KR101076007B1 - Horizontal conveyance mechanism for self-propelled carriage - Google Patents

Abstract

Rails 10 installed horizontally and vertically inside the building, racks 20 placed along the rails, traveling wheels 31 and 32 running on the rails, and pinions 33 and 34 engaged with the racks. And a self-propelled bogie 30 having a drive unit of the pinion, on which a load is mounted, wherein the rail is configured in a curve section that changes direction from horizontal to vertical or vertical to horizontal, and in the vertical section subsequent thereto. The pinion rail 11 having the rack engaged with the pinion and the rail for the driving wheel 12 parallel to and separated from the pinion rail, and the trolley rails on the left and right sides thereof A pinion that engages with the wheel and a travel wheel supported by the rail for the driving wheel, and further comprising the rail for the pinion and the rail for the driving wheel, while the bogie is in a horizontal position in a curve section and a vertical section following the section. It was able to move placed.

Rails, racks, traveling wheels, pinions, payloads, self-trolling trucks, transport mechanisms, pinion rails, travel-wheel rails, horizontal transport mechanisms for self-trolling trucks.

Description

HORIZONTAL CONVEYANCE MECHANISM FOR SELF-PROPELLED CARRIAGE}

According to the present invention, a carrier and a conveying body consisting of a container and a trolley travel along a rail laid horizontally on a floor or a ceiling and perpendicular to a wall over a plurality of floors of a building such as a building. BACKGROUND OF THE INVENTION In a conveying system in which a stack such as this is removed from a container or mounted in a container, the present invention relates to a horizontal conveying mechanism that frequently runs a truck in a horizontal position at all times.

This type of conveying system can automatically convey documents, mails, and stationery in offices, such as diagnostic record cards in hospitals, parts and products in factories, and loads of specimens and reagents to destinations. It is widely used.

This conveying system is comprised from the rail installed horizontally and vertically in the inside of a building, the trolley | bogie which is a some conveyance body which runs on this rail, the computer which controls the running of a trolley | bogie independently, and the like. Frequently, the trolley is formed by attaching a container for mounting a load on a trolley running along a rail.

The container is also mounted on the premise that the container is always transported in a horizontal posture, such as a case in which a large number of test specimens, reagents, and the like are placed. For this reason, in many cases, the container is supported by the gyro means so as to be able to swing on the bogie, and the container is rotated 90 degrees on the bogie to keep the horizontal state at all times (for example, Patent Literature 1). See).

On the other hand, during the self-balancing of this conveyance system, four sets of traveling wheels, each of which includes two sets of two rails fitted up and down, or rails fitted up and down, before and after the left and right sides in the travel direction, There is one arranged. This self-balancing is a period where the rail transitions from a horizontal section to a vertical section, that is, in a section where the rail is bent horizontally or vertically, or 90 degrees from vertical to horizontal, the bogie is horizontal to vertical (or vertical to horizontal). In order to change the running posture in the posture, the container hung on the trolley by the gyro means rotates by 90 degrees to maintain the horizontal posture of the container. However, when the weight of a large load of weight is concentrated in a container suspended by a gyro means, it is known that the container tilts due to its unbalanced load and thus cannot maintain a horizontal posture.

Moreover, since it is equipped with the gyro means which always keeps a posture of a container horizontal, and a trolley turns from a horizontal rail to a vertical rail, it requires a rotation space of a container and a turning traveling space of a trolley | bogie, The radius of curvature of the section between the horizontal section and the vertical section of the rail is inevitably increased, and as a result, the whole system is not only large, but also this conveying system cannot be installed due to the excessively large curvature radius depending on the location. There is also a problem.

Patent Document 1: Japanese Patent Application Laid-Open No. 2005-047369

(Initiation of invention)

(Tasks to be solved by the invention)

In view of the above-described phenomenon, the present invention can maintain the container's posture horizontally even without a gyro means, and furthermore, the whole system can be compactly constructed by reducing the curvature of the curvature in the change section of the rail direction. It is the subject that we provide always horizontal posture conveyance mechanism of voluntary trolley which made it possible.

(Means to solve the task)

The first configuration of the horizontal transport mechanism of the present invention, which has been made for the purpose of solving the above-mentioned problems, includes a rail laid horizontally and vertically in a building, a rack laid along the rail, and a traveling running on the rail. A conveying mechanism comprising a wheel, a pinion engaged with the rack, and a frequent bogie on which a load is mounted with a driving portion of the pinion, wherein the rail includes a curve section for changing a direction from horizontal to vertical or from vertical to horizontal. In the vertical section subsequent thereto, a pinion rail having a rack engaged with the pinion and a rail for a driving wheel parallel to and away from the pinion rail, and the bogie is on the right and left sides of the pinion. A pinion engaged with the rail and a traveling wheel supported by the rail for the traveling wheel; It is characterized in that the dragon rail is arranged to be moved in a curved section and a vertical section following the section so that the bogie moves horizontally.

In this invention, in the said 1st structure, while providing the 1st pinion and the 1st driving wheel in the one side surface orthogonal to the travel direction of a trolley | bogie, and in the position of the same phase as the said 1st pinion in the other, The second traveling wheel is provided with a second pinion at the same phase as the first traveling wheel, and the inclination of the trolley is suppressed by the first and second pinions and the traveling wheel having different arrangement phases on both sides.

In the present invention, the trolley has a pinion on the coaxial position of the co-phase position of the intermediate portion on both the left and right sides, and the pinion is fitted on the left and right sides in the traveling direction of the trolley before and after, It is provided with a pair of front and rear traveling wheels arranged in the upper and lower positions of the pinion rotary shaft in the up and down position, and in the curve section and the vertical section following this section, one of the upper and lower driving wheels before and after Since the pinion is supported by each rail, the 2nd structure which keeps a trolley | bogie in a horizontal position and runs can be employ | adopted.

In the above two configurations, the pinion rail and the travel wheel rail in the horizontal section of the rail are formed of a composite rail in which both rails are arranged in parallel, and the composite rail is arranged separated from the curve section back and forth in the vertical section. It may be done.

Next, the third configuration of the horizontal transport mechanism of the present invention, which can solve the above problems, includes a rail provided horizontally and vertically in a building, a rack provided along the rail, and a traveling wheel traveling on the rail; In the conveying mechanism provided with the pinion which meshes with the said rack, and the self-balance trolley | bogie with which the load is mounted, the trolley | bogie is provided with the pinion on the coaxial of the same phase of the intermediate part in both left and right sides, The front and rear horizontal part traveling wheels which pair the pinion from the front and the rear in the traveling direction of a trolley | bogie, and the upper and lower vertical part driving wheels which pinch | pinch the rotary shaft of the said pinion up and down are paired, and the rail is horizontally In a curve section that changes direction vertically or vertically to horizontally, a curve rail having a running surface of the rack and the horizontal driving wheels engaged with the pinion In addition, in the vertical section following the curve section, a vertical rail having a rack engaged with the pinion and a running surface of the vertical section driving wheel is provided. In the curve section, the horizontal section running wheel and the pinion are connected to the curve rail. The vertical section running wheel and the pinion are supported by the vertical rail in the vertical section following the curve section.

In addition, the fourth configuration of the horizontal transport mechanism of the present invention, which can solve the above problems, includes a rail laid horizontally and vertically in a building, a rack laid along the rail, and a traveling wheel traveling on the rail; In the conveying mechanism provided with the pinion which meshes with the said rack, and the self-balance trolley | bogie with which the load is mounted, the trolley | bogie is provided with the pinion on the coaxial of the same phase of the intermediate part in both left and right sides, A horizontal running wheel provided at the bottom of the trolley, and vertical running wheels vertically and horizontally fitted with a pair of upper and lower rotating shafts of the pinion; and the rails are horizontally vertically or vertically horizontally. In the curve section for changing the curve rail, and having a curve rail having a curved surface engaging the pinion and the driving surface for restraining the vertical running wheels, And a short vertical rail having a short rack engaged with the pinion and a running surface of a vertical part driving wheel in a short vertical section following the curve section, wherein in the curve section, the pinion is supported by the curve rack and is horizontal. The secondary driving wheels are supported by the curve rails, and in the short vertical section following the curve section, the pinion and the vertical driving wheels are supported by the vertical rails containing the short racks, so that the vehicle always runs in a horizontal position. .

