JPH11245810A - Carriage that runs on curving rail - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the steadiness of a carriage running by resolving the irregular shaking thereof. SOLUTION: A carriage 70, which runs on curving rails 50, is equipped with a forced steering means to forcedly turn (rotate horizontally) bogies 52, 53 along straights and curves in the rails 50 so as to keep parallel wheels 55 of the bogies 52, 53 and guide rollers 56 parallel to the rails 50. The forced steering means comprises cylinders 10, 11 that connect each of the bogies 52, 53 and a carrier 51 so as to steer the bogies 52, 53, and a device to adjust, drive and control the strokes of the cylinders 10, 11 along the straights and curves in the rails 50 so as to keep the parallel wheels 55 of the bogies 52, 53 and the guide rollers 56 parallel to the rails 50.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a curved traveling vehicle, and is useful when applied to a curved traveling vehicle that travels on a traveling rail including a curved area and conveys heavy objects such as steel coils.

[0002]

2. Description of the Related Art FIG. 6 is a side view of a conventional curved traveling vehicle, FIG. 7 is a plan view showing a lower structure of the curved traveling vehicle, and FIG. 8 is a curve showing the relationship between traveling rails, flat wheels, and guide rollers. FIG. 3 is a partial plan view of the traveling vehicle.

As shown in FIGS. 6 and 7, a pair of running rails 50 are laid in parallel on the ground surface 62, and the running rails 50 have a straight section and a curved section. A curved traveling carriage 70 is provided on the traveling rail 50 to engage in coil transfer between the work stations along the traveling rail.

A bogie 52 and a bogie 53 are horizontally moved by a vertical shaft 54 in front of and behind the lower part of the bed 51 of the curved traveling vehicle 70 (the right side in the figure is the front side and the left side in the figure is the rear side). It is provided rotatably. Bogey 5
2 and 53, each of which rolls on the running rail 50
A flat wheel 55 having a shaft arrangement and a guide roller 56 that engages with a side surface of the traveling rail 50 are provided. Four guide rollers 56 are provided below each of the bogies 52 and 53, and are arranged to be able to engage with the inner surface of the traveling rail 50 two by two on the left and right. Further, the guide roller 56 is provided as shown in FIG.
As shown in (1), in the straight section of the running rail 50, the gap is usually left so as to have a gap s of about 15 mm between the running rail 50 and the inner surface thereof.

As shown in FIG. 7, a driving motor 57 is mounted on each of the bogies 52 and 53, and the outer (left) flat wheels 55 are rotated by the driving motors 57. ing.

As shown in FIG. 6, rollers 58 for supporting the carrier are provided on the upper surfaces of the bogies 52 and 53, respectively.
A plurality of skids 59 are arranged on the upper surface of the loading platform 51, and a steel plate coil 61 as an object to be conveyed is selectively mounted on these skids 59. At the rear end of the loading platform 51, an on-board control panel 60 provided with a control device for the traveling drive motor 57 is provided.

[0007] At some work station positions (not shown) along the traveling rails, address display tags (not shown) are provided on the ground surface 62 between the traveling rails 50, 50, and are provided on one of the bogies 52 and 53. Is provided with a proximity switch (not shown) for detecting the address display tag.

Accordingly, the curved traveling vehicle 70 moves while repeatedly traveling, decelerating, and stopping on the traveling rail 50 under the control of the control device in the onboard control panel 60 based on the detection signal of the proximity switch and the like. The steel sheet coil 61 is transported between the work stations. Under the control of the control device, the curvilinear traveling vehicle 70 moves about 120 m / min when empty and 6 min / min when loading in the straight section of the traveling rail 50.
In the curved area of the traveling rail 50, the vehicle travels at a speed of approximately 30m per minute both when empty and loaded.

Then, the curved traveling carriage 70 is mounted on the traveling rail 5.
0 when traveling in straight and curved sections
Or the guide wheels 56 of the bogies 53 alternately engage with the inner surfaces of the left and right traveling rails 50 to guide the flat wheels 55 of the bogies 52 or 53 in a direction substantially parallel to the traveling rails 50 and travel. It is held on the head of the rail 50.

