WO2008012989A1 - Mécanisme de transport horizontal pour chariot autopropulsé - Google Patents
Mécanisme de transport horizontal pour chariot autopropulsé Download PDFInfo
- Publication number
- WO2008012989A1 WO2008012989A1 PCT/JP2007/061020 JP2007061020W WO2008012989A1 WO 2008012989 A1 WO2008012989 A1 WO 2008012989A1 JP 2007061020 W JP2007061020 W JP 2007061020W WO 2008012989 A1 WO2008012989 A1 WO 2008012989A1
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- WO
- WIPO (PCT)
- Prior art keywords
- rail
- pinion
- horizontal
- vertical
- section
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B13/00—Other railway systems
- B61B13/02—Rack railways
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B13/00—Other railway systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C11/00—Locomotives or motor railcars characterised by the type of means applying the tractive effort; Arrangement or disposition of running gear other than normal driving wheel
- B61C11/04—Locomotives or motor railcars characterised by the type of means applying the tractive effort; Arrangement or disposition of running gear other than normal driving wheel tractive effort applied to racks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
- B61F5/00—Constructional details of bogies; Connections between bogies and vehicle underframes; Arrangements or devices for adjusting or allowing self-adjustment of wheel axles or bogies when rounding curves
- B61F5/38—Arrangements or devices for adjusting or allowing self- adjustment of wheel axles or bogies when rounding curves, e.g. sliding axles, swinging axles
Definitions
- the present invention is such that a transport body composed of a container and a carriage travels along a rail laid horizontally on a floor and a ceiling and vertically on a wall over a plurality of floors of a building such as a building, and is arranged along the rail.
- the present invention relates to a horizontal transport mechanism that allows a self-propelled carriage to always travel in a horizontal posture in a transport system in which a stack of documents, parts, etc. is unloaded from a container or mounted on the container.
- This type of transport system delivers documents, postal items, stationery, etc. in the office, power flutes in the hospital, parts and products in the factory, and loads such as specimens and reagents to the destination. It is widely used because it can be automatically conveyed!
- This transport system is composed of rails laid horizontally and vertically inside a building, a plurality of carts that are transported on the lenore, and a computer and the like that controls the travel of the self-propelled cart. ing.
- a self-propelled bogie is formed by attaching a container carrying a load to a bogie that runs along a rail.
- Containers that are always presumed to be transported in a horizontal position such as cases that contain a large number of specimens and reagents, are also mounted. For this reason, many containers are supported so that they can be swayed on a cart by a gyroscope, and when traveling in a vertical section, the container is rotated 90 degrees on the cart so that it always remains horizontal (for example, patents). (Ref. 1).
- Patent Document 1 JP-A-2005-047369
- the attitude of the container in view of the current situation as described above, can always be kept horizontal without gyroscopic means, and the curve curvature in the change section of the rail orientation can be increased.
- the challenge is to provide a mechanism for the always horizontal posture of a self-propelled carriage that can be made compact and the entire system can be made compact.
- a first configuration of the horizontal transport mechanism of the present invention which has been made for the purpose of solving the above problems, is a rail laid horizontally and vertically inside a building, and a rack laid along the rail And a transport mechanism including a traveling wheel that travels on the rail, a pinion that mates with the rack, and a self-propelled carriage that has a drive unit for the pinion and on which a load is mounted.
- a pinion rail having a rack that fits the pinion, and a traveling wheel rail that is parallel to and spaced apart from the pinion rail in a curve section that changes direction vertically or from vertical to horizontal
- the carriage has on its left and right sides, a pinion that fits on the pinion rail and a running wheel supported by the running wheel rail, and the pinion rail.
- the present invention in the first configuration, on one side surface orthogonal to the traveling direction of the carriage.
- a first pinion and a first traveling wheel are provided, and the second traveling wheel is positioned at the same phase as the first pinion on the other side, and the second traveling wheel is positioned at the same phase as the first traveling wheel.
- the first and second pinions and traveling wheels which have two pinions and have different arrangement phases on both sides, suppress the tilt of the carriage.
- the carriage is provided with pinions on the same axis in the same phase of the intermediate portion on both the left and right side surfaces, and the pinions are sandwiched in front and rear on both the left and right sides in the traveling direction of the carriage. It is equipped with front and rear running wheels that are paired up and down and placed at a position sandwiching the rotation axis of the pinion above and below, and either the front or the rear of the curve section and the vertical section that follows this section.
- front and rear running wheels that are paired up and down and placed at a position sandwiching the rotation axis of the pinion above and below, and either the front or the rear of the curve section and the vertical section that follows this section.
- the pinion rail and the traveling 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 front and rear in the vertical section from the curve section. There may be a configuration in which they are arranged separately.
- a third configuration of the horizontal transport mechanism of the present invention that can solve the above-described problems is a rail that is laid horizontally and vertically inside a building, and a rack that is laid along the rail. And a transport mechanism including a traveling wheel traveling on the rail, a pinion that fits the rack, and a self-propelled carriage that has a drive unit for the pinion and on which a load is mounted.
- a pinion is provided on the same phase coaxial in the middle part, and the front and rear horizontal running wheels that are paired with the pinion in front and rear in the running direction of the carriage and the rotation axis of the pinion up and down
- the rails have a pair of upper and lower vertical running wheels sandwiched between them, and the rails run in a curved section that changes direction from horizontal to vertical or from vertical to horizontal.
- Curve with In the vertical section following the curve section a vertical rail with a rack that fits the pinion and a traveling surface of the vertical section running wheel is provided.