(Effects of the Invention)

The horizontal conveyance mechanism of the 1st structure in this invention is a rail installed horizontally and vertically in the inside of a building, the rack provided along this rail, the traveling wheel which runs on the said rail, and the pinion which meshes with the said rack. And a conveying mechanism having a drive section of the pinion and having a frequent trolley on which a load is mounted, wherein the rail is connected to the pinion in a curve section for changing direction from horizontal to vertical or from vertical to horizontal. A pinion rail having an interlocking rack and a rail for driving wheels parallel to and away from the pinion rail, and the bogie is provided on the left and right sides of the pinion and the rail for the wheels engaged with the pinion rail. The traveling wheel is supported, and the rail for the pinion and the running wheel rail are horizontally positioned in the vertical section. Since it is arrange | positioned so that it can move, it is possible to keep a container's posture always horizontal without a gyro means, and also can make the whole system compact by making curvature curvature in the change section of a rail direction small.

That is, in the horizontal conveyance mechanism of the self-balance trolley according to the first aspect of the present invention, the pinion rotates while being engaged with the rack, and the trolley travels along the rail as the traveling wheel rolls the rail for the traveling wheel. At this time, since the trolley is provided with the pinion which engages the said pinion rail and the travel wheel supported by the rail for driving wheels, the trolley | bogie can always keep a posture of a container horizontally without a gyro means, and the load state Even if it is, the load can always be transported horizontally. And the rail is for a pinion rail having a rack for engaging the pinion and a driving wheel parallel to and away from the pinion rail in a curve section which changes direction from horizontal to vertical or vertical to horizontal. Since the rail is provided, the radius of curvature of the pinion rail can be set independently of that of the rail for driving wheels, and the radius of curvature of the section between the horizontal section and the vertical section in the rail can be reduced. That is, the rotation space of a container and the turning travel space of a trolley | bogie are not needed, and the whole conveyance mechanism can be comprised compactly.

Moreover, also in the horizontal conveyance mechanism of the 2nd structure in this invention, a trolley | pinch is equipped with the pinion on the coaxial of the co-phase of the intermediate part in the left and right both sides, and pinches the said pinion before and after in the traveling direction of a trolley | bogie. A pair of horizontal front and rear traveling wheels and a vertical vertical travel wheel paired with the pinion's rotational shaft fitted up and down, and the rail has a curved section that changes direction from horizontal to vertical or vertical to horizontal. And a curved rail having a running surface of the rack and the horizontal driving wheels engaged with the pinion, and a vertical having the running surface of the rack and the vertical driving wheels engaged with the pinion in a vertical section following the curve section. In the curve section, the horizontal section running wheel and pinion are supported by the curve rail, and in the vertical section following the curve section, the vertical section Since the wheels and pinions are supported by vertical rails, the posture of the container can always be kept horizontal even without gyro means, and in addition, the pinions and traveling wheels run on one rail, so that the rails do not need to be laid separately. The whole can be built compactly.

Also in the horizontal conveyance mechanism of the third configuration, the pinion rotates while being engaged with the rack, and the trolley travels along the rail as the running wheel rolls the rail for the running wheel. At this time, the trolley is provided with a pinion in the same phase of the middle part on both the left and right sides, and a horizontal part driving wheel paired with the pinion in the driving direction of the trolley from the front and the rear, and the axis of rotation of the pinion up and down. It is equipped with a pair of vertical driving wheels to be fitted, and the curved section and the vertical section following this section travel by the pinion and the vertical driving wheels, so that the conveyance posture of the container can always be maintained horizontally without gyro means, Even in the medium state, the load can always be transported in a horizontal position. For this reason, in the curve section which changes direction from horizontal to vertical or vertical to horizontal, the rail is provided with the curve rail which has the rack which meshes with a pinion, and the running surface of the horizontal part driving wheel, In the subsequent vertical section, a vertical rail having a rack engaged with the pinion and a running surface of the vertical section driving wheel is provided, and in the curve section, the horizontal section wheel and the pinion are supported by the curved rail, and the vertical section following the curve section. In the section, since the vertical running wheel and the pinion are supported by the vertical rail, the curved section and the vertical section following it can be constituted by a single rail, so that the entire conveying mechanism can be compactly constructed.

Moreover, in the horizontal conveyance mechanism of the 4th structure of this invention, a trolley | bogie is provided with the pinion on the coaxial of the co-phase of the intermediate part in the left and right both sides, and the horizontal part running wheel provided in the bottom part of the said trolley | bogie. And upper and lower vertical driving wheels arranged to be paired with upper and lower rotary shafts, and the rails are curved to engage the pinion in a curve section that changes direction from horizontal to vertical or vertical to horizontal. A curved rail having a running surface for restraining the rack and the vertical driving wheels, and a short rack and a running surface for the vertical driving wheels engaged with the pinion in a short vertical section following the curved section. It has a short vertical rail, and in the curve section, the pinion is supported by the curve rack, while the horizontal driving wheel is supported by the curve rail, In the short vertical section following the section, the pinion and the vertical running wheels are supported by the vertical rails containing the short racks, so that the trolley always runs in a horizontal position, so that the whole conveying system is the same as the conveyance mechanism of the present invention having the above configuration. In particular, it is possible to form a place where the traveling direction is changed from horizontal to vertical, or vice versa, in a compact manner.

In the fourth horizontal conveying mechanism according to the present invention, the rack and the rail of the curve section are unitized so that the cart can be vertically driven in addition to the case where the bogie changes the traveling direction from the horizontal to the vertical direction. The united curve section can be evacuated to a position that does not interfere with the vertical running of the bogie.

As a result, the curve section of the 4th conveyance mechanism also has a function as a branching apparatus for changing a horizontal run to a vertical run.

BRIEF DESCRIPTION OF THE DRAWINGS The front view which shows embodiment of the horizontal conveyance mechanism of independent trolley | bogie by the 1st structure of this invention.

FIG. 2 is a right side view of the horizontal conveyance mechanism shown in FIG. 1. FIG.

3 is a plan view of FIG.

4 is a perspective view of a horizontal conveying mechanism shown in FIGS.

Fig. 5 is a front view showing an embodiment of the horizontal transport mechanism for self-balancing according to the second configuration of the present invention.

FIG. 6 is a right side view of the horizontal transport mechanism shown in FIG. 5. FIG.

7 is a plan view of FIG.

8 is a perspective view of a horizontal conveyance mechanism shown in FIGS. 5 to 7.

9 is a front view showing an embodiment of a horizontal transport mechanism for self-balancing according to a third configuration of the present invention.

10 is a right side view of the horizontal conveyance mechanism shown in FIG. 9;

FIG. 11 is a plan view of FIG. 9;

12 is a perspective view of a horizontal conveying mechanism shown in FIGS. 9 to 11.

It is a side view for demonstrating the movement state of the horizontal section of the trolley | bogie in the horizontal conveyance mechanism by the 4th structure of this invention.

Fig. 14 is a side view for explaining the movement of the curve section of the bogie in the horizontal conveyance mechanism of the fourth configuration.

Fig. 15 is a side view for explaining the movement situation of the vertical section of the truck in the horizontal conveyance mechanism of the fourth configuration.

Fig. 16 is a perspective view showing a state of a trolley and each rail in an example in which the trolley runs from a horizontal section to a vertical section.

17 is a schematic side view of FIG. 16.

18 is a perspective view showing a state of a bogie and each rail in an example in which the bogie travels in a vertical position in a vertical section;

FIG. 19 is a schematic side view of FIG. 18. FIG.

20 is a side view of one example of a trolley for use in an application example of the horizontal transfer mechanism of the present invention in a fourth configuration;

21 is a plan view of the trolley of FIG. 20;

FIG. 22 is a left side view of the truck of FIG. 20; FIG.

FIG. 23 is a schematic perspective view of the truck shown in FIGS. 20 to 22.

24 is a perspective view schematically showing the form of a direction change rail (left rail) on which the truck of FIGS. 20 to 23 travels.

FIG. 25 is a front view of the rail part in a state in which the trolley of FIG. 22 enters the left and right direction change rail parts; FIG.

