JPH11129897A - Carriage for conveying both person and luggage - Google Patents

Abstract

PROBLEM TO BE SOLVED: To simplify a control mechanism for holding a cabin in its erected position corresponding to an inclined travel passage. SOLUTION: The cabin 17 of a drive carriage 11 and the cabin 24 of a driven carriage 12 arranged at front and rear positions are connected together through a vertical screw shaft 31. The screw shaft 31 is rotated by a position adjusting motor 33 based on the detected value of an inclination sensor 34 of the drive side cabin 17 so that the cabins 17 and 24 located at the front and rear positions are moved relatively to each other. The front and rear cabins 17 and 24 are made to follow the vertical displacement of a driving travel device 14 and a driven travel device 21 following a bottom guide rail, so that the cabins 17 and 24 are held in their erected positions.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a load carrier truck that travels while maintaining an upright posture along a vertically inclined traveling route such as a dam inspection corridor or a transport route.

[0002]

2. Description of the Related Art Conventionally, a transport trolley having a posture control device for holding a cabin or the like of a trolley traveling on an inclined traveling route in an upright posture is a suspension type traveling along a ceiling rail, a side wall rail or There is a road running type guided by floor rails and the like.For example, a posture control mechanism using a parallel link that changes the angle by a running wheel grounded on the running road surface, or a cabin tilting device based on the detection value of an angle sensor Some have a posture control mechanism to operate.

[0003]

However, the above-described attitude control mechanism has a problem that the structure and operation are complicated, the number of parts is large, and the number of operating parts is large, so that the manufacturing cost is high and the maintenance is time-consuming.

SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned problems and to provide a cargo carrier with a simple structure capable of controlling the attitude of a cabin.

[0005]

According to the first aspect of the present invention, there is provided a bogie having a traveling device guided by a traveling guide means along a traveling route and a luggage carrier. Are arranged at least in the front part and the rear part in the traveling direction, and a vertical guide means is provided on one of the front bogies and the rear bogie on the side of the carriage, and the other guide is movably guided by the vertical guide means on the other side. A posture-adjustable member for moving the guided member along the vertical guide means on the side of the one truck, and adjusting the relative positions of the front truck and the rear truck. Means is provided, and the guided members are moved by the posture adjusting means based on the detection values of the inclination sensors disposed on one of the carriages of the front carriage and the rear carriage to erect the carriages of the front carriage and the rear carriage. Keep in posture It is provided with a posture control means for.

[0006] According to the above construction, the vertical guide means connects the carriages of the front and rear bogies to each other so as to be vertically movable, and the posture adjusting means adjusts the relative position of the two carriages in the vertical direction. Since the vertical displacement of the traveling device is absorbed and both carriers are held in the upright posture, the only drive unit for posture adjustment is the vertical guide means and posture adjusting means of the front and rear carts. The structure can be greatly simplified, the manufacturing cost can be reduced, and the maintenance cost can be reduced.

According to a second aspect of the present invention, in the above structure, the bed and the traveling device of the front bogie and the bed and the traveling device of the rear bogie are swingably movable via horizontal support shafts orthogonal to the traveling path. The vertical guide means and one of the trucks of the one truck, and the guided member and one of the trucks of the other truck are connected so as to be rotatable around a vertical axis.

[0008] According to the above configuration, even when the traveling device is vertically inclined along the traveling guide means, the posture can be stably controlled by the horizontal support shaft.
Even in the case where the traveling route is curved in the left-right direction, the front and rear bogies can be easily rotated to rotate.

Further, according to the present invention, in the above configuration, the posture adjusting means includes a screw shaft arranged along a vertical direction, a female screw member meshing with the screw shaft; It is composed of a motor for adjusting the posture to be rotated.

According to the above configuration, by employing the screw shaft, the structure can be simplified and the control can be performed with high accuracy. Further, in the invention according to claim 4, the traveling guide means is constituted by a bottom guide rail laid on the road surface of the transport path.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Here, an embodiment of a combined cargo carrier according to the present invention will be described with reference to FIGS.

First, the basic structure of the load carrier will be described with reference to FIGS. The number of traveling vehicles traveling along the traveling route L is not a single one, but a plurality of vehicles connected back and forth in the traveling direction. Here, two vehicles will be described as being arranged in front and back. The same is true. The traveling route L is constituted by the traveling road surface 3 shown as traveling guide means, but may be a bottom guide rail (the present embodiment) laid on the road surface or a guide rail arranged on the side wall.

While the front and rear trucks 1 and 2 are traveling, the cabin (loading platform) 1a of the front bogie 1 and the cabin (loading platform) of the rear bogie 2
Numeral 2a vertically displaces the relative positions of the cabins 1a and 2a, thereby displacing the traveling devices 1b and 2b up and down to absorb the gradient α of the traveling road surface 3.