- the horizontal section traveling wheel and the pinion are provided in the curved section. Is supported by the curved rail, and in the vertical section following the curved section, the vertical traveling wheel and the pinion are supported by the vertical rail.
- the fourth configuration of the horizontal transport mechanism of the present invention that can solve the above-described problems is as follows.
- the carriage is provided with a pinion on the same phase coaxial in the middle part on both the left and right sides, and a horizontal running provided at the bottom of the carriage.
- the upper and lower vertical traveling wheels are provided so as to make a pair with the wheel and the rotation axis of the pinion between the upper and lower sides, and the rail is a curved section that changes its direction from horizontal to vertical or from vertical to horizontal.
- the pinion is supported by the car black and the horizontal traveling wheel is supported by the curve rail.
- the pinion and the vertical traveling wheels are supported by the vertical rail that contains the rack and the pinion, and the carriage always travels in a horizontal position.
- the horizontal transport mechanism of the first configuration includes a rail laid horizontally and vertically inside a building, a rack laid along the rail, and a running wheel that travels on the rail.
- the rail changes its direction from horizontal to vertical or from vertical to horizontal.
- a pinion rail having a rack that fits the pinion and a traveling wheel rail that is parallel to and spaced apart from the pinion rail are provided.
- a pinion that fits on the pinion rail and a traveling wheel supported by the traveling wheel rail, and the carriage for the pinion rail and the traveling wheel rail is disposed in the vertical section. Since it is arranged so that it can be moved in a flat position, it can keep the container's posture horizontal even without gyroscopic means, and shika also reduces the curve curvature in the rail direction change section. The entire system can be built compactly.
- the pinion is The truck rotates along with the rack, and the running wheel rolls on the running wheel rail so that the carriage runs along the rail.
- the cart is provided with a pinion that fits the pinion rail and a running wheel supported by the running wheel rail on the left and right sides thereof, so that the container posture is always kept horizontal even without a gyro means. Even in a single-packed state, the load can always be transported horizontally.
- the rail is parallel to and separated from the pinion rail with the rack that fits the pinion in the curved section that changes direction from horizontal to vertical or from vertical to horizontal and the subsequent vertical section.
- the radius of curvature of the pinion rail can be set independently of that of the running wheel rail, and the radius of curvature of the section between the horizontal and vertical sections of the rail can be set. Can be small. In other words, it does not require the rotating space of the container and the swivel traveling space of the cart, and the force S makes it possible to configure the entire transport mechanism in a compact manner.
- the carriage is provided with a pinion on the same phase coaxial in the middle part on both the left and right side surfaces, and in front of the pinion in the running direction of the carriage.
- the front and rear horizontal running wheels that make a pair to be sandwiched later, and the upper and lower vertical running wheels that make a pair of pinion rotation shafts on the top and bottom, the rail is oriented from horizontal to vertical or from vertical to horizontal
- the rack that fits the pinion and the curve rail that has the running surface of the horizontal running wheel, and the rack that fits the pinion and the vertical running wheel in the vertical section that follows the curve section It is equipped with a vertical rail with a running surface.
- the horizontal traveling wheel and pinion are supported by the curved rail, and in the vertical section following the curved section, the vertical traveling wheel and pinion Since it is supported by the vertical rail, it is possible to maintain the attitude of the container horizontally even without gyroscopic means.Since the pinion and the traveling wheels travel on one rail, the rails are separated separately. Since it does not have to be laid, the entire system can be constructed compactly.
- the wheel rotates while meshing with the pinion force S rack, and the traveling wheel rolls on the traveling wheel rail, so that the carriage travels along the rail.
- the carriage is provided with a pinion in the same phase of the middle part on both the left and right side surfaces, and a horizontal running wheel that forms a pair that sandwiches the front and rear in the running direction of the carriage.
- Container with a pair of vertical running wheels that sandwich the rotating shaft between the upper and lower sides, and the vertical section following this section is driven by the pinion and the vertical section traveling wheels. Can be kept level at all times,
- the rail is provided with a curve rail having a rack that fits the pinion and a running surface of the horizontal running wheel in a curve section that changes direction from horizontal to vertical or from vertical to horizontal.
- the following vertical section is equipped with a vertical rail with a rack that fits the pinion and the running surface of the vertical running wheel, and the horizontal section and the pinion are supported by the curved rail in the curved section, and the vertical section that follows the curved section Since the vertical running wheel and pinion are supported by the vertical rail, the curve section and the subsequent vertical section can be configured by a single rail, and the entire transport mechanism can be configured compactly. it can.
- the carriage is provided with a pinion on the same phase coaxial in the middle part on both the left and right side surfaces, and the horizontal section running provided at the bottom of the carriage.
- the upper and lower vertical running wheels are provided so as to make a pair with the wheel and the pinion rotation axis between the upper and lower sides, and the rail is in a curve section in which the direction changes from horizontal to vertical or from vertical to horizontal.
- the car black that fits into the pinion and the curve rail with the running surface that restrains and guides the vertical running wheels, and the short following the curve section! /, The vertical section!
- the pinion It is equipped with a short vertical rail with a rack and a vertical running wheel running surface, and the pinion is supported by the car black and the horizontal running wheel is supported by the curved rail in the curve section.
- the pinion and the vertical traveling wheel are supported by the vertical rail that includes the small rack, and the carriage always travels in a horizontal position. Similar to the transport mechanism, the entire transport system can be formed compactly, particularly where the travel direction changes from horizontal to vertical or vice versa.
- the rack and rail in the curve section are unitized so that the cart can be adapted to change the running direction from the horizontal running to the vertical direction.