26 (a) to 26 (f) are side cross-sectional views showing a state in which a trolley passes a direction change rail portion in time series;

(Explanation of the sign)

Rail for 10 rail 11 pinion

12 Rails for driving wheels 14 Composite rails

15 curved wall 20 rack

30 bogie 31, 32 driving wheel

33, 34 pinion 35 body

110 Rail 111 Pin Rail

112 Rail for 114 driving wheels

115 Surface Wall 116 Opening

117 holes 118 guide wall

120 rack 130 bogie

131a, 131b driving wheels 132a, 132b driving wheels

133, 134 pinion 135 body

136a, 136b Driving Wheel 137a, 137b Driving Wheel

210 rail 211 vertical rail

214 horizontal rail 215 curved wall

216 opening 217 tunnel

220 racks 230 bogie

231a, 231b Horizontal Drive Wheels 232a, 231b Horizontal Drive Wheels

233, 234 pinion 235 balance body

236a, 236b vertical drive wheels 237a, 237b vertical drive wheels

(The best mode for carrying out the invention)

EMBODIMENT OF THE INVENTION Hereinafter, with reference to drawings, the example of embodiment of the horizontal conveyance mechanism of this invention independent trolley | bogie is demonstrated. In the accompanying drawings, FIG. 1 is a front view showing an embodiment of the horizontal transport mechanism of the self-balancing truck of the first configuration in the present invention, FIG. 2 is a right side view of the horizontal transport mechanism shown in FIG. 2 is a plan view, FIG. 4 is a perspective view of the horizontal transport mechanism of the first configuration shown in FIGS. 1 to 3, and FIG. 5 is a front view showing an embodiment of the horizontal transport mechanism of the self-balancing vehicle of the second configuration according to the present invention. 6 is a right side view of the horizontal transfer mechanism shown in FIG. 5, FIG. 7 is a plan view of FIG. 6, FIG. 8 is a perspective view of a horizontal transfer mechanism of the second configuration shown in FIGS. 5 to 7, and FIG. The front view which shows 3rd embodiment of the horizontal conveyance mechanism of an independent trolley | bogie, FIG. 10 is a right side view of the horizontal conveyance mechanism shown in FIG. 9, FIG. 11 is a top view of FIG. 9, FIG. 12 is shown in FIGS. 9-11. 13 to 15 are perspective views of the horizontal transport mechanism of the third configuration. FIG. 16 is a perspective view of an example in which the bogie travels the conveyance path horizontally and vertically, FIG. 17 is a schematic side view of FIG. 16, and FIG. 18 is an example of an example in which the bogie travels the conveyance path vertically. 19 is a schematic side view of FIG. 18, FIG. 20 is a side view of an example of a trolley used in an application example of the present invention for carrying a horizontal conveyance mechanism of a fourth configuration, FIG. 21 is a plan view of the trolley of FIG. 20, and FIG. The left side view of the trolley | bogie of 20, FIG. 23 is a typical perspective view of the trolley | bogie shown in FIGS. 20-22, FIG. 24 shows the form of the direction change rail (left rail) which the trolley | bogie of FIGS. 20-23 runs. 25 is a front view of the rail unit in a state in which the trolley of FIG. 22 enters the left and right directional rail units, and FIGS. 26A to 26F show a state in which the trolley passes the directional rail unit. It is a side cross-sectional view shown in time series.

1 to 4, the horizontal transport mechanism of the present invention according to the first configuration is horizontally and vertically placed inside a building, and has a pair of left and right pairs of rails 10 arranged in parallel with respect to the traveling direction of the trolley 30. And the trolley | bogie 30 which runs on this rail 10 is provided.

As shown in FIG. 2, each rail 10 includes a horizontal rail forming a horizontal section attached to a floor or the like, a curved rail forming a curved section for changing a direction from horizontal to vertical or vertical to horizontal, It is provided with the vertical rail which forms the vertical section attached to the wall, the pillar, etc. which follow it. The curve section and the vertical section of each rail 10 consist of the pinion rail 11 and the travel wheel rail 12 parallel to this pinion rail 11 but separated in the front-back direction from it. In addition, the horizontal section consists of one composite rail 14 in which both rails 11 and 12 are arranged in parallel.

As illustrated in FIGS. 3 and 4, the pinion rail 11 is formed of a cross-sectional U-shaped or channel-shaped cross-sectional member composed of front and rear walls 11a and 11b and side walls 11c. The rail 12 for traveling wheels also consists of a cross-section C-shaped or channel-shaped cross-section member consisting of front and rear walls 12a and 12b and side walls 12c. These rails 11 and 12 are integrated by the connecting wall 13. The connecting wall 13 extends the side wall 12c of the rail 12 for traveling wheels, and its extended end is connected to the edge of the open end of the front wall 11a of the rail 11.

The composite rail 14 of a horizontal section is a U-shaped or channel upper end surface which consists of the upper and lower walls 14a and 14b and the side wall 14c, and is arrange | positioned facing the open surface from left and right. This composite rail 14 is connected to the pinion rail 11 and the travel wheel rail 12 which were separated before and after forming a vertical section through the curve section.

Referring to the curve section in detail, the front wall 11a of the pinion rail 11 in the vertical section is the composite rail 14 in the rail 10 located on the right side of FIG. It extends to the upper wall 14a and is connected to it. The rear wall 11b of the pinion rail 11 extends to the lower wall 14b of the composite rail 14 via the curved wall 15, and also shows the side wall 14c as shown in FIG. ) Is integrated with. The front wall 12a of the travel wheel rail 12 is cut off from the upper wall 14a of the compound rail 14, and the rear wall 12b is postponed to and connected to the lower wall 14b of the compound rail 14, and the side wall ( 12c is connected to the composite rail 14 lower wall 14b with the connection wall 13.

Moreover, in the rail 10 located in the left side of FIG. 1, FIG. 2, FIG. 3, the front wall 11a of the pinion rail 11 extends to the upper wall 14a of the composite rail 14, and The rear wall 11b is connected to the lower wall 14b of the compound rail 14 via the curved wall, and the side wall 11c is postponed to the lower wall 14b of the compound rail 14 and is integral with the side wall 14c. It is. The front wall 12a of the travel wheel rail 12 is connected to the upper wall 14a of the compound rail 14, and the rear wall 12b is connected to the lower wall 14b of the compound rail 14, and the side wall 12c is connected. The silver is postponed to and connected to the upper wall 14a of the composite rail 14 together with the connecting wall 13.

A rack (also referred to as a rack gear. Hereinafter, the same) 20 is disposed on and fixed to the rear wall 11b, the curved wall 15 and the lower surface 14b of the compound rail 14 of the pinion rail 11. .

The trolley | bogie 30 is the driving wheel 31 and the pinion (it is also called pinion gear. Below) which is a driving wheel, and the driving wheel 32 and the pinion 34 on the one side (right side) of the main body 35 of a trolley | bogie. ) Is provided on the opposite side (left side surface) of the balance main body 35. Each of the driving wheels 31 and 32 is held in a bearing in which each shaft is in the bogie body 35. The pinion 33 is disposed coaxially with the travel wheel 31 on either left side of the travel wheel 32 in the bogie body 35, and the pinion 34 is coaxial with the travel wheel 31. ) Is disposed on any right side of the traveling wheel 31. The pinions 33 and 34 are connected to the drive part (illustration omitted) which each shaft consists of an electric motor, a reduction gear, etc. provided in the trolley | bogie main body 35 inside.

As for example, when the trolley 30 travels from the vertical section toward the horizontal section, the circumferential surfaces of the driving wheels 31 and 32 are positioned between the front and rear walls 12a and 12b of the rails 12 for each driving wheel. And the pinions 33 and 34 are engaged with the racks 20 attached to the rails 11 for each pinion, and are arranged between the rails 10. The trolley | bogie 30 runs along the rack 20 by rotating by pinion 33 and 34 engaging the rack 20 by a drive part. That is, the pinions 33 and 34 rotate while being engaged with the rack 20 in the vertical section and the curve section of the rail 10 to drive the inside of the pinion rail 11, and are engaged with the rack 20 in the horizontal section. It rotates and runs inside the composite rail 14. At the same time, the driving wheels 31 and 32 are rolled along the front and rear walls 12a and 12b constituting the rail 12 for the driving wheel in the vertical section and the curved section, and the upper and lower walls 14a, Roll along 14b). For this reason, the trolley | bogie 30 supports the vertical section by supporting the pinion 33 and 34 and the rack 20 by the engagement, and the running wheels 32 and 33 being supported by the rail 12 for driving wheels. The trolley | bogie 30 moves in parallel with a horizontal attitude, and moves to a horizontal section through a curve section from a vertical section. Even when the trolley | bogie 30 enters a vertical section through a curve section from a horizontal section, the trolley 30 moves in a horizontal position similarly to the above.