To implement this, the front and rear cabin 1
a and 2a are slidably connected to each other in the vertical direction by a vertical guide means 4, and the cabin 1a or 2a
11 to 13, the height difference between the cabins 1a and 2a is adjusted by the attitude adjusting means on the basis of the detection value of the inclination sensor 5 provided at the The erect posture can be maintained corresponding to α.

Next, referring to FIG. 1 to FIG. 10, an embodiment of a combined cargo carrier will be described. As shown in FIGS. 1 and 2, the load carrier truck is movable by being guided by a bottom guide rail 13 as travel guide means provided along a travel path L on a floor surface of a dam inspection corridor, for example. so,
It is composed of a driving bogie 11 which is a front bogie connected to each other, and a driven bogie 12 which is a rear bogie.

The driving carriage 11 has a driving and traveling device 14 which is a traveling means guided by a bottom guide rail 13 and which can travel freely, and a driving side having a horizontal axis perpendicular to the traveling path L on the driving and traveling device 14. A drive bogie frame 16 supported swingably about a horizontal support shaft 15 and a drive-side cabin 17 that is mounted on the drive bogie frame 16 and is a loading platform on which a person and a load can be mounted are provided.

The driven carriage 12 has a driven traveling device 21 which is a traveling means guided by a bottom guide rail 13 and which can travel freely, and a driven side having a horizontal axis perpendicular to the traveling path L on the driven traveling device 21. A driven bogie frame 23 is supported so as to be swingable about a horizontal support shaft 22, and a driven side cabin 24 is mounted on the driven bogie frame 23 and is a loading platform on which a person and a load can be mounted.

As shown in FIGS. 3 and 4, the drive bogie frame 16 and the driven bogie frame 23 are connected to each other via vertical guide means 25 so as to be vertically movable. A pair of left and right slide rails 26 attached to the back surface of the frame 16 and a slide body 28 that is a guided member that is attached to the connecting member 27 at the front part of the driven bogie frame 23 and movably guided by the slide rail 26. It is configured.

An attitude adjusting means 30 for adjusting the attitude by changing the vertical relative position of the drive side cabin 17 and the driven side cabin 18 is provided at the rear of the drive bogie frame 16 via a bearing in the vertical direction. A screw shaft 31, a female screw member 32 disposed on the driven bogie frame 23 via the connecting member 27 and movably fitted to the screw shaft 31, and rotating the screw shaft 31 to raise and lower the female screw member 32. And a posture adjusting motor (servo motor) 33 for moving the motor in the direction. Further, the driving side cabin 17 of the driving bogie 11
An inclination sensor 34 for detecting the inclination of the drive side cabin 17 is provided at the bottom of the vehicle, and an attitude control device 35 for driving the attitude adjustment motor 33 based on the detected value is provided.

The connecting member 27 is provided between the female screw member 32 and the driven bogie frame 23 with a vertical rotary shaft 36 for connecting the driving bogie 11 and the driven bogie 12 to each other so as to be rotatable in the left-right direction. Have been.

As shown in FIGS. 5 to 7, the bottom guide rail 13 is formed in an H-shaped section in which a traveling rack 41 is disposed at the center of the upper surface of the upper surface flange 13a. The drive traveling device 14 includes a drive frame 43 having a traveling pinion 42 that meshes with the traveling rack 41, and an auxiliary frame 44 rotatably connected to the drive frame 43 to stabilize the attitude of the drive frame 43. The drive frame 43 is provided with a drive shaft 46 that is driven to rotate by a drive motor 45 via a speed reducer and a gear box 45a, and the drive shaft 46 is connected to the drive pinion 4
2 and a pair of left and right running rollers 47 are provided. The drive frame 43 has a pair of front and rear side rollers 48 that respectively contact the left and right side end surfaces of the upper surface flange 13a.
And a pair of front and rear anti-floating rollers 49 that respectively contact the left and right bottom surfaces of the upper surface flange 13a are disposed via roller support members.

On the front bracket of the drive frame 43,
A connecting arm 52 is rotatably connected to the left and right direction via a vertical pin 51, and an auxiliary frame 44 is connected to a front end of the connecting arm 52 via a horizontal pin 53 so as to be vertically rotatable. The auxiliary frame 44 includes a pair of front and rear running rollers 54 that contact the upper surface of the upper flange 13a, a pair of front and rear side rollers 55 that contact the left and right side end surfaces of the upper flange 13a, and a pair of right and left bottom surfaces of the upper flange 13a. An anti-floating roller 56 is provided in contact therewith.

