no need for special climbing means,
The structure is simple.

According to the rail traveling device of the second invention,
Since the shape of the rail is changed at the direction change part, a stable running locus can be obtained, and the current collector on the running body is in constant contact with the power supply line on the rail to prevent damage to the current collector. You can

[Brief description of drawings]

FIG. 1 is a front view showing a rail traveling device according to a first embodiment.

2A is a left side view of FIG. 1, and FIG. 2B is a partially enlarged view of FIG.

FIG. 3 is a front view showing a traveling state of a direction changing portion in the rail traveling device according to the first embodiment.

FIG. 4 (a) is a front view showing only the turning portion of the rail of FIG. 3, and FIG. 4 (b) shows the rail shape on the line AA of (a) and the shape of the downstream driven wheel passing therethrough. FIG. 6C is a cross-sectional view showing the rail shape of FIG. 7B and the shape of an upstream driven wheel passing through the rail shape, and FIG. 6D is a rail shape on the line BB of FIG. And (e) is a cross-sectional view showing the shape of the downstream drive wheel passing therethrough, (e) showing the rail shape of (d) and the shape of the upstream driven wheel passing therethrough, and (f). It is sectional drawing which shows the rail shape on CC line of (a), and the shape of the downstream drive wheel which passes here, (g) is the rail shape of (f), and the shape of the upstream driven wheel which passes here. FIG. 3B is a cross-sectional view of FIG.
FIG. 7 is a cross-sectional view showing a rail shape on a line −D and a shape of a downstream driven wheel passing through the line, and (i) is a cross-sectional view showing a rail shape of (h) and a shape of an upstream drive wheel passing through the line. is there.

FIG. 5A is a principle diagram showing rolling resistance and thrust during horizontal traveling in a conventional rail traveling device,
(B) is a principle diagram showing rolling resistance and thrust during horizontal traveling in the rail traveling device of the present embodiment.

FIG. 6A is a principle diagram showing thrust and the like when the conventional rail traveling device is inclined, and FIG. 6B is a principle diagram showing thrust and the like when the rail traveling device of the present embodiment is inclined. is there.

FIG. 7 is a front view showing a traveling state at a direction changing portion of the rail in the rail traveling device according to the second embodiment.

8 (a) is a front view showing only the turning portion of the rail of FIG. 7, and FIG. 8 (b) shows a rail shape on the line EE of (a) and a shape of a downstream driven wheel passing through the rail shape. FIG. 4C is a cross-sectional view showing the rail shape of FIG. 7B and the shape of the upstream drive wheel passing therethrough, and FIG. 7D is a rail shape on the line FF of FIG. And (e) is a cross-sectional view showing a downstream driven wheel passing therethrough and (e) a rail shape shown in (d) and an upstream driven wheel passing therethrough.

FIG. 9A is a side view showing a rail and a traveling body and the like on the rail in the rail traveling apparatus according to the third embodiment;
(B) is a partial cross-sectional view taken along the line HH of (a).

10A is a front view showing a conventional rail traveling device, and FIG. 10B is a front view showing an elevating device for changing the traveling height of the conventional rail traveling device.

[Explanation of symbols]

1 ... Rail, 2a ... Upper guide surface, 3a ... Lower guide surface, 6a ...
Feed line, 6b ... Current collector, 7 ... Traveling body, 11 ... Drive motor as drive wheel driving means, 12 ... Drive wheel, 12a ... Rotation center, 14 ... Upstream drive wheel, 14a ... Rotation center, 15 ...
Downstream drive wheels, 15a ... Rotation center, 16 ... Direction changing portion,
17 ... Direction change part, 18 ... 1st guide convex surface, 19 ... 1st guide concave surface, 20 ... 2nd guide concave surface, 21 ... 2nd guide convex surface, 2
2 ... 1st guide concave surface, 23 ... 1st guide convex surface, 24 ... 2nd guide convex surface, 25 ... 2nd guide concave surface, 26a ... Support concave surface, 27
a ... Support concave surface, 28 ... Support convex surface, 29 ... Support convex surface, P ...
Driving wheel contact point, Q ... running direction, R ... center line, S ... distance.

Front page continued (72) Inventor Toshihide Kosugi 6-11 Hirokute-cho, Toyota City, Aichi Prefecture Araki Manufacturing Co., Ltd. (72) Inventor Shigeru Muramatsu 1 Fukayama, Shinfukuji-cho, Okazaki City, Aichi Prefecture Ochiai Co., Ltd. In the nexus

Claims (2)

[Claims] 1. A rail traveling device comprising a traveling body capable of traveling along a rail, drive wheels mounted on the traveling body and capable of contacting the rail, and drive wheel drive means mounted on the traveling body. , The driven wheel can contact the rail with a predetermined distance from the center line that passes through the contact point of the drive wheel with respect to the rail and is orthogonal to the traveling direction of the drive wheel. A rail traveling device characterized in that, when provided, the driving wheels and both driven wheels make the directions of forces acting on the rail opposite to each other. 2. The rail traveling device according to claim 1, wherein the rail is provided with a power supply line along the traveling direction, and the traveling body is provided with a current collector capable of contacting the power supply line. A direction changing portion between the first rail and the second rail, and in the direction changing portion of the rail, the first driven wheel guide surface continuing from the first rail is located far from the drive wheel guide surface. The guide convex surface and the first guide concave surface near the driving wheel are arranged side by side along the direction of the center of rotation of the driving wheel. The second guide concave surface is provided continuously from the first guide convex surface on the first rail side in the traveling direction, and the second guide convex surface located far from the drive wheel guide surface travels from the first guide concave surface on the first rail side. And the second rail Side second guide concave surface and second guide convex surface are arranged side by side along the direction of the center of rotation of the drive wheel, and the downstream side driven wheel is arranged so that it can contact any one of these guide uneven surfaces. A supporting concave surface located closer to the rotation center of the side driven wheel and a supporting convex surface located farther from the rotation center of the side driven wheel are arranged side by side along the direction of the rotation center of the downstream driven wheel. A supporting convex surface at a position far from the rotation center of the upstream driven wheel and a supporting concave surface at a position close to the rotation center of the upstream driven wheel are arranged side by side along the rotation center direction of the upstream driven wheel so as to come into contact with any one of them. In addition, the supporting concave surface of the downstream driven wheel is opposed to the supporting convex surface of the upstream driven wheel along the traveling direction, and the supporting convex surface of the downstream driven wheel is opposed to the supporting concave surface of the upstream driven wheel along the traveling direction. Rail traveling device characterized by having been made.