The power supply to the drive unit is performed by the wires arranged along the rails 10, and the traveling control is performed by the communication between the computer device outside the horizontal conveying mechanism and the controller in the trolley 30, which extends in parallel with the wires. Signals are sent and received between an external computer device and a controller through a communication line.

In this embodiment, the container consists of a container with a lid as an example, and is installed in the upper surface of the trolley | bogie main body 35, or it is integrated in the trolley | bogie main body 35 inside. Then, several stations are installed along the composite rail 14.

At the start of operation, a load, for example a case containing a test sample or a reagent, is loaded into a container by a worker. When a worker designates a conveying station to an external computer apparatus by a terminal, the controller of the trolley | bogie 30 operates a drive part according to a command from an external computer apparatus, and runs to the conveying station aimed at the trolley | bogie 30, and loads To the destination station.

At this time, the pinions 33 and 34 disposed on the left and right sides of the trolley 30 are engaged with the rack 20 and pass through the curved section from the horizontal section of the rail 10 to allow the trolley 30 to travel in the vertical section. In addition to moving the trolley 30 in parallel, the pinions 33 and 34 are arranged before and after the trolley 30 to suppress the inclination of the trolley 30 in the traveling direction and the direction orthogonal to the traveling direction, and thus the trolley 30 ) To the horizontal position. This horizontal posture is complemented by the traveling wheels 31 and 32 to move the cart 30 in parallel without inclination. That is, since the trolley | bogie 30 can always run in a horizontal position, the gyro means which keeps a container horizontal is unnecessary. For this reason, even if it is a load which always requires a horizontal posture, it can convey without a problem.

In addition to the vertical section of the rail 10, the pinion rail 11 and the traveling wheels 31 and 32 in which the rack 20 is engaged with the pinions 33 and 34 in the curve section that is the boundary between the horizontal section and the vertical section. The rolling wheel rail 12 which rolls) is separated from front and back, and each rail 11 and 12 can be set to a different radius of curvature. Thereby, the radius of curvature of the rails 11 and 12 in a curve section can be made small, and the whole conveyance system provided with this horizontal conveyance mechanism can be built compactly.

In the embodiment of the horizontal conveyance mechanism by the 1st structure of this invention demonstrated above, the trolley | bogie 30 is equipped with the 1st pinion 33 and the 1st running wheel 31 in the one side surface orthogonal to the travel direction. In addition, the second driving wheel 32 is in phase with the first pinion 33 on the opposite side (coaxial) and the second pinion 34 is in phase with the first driving wheel 31 (coaxial). ), The first and second pinions 33 and 34 having different arrangement phases on both sides, and the first and second traveling wheels 31 and 32, thereby providing a driving direction of the trolley 30. When changing from the horizontal position to the vertical direction, the balance 30 is controlled so as not to tilt. Since the horizontal conveyance mechanism of the voluntary trolley | bogie of this invention is implement | achieved also by the aspect of the 2nd structure of the conveyance mechanism of this invention shown in FIGS. 5-8, it demonstrates next.

In the horizontal conveyance mechanism of the present invention of the second configuration illustrated in Figs. 5 to 8, the bogie 130 includes pinions 133 and 134 on the coaxial of the same phase (coordinate position) of the intermediate portions on the left and right sides. In addition, a pair of upper and lower first travel wheels 131a which are front side and rear side with respect to the traveling direction of the pinions 133 and 134 and located up and down with respect to the rotation axis of the respective pinions 133 and 134, respectively. , 131b, the traveling wheels 132a and 132b and the driving wheels 137a and 137b are disposed in the same manner as the second driving wheels 136a and 136b. The upper and lower pairs of the driving wheels and the pinion are supported by the rails 111 and 112, so that even in the curve section and the vertical section, it is possible to travel in a horizontal posture.

That is, the trolley | bogie 130 is pinched by the pinion 133 and this pinion 133 back and forth in the center part (center part of the right side) in the one side surface of the main body 135, and a pair of traveling wheels 131a, 136b and 136a and 136b are arrange | positioned. This trolley | bogie main body 135 pinches the pinion 134 and this pinion 134 back and forth on the center part (center part of a left side surface) coaxially with the said pinion 133 also on the opposite side, and the said right side surface A pair of traveling wheels 132a, 132b and 137a, 137b is disposed coaxially with the traveling wheels 131a, 131b, 136a, 136b. The pinions 133 and 134 on the left and right sides are connected to a drive unit whose shafts are formed of an electric motor, a reduction gear, and the like provided inside the trolley body 135.

The left and right pairs of rails 110 are arranged in parallel with each other. The left and right rails 110 disposed in the vertical section are composed of a pinion rail 111 and a driving wheel rail 112 that are placed along a wall or a pillar. As shown in FIG. 7 and FIG. 8, the pinion rail 111 in the vertical section is formed of an approximately L-shaped cross-section member, and the travel wheel rail 112 is formed of a cross-section c-shaped or channel-shaped cross-section member. Both rails 111 and 112 are integrally formed with the rear wall 111b of the rail 111 and the front wall 112a of the rail 112 which form an open surface. The rails 111 and 112 disposed on the left and right are arranged in parallel with the open surfaces facing each other. The rails 110 on the left and right of the horizontal section are constituted by rails 114 having a substantially U-shaped or channel-shaped cross section, and are arranged with their open surfaces facing each other.

The rear wall 111b of the pinion rail 111 in the vertical section (the front wall 112a of the rail wheel 112 for driving wheels) is the lower wall 114b of the rail 114 in the horizontal section through the curved wall 115 forming the curved section. Is connected to. The side wall 111c of the vertical section extends to the upper wall 114a of the rail 114 of the horizontal section, and the side wall 114c of the rail 114b is integrated. The front wall 112a of the rail 112 for driving wheels of a vertical section extends to the lower wall 114a of the rail 114 of a horizontal section, and is formed in the hole 117 for a passage inside the said rail 114. . The rear wall 112b of a vertical section extends to the lower wall 114b of the rail 114 of a horizontal section, and is connected to this. The side wall 112c of the vertical section is postponed to the lower wall 114b of the rail 114 of the horizontal section.

The width of the pinion rail 111 in the vertical section, specifically, the rear wall 111b of the pinion rail 111 and the running wheel rail 112 in the vertical section, are located on the upper wall 114a of the rail 114 in the horizontal section. An opening 116 having a width corresponding to the total of the front wall 112a is provided, and a guide wall 118 is provided upright around the opening 116. The side wall of the guide wall 118 is integrated with the side wall 111c of the pinion rail 111 in the vertical section.

The left and right racks 120 for guiding the left and right pinions 133 and 134 are curved walls 115 in which the front and inner surfaces of the rear wall 111b of the pinion rail 111 in the vertical section form a curved section. The inner surface of the rail 114 is provided over the upper surface of the lower wall 114b of the rail 114 forming a horizontal section.

Mounting of the trolley | bogie 130 with respect to the rail 110 of a vertical section carries out the outer peripheral surface of the driving wheel 136a, 136b and the same 137a, 137b as the front wall 112a and the rear wall 112b of the rail 112 for a driving wheel of a vertical section. The pinions 133 and 134 are engaged with the rack 120 attached to the lower wall 114b of the rail 114 near the boundary between the horizontal section and the curved section. Here, in the mounting of the trolley 130 to the rail 110 in the horizontal section, the upper and lower pairs of the driving wheels 131a to 137b on the left and right sides of the trolley body have an upper wall 114a and a lower wall ( While being guided to the inner surface of 114b), the left and right pinions 133 and 134 are engaged with and supported by the left and right racks 120 formed on the inner surface of the lower wall of the rail 114. In addition, although not shown in figure, the power supply to the electric motor of a drive part is a computer apparatus arrange | positioned along the rail 110 as an example, and the running control is a computer apparatus arrange | positioned outside the rail 110 as an example. And a communication between controllers arranged in the vehicle 130 and transmitting and receiving signals between the external computer device and the controller through a communication line extending in parallel with the wire along the rail 110.