- the unitized curve section can be retracted to a position that does not interfere with the vertical traveling of the carriage.
- the curve section of the fourth transport mechanism also has a function as a branching device for changing from horizontal travel to vertical travel.
- FIG. 1 is a front view showing an embodiment of the horizontal transport mechanism of the self-propelled carriage of the first configuration according to the present invention
- FIG. 2 is a right side view of the horizontal transport mechanism shown in FIG. 1
- FIG. 4 is a perspective view of the horizontal conveyance mechanism of the first configuration shown in FIGS. 1 to 3
- FIG. 5 is an embodiment of the horizontal conveyance mechanism of the self-propelled carriage of the second configuration according to the present invention.
- 6 is a right side view of the horizontal transport mechanism shown in FIG. 5
- FIG. 7 is a plan view of FIG. 6, and FIG.
- FIG. 8 is a perspective view of the horizontal transport mechanism of the second configuration shown in FIGS. 9 is a front view showing a third embodiment of the horizontal conveyance mechanism of the self-propelled carriage of the present invention
- FIG. 10 is a right side view of the horizontal conveyance mechanism shown in FIG. 9
- FIG. 11 is a plan view of FIG.
- FIG. 12 is a perspective view of the horizontal transport mechanism of the third configuration shown in FIGS. 9 to 11, and
- FIGS. 13 to 15 are side views for explaining the movement state of the carriage in the horizontal transport mechanism of the fourth configuration.
- Figure 16 FIG. 17 is a schematic side view of FIG. 16
- FIG. 18 is a perspective view of an example where the carriage travels vertically on the conveyance path
- FIG. 19 is a schematic illustration of FIG. 18.
- FIG. 20 is a side view of an example of a carriage used in an application example of the horizontal transport mechanism of the present invention having the fourth configuration
- FIG. 21 is a plan view of the carriage of FIG. 20
- FIG. 22 is a left side of the carriage of FIG.
- Fig. 23 is a schematic perspective view of the bogie shown in Figs. 20 to 22
- Fig. 24 is a schematic view of the direction change rail (left rail) on which the bogie of Figs.
- FIG. 25 is a front view of the rail portion in a state where the cart of FIG. 22 enters the left and right direction change rail portions
- FIGS. 26 (a) to (f) are states in which the cart passes through the direction change rail portion. It is the sectional side view which showed the state in time series.
- the horizontal transport mechanism of the present invention according to the first configuration includes a pair of left and right rails 10 laid horizontally and vertically inside a building and arranged parallel to each other in the traveling direction of the carriage 30.
- a carriage 30 traveling on the rail 10 is provided.
- each rail 10 forms a horizontal rail that forms a horizontal section laid on the floor and the like, and a curved section that changes direction from horizontal to vertical or from vertical to horizontal.
- the curved section and the vertical section of each rail 10 are composed of a pinion rail 11 and a 12-wheel rail 12 which is parallel to the pinion rail 11 but separated from it in the front-rear direction.
- the horizontal section consists of one composite rail 14 in which both rails 11 and 12 are arranged in parallel!
- the pinion rail 11 is composed of a U-shaped cross section or a channel-shaped cross section member including front and rear walls 11a, l ib and side walls 11c.
- the traveling wheel rail 12 is also composed of a U-shaped cross section or a channel-shaped cross-section member comprising front and rear walls 12a, 12b and side walls 12c.
- These rails 11 and 12 are integrated by a connection wall 13.
- This connecting wall 13 is an extension of the side wall 12c of the traveling wheel rail 12, and its extended end is connected to the open end edge of the front wall 1la of the rail 11! /.
- the composite rail 14 in the horizontal section has a U-shaped or channel-shaped cross section including upper and lower walls 14a, 14b and a side wall 14c, and is disposed with the open surfaces facing left and right.
- This composite lane 14 is connected to a pinion lane 11 and a traveling wheel rail 12 separated before and after forming a vertical section through a curved section.
- the front wall 11a of the pinion rail 11 in the vertical section extends to the upper wall 14a of the composite rail 14. It is connected to the bracket.
- the rear wall l ib of the pinion rail 11 extends to the lower wall 14b of the composite rail 14 through the curved wall 15 and is integrated with the side wall 14c.
- the front wall 12a of the traveling wheel rail 12 is cut off by the upper wall 14a of the composite rail 14.
- the rear wall 12b extends to the lower wall 14b of the composite rail 14 and is connected to the bracket.
- the side wall 12c is connected to the connecting wall 13.
- the composite rail 14 is connected to the lower wall 14b.
- the front wall 1 la of the pinion rail 11 extends to the upper wall 14a of the composite rail 14 and is connected to the bracket.
- the rear wall 1 lb is connected to the lower wall 14b of the composite rail 14 through a curved wall
- the side wall 11c extends to the lower wall 14b of the composite rail 14 and is integrated with the side wall 14c.
- the front wall 1 2a of the rail 12 for traveling wheels is connected to the upper wall 14a of the composite rail 14, the rear wall 12b is connected to the lower wall 14b of the composite rail 14, and the side wall 12c is connected to the connecting wall 13.
- Rack also referred to as rack gear; hereinafter the same
- 20-force pinion rail 11 is disposed on and fixed to rear wall l lb, curved wall 15 and lower wall 14b of composite rail 14.
- the dolly 30 is a running wheel 31 and a drive wheel pinion (also referred to as pinion gear; hereinafter the same) 33 on one side (right side) of the dolly main body 35, and the running wheel 32 and pinion 34 are dolly books.