In the driving and traveling device 14, the driving frame 43 and the driving bogie frame 16 are swingably connected in a vertical plane via a driving horizontal support shaft 15 orthogonal to a traveling path L supported by a bracket. Have been.

As shown in FIGS. 8 and 9, the driven traveling device 2
The one driven frame 61 has a pair of front and rear running rollers 62 that contact the upper surface of the upper surface flange 13a, a pair of front and rear side rollers 63 that contact the left and right side end surfaces of the upper surface flange 13a, and the left and right bottom surfaces of the upper surface flange 13a. And an anti-floating roller 64 which is in contact with the roller. A support leg 66 is rotatably hung around a vertical axis on a bearing member 65 provided on the bottom of the driven bogie frame 23. The lower end of the support leg 66 is connected to the travel path L via a spherical bearing 68. The driven frame 6 is connected to the driven side horizontal support shafts 22 which are orthogonal to each other.
1 is swingably supported in the front-rear direction and the left-right direction.
Thereby, the attitude of the driven-side cabin 24 that follows the driving-side cabin 17 and inclines in the front-rear direction and the left-right direction can be allowed.

In the above configuration, the traveling pinion 42 is driven by the traveling motor 45 of the driving traveling device 14, and the driving carriage 11 is moved to the upper surface flange 13a of the bottom guide rail 3.
The driven carriage 12 is followed by the vertical guide means 25 and the screw shaft 31 of the attitude adjusting means 30, and the driven traveling device 21 is guided by the upper surface flange 13 a of the bottom guide rail 3. The driving side cabin 17 and the driven side cabin 24 are moved along the traveling path L.

As shown in FIG. 2, when the transport vehicle approaches the curved traveling path L curved forward and downward, first, the auxiliary frame 44 of the driving and traveling device 14 is centered on the horizontal pin 53 due to the displacement of the bottom guide rail 13. Pivots upwards at the front,
Next, the drive frame 43 is pivoted upward and forward about the drive-side horizontal support shaft 15 and displaced upward. Thus, the driving cabin 17 and the driven cabin 24
Is tilted, and the tilting of the drive side cabin 17 is detected by the tilt sensor 34 and output to the attitude control device 35. In the inclination control device 35, the displacement direction and the displacement amount of the female screw member 32 are calculated based on the detected inclination angle, a drive control signal is output to the posture adjustment motor 33, and the posture adjustment motor 33 is operated. The shaft 31 is rotated in a predetermined direction by a predetermined amount. As a result, the female screw member 32 is raised by a predetermined stroke and is moved downward or parallel to the driven cabin 24 with respect to the drive cabin 17. As a result, the amount of movement follows the amount of vertical displacement of the two traveling devices 14 and 21. Thus, the drive side cabin 17 is returned to the upright posture. Further, the detection signal of the inclination sensor 34 is fed back to confirm the upright posture of the drive side cabin 17, and the postures of the drive side cabin 17 and the driven side cabin 24 are continuously changed according to the displacement of the bottom guide rail 13. Controlled.

Conversely, a curved traveling path L that curves forward and upwards
The female screw member 3
2 is lowered by a predetermined stroke, and the drive side cabin 17 is returned to the upright posture.

As shown in FIG. 10, when approaching the curved running path L curved in the left-right direction, the bottom guide rail 13
First, the auxiliary frame 4 of the drive traveling device 14
4 rotates right and left around the vertical pin 51 via the connecting arm 52, and then the drive side cabin 17 rotates about the vertical rotation shaft 36 together with the drive frame 43 to be displaced in the left and right direction. Thereby, the vehicle can smoothly travel on the curved traveling route L curved in the left-right direction.

According to the above embodiment, the drive side cabin 17 and the driven side cabin 24 are vertically displaceably connected to each other via the screw shaft 31 and the female screw member 32,
The attitude control device 35 operates the attitude adjustment motor 33 based on the detection value of the inclination sensor 34 of the drive side cabin 17 to displace the relative position between the drive side cabin 17 and the driven side cabin 24 in the up and down direction. The cabin 14, 24 is set to the upright posture by making the traveling device 14 and the driven traveling device 21 correspond to the displacement of the bottom guide rail 13, so that the posture control structure can be simplified and provided at low cost. And the number of driving units is small, so that the time and cost required for maintenance can be reduced.

In the above-described embodiment, the transport trolley corresponding to the traveling path L that is inclined downward mainly on the drive trolley 11 side is disclosed. However, the arrangement of the screw shaft 31 and the female screw member 32 causes the slope in the opposite direction to be reduced. Can also be easily handled.