By rotating the pinion 133, 134 to the rack 120 while the drive unit (not shown) rotates, the truck 130 travels, for example, the horizontal section and the curved section of the rail 110, and from there, the vertical section. To drive. Here, the distance between the upper wall 114a and the lower wall 114b of the rail 114 in the horizontal section is the distance between the upper end of the driving wheel 131a of the trolley 130 and the lower end of the 131b, that is, each driving wheel ( Since the wheels 131a and 131b, 136a and 136b, 132a and 132b, 137a and 137b are approximately the same height, the driving wheels 131a and 131b, 136a and 136b, 132a and 132b, 137a and 137b Rolling along the upper and lower walls 114a and 114b, the trolley 130 moves horizontally. In this way, after the trolley | bogie 130 runs in a horizontal position, the front and rear walls 112a which the left and right traveling wheels 136a and 136b and the same 137a and 137b make up the running wheel rail (double rail part) 112 of a vertical section. And 112b, the running wheels 131a and 131b and 132a and 132b move through the opening 116 to the outside of the end rail 114 in a manner guided by the guide wall 118. do. Thereby, the trolley | bogie 130 moves from a horizontal section of a horizontal posture to a vertical section with a horizontal posture, and runs the said vertical section in a horizontal posture (refer FIG. 6, FIG. 8).

5 to 8, the container includes a container with a cover (not shown) as an example, and the container is provided on the upper surface of the trolley body 35. Or it is the installation aspect incorporated in the trolley | bogie main body 35 inside. For example, a load consisting of a test object or a case containing a reagent is accommodated in a container and instructed a conveying station by a terminal electrically connected to an external computer, whereby an electric motor of the driving unit is operated to target the truck 130. It drives to a conveyance station and stops there.

Thus, in the horizontal conveyance mechanism of the embodiment by the 2nd structure of this invention, the pinion 133 and 134 are arrange | positioned at the left-right side, and the trolley | bogie 130 runs along the rack 120 by this pinion, In addition, the pinions 133 and 134 and the rack 120, and the driving wheels (131a and 131b, 132a and 132b, 132a and 132b, 136a and 136b) which are installed on the left and right sides of the cart 130 and are paired up and down Since the tilting of the trolley 130 is suppressed by the same 137a and 137b, even if the trolley 30 is inclined, it is possible to move parallel to the inclination within an allowable range, so that the container installed in the trolley 30 is horizontally positioned. In addition to the horizontal section, the curved section or the vertical section can be driven in a horizontal position. As a result, the gyro means becomes unnecessary, and the kind and quantity of the load can be increased.

In addition, in the horizontal section, after the rails for pinion in which the left and right racks 120 engaged with the pinions 133 and 134 on the left and right sides of the trolley 30 formed on the rail 114 are installed, and on the left and right sides of the trolley, In the portion where the rail for driving wheels rolled by the pair of driving wheels 131a, 131b, 132a, 132b, 136a, 136b, 137a, and 137b from below forms a vertical section from the curve section, Since the rail 110 in the vertical section is formed by being separated into the pinion rail 111 and the travel wheel rail 112, each rail 111 and 112 can be set to different radii of curvature. Therefore, the radius of curvature of the pinion rail 111 and the rack 120 can be made small, and the whole conveyance system can be built compactly.

Next, the horizontal conveyance mechanism of the self-balancing truck which concerns on the 3rd structure of this invention can be implement | achieved by the embodiment shown to FIG. 9-12. Hereinafter, the embodiment of the horizontal conveyance mechanism by a 3rd structure is demonstrated with reference to FIGS. 9-12.

In the horizontal conveyance mechanism by the 3rd structure of this invention shown to FIG. 9 thru | or 12, the trolley | bogie 230 equips the pinion 233,234 on the coaxial of the intermediate co-phase of both left and right sides. The front and rear sides of the pinions 233 and 234 are provided with horizontal driving wheels 231a, 231b, 232a and 232b, and the pinions 233 and 234 are upwards. The vertical part running wheels 236a, 236b, 237a, and 237b are provided in and below. The trolley 230 is supported by the upper and lower pairs of vertical driving wheels 236a and 236b and 237a and 237b and the pinion 233 and 234 on the rail 211 in the vertical section. ) Can travel while maintaining the horizontal position from the horizontal section.

That is, the trolley | bogie 230 installs the pinion 233 in the one-side center (right side center) of the trolley | bogie main body 235, and pinches this pinion 233, and a pair of horizontal part running wheels 231a in the front-back direction 231b is further provided with a pair of vertical driving wheels 236a and 236b in the vertical direction with the pinion 233 interposed therebetween. And the pinion 234 is provided coaxially with the said pinion 233 at the opposite side center (left-side center) of the trolley | bogie main body 235, and this pinion 234 is inserted back and forth, and is horizontally inserted The sub traveling wheels 232a and 232b and the vertical part driving wheels 237a and 237b are arranged. All the driving wheels are all formed with the same diameter, but smaller than the diameter of the pinion 233,234.

In FIGS. 9 to 12, the pair of left and right rails of the horizontal section are arranged in parallel with each other. In the vertical section, vertical rails 211 are provided along the wall or the pillar, and pinions 233 and 234 of the trolley 230 and vertical driving wheels 236a, 236b, 237a and 237b pass. As shown in FIG. 11 and FIG. 12, this vertical rail 211 consists of a U-shaped cross-section, and the inside of the front-back walls 211a and 211b is the driving path of each driving wheel, and is connected to the connection wall 211c. The near outer side is a rack traveling path on which the pinions 233 and 234 travel. Each rail forming the horizontal section is composed of one horizontal horizontal rail 214 on the left and right. As for the horizontal rail 214, the pinion rail of the cross section which joined the upper wall 214a, the lower wall 214b, and the connection wall 214c at right angles to each other has the same cross section as the vertical rail 211, and the said upper wall A running wheel guide wall 219a formed in an inverted L-shaped cross section at 214a and a running wheel guide wall 219b in an L-shaped cross section are formed integrally with the lower wall 214b.

The rear wall 211b of the vertical rail 211 is connected to the lower wall 214b of the horizontal rail 214 via the curved wall 215 forming the curve section, and is integral with this. The tunnel 217 through which the running wheels 231b and 232b of the trolley | bogie 230 pass is formed in the curved rear wall 211b which forms the curve section. The tunnel 217 is composed of a vertical opening having a width extending the front and rear walls 211a and 211b of the vertical rail 211 and a horizontal opening having a width extending the horizontal rail 214. Moreover, although the front wall 211a is formed so that it may connect to the vertical rail upper wall 214a, a part of curve section is cut off and it becomes the opening 216 through which the driving wheels 236a and 237a of the trolley | bogie 130 pass. have. The side wall 211c extends to the side wall 214c of the horizontal rail 214 and is integrated with the side wall 214c.

In the vertical rail 211 of FIGS. 9-12, the rail part for the running wheels of the sun fitted to the front-back walls 211a and 211b, and the rail part for pinions differ in width. That is, the part which forms the running path of the driving wheels 236a and 236b and the same 237a and 237b near the connection wall 211c is formed in the width | variety which is close to the diameter of these driving wheels, and the pinion 233 and 234 travels. The part which becomes a furnace is formed in width larger than the diameter of these pinions. The rack 220 for the pinion includes a rear wall 211b of the vertical rail 211 forming a vertical section, a curved wall 215 forming a curve section and a lower wall 214b of a horizontal rail 214 forming a horizontal section. Is laid throughout. On the rear surface of the rear wall 21b, a guide member 243 having a curved surface is arranged to support the horizontal traveling wheels 231b and 232b in the curve section.