- a drive wheel pinion also referred to as pinion gear; hereinafter the same
- Each of the traveling wheels 31 and 32 is supported by a bearing provided on the carriage main body 35 for each shaft.
- the pinion 33 is disposed coaxially with the traveling wheel 31 on the left side of the carriage main body 35 where the traveling wheel 32 is located, and the pinion 34 is disposed coaxially with the traveling wheel 31 on the right side of the carriage main body 35 where the traveling wheel 31 is located.
- Each of the pinions 33 and 34 is connected to a drive unit (not shown) including an electric motor, a speed reducer, and the like installed in the main body 35 of each shaft.
- the carriage 30 travels from a vertical section to a horizontal section, the circumferential surfaces of the traveling wheels 3 1 and 32 are positioned between the front and rear walls 12a and 12b of the traveling wheel rails 12,
- the pinions 33 and 34 are arranged between the rails 10 so as to be aligned with the racks 20 laid on the pinion rails 11.
- the dolly 30 travels along the rack 20 by rotating with the drive unit in mesh with the pinion 33, 34 force S rack 20. That is, the pinions 33 and 34 rotate while meshing with the rack 20 in the vertical section and the curve section of the rail 10 to travel inside the pinion rail 11, and rotate while meshing with the rack 20 in the horizontal section. It travels inside the composite rail 14.
- the traveling wheels 31 and 32 roll along the front and rear walls 12a and 12b constituting the traveling wheel rail 12 in the vertical section and the curve section, and along the upper and lower walls 14a and 14b of the composite rail 14 in the horizontal section. Rolling.
- the carriage 30 is supported by the D-engagement between the pinion 33, 34 and the rack 20 and supported by the running fi-wheel 32, 33 running fi-wheel rail 12.
- the trolley 30 is moved in parallel in the horizontal posture and moved from the vertical section to the horizontal section through the curve section.
- the carriage 30 moves in the horizontal posture as described above.
- Power feeding to the drive unit is performed by an overhead line disposed along the rail 10
- travel control is performed by communication between a computer device outside the horizontal transport mechanism and a controller in the cart 30, and With an external computer device through communication lines running in parallel Sends and receives signals to and from the controller.
- the container is a container with a lid as an example, and is installed in the force installed on the upper surface of the cart body 35 or inside the cart body 35. Several stations are installed along the composite rail 14.
- a load for example, a case containing a sample or a reagent is loaded in a container by an operator.
- the controller of the cart 30 operates the drive unit according to the command command of the external computer device, travels the cart 30 to the target transfer station, and loads the load to the target station. Transport to.
- the pinions 33, 34 arranged on the left and right side surfaces of the carriage 30 are engaged with the rack 20, and the carriage 30 is moved from the horizontal section of the rail 10 to the vertical section through the curved section.
- the pinions 33 and 34 are arranged in front of and behind the carriage 30 to suppress the traveling direction of the carriage 30 and the inclination in the direction perpendicular to the traveling direction, thereby causing the carriage 30 to travel in a horizontal posture.
- This horizontal posture is complemented by the traveling wheels 31 and 32, and the carriage 30 is translated without tilting. That is, since the cart 30 can always run in a horizontal posture, a gyro means for keeping the container horizontal is unnecessary. For this reason, even a load that requires a horizontal posture can be transported without any problem.
- the pinion rail 11 and the traveling wheels 31 and 32 that are laid with racks 20 that meet the pinions 33 and 34 roll.
- the moving wheel rails 12 are separated from each other at the front and rear, and the rails 11 and 12 can be set to different radii of curvature. As a result, the radii of curvature of the rails 11 and 12 in the curve section can be reduced, and the entire transport system including the horizontal transport mechanism can be constructed in a compact manner.
- the carriage 30 has a first pinion 33 and a first traveling wheel 31 on one side surface orthogonal to the traveling direction. And a second traveling wheel 32 in the same phase (coaxial) as the first pinion 33 on the opposite side, and a second pinion 34 in the same phase (coaxial) as the first traveling wheel 31
- the first and second pinions 33 and 34 and the first and second traveling wheels 31 and 32 having different arrangement phases on both sides are provided.
- the carriage 30 is controlled so as not to tilt.
- the horizontal transport mechanism of the self-propelled carriage according to the present invention can be realized also by the embodiment of the second structure of the transport mechanism of the present invention shown in FIGS.
- the carriage 130 includes pinions 133 and 134 on the same axis (same position) on the same axis in the middle on the left and right side surfaces. And a pair of upper and lower first traveling wheels 131a, 131b which are located on the front side and the rear side in the traveling direction of the pinions 133, 134 and which are positioned vertically with respect to the rotation shafts of the respective pinions 133 and 134.
- the traveling wheels 132a and 132b and the traveling wheels 137a and 137b are arranged in the same manner as the second traveling wheels 136a and 136b, and a pair of traveling on the front, rear, or one of the lower and lower sides in the curve section and the vertical section.
- the wheel and pinion are supported by the rails 111 and 112, so that the vehicle can run while maintaining a horizontal posture even in a curved section and a vertical section.
- the carriage 130 has a pinion 133 and a pair of running wheels 131a, 131b sandwiching the pinion 133 from the front and rear at the central portion (the central portion of the right side surface) on one side of the carriage main body 135.
- 136a and 136b are arranged.
- the bogie main body 135 also has a pinion 134 coaxially with the pinion 133 on the opposite side surface (center portion of the left side surface), and the running wheel 131a on the right side surface with the pinion 134 sandwiched from the front and rear.