[0010]

However, since the bogies 52 and 53 can freely turn (horizontal rotation) in the conventional curved traveling carriage 70, the bogies in the straight section of the traveling rail 50 have different bogies. 4 fixedly arranged at 52 and 53
The bogies 52 and 53 freely turn left and right during traveling by the amount of the gap between the guide rollers 56 and the inner surface of the traveling rail 50 (approximately 30 mm = a gap s × 2 on one side). Is swaying irregularly and the curved traveling carriage 70
Traveling becomes unstable, and also in the curved area of the traveling rail 50, the curved traveling vehicle 70 similarly rolls irregularly, so that there is a danger that the steel plate coil 61 may slip.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a curved traveling vehicle capable of eliminating irregular rolling during traveling, stabilizing traveling, and improving stability.

[0012]

A curving vehicle according to the present invention for solving the above problems has bogies at the front and rear of the lower part of a carrier,
A curved traveling vehicle having a single-axis flat wheel that rolls on each of the bogies on a traveling rail and a guide roller engaged with a side surface of the traveling rail, wherein the flat wheel and the guide roller are mounted on the traveling rail. And a forcible steering means for forcibly turning the bogie in accordance with the straight section and the curved section of the running rail so as to keep the traveling rail parallel.

Further, in the curved traveling vehicle according to the present invention, in the curved traveling vehicle, the forcible steering means includes a bogie steering cylinder connected between each bogie and the carrier, and the flat wheels and the guide rollers. A device for adjusting and controlling the stroke amount of the cylinder in accordance with the straight section and the curved section of the running rail so as to keep the running rail parallel to the running rail is provided.

[0014]

Embodiments of the present invention will be described below in detail with reference to the drawings. The same parts as those in the related art (FIGS. 6 to 8) are denoted by the same reference numerals, and overlapping detailed description will be omitted.

FIG. 1 is a side view of a curved traveling vehicle according to an embodiment of the present invention (a diagram corresponding to FIG. 6), and FIG. 2 is a plan view showing a lower configuration of the curved traveling vehicle (a diagram corresponding to FIG. 7). ),
3 is a plan view showing an example of the arrangement of detectors provided on the ground and on the curved traveling vehicle (a diagram corresponding to FIG. 2). FIG. 4 is a plan view of a cylinder control unit provided on an onboard control panel of the curved traveling vehicle. FIG. 5 is a block diagram showing a configuration example, and FIG. 5 is a control flow chart of the cylinder control unit.

<Structure> In FIGS. 1, 2 and 3, a traveling rail 50 including a curved section has a starting point X on the left side in the figure, an end point Y on the lower right side in the figure, and a starting point X on the rear side. , End point Y
The side is called the front side.

As shown in FIGS. 1 and 2, in the curved traveling vehicle 70 according to the present embodiment, a gear-driven cylinder for steering the bogies 52, 53 between the bogies 52, 53 and the loading platform 51. (Hereinafter simply referred to as cylinder)
11 are provided respectively. One cylinder 10
The axis of the flat wheel 55 of the front bogie 52 is
In a state where the bogie 52 is at a right angle to the bottom left corner of the frame of the bogie 52 and the lower surface of the carrier 51, the bogie 52 is connected in a contracted state so as to be able to expand and contract in the turning (horizontal turning) direction of the bogie 52. ing. The other cylinder 11 is disposed between the right inner corner of the frame of the bogie 53 and the lower surface of the bed 51 under the condition that the axis of the flat wheel 55 of the rear bogie 53 is perpendicular to the running rail 50. Are connected to each other in an extended state so as to be able to expand and contract in the direction of rotation (horizontal rotation).

Therefore, in the curved area or the straight area of the traveling rail 50, the expansion and contraction drive of the cylinders 10 and 11 causes
The bogies 52 and 53 can be forcibly turned, respectively (details will be described later). The dashed line in FIG. 2 indicates each bogie 5 of the curved traveling vehicle 70 in the curved area of the traveling rail 50.
2 and 53 and the states of the cylinders 10 and 11 are shown. It should be noted that any other forced steering mechanism can be used instead of the cylinders 10 and 11.