9 to 12, the mounting of the trolley 230 on the rail 210 is performed by placing the circumferential surfaces of the horizontal driving wheels 231a, 231b, 232a, and 232b on the upper and lower walls 214a and 214b of the horizontal rail 214. In addition, the vertical portion driving wheels 236a and 237a are disposed on the outer surface of the upper wall 214a, and the vertical portion driving wheels 236b and 237b are disposed on the outer surface of the lower wall 214b, respectively, and the pinion 233 is disposed. 234 is engaged with the rack 220 of the horizontal rail 214. In addition, although not shown, pinion 233,234 is connected to the drive part which consists of an electric motor, a reduction gear, etc. which provided the shaft in the inside of the trolley | bogie main body 235. As shown in FIG. The power supply to the electric motor of the driving unit is, by way of example, by wires arranged along the rails 210, and the driving control is, by way of example, by a computer device and a controller in the trolley 230 outside the rails 210. It is assumed that the communication between the external computer device and the controller is performed through a communication line which is formed by communication between the wires and extends in parallel with the wire along the rail 210.

In the horizontal conveyance mechanism of the present invention according to the third configuration shown in FIGS. 9 to 12, the trolley 230 travels a horizontal section by rotating the pinions 233 and 234 on which the drive engages the rack 220 on the rack. Then, the curve section and the vertical section of the rail 210 are driven.

When traveling in the horizontal section, the trolley 230 travels along the horizontal rail 214 in a horizontal position by the horizontal driving wheels 231a, 231b, 232a, and 232b and the pinions 233 and 234. At this time, the vertical running wheels 236a, 236b, 237a, and 237b roll the outer surfaces of the upper and lower walls 214a and 214b of the horizontal rail 214 to compensate for the horizontal posture of the trolley 230.

When the bogie 230 enters the curve section, as shown in FIG. 10, the pinions 233 and 234 roll while being engaged with the rack 220, and the vertical driving wheels 236a and 237a roll over the front wall of the vertical rail 211. Guided between the front and rear walls 211a and 211b by the curved surface of the lower end of 211a, and the vertical driving wheels 236b and 237b exit the tunnel 217 and face between the front and rear walls 211a and 211b and are horizontal. The secondary traveling wheels 231a and 232a are guided upward by the inclined surface at the end of the upper wall 214a of the horizontal rail 214. At this time, the traveling wheel 231a rolls while contacting the upper wall 214a of the horizontal rail 214, and the traveling wheel 231b contacts the guide member 243 on the rear surface of the vertical rail 211, while maintaining the horizontal posture. The balance 230 is started to rise.

When the bogie 230 rises further by the rotation of the pinions 233 and 234, the vertical driving wheels 236a, 236b, 237a, and 237b move along the running surface formed on the front and rear walls 211a and 211b, and are horizontal. The secondary driving wheels 231a and 232a move up through the opening 216, and the traveling wheels 231b and 232b exit through the guide member 243 and rise. The trolley 230 maintains a horizontal position because the vertical driving wheels 236a, 236b, 237a, and 237b fit the pinions 233 and 234 and roll between the front and rear walls 211a and 211b of the vertical rail 211. Ascend the vertical section.

Also in the horizontal conveyance mechanism of the present invention according to the third configuration described with reference to FIGS. 9 to 12 above, the container is provided on the upper surface of the trolley | bogie 230 or is incorporated in the trolley | bogie main body 235 of the trolley | bogie 230. It is. In this container, the load which consists of a case which put the test body and the reagent, for example is accommodated. The trolley | bogie 230 instruct | indicates a conveying station by the terminal electrically connected to an external computer, the motor of a drive part operates, it runs to the destination conveying station, and stops there.

As described above, in the horizontal transport mechanism of the embodiment according to the third aspect of the present invention, the bogie 230 is disposed on the pinions 233 and 234 on the left and right sides, and the pinion is arranged along the rack 220. In addition to being driven, the pinions 233 and 234 and the pair of racks 220 engaged with these pinions, the horizontal traveling wheels 231a and 231b and similarly the 232a and 232b, and the horizontal rails 214 supporting them. A curve section having vertical racks 236a, 236b, 237a, and 237b, vertical rails 211 supporting them, and racks and rails continuous to the rack 220 and the rails 214, 211; The horizontal position of the trolley | bogie 230 is maintained by the rail 210 of this. For this reason, the trolley | bogie 230 moves in parallel with little inclination, and can run not only a horizontal section but also a curve section and a vertical section, with the container incorporated in the inside of the trolley 230 horizontally. As a result, it is possible to travel in a horizontal position in any of the horizontal section, the curved section, and the vertical section, so that a gyro mechanism is not required, and therefore, the loading capacity of the container can be increased.

In addition, since the rails constituting the curved section and the vertical section following it are single, that is, the rails for the pinion and the rails for the driving wheels are integrally formed as a composite rail, there is no need to install each rail separately. . For this reason, the space which each rail occupies can be made small. In particular, since the curvature of curvature can be suppressed small in a curve section, the whole conveying system can be constructed compactly.

In addition, depending on the type of load, the running wheel guide walls 219a and 219b of the horizontal rail 214 may be omitted, and the configuration may be the same as that of the cross section of the vertical rail 211. Therefore, the installation cost and the occupied space are further increased. Can be reduced.

In addition to the embodiment of the conveying mechanism according to the first to third configurations of the present invention described above, the present invention conveyance according to the fourth configuration, which is capable of traveling from the horizontal section to the vertical section via the curve section with the balance in a horizontal position. There is a mechanism. Thus, an embodiment example of the horizontal transfer mechanism of the fourth configuration will be described with reference to FIGS. 13 to 19.

In the horizontal conveyance mechanism by the 4th structure of this invention shown to FIGS. 13-19, the trolley | bogie 330 used is two sets as an example before and after the bottom part in the trolley | bogie main body 335 Four horizontal section wheels 331a and 331b for driving. The driving force for traveling is input to the horizontal traveling wheel 331a or 331b. In addition, at the approximately intermediate position of the left and right side surfaces of the trolley 330, the left and right driving pinions 333 for the vertical section (the pinions on the opposite side of the drawing are not visible) and the pinions 333 are fitted up and down. The driving wheels 336a and 336b (the driving wheels on the opposite side of the figure are not provided) for the two vertical sections positioned in the sun are provided. In addition, the pinion 333 may be made into the arrangement which replaced one of the traveling wheels 336a or 336b for a vertical section, Preferably it is 336b below.

On the other hand, the rail of the horizontal conveyance mechanism by a 4th structure is arrange | positioned in the aspect which the horizontal rail 310 which the said running wheels 331a and 331b roll, and the vertical rail 311 orthogonally cross. The horizontal rail 310 is a undulating rail portion which is horizontally and vertically freely connected to the stationary horizontal rail portion 310a and the tip portion of the rail portion 310a by a driving force such as a cylinder or a motor (not shown). It is formed by 310b.

On the other hand, the vertical rail 311 has a length part substantially equal to the length of the stationary vertical rail parts 311a and 311b arranged in the direction orthogonal to the said stationary horizontal rail part 310a, and the said relief rail part 310b. It is formed by the joint rail part 311c which cuts apart and isolate | separates above the position on the extension line of the relief rail part 310b.

The said joint rail part 311c is provided with the function operated so that it joins with the said rail part 311a, 311b in the direction orthogonal to the said vertical rail part 311a, 311b by a driving force, such as a cylinder. It is. As for the vertical rail 311, the rack 311d which engages with the pinion 333 and guides is provided in both the stationary vertical rail parts 311a and 311b and the joint rail part 311c inside.

In the horizontal transport mechanism of the present invention according to the fourth configuration, in addition to the vertical and horizontal rails 310 and 311, the joint rail portion 311c is separated from the stationary vertical rail portions 311a and 311b. , The direction change rail part 312 which shifts between the lower stationary vertical rail parts 311a and 311b, and converts the trolley | bogie 330 which traveled the horizontal rail 310 into the upper stationary vertical rail part 311a, As a curve rail, it arrange | positions so that it may operate | move horizontally in synchronism with the said joint rail part 311c.

The direction change rail part 312 as a curve rail has the vertical part 312a which the upper end part joins to the lower end of the upper stationary vertical rail part 311a, and has three routes in the up-down direction below the vertical part 312a. Three curved portions 312b, 312c, and 312d are provided and formed. The vertical portion 312a is provided with a rack 312e joined to the rack 311d.