- the left and right pinions 133 and 134 have their shafts connected to a drive unit composed of an electric motor, a reduction gear, and the like installed inside the carriage body 135.
- the left and right rails 110 arranged in the vertical section are composed of a pinion rail 111 and a traveling wheel rail 112 laid along walls and pillars.
- the pinion rail 111 in the vertical section is composed of a substantially L-shaped cross-section member
- the traveling wheel rail 112 is composed of a U-shaped cross section or a channel-shaped cross-section member.
- Both rails 111 and 112 are formed by forming the rear wall 11 lb of the rail 111 and the front wall 112a of the rail 112 forming an open surface!
- the rails 111 and 112 arranged on the left and right are arranged in parallel with the open surfaces facing each other.
- the left and right lanes 110 in the horizontal section are made up of rails 114 having a substantially U-shaped or channel-shaped cross section, and are opposed to the open surface. It is arranged to face.
- the rear wall 11 lb of the pinion rail 111 in the vertical section (the front wall 112a of the traveling wheel rail 112) is connected to the lower wall 114b of the rail 114 in the horizontal section through a curved wall 115 forming a curved section. ing.
- the side wall 111c in the vertical section extends to the upper wall 114a of the rail 114 in the horizontal section, and is integrated with the side wall 114c of the rail 114b.
- the front wall 112 a of the traveling wheel rail 112 in the vertical section extends to the upper wall 114 a of the rail 114 in the horizontal section, and a passage hole 117 is formed in the rail 114.
- the rear wall 112b of the vertical section extends to the lower wall 114b of the rail 114 in the horizontal section and is connected to the bracket.
- the vertical side wall 112c extends to the lower wall 114b of the horizontal rail 114! /.
- the upper wall 114a of the rail 114 in the horizontal section has a width of the pinion rail 111 in the vertical section.
- the rear wall 11 lb of the pinion rail 111 and the front wall 112a of the traveling wheel rail 112 in the vertical section An opening 116 force S having a width corresponding to the total of the opening 116 is provided, and a guide wall 118 is erected around the opening 116.
- the side wall of the guide wall 118 is integrated with the vertical IJ wall 11 lc of the pinion lenore 11 1.
- the left and right racks 120 for guiding the left and right pinions 133 and 134 form the horizontal section of the inner surface of the curved wall 115 where the front surface of the rear wall 11 lb of the pinion rail 111 in the vertical section and the inner surface side forms a curved section. It is laid over the upper surface of the lower wall 114b of the rail 114!
- the carriage 130 is mounted on the rail 110 in the vertical section so that the outer surfaces of the wheels 137a and 137b are located between the front wall 112a and the rear wall 112b of the traveling wheel rail 112 in the vertical section.
- Position and pinion 133, 134 is brought into contact with the rack 120 laid on the lower wall 114b of the rail 114 near the boundary between the horizontal section and the curved section!
- the carriage 130 is mounted on the rail 110 in the horizontal section.
- the upper and lower pair of traveling wheels 131a to 137b on the left and right sides of the carriage body are guided to the inner surfaces of the upper wall 114a and the lower wall 114b of the rail 114.
- the left and right pinions 133 and 134 are supported by being joined to the left and right racks 120 formed on the inner surface of the lower wall of the rail 114.
- power is supplied to the motor of the drive unit by way of an overhead line arranged along the rail 110 as an example, and the computer device is arranged outside the rail 110 as an example of traveling control. And communication with a controller disposed on the carriage 130, It is assumed that signals are exchanged between the external computer device and the controller through a communication line that runs parallel to the overhead line along the node 110.
- the driving unit (not shown) rotates the pinions 133 and 134 while mating with the rack 120, the carriage 130 travels, for example, in the horizontal section and the curved section of the rail 110, and then travels in the vertical section. To do.
- 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 traveling wheel 131a of the carriage 130 and the lower end of 131b, that is, each traveling fi wheel 131a and 131b, 136a and 136b, 132a and 132b, 137a and 137b Since the height is roughly equal, the running fi wheels 131a and 131b, 136a and 136b, 132a and 132b, 137a and 137b Carrelet 114 upper and lower walls 114a, 114b And the carriage 130 moves horizontally.
- the running fi wheels 131a and 131b and 132a and 132b move to the outside of the single rail 114 through the opening 116 in a manner guided by the guide wall 118.
- the carriage 130 moves from the horizontal section of the horizontal posture to the vertical section while maintaining the horizontal posture, and travels in the vertical section in the vertical section (see FIGS. 6 and 8).
- the horizontal transport mechanism of the present invention having the second configuration shown in FIGS. 5 to 8 also includes a container with a lid (not shown) as an example, and the container is installed on the upper surface of the cart body 35. Or, it is an installation mode incorporated in the inside of the cart body 35.
- a load consisting of a case containing specimens and reagents is accommodated in a container, and when the transfer station is instructed by a terminal that is electrically connected to an external computer, the motor of the drive unit is activated and the carriage 130 is moved. Drive to the target transfer station and stop there.
- the carriage 130 has the pinions 133 and 134 arranged on the left and right side surfaces, and the pinions are allowed to run along the rack 120.
- running wheels 131a and 131b, 132a and 132b, 132a and 132b, 136a and 136b which are provided on the left and right sides of the carriage 130 and paired on the left and right sides of the carriage 130, Since the carriage 130 is controlled by 137a and 137b, even if the carriage 30 is tilted, it can be moved in parallel within the allowable range. Of course, even if it is a curve section or a vertical section It can be run in a horizontal position. This eliminates the need for gyroscopes, so the type and amount of the load can be increased.