Further, a screw shaft 31, a female screw member 32, and a motor 33 for posture adjustment are used for the posture adjusting means 30, but the present invention is not limited to this, and a combination of a slide rod and an actuator, a slide member And a jack (cylinder device).

[0032]

As described above, according to the first aspect of the present invention, the carriages of the front and rear trucks are movably connected to each other in the vertical direction by the vertical guide means, and the posture adjustment means is provided. By adjusting the vertical relative position of both carriers, the vertical displacement of the traveling device is absorbed and both carriers are held in the upright posture. Only the vertical guiding means and the attitude adjusting means of the carrier are required, so that the structure can be greatly simplified, the manufacturing cost can be reduced, and the maintenance cost can be reduced.

According to the second aspect of the present invention, even when the traveling device is inclined along the traveling guide means, the posture can be controlled by the horizontal support shaft, and the traveling route is curved in the left-right direction. In this case, the front and rear carts can be easily rotated to cope with the situation.

Further, according to the configuration of the third aspect, by employing the screw shaft, the structure can be simplified and the control can be performed with high accuracy.

[Brief description of the drawings]

FIG. 1 is an overall side view showing an embodiment of a combined cargo carrier according to the present invention.

FIG. 2 is an overall side view showing a traveling state of the conveyance vehicle on an inclined traveling route.

FIG. 3 is a plan partial cross-sectional view showing a connecting portion between a driving bogie and a driven bogie of the transport bogie.

FIG. 4 is a side cross-sectional view showing a connecting portion between a drive cart and a driven cart of the transport cart.

FIG. 5 is a side view showing a driving and traveling device of the carrier.

FIG. 6 is a front cross-sectional view showing a driving and traveling device of the carrier.

FIG. 7 is a plan sectional view showing a driving and traveling device of the carrier.

FIG. 8 is a side view showing a driven traveling device of the carrier.

FIG. 9 is a front sectional view showing a driven traveling device of the carrier.

FIG. 10 is an overall plan view showing a traveling state of a curved traveling route of the transport vehicle.

FIG. 11 is a side view showing a basic structure of the transport vehicle.

FIG. 12 is a side view showing a traveling state of an inclined traveling route in the basic structure of the carrier.

FIG. 13 is a side view showing a traveling state of an inclined traveling route in the basic structure of the carrier.

[Explanation of symbols]

 L Travel Path 11 Drive Truck 12 Drive Truck 13 Bottom Guide Rail 14 Drive Travel Device 15 Drive Horizontal Support Shaft 16 Drive Truck Frame 17 Drive Cabin 21 Drive Travel Device 22 Drive Horizontal Support Shaft 23 Drive Truck Frame 24 Drive Cabin 25 Vertical guide means 26 Slide rail 28 Slide body 30 Posture adjustment means 31 Screw shaft 32 Female screw member 33 Posture adjustment motor 34 Inclination sensor 35 Posture control device 36 Vertical rotation axis 41 Travel rack 42 Travel pinion 45 Travel motor

Continued on the front page (72) Inventor Tatsuro Shoji 5-3-28 Nishikujo, Konohana-ku, Osaka-shi, Osaka Inside Hitachi Zosen Corporation (72) Inventor Hiroaki Kawaguchi 5-28, Nishikujo, Konohana-ku, Osaka-shi, Osaka No. Within Hitachi Zosen Corporation

Claims (4)

[Claims] 1. A bogie having a traveling device guided by a traveling guide means along a traveling route and a luggage carrier is disposed at least at a front part and a rear part in a traveling direction, and one of the front bogie and the rear bogie is provided. And a guided member movably guided by the vertical guide means is provided on the other carrier side, and the guided member is provided on the carrier side of the one truck in the vertical direction. Attitude adjustment means for moving along the guide means to adjust the relative position between the front carriage and the rear carriage is provided, and an inclination sensor disposed on one of the front carriage and the rear carriage. And a posture control means for moving the guided member by the posture adjusting means on the basis of the detected value to maintain the luggage carrier of the front bogie and the rear bogie in the upright posture. 2. A truck and a traveling device of a front truck, and a truck and a traveling device of a rear truck are swingably connected to each other via a horizontal support shaft orthogonal to a traveling route, and a vertical guide means and one truck are connected. 2. The transporting vehicle according to claim 1, wherein one of the guided vehicle and the guided member and one of the other vehicles are rotatably connected around a vertical axis. 3. The posture adjusting means comprises a screw shaft arranged along a vertical direction, a female screw member meshing with the screw shaft, and a posture adjusting motor for rotating the screw shaft in forward and reverse directions. 3. The cargo carrier as claimed in claim 1, wherein 4. The transporting vehicle according to claim 1, wherein the traveling guide means is constituted by a bottom guide rail laid on a road surface of the transport path.