Here, the three curved portions 312b, 312c, and 312d have the upper and lower two curved portions 312b and 312d, after pinning the pinion 333 in the bogie 330 on the horizontal rail 310. And a curve rail for guiding the downward traveling wheels 336a and 336b, and an intermediate curve 312c is formed for a curve rail with a rack 312f for guiding the pinion 333.

As for the curved part 312c formed in the direction change rail part 312 as a curve rail which guides the pinion 333, the rack 312f which engages with the pinion 333 is provided in the lower surface inside. When the pinion 333 is provided in the state replaced with the running wheel 336b for a vertical section, the rack 312f which meshes with the said pinion 333 is the lower surface inside the lower curve part 312d. Is installed on.

In the conveyance mechanism of the 4th structure of this invention provided with the trolley | bogie 330 of the said structure, and the horizontal and vertical rails 310 and 311, as shown to FIGS. 13-15, it is horizontal from the left direction of a figure. When the trolley | bogie 330 which traveled on the rail 310 by the driving wheels 331a and 331b reaches the direction change rail part 312 joined to the upper vertical rail part 311a, As the traveling wheels 336a and 336b enter the rails of the upper and lower curve portions 312b and 312d of the direction change rail portion 312, the pinion 333 is the rack 312f of the intermediate curve portion 312c. Enter the mounting rail.

The driving wheels 336a and 336c and the pinion 333 that enter each of the curved portions 312b, 312d, and 312c are guided by respective curved rails to the vertical portion 312a of the direction change rail portion 312. In response to the action of the rack 312e which engages and guides the pinion 333 and the pinion 333, the upper and lower stationary vertical rail portions 311a enter and travel (see Figs. 14, 16, and 17). .

Here, the trolley 330 is formed by the traveling wheels 336a and 336b and the pinion 333 in the section of the vertical rail portion 311a including the vertical portion 312a of the direction change rail portion 312. Since the three rolling elements are supported by the vertical rails 311, the trolley 330 is maintained in a horizontal posture in which the entirety of the trolley 330 has traveled the horizontal rails 310 and passes through the direction change rail part 312. , The vehicle can travel along the vertical rail 311 while maintaining the horizontal position (see FIG. 15).

When the trolley 330 which has been traveling horizontally enters the upper vertical rail portion 311a, the undulating rail portion 310b stands up (see Figs. 18 and 19), and the direction change rail portion 312 When the vertical rail portion 311a is shifted in the horizontal direction (to the ups and downs of the ups and downs of the ups and downs of the ups and downs), the joint rails 311c of the vertical rails 311 are fixed up and down in synchronization with this. Since it enters between the vertical rail parts 311a and 311b, and couples the whole of the vertical rail 311 in a penetrating state, the trolley | bogie 330 which entered the vertical rail part 311a as it is, the upper vertical rail part 311a is as it is. Can be selected to travel upward along the vehicle, or to travel toward the downward vertical rail portion 311b, and the traveling direction thereof can be selected.

As described above, the conveyance mechanism of the fourth aspect of the present invention has a function as a mechanism capable of changing the running direction of the carriage 320 from the horizontal rail 310 to the vertical rail 311 while maintaining the horizontal posture. Since the traveling direction in the vertical direction of the trolley | bogie 320 which entered the vertical rail from the horizontal rail 310 can be selected either upward or downward, it also acts as a branching mechanism of a traveling direction.

Next, the application example of the horizontal conveyance mechanism by the 4th structure of this invention demonstrated previously with reference to FIGS. 13-19 is demonstrated by FIGS. 20-26. 20-26, the same code | symbol as FIG. 13-FIG. 19 shall represent the same member or the same site | part.

The horizontal conveyance mechanism of this invention which applied the 4th structure demonstrated by FIGS. 13-19 made the cart 330 to be used the structure illustrated in FIGS. 20-23. In FIGS. 20-23, the trolley | bogie 330 has the horizontal traveling wheels 331a and 331b which make two sets in front and behind the bottom part of the trolley | bogie main body 335, and the guide rail for preventing a slipping off ( And horizontally assist assist wheels 331c and 331d which sandwich the left and right sides thereof). In the illustrated example, a horizontal traveling drive wheel 331D for obtaining a horizontal driving force is provided at the center of the bottom of the trolley body 335. The driving force of the horizontal driving may be either one of the traveling wheels 331a or 331b or input to both. In this way, the horizontal traveling drive wheel 331D becomes unnecessary.

On the other hand, at approximately intermediate positions of the left and right side surfaces of the trolley 330, the left and right driving pinions 333 and 334 for the vertical section and the pinions 333 and 334 are respectively positioned by the sun. The driving wheels 336a, 336b and 337a, 337b for the upper and lower vertical sections are installed inside (near the bogie body) than the pinions 333, 334 as seen from the front (back side) of the bogie body 335. have. Moreover, on the outer side of both pinions 333 and 334 on the coaxial of pinion 333 and 334, the fall prevention rollers 333a and 334a for preventing each pinion 333 and 334 from escaping from a rack, respectively. It is installed. In addition, the fall prevention rollers 333a and 334a are the same form, respectively, and are smaller diameter than the pinion pinion 333 and 334, respectively. In addition, in FIG. 20-23, CT shows the container mounted in the trolley | bogie main body 335 typically.

Here, the fall prevention rollers 333a and 334a provided coaxially with the said pinion 333 and 334 have the same meaning as the said roller, The 2nd structure mentioned above, and this invention horizontal of a 3rd structure It is also applicable to the pinions 133, 134, 233, 234 provided on the trolley | bogies 130 and 230 in a conveyance mechanism.

The direction change rail part 312 which the said trolley | bogie 330 runs and changes direction horizontally from a horizontal direction to a vertical direction is the horizontal rail 310 and the vertical rail 311 in the conveyance mechanism of this invention. It is arrange | positioned in the intersection part of (), and is provided with the form shown in FIG.

The direction change rail part 312 of FIG. 24 is pinion 333 and 334 in the left and right sides of the trolley | bogie main body 335 in the state which looked at the trolley | bogie 330 shown typically in FIG. 25 from the front (or back), and is perpendicular | vertical. The section running wheels 336a, 336b and 337a, 337b and the fall prevention rollers 333a, 334a are provided with the end surface (cross section) shape shown in FIG.

In the left and right turning rail portions 312 showing the cross-sectional (end surface) shape in FIG. 25, the form of the rail portion 312 on the left side of FIG. 25 is shown in FIG. Here, since the shape of the left-right direction change rail part 312 is the same shape which is left-right symmetrical, the structure of the left direction change rail part 312 in FIG. 25 is shown below by FIG. 24 (refer FIG. 25). Explain about.

The horizontal rail 310 and the vertical rail 311 to which the left and right direction turning rails 312 are applied are at least the stationary horizontal rail part 310a and the stationary vertical rail part (see FIG. 13 to FIG. 19). 311a).

In addition, the direction change rail portion 312 is a vertical portion 312a to which the upper end is joined to the lower end of the upper stationary vertical rail portion 311a, and three routes are arranged in the up and down direction under the vertical portion 312a. Three curve parts 312b, 312c, and 312d are formed. The vertical portion 312a is provided with a rack 312e engaged with the rack 311d of the vertical rail portion 311a.

Here, the three curved parts 312b, 312c, and 312d shown in FIG. 24 have pinions in the trolley 330 in which the upper and lower two curved parts 312b and 312d are on the horizontal rail 310. (334 (333)), the upper and lower running wheels (337a and 337b) (336a and 336b) is formed of a curve rail for guiding from the horizontal direction to the vertical direction, and the middle curve portion 312c is the pinion ( 334 (333) and a double track (tracking route) provided with a rack 312f and a guide groove 312g in parallel for guiding the respective pinions and the coaxial release prevention rollers 334a (333a), respectively. It is formed.

Moreover, in order to guide the fall prevention roller 334a (333a), the double track structure which has the guide groove 312g parallel to the rack 312f is the same as that of the horizontal conveyance mechanism of this invention of the 2nd, 3rd structure mentioned above. When the pinions 133, 134, 233, 234 provided on the trolley are provided with a release preventing roller, the same applies to a curved rail provided with a rack engaged with the pinion.