- the pinion rails in which the left and right racks 120 that mate with the left and right pinions 133 and 134 of the carriage 30 formed on the rail 114 are provided on the left and right sides of the carriage.
- a pair of traveling wheels 131a, 131b, 132a, 132b, 136a, 136b, 137a, 137b and rolling wheel rails are perpendicular to the curve section in the part that forms a vertical section from the curve section. Since the section rail 110 is formed separately from the pinion rail 111 and the traveling wheel rail 112! /, The rails 111 and 112 can be set to have different curvature radii. Therefore, the curvature radius of the pinion rail 111 and the rack 120 can be reduced, and the entire transport system can be constructed compactly.
- the horizontal transport mechanism of the self-propelled carriage according to the third configuration of the present invention can be realized by the embodiments shown in Figs.
- embodiments of the horizontal transport mechanism according to the third configuration will be described with reference to FIGS.
- the carriage 230 is provided with pinions 233 and 234 on the same axis in the middle of the left and right sides.
- horizontal traveling wheels 231a, 23 lb, 232a, and 232b are provided on the front side and the rear side in the traveling direction of the pinions 233 and 234, and the upper side J and the lower side side of the pinion 233 and 234 are provided.
- J includes vertical traveling wheels 236a, 236b, 237a, and 237b.
- the bogie 230 is supported by a pair of upper and lower vertical running fi wheels 236a, 236b, 237a, 237b, pinions 2 33, 234, and force lenore 211 in the vertical section. You can drive while maintaining your level posture.
- the carriage 230 has a pinion 233 at the center of one side (right side center) of the carriage main body 235, and a pair of horizontal portion traveling wheels 231a, 231b force in the front-rear direction across the pinion 233.
- a pair of vertical traveling wheels 236a and 236b are arranged in the vertical direction across the pinion 233.
- a pinion 234 is provided coaxially with the pinion 233 at the opposite side surface center (left side center) of the carriage main body 235.
- the pinion 234 is sandwiched from the front and rear and from the upper and lower sides, and the horizontal traveling wheels 232a, 232b Vertical running wheels 237a and 237b are arranged. All traveling wheels are straight from the force pylon 233, 234, all of which have the same diameter. Smaller than the diameter.
- FIGS. 9 to 12 a pair of left and right rails 210 in the horizontal section are arranged in parallel with each other.
- vertical rails 211 are laid along the walls and pillars, and the pinions 233 and 234 of the bogie 230 and the vertical running fi wheels 236a, 236b, 237a, and 237b pass through.
- this vertical rail 211 is made of a U-shaped cross-section material, the inside of the front and rear walls 211a and 211b is the running path of each running wheel, and the outside near the connecting wall 211c is the pinion 233, 234 Power S This is the rack path that travels.
- Each rail that forms a horizontal section consists of one horizontal rail 214 on either side.
- the horizontal rail 214 has an upper wall 214a, a lower wall 214b, and a connection wall 214c joined at right angles to each other, and a pinion rail having the same cross section as the vertical rail 211 is formed in the upper wall 214a with an inverted L-shaped cross section.
- the traveling wheel guide wall 219a is formed, and the lower wall 214b is integrally formed with a traveling wheel guide wall 219b having an L-shaped cross section.
- the rear wall 211b of the vertical rail 211 is connected to and integrated with the lower wall 214b of the horizontal rail 214 via a curved wall 215 forming a curved section.
- the tunnel 217 includes a vertical opening having a width obtained by extending the front and rear walls 211a and 211b of the vertical renole 211 and a horizontal opening having a width obtained by extending the horizontal rail 214.
- the front wall 211a is partly cut away from the saddle curve section formed so as to be connected to the upper wall 214a of the vertical rail, thereby forming an opening 216 through which the traveling wheels 236a and 237a of the carriage 130 pass.
- the side wall 211c extends to the side wall 214c of the horizontal rail 214 and is integrated with the side wall 214c.
- the width of the rail portion for the running wheel and the rail portion for the pinion that are sandwiched between the front and rear walls 211a and 21 lb is different. That is, the portion that forms the running fi path of 237a, 237b and the running fi wheels 236a, 236b, close to the connecting wall 21 1c, is formed with a width close to the diameter of these running wheels, and the travel of the pion 233, 234 The portion that becomes the path is formed wider than the diameter of these pinions.
- the rack 220 for pinions is laid across the rear wall 2 l ib of the vertical rail 211 that forms the vertical section, the curved wall 215 that forms the curved section, and the lower wall 214b of the horizontal rail 214 that forms the horizontal section.
- Back wall A guide member 243 having a curved surface is arranged on the back surface of 21b to support the horizontal traveling wheels 231b and 232b in the curved section!
- the carriage 230 is mounted on the rail 210 by moving the horizontal running wheels 231a, 231b, 232a, and 232b around the upper and lower walls 214a and 214b of the horizontal renole 214.
- the vertical running wheels 236a and 237a are arranged on the outer surface of the upper wall 214a
- the vertical running wheels 236b and 237b are arranged on the outer surface of the lower wall 214b
- the pinions 233 and 234 are arranged on the rack 220 of the horizontal rail 214. It is done by matching with.
- the pinions 233 and 234 have shafts connected to a drive unit including an electric motor, a speed reducer, and the like installed inside the carriage main body 235.
- Power supply to the motor of the drive unit is, for example, by an overhead line arranged along the rail 210, and travel control is, for example, between a computer device outside the rail 210 and a controller in the carriage 230.