Also, as shown in FIG.
Is provided with a rotary encoder 12 for detecting the traveling distance of the curved traveling vehicle 70. The rotary encoder 12 is provided on the frame of the bogie 53 by engaging with the axle of the flat wheel 55 inside (right side) of the bogie 53.

The on-board control panel 60 at the rear end of the bed 51
In the control device provided in the above, a cylinder control unit 14 described later is added in order to control the above-described forced steering mechanism (the cylinders 10 and 11 in the present embodiment). Hereinafter, the steering control of the bogies 52 and 53 will be described in detail with reference to FIGS.

In FIG. 3, 13 is the center of the radius of curvature in the curved area of the running rail 50. Also, in the figure,
The B position is from the curve start position of the traveling rail 50 (end position of the curve entry control), the D position is the curve end position of the traveling rail 50 (end position of the curve exit control), and the D 'position is from the D position (curve end position). The starting position of the cylinder motor when the curved traveling vehicle 70 is turned back at a position that is a small distance (about 100 mm) away from the end point Y side, and the A position is the wheel base l _{1 of the} curved traveling vehicle 70 from the B position (curve starting position). The reference position for the curve approach control and the position A 'are a distance (about 100 mm) away from the position A (the reference position for the curve approach control) to the start point X side by the same distance as the start point X side. The starting position of the cylinder motor when the curved traveling vehicle 70 travels from the start point X side to the end point Y side;
From the D position (curve end position) to the wheel base
It is a position separated from the start point X by a distance equal to l ₁ and is a start position of the curve escape control. Hereinafter, the positions A to D ′ are A to
Called address D '.

Then, on the traveling rail 50, the starting point X
When the curved traveling vehicle 70 travels from the side to the end point Y side, the area from the start point X to the address A is a straight running area on the start point X side, the area from the address A to the address B is a curve approach area,
The area from address B to address C is a curved travel area, the area from address C to address D is a curve escape area, and the area from address D to end point Y is a straight travel area on the end point Y side. Also, on the contrary,
When the curved traveling vehicle 70 travels from the end point Y side to the start point X side (turns back), the area from address D to address C is the curve approach area, and the area from address B to address A is the curve escape area. Becomes

As shown in FIG. 3, the rear bogie 53 includes
Proximity switches k ₁ and k ₂ for detecting addresses A and D, respectively, are provided. On the ground 62 between the running rails 50 and 50, dogs (detected plates) g ₁ and D for address A are detected.
And the dog g ₂ for address detection is provided. The proximity switches k ₁ and k ₂ are arranged side by side on a bogie frame below the axle line of the flat wheel 55 of the bogie 53, and the dog g ₁ extends from address A to address A ′ at a position corresponding to the proximity switch k _1. It provided I, dog g ₂ is provided straddling D 'from address D address at a position corresponding to the proximity switch k _2.

The ground 62 between the running rails 50, 50
Are provided with dogs for the addresses of a plurality of work stations along the straight section of the traveling rail 50, dogs for preventing detection errors, and dogs for detecting the deceleration position. On the bogie 53, these dogs are provided. Are provided, but since they are not directly related to the present invention, their illustration and description are omitted.

Table 1 shows an outline of a method of controlling the stroke amounts of the cylinders 10 and 11 by the cylinder control unit 14 of the onboard control panel 60 (ie, a method of controlling the steering of the bogies 52 and 53). In addition, (extension) in the table indicates cylinder 1
The expanded state of 0 and 11 and the (compressed state) mean the contracted state of the cylinders 10 and 11.