The curved part 312c formed in the double track curve rail which guides the pinion 334 (333) and the fall prevention roller 334a (333a) has the rack 312f which engages the pinion 334 (333) in the lower surface inside. ) Is installed.

Application of the fourth configuration of the present invention comprising a trolley 330 having the configuration described with reference to FIGS. 20 to 25, horizontal and vertical rails 310 and 311, and a direction change rail portion 312. In the conveyance mechanism, as illustrated in FIG. 26, the bogie 330 that has traveled on the horizontal rail 310 by the driving wheels 331a and 331b from the left direction in the drawing is the upper vertical rail portion 311a. When the direction change rail part 312 joined to the direction reaches, the driving wheels 336a, 336b and 337a, 337b for the upper and lower vertical sections on the left and right sides are upper and lower parts on the direction change rail part 312 on the left and right sides. At the same time as entering the rails of the curved portions 312b and 312d, the left and right pinions 333 and 334, and the coaxial release preventing rollers 333a and 334a, and the rack 312f of the intermediate curved portion 312c, It enters the rail provided in parallel with the guide groove 312g.

The traveling wheels 336a, 336b and 337a and 337b for the vertical section entering each of the curved portions 312b, 312d and 312c, and the pinions 333 and 334 and the coaxial fall prevention rollers 333a and 334a The left and right racks 312e guided by the respective curved rails to reach the vertical portion 312a of the direction change rail portion 312 and engaging the pinions 333 and 334 and the pinions 333 and 334 respectively. And the action of the anti-rolling rollers 333a and 334a for preventing the pinions 333 and 334 from falling out of the respective racks 312e and the guide grooves 312g for guiding each roller. It enters and runs correctly to the left and right stationary vertical rail part 311a (refer FIG. 26 (a)-(f)).

As shown in FIG. 26 (f), the trolley 330 travels vertically in the section of the vertical rail portion 311a including the vertical portion 312a of the left and right direction change rail portions 312. Since the three rolling elements on the left and right sides of the wheels 336a and 336b and the same 337a and 337b and the left and right pinions 333 and 334 are respectively supported on the left and right vertical rails 311, the trolley 330 It is possible to travel along the vertical rail 311 while maintaining the horizontal posture while the whole is the horizontal posture which has traveled the horizontal rail 310 (refer to FIG. 26 (f)). This point is the same as the previous embodiment described with reference to FIGS. 13 to 19.

In the embodiments according to the first to fourth configurations described above and the application examples thereof, the horizontal rail of the horizontal section is formed of one composite rail having a channel top surface, depending on the installation purpose or the installation environment. Similarly, it may be composed of a pinion rail and a driving wheel rail, and a traveling wheel system that receives driving force in addition to the rack and pinion in the horizontal section can be adopted, so that the transport can always be maintained in a horizontal position. As a mechanism, it can implement easily by applying an existing technique. In particular, in the application example of the 4th structure of this invention, since the fall prevention roller for preventing the pinion from falling out of a rack is provided on the coaxial of the pinion which meshes with a rack and outputs the driving force of a vertical section running from a curve section. In this case, the pinion and the rack can be stably engaged in the curve section in which the driving mode is changed from horizontal to vertical.

Moreover, in the above embodiment, the vertical rail and the horizontal rail are laid along the floor and the wall of the building, and even if these rails are placed on a column or a ceiling, the horizontal conveyance mechanism of the present invention can be formed. For example, when a conveyed object is an item which must maintain a specific posture, and also has to run a ceiling, by selecting the cross-sectional shape of a horizontal rail, the support structure of a running wheel, or the method of laying a rail suitably, The trolley with the container in the state of maintaining the horizontal posture of the container without the gyro means, such as laying the rail and the curve section constituting the horizontal section and the rail constituting the vertical section to form a step shape. Can be driven.

Claims (8)

Carriage with rails installed horizontally and vertically inside the building, racks laid along the rails, traveling wheels running on the rails, and drive units for pinions and pinions engaged with the racks, with frequent bogies on which loads are mounted. In the apparatus, The rail runs parallel to and away from the pinion rail and the pinion rail with a rack engaging the pinion in a curve section which changes direction from horizontal to vertical or from vertical to horizontal. In addition to having wheel rails, The said trolley | bogie is provided with the pinion which meshes with the said pinion rail, and the running wheel supported by the rail for a running wheel, and the said pinion rail and the running wheel rail are perpendicular | vertical to a curve section and this section in the right and left sides. A horizontal conveyance mechanism for voluntary bogies, characterized in that arranged in such a way that the bogie moves in a horizontal position. 2. The driving apparatus of claim 1, further comprising: a first pinion and a first travel wheel on one side surface orthogonal to the running direction of the trolley; and a second travel at a position in phase with the first pinion on the other side. The wheel is provided with a second pinion at a position in phase with the first travel wheel, and the inclination of the vehicle is suppressed by the first and second pinions and the travel wheel having different arrangement phases on both sides. Horizontal transport mechanism of bogie. 2. The pinion according to claim 1, wherein the trolley has a pinion on the coaxial axis of the position of the phase of the middle portion on both the left and right sides, and pinches the pinion before and after in the traveling direction of the trolley. It has a pair of front and rear traveling wheels arranged up and down with rotation shafts fitted up and down, and the driving wheels and pinions of either front or rear are supported on each rail in a curve section and a vertical section following this section. The horizontal conveyance mechanism of the voluntary trolley | bogie which keeps a trolley | bowl in a horizontal position by this by running. 4. The pinion rail and the driving wheel rail in the horizontal section of the rail are formed of a composite rail in which both rails are arranged in parallel, and the composite rail is moved back and forth from the curve section to the vertical section. Horizontal conveyance mechanism of the self-balancing, characterized in that arranged separately. Carriage with rails installed horizontally and vertically inside the building, racks laid along the rails, traveling wheels running on the rails, and drive units for pinions and pinions engaged with the racks, with frequent bogies on which loads are mounted. In the apparatus, The trolley has a pinion on the same coaxial phase of the intermediate part on both the left and right sides as well as the front and rear horizontal drive wheels that form a pair of pinching the pinion in the front and rear directions in the traveling direction of the trolley, and the pinion's rotation shaft. It has a vertical driving wheel of the upper and lower sides forming a pair of upper and lower, The rail is a vertical section following the curve section, having a curve rail having a rack engaging the pinion and a running surface of the horizontal driving wheel in a curve section changing direction from horizontal to vertical or vertical to horizontal. In the vertical section having a rack engaged with the pinion and the running surface of the vertical driving wheel, in the curve section, the horizontal driving wheel and the pinion are supported by the curve rail, in the vertical section following the curve section And a vertical conveying wheel and a pinion are supported by a vertical rail. Frequently bogies on which loads are mounted, with rails mounted horizontally and vertically inside the building, racks laid along the rails, traveling wheels traveling on the rails, pinions engaged with the racks, and driving portions of the pinions. In the conveying mechanism provided with, The trolley is provided with a pinion on the coaxial phase of the same phase of the middle part on both the left and right sides, and a pair of horizontal driving wheels provided at the bottom of the trolley and the pinion shafts in a vertical direction. One up and down vertical driving wheels, The rail is provided with a curved rail having a curved rack engaged with the pinion and a running surface for restraining the vertical part driving wheels in a curved section changing direction from horizontal to vertical or vertical to horizontal, In a short vertical section following the curve section, a short rack that engages the pinion and a short vertical rail having a running surface of the vertical section driving wheel are provided. In the curve section, the pinion is supported by the curve rack and the horizontal section travels. The wheels are supported by the curve rails, and in the short vertical section following the curve section, the pinion and the vertical driving wheels are supported by the vertical rails containing the short rack, so that the bogie always runs in a horizontal position. Horizontal conveying mechanism. The horizontal conveyance mechanism of an independent trolley | bogie of Claim 3, 5 and 6 WHEREIN: The pinion of the left and right sides of a trolley | bogie is provided with the fall prevention roller on the coaxial, respectively. The curb rail arranged in a curve section is provided with the rack which engages the pinion of the left and right of a trolley | bogie, and the pinion-free fall prevention roller of any one of Claims 3, 5, and 6. And a guide groove for guiding the guides so as to form a double track with the rack.

Images