- the carriage 230 has a horizontal section by rotating the pinions 233, 234 whose drive units are in contact with the rack 220 on the rack. Drive and continue on the curve section and vertical section of rail 210.
- the carriage 230 runs along the horizontal rail 214 in a horizontal posture by the horizontal running fi wheels 231a, 231b, 232a, 232b and the Pu 23, 234.
- the vertical running fi-wheels 236a, 236b, 237a, 237bi roll on the outer surfaces of the upper and lower walls 214a, 214b of the horizontal lanes 214 to complement the horizontal posture of the carriage 230.
- the dolly 230 enters the curve section, as shown in FIG. 10, the piuyons 233 and 234 roll while meshing with the rack 220, and the vertical traveling wheels 236a and 237a force S are in front of the vertical rail 211.
- the curved surface at the lower end of the wall 21 la is guided between the front and rear walls 21 la and 21 lb, and the vertical running wheels 236 b and 237 b pass through the tunnels 217 and have a directional force between the front and rear walls 211 a and 21 lb.
- the horizontal running fi-wheels 231a and 232a are guided upward by a slope at the end of the upper wall 214a of the horizontal rail 214.
- the traveling wheel 231a rolls on the upper wall 214a of the horizontal rail 214 while contacting the guide member 243 on the rear surface of the traveling wheel 231b force S vertical rail 211, and the carriage 230 maintains a horizontal posture. Let the rise begin. [0057] Bogie 230 Force S Pinion If the 233, 234 rotates further, the vertical running wheels 23 6a, 236b, 237a, 237bi and the front and rear walls formed by 21 la, 21 lbi will be moved. The horizontal running fi-wheels 231a and 232a go up through the opening 216 and the running fi-wheels 231b and 232b go out of the internal member 243 and go up.
- the container is installed on the upper surface of the carriage 230 or the carriage main body 235 of the carriage 230. Built in. In this container, for example, a load consisting of a case containing a sample or a reagent is accommodated.
- a load consisting of a case containing a sample or a reagent is accommodated.
- the carriage 230 force is disposed on the left and right side surfaces of the pinions 233 and 234, and is caused to travel along the rack 220 by the pinion.
- the carriage 230 moves in parallel with little inclination, and it is possible to move the container built in the carriage 230 not only in the horizontal section but also in the curved section and the vertical section with the horizontal posture.
- the gyro mechanism is not required since the vehicle can travel while maintaining a horizontal posture in any of the horizontal section, the curve section, and the vertical section, and therefore, the container capacity can be increased.
- the rail that forms the curve section and the subsequent vertical section is single, that is, the rail for the pinion and the rail for the traveling wheel are integrally formed as a composite rail. Therefore, it is not necessary to lay each rail individually. For this reason, the space occupied by each rail can be reduced. Especially, the curve curvature can be kept small in the curve section. It becomes possible to construct the entire transport system in a compact manner.
- the traveling wheel guide walls 219a and 219b of the horizontal rail 214 can be omitted, and the same configuration as the cross section of the vertical rail 211 can be omitted, thereby further reducing installation costs and occupied space. Can be done.
- the carriage is allowed to travel from the horizontal section to the vertical section via the curve section while maintaining the horizontal posture.
- a transport mechanism of the present invention according to a fourth configuration Therefore, an embodiment of a horizontal transport mechanism having a fourth configuration will be described with reference to FIGS.
- four carts 330 are used, for example, two in one set before and after the bottom of the cart body 335.
- They are provided with horizontal running wheels 331a and 331b for running in the horizontal section.
- Driving power for traveling is input to the horizontal traveling wheels 331a or 331b.
- the left and right drive pinions 333 for the vertical section (the pinion on the opposite side of the figure cannot be seen) and the pinion 333 are positioned in a manner that sandwiches the top and bottom of the carriage 330 at a substantially middle position.
- the pinion 333 may be replaced with one of the traveling wheels 336a or 336b for the vertical section, preferably the lower one 336b.
- the rail of the horizontal transport mechanism according to the fourth configuration is arranged in such a manner that the horizontal rail 310 on which the traveling wheels 331a and 331b roll and the vertical rail 311 are orthogonal to each other.
- the horizontal rail 310 is a stationary horizontal rail portion 310a and a undulation layer that is pivotally connected to the tip of the rail portion 310a in a horizontal and upright manner by a driving force of a cylinder or a motor (not shown). It is formed and reappears.
- the vertical rail 311 is composed of a stationary vertical rail portion 31 la, 31 lb arranged in a direction orthogonal to the stationary horizontal rail portion 310a and a length approximately equal to the length of the undulating rail portion 310b. It is formed by a separation rail portion 31 lc separated and separated above the position on the extension line of the portion 310b.
- the separation rail portion 311c operates so as to be separated from and joined to the rail portions 31 la and 31 lb in a direction orthogonal to the vertical rail portions 311 a and 31 lb by a driving force of a cylinder or the like.
- the function to be made is given.
- the vertical rail 311 is provided with a rack 31 Id for engaging and guiding the pinion 333 on the inner surface of both the stationary vertical rail portions 31 la and 31 lb and the separation rail portion 311 c.
- the direction changing rail portion 312 as a curved rail has a vertical portion 312a in which the upper end portion is joined to the lower end of the upper stationary vertical rail portion 31 la, and a three-nore force lined up and down below the vertical portion 312a. However, it is formed with three carps, ridges 312b, 312c, and 312d.
- the vertical portion 312a includes a rack 312e joined to the rack 31 Id.