[0026]

[Table 1]

As shown in Table 1, when the curved traveling vehicle 70 travels in the direction from the starting point X to the ending point Y (in the direction of the solid arrow), in the straight traveling area from the starting point X to the address A, The front cylinder 10 is fixed at (retracted) and the rear cylinder 11 is fixed at (extended). In the curve approach area from address A to address B, the cylinder 10 is operated from (reduced) to (expanded) and the cylinder 11 is operated from (expanded) to (reduced). In the curve running area from the address B to the address C, the cylinder 10 is fixed at (extended) and the cylinder 11 is fixed at (compressed). In the curve escape area from the address C to the address D, the cylinder 10 is operated from (expanded) to (reduced) and the cylinder 11 is operated from (reduced) to (extended). In the straight running area from the address D to the end point Y, the cylinder 10 is fixed at (retracted) and the cylinder 11 is fixed at (extended) again.

On the other hand, when the curved traveling vehicle 70 travels in the direction from the end point Y to the start point X (in the direction of the dotted line), in the curved approach area from address D to address C, the front cylinder 10 The operation is performed from (retraction) to (extension), and the rear cylinder 11 is operated from (extension) to (retraction). In the curve escape area from the address B to the address A, the cylinder 10 moves from (extend) to (shrink).
, And the cylinder 11 is operated from (retraction) to (extension). In the straight running area from the end point Y to the address D, the curved running area from the address C to the address B, and the straight running area from the address A to the start point X, the cylinders 10 and
11 is fixed.

Here, a configuration example of the cylinder control unit 14 will be described with reference to FIGS. As shown in FIG. 4, the cylinder control unit 14 includes a sequencer control unit 15
And an inverter 16. Further, the sequencer control unit 15 includes a position detection unit 17, an input unit 18, an output unit 19, and an analog output unit 20.

Further, 21 in FIG.
These cylinder motors 21 are controlled by signals from the inverter 16. Reference numeral 22 denotes each brake of the cylinders 10 and 11, and these brakes 22 are controlled by the output unit 19. Reference numeral 23 denotes an encoder for detecting each stroke of the cylinders 10 and 11, and these encoders 23 are connected to the input unit 18. The input unit 18 further includes a cylinder 1
A limit switch 24 for detecting abnormal shocks 0 and 11;
Dogs g ₁ and g ₂ for address A detection and address D detection are connected. The rotary encoder 12 for detecting the traveling distance of the curved traveling vehicle 70 is connected to the position detecting unit 17.

That is, the input unit 18 receives a cylinder stroke amount detection signal of each of the cylinders 10 and 11 from the stroke detection encoder 23, and receives an abnormal impact detection signal from the limit switch 24. The travel distance detection signal is input from the rotary encoder 12 to the position detection unit 17.

The sequencer control unit 15 also stores the required cylinder stroke length and the required rotation speed for each motor 21 of the front cylinder 10 and the rear cylinder 11, which are calculated in advance, on the travel of the curved traveling vehicle 70. It is input as a function value of distance and is initialized.

In the cylinder control section 14, FIG.
The following control is performed. That is, in the sequencer control unit 15 of the cylinder control unit 14, the travel distance detection signal input from the rotary encoder 12 to the position detection unit 17, the cylinder stroke amount detection signal input from the stroke detection encoder 23 to the input unit 18, (S5, S6, S7), and the detected curved traveling vehicle 7
The cylinder stroke length and the rotation speed corresponding to the traveling distance of 0 are obtained based on the function value initialized, and an analog signal of the cylinder stroke length and the rotation speed is output from the analog output unit 20 to the inverter 16 (S1). , S2). The inverter 16 controls the cylinder motor 21 based on the analog signal (S3,
S4).

Specifically, the cylinder control unit 14
By performing the stroke amount control of the cylinders 10 and 11 (the steering control of the bogies 52 and 53) as shown in [Table 1], the flat wheels 55
Of the flat rail 55 in the curved area of the running rail 50 is parallel to the radius of curvature of the curved area. That is, the flat wheels 55 of the bogies 52 and 53 and the guide rollers 56 are always
It is to be kept parallel to the running rail 50 in the straight section and the curved section of the running rail 50.

When an abnormal shock detection signal is input from the limit switch 24 to the input unit 18, the cylinder control section 14 issues an alarm, and simultaneously drives the traveling of the curved traveling vehicle 70 (driving of the traveling drive motor 57) and each cylinder. The driving of the motor 21 is stopped.

Other configurations of the curved traveling vehicle 70 may be the same as those of the conventional curved traveling vehicle 70 shown in FIGS.

<Operation / Effect> The curved traveling vehicle 7 having the above-described configuration.
At 0, the vehicle travels on the traveling rail 50 including the curved area in a state described below.

(When traveling from the starting point X side to the ending point Y side) The curved traveling bogie 70 drives the outer (left) flat wheels 55 by the traveling drive motor 57 to move from the starting point X side to the ending point Y side. Then, the steel plate coil 61 is loaded at a work station on the way (see FIG. 1). From the starting point X shown in FIG. 3 to just before the address A ′, the curved traveling vehicle 70 travels at a speed of about 60 m per minute.

At this time, as shown in [Table 1], the front cylinder 10 is (retracted), the rear cylinder 11 is (extended), the brake 21 is turned on, and the front and rear bogies 52, 53 and the carrier 51 are fixed. To keep. As a result, each bogie 52, 53
The flat wheels 55 and the guide rollers 56 are kept parallel to the running rails 50, so that the curved running truck 70 is free from irregular rolling and the running is stable.

Thereafter, the curved traveling carriage 70 is moved to the A '
Proximity switch (not shown) on the rear bogie 53 in front of the ground
Detects a deceleration position detection dog (not shown) on the ground surface 62
As a result, the speed is reduced to about 30 m per minute. And bo
Proximity switch k on ghee 53 ₁Is detected at address A 'at address A
Dog for₁Is detected, each cylinder 10,
11 brake 22 is released and the cylinder motor
21 is activated.

Each cylinder motor 21 is automatically set by the control of the cylinder control unit 14 while the curved traveling vehicle 70 further travels and the proximity switch k ₁ moves from address A to address B accordingly. At this speed, the front cylinder 10 is driven in the extension direction and the rear cylinder 11 is driven in the contraction direction.

Therefore, each bogie 5 of the curved traveling carriage 70
The carriages 5 are driven by the cylinders 10 and 11 respectively.
The respective flat wheels 55 and the guide rollers 56 can be moved in the curved area and the straight area of the running rail 50 while being parallel to the running rail 50 while changing the angle relative to the running rail 50.

The rear bogie 53 of the curved traveling vehicle 70
When the (proximity switch k ₁ ) reaches the address B, it is detected that the proximity switch k ₁ has reached the address B based on the traveling distance detection signal of the rotary encoder 12 at this time. The driving is stopped and the brakes 22 are turned on to keep the bogies 52 and 53 and the bed 51 fixed. The proximity switch k ₁ is driving the curve traveling vehicle 70 until it reaches the address C in this state.

At this time, the flat wheels 55 and the guide rollers 56 of the bogies 52 and 53 fixed to the loading platform 51 of the curved traveling vehicle 70 are kept parallel to the traveling rail 50 in the curved traveling area, and the outer (left) side. The guide roller 56 is kept in contact with the inner surface of the outer running rail 50 by centrifugal force. Therefore, even in the curved traveling area, the irregular running of the curved traveling carriage 70 is eliminated, and the traveling is stabilized. For this reason,
There is no danger of the load slipping of the coil 61.

Subsequently, when the rear bogie 53 (proximity switch k ₁ ) of the curved traveling vehicle 70 reaches a position immediately before the address C, the proximity switch k ₁ is activated based on the traveling distance detection signal of the rotary encoder 12 at this time. It is detected that the vehicle has reached the position immediately before the address C.
At the same time, the brake of No. 11 is released, and the cylinder motor 21 is started in a direction opposite to the above-mentioned start.

Then, while the proximity switch k ₁ moves from the address C to the address D with the travel of the curved traveling vehicle 70, the speed of each cylinder motor 21 is automatically set by the control of the cylinder controller 14. And the front cylinder 1
0 is driven in the contraction direction, and the rear cylinder 11 is driven in the extension direction.

For this reason, each bogie 5 of the curved traveling carriage 70
The carriages 5 are driven by the cylinders 10 and 11 respectively.
The respective flat wheels 55 and the guide rollers 56 can be moved in the curved area and the straight area of the running rail 50 while being parallel to the running rail 50 while changing the angle relative to the running rail 50.

The rear bogie 53 on the curved traveling vehicle 70
When the (proximity switch k ₁ ) reaches the address D, it is detected that the proximity switch k ₁ has reached the address D based on the traveling distance detection signal of the rotary encoder 12 at this time. The driving is stopped and the brakes 22 are turned on to keep the bogies 52 and 53 and the bed 51 fixed. Then, in this state, the curved traveling vehicle 70 is driven to the end point Y.

At this time, as in the case described above, the flat wheels 55 and the guide rollers 56 of the bogies 52 and 53 are kept parallel to the traveling rail 50, so that the curved traveling vehicle 70 has irregular rolling. It is canceled and running becomes stable.

(When traveling from the end point Y side to the start point X side) When traveling from the start point X side to the start point X side with an empty load, the curved traveling carriage 70 is controlled in the same manner as described above. It runs on the running rail 50. Therefore, detailed description in this case is omitted, and an outline is described below.

From the end point Y to just before the address D ', the curved traveling carriage 70 travels stably with the cylinder 10 fixed at (retracted) and the cylinder 11 fixed at (extended). In addition,
The running speed at this time is set to about 120 m / min because of empty cargo. In front of the address D ′, the curved traveling vehicle 70 is moved by a proximity switch (not shown) on the rear bogie 53 to the ground surface 6.
By detecting the deceleration position detection dog 2 (not shown), the speed is reduced to about 30 m / min. The dog g for D address detecting proximity switch k ₂ on the bogie 53 at D 'address
By detecting ₂ , the brake 22 of each cylinder 10, 11 is released and the cylinder motor 21 is started.

Thereafter, the code [A-B-C-D] of each address from the start point X to the end-point Y is replaced by the code [D-C-B-A] of each address from the end point Y to the start-point X. ] And performs the same control as above.

That is, while the proximity switch k ₂ moves from the address D to the address C, each of the cylinder motors 21 drives the front cylinder 10 in the extension direction at the set speed and drives the rear cylinder 11 in the contraction direction. I do. Then, from the address C to the address B, the curved traveling vehicle 70 stably travels with the cylinder 10 fixed at (extended) and the cylinder 11 fixed at (compressed). Also, the proximity switch k ₂ is during the movement from the address B to the address A, is driven in a direction elongation side cylinder 11 after then and driven in the direction shrinkage of the front cylinder 10 at a rate that the cylinder motor 21 is set. And from the address A to the starting point X, the curved traveling carriage 70 is 120 m / min.
The cylinder 10 to (reduce) the cylinder 11
Runs stably with the fixed as (extended).

As described above, according to the curvilinear traveling vehicle 70 according to the present embodiment, the straight wheels 55 of the bogies 52 and 53 and the guide rollers 56 are arranged in a straight section of the traveling rail 50 so as to be parallel to the traveling rail 50. And the forced steering means (cylinders 10, 11, etc.) for forcibly turning the bogies 52, 53 in accordance with the curved area, so that the single-axis flat wheels 55 provided on the bogies 52, 53 always run on the running rail. Since the guide roller 56 that rotates in the direction parallel to the guide rail 50 and engages with the inner surface of the travel rail 50 is also kept parallel to the travel rail 50, the bogies 52 and 53 do not freely turn left and right during traveling. . For this reason, the curved traveling vehicle 70 can be driven stably by eliminating irregular rolling during traveling, and there is no danger such as load slippage of the steel coil 61, and safety is enhanced.

Further, as forcible steering means, the bogie steering cylinders 10 and 11 connected between the bogies 52 and 53 and the loading platform 51 and the cylinders 10 and 11 corresponding to the straight area and the curved area of the traveling rail 50 are used. Since the apparatus is provided with the device for adjusting and controlling the stroke amount, it is possible to provide a device that is easy to operate with a simple configuration.

[0056]

As described above in detail with the embodiments of the present invention, the curved traveling vehicle of the present invention has bogies before and after the lower part of the loading platform, and each of these bogies rolls on the traveling rail. A curved traveling vehicle having a single-axis flat wheel and a guide roller engaged with a side surface of the traveling rail, wherein a straight line of the traveling rail is provided so as to keep the flat wheel and the guiding roller parallel to the traveling rail. A forcible steering means for forcibly turning the bogie in accordance with an area and a curved area is provided.

Therefore, according to the curvilinear traveling vehicle, forcible steering means for forcibly turning the bogie in accordance with the straight area and the curved area of the traveling rail so as to keep the flat wheels and the guide rollers parallel to the traveling rail is provided. As a result, the one-wheel flat wheel 55 provided on the bogie always rotates in the direction parallel to the traveling rail, and the guide roller engaging with the side surface of the traveling rail is also kept parallel to the traveling rail. The bogie no longer turns on its own. For this reason, the curved traveling vehicle can be driven stably by eliminating the irregular rolling during traveling, and the danger of load slippage of the transported object is eliminated and the safety is enhanced.

Further, in the curvilinear traveling vehicle according to the present invention, in the curvilinear traveling vehicle, the forcible steering means includes a bogie steering cylinder connected between each bogie and the carrier, and the flat wheels and the guide rollers. A device for adjusting and controlling the stroke amount of the cylinder in accordance with the straight section and the curved section of the running rail so as to keep the running rail parallel to the running rail is provided.

Therefore, according to this curvilinear traveling vehicle, the forced steering means is connected to the bogie steering cylinder connected between each bogie and the cargo bed, and the stroke of the cylinder in accordance with the linear area and the curved area of the traveling rail. By comprising a device for adjusting and controlling the amount,
It is possible to provide a device that is easy to operate with a simple configuration.

[Brief description of the drawings]

FIG. 1 is a side view of a curving vehicle according to an embodiment of the present invention.

FIG. 2 is a plan view showing a lower configuration of the curved traveling vehicle.

FIG. 3 is a plan view showing an example of arrangement of detectors provided on the ground and on the curved traveling vehicle.

FIG. 4 is a block diagram showing a configuration example of a cylinder control unit provided in an onboard control panel of the curved traveling vehicle.

FIG. 5 is a control flow chart of the cylinder control unit.

FIG. 6 is a side view of a conventional curved traveling vehicle.

FIG. 7 is a plan view showing a lower configuration of the curved traveling vehicle.

FIG. 8 is a partial plan view of the curved traveling bogie, showing a relationship among traveling rails, flat wheels, and guide rollers.

[Explanation of symbols]

Reference Signs List 10 front cylinder 11 rear cylinder 12 rotary encoder for traveling distance detection 14 cylinder control unit 15 sequencer control unit 16 inverter 17 position detection unit 18 input unit 19 output unit 20 analog output unit 21 cylinder motor 22 brake 23 encoder for cylinder stroke detection 50 dog g ₂ D of running rails 51 bed 52 front bogie 53 rear bogie 54 vertical axis 55 uniaxial flat wheels 56 guide rollers 57 travel drive motor 60 machine control panel 61 steel coil 70 curve traveling vehicle g ₁ a address detection Dog for address detection k ₁ Proximity switch for address A k ₂ Proximity switch for address D

 ────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Seiwa Imanaka 20-1 Shintomi, Futtsu-shi, Chiba Nippon Steel Corporation Technology Development Division

Claims (2)

[Claims] 1. Curve running having bogies before and after a lower part of a loading platform, each bogie having a single-axis flat wheel rolling on a running rail and a guide roller engaging with a side surface of the running rail. A bogie, comprising forcible steering means for forcibly turning the bogie in accordance with a straight area and a curved area of the running rail so as to keep the flat wheels and the guide rollers parallel to the running rail. Curved traveling trolley. 2. The forcible steering means includes a bogie steering cylinder connected between each of the bogies and the carrier, and a straight line of the traveling rail for keeping the flat wheels and the guide rollers parallel to the traveling rail. 2. The curved traveling vehicle according to claim 1, further comprising a device for adjusting and controlling the stroke amount of the cylinder according to the area and the curved area.