- the three calves, ⁇ 312b, 312c, 312d are the upper and lower two kerfs, ⁇ 312b and 312d, the upper and lower running wheels across the pinion 333 in the carriage 330 on the horizontal rail 310
- a curved rail for guiding 336a and 336b is formed, and an intermediate curved portion 312c is formed on the curved rail having a rack 312f for guiding the pinion 333.
- the curved portion 312c formed in the direction changing rail portion 312 as a curved rail that guides the pinion 333 is provided with a rack 312f that meshes with the pinion 333 on the inner lower surface.
- the rack 312f that meshes with the pinion 333 is provided on the inner lower surface of the lower curved portion 312d.
- the transport mechanism of the fourth configuration of the present invention comprising the carriage 330 having the above configuration and the horizontal and vertical rails 310 and 311, as illustrated in FIG. 13 to FIG.
- the carriage 330 force S traveled by the traveling wheels 331a and 331b on the rail 310 and the direction change rail section 312 joined to the upper vertical rail section 31 la reach the upper and lower traveling wheels 336a, As soon as 336b enters the rails of the upper and lower curved sections 312b and 312d of the direction change rail section 312, the pinion 333 becomes the rail with the rack 312f of the intermediate curved section 312c. enter in.
- each of the running fi-wheels 336a, 336c and pini 33 33 advanced to each carp, kite 312b, 312d and 312c is guided by the respective curved rails and is moved to the vertical portion 312a of the direction change rail portion 312.
- the pinion 333 and the rack 312e that guides and guides the pinion 333 enter the upper stationary vertical rail portion 311a (see FIGS. 14, 16, and 17).
- the bogie 330 is made up of a running wheel I 336a. 336b and a pini-in 333 in the vertical rail section 311a including the vertical section 312a of the direction change rail section 312. Since the rolling element is supported by the vertical rail 311, the entire carriage 330 is held in the horizontal posture that has traveled on the horizontal rail 310 and passes through the direction changing rail portion 312 to be horizontally The vehicle can travel along the vertical rail 311 while maintaining its posture (see Fig. 15).
- the hoisting rail portion 310b is raised (see FIGS. 18 and 19), and the direction changing rail portion 312 is suspended.
- the separation rail part 311c in the vertical rail 311 is synchronized with this, Since the entire vertical rail 311 is coupled in a penetrating state by entering between the vertical rail portion 31 la and 31 lb, the carriage 330 that has entered the vertical rail portion 31 la follows the upper vertical rail portion 31 la as it is. It is possible to select the force and the traveling direction of the lower vertical rail portion 31 lb.
- the transport mechanism according to the fourth configuration of the present invention has a function as a mechanism that can change the traveling direction of the carriage 320 from the horizontal rail 310 to the vertical rail 311 while maintaining the horizontal posture.
- the traveling direction in the vertical direction of the carriage 320 entering the vertical rail from the horizontal rail 310 can be selected either upward or downward, it also acts as a branching mechanism in the traveling direction.
- the carriage 330 to be used is configured as illustrated in FIGS. 20 to 23. 20 to 23, a cart 330 is provided with two horizontal traveling wheels 331a and 331b in front of and behind the bottom of the cart body 335, and a guide rail for preventing wheel removal ( Assist wheels 331c and 331d in a horizontal position that sandwich the left and right sides (not shown) are provided.
- a horizontal running wheel 331D force for obtaining a horizontal running force is provided at the center of the bottom of the cart body 335.
- the driving force for horizontal traveling may be input to either or both of the traveling wheels 331a and 331b. In this way, the horizontal running wheel 331D is not necessary.
- the left and right drive pions 333, 334 for the vertical section and the pions 333, 334 are positioned so as to be sandwiched between the upper and lower sides at a substantially intermediate position between the left and right side surfaces of the carriage 330.
- Lower two traveling wheels for vertical section 336a, 336b and 337a, 337b and power Bogie body 335 Provided on the inner side (closer to the carriage body) than the above-mentioned pions 333, 334 when viewed from the front (rear) .
- the outer surface J of both Pini 333 and 334 has an anti-removal roller 33 3a, to prevent each Pyuon 333, 334 from coming off the rack.
- 334a is provided for each.
- the detachment prevention rollers 333a and 334a have the same shape and are smaller in diameter than the pinion pinions 333 and 334, respectively.
- CT schematically shows a container mounted on the bogie main body 335.
- the above-mentioned Pini 333 and 334 and the slip-off prevention rollers 333a and 334a provided on the same vehicle have the same purpose as the rollers in the second configuration and the third configuration described above.
- the invention is applicable to the pinini 133, 134 and 233, 234 provided on the carriages 130, 230 in the horizontal transport mechanism of the invention.
- the direction changing rail portion 312 that is changed in direction from the horizontal direction to the vertical direction after the carriage 330 has traveled is the horizontal rail 310 and the vertical rail 311 in the transport mechanism according to the fourth aspect of the present invention. 24, and has the form shown in FIG.
- the direction change rail portion 312 of Fig. 24 is provided with pinions 333 and 334 on the left and right sides of the cart body 335 in a state where the cart 330 schematically shown in Fig. 25 is viewed from the front (or the back).
- Fig. 25 for the fi-wheels 336a, 336b and 337a, 337b, anti-removal rollers 333a, 334a It is equipped with a shape and shape of the end face surface ((cross section surface)) shown in FIG. .
- Fig. 2255 shows the cross-sectional surface ((end-end surface)) shape, which is shown in Fig. 2255.
- FIG. 2244 shows the form of the left and right rail portion 331122.
- the form of the left / right / right direction change conversion rail part 331122 is the same one form that is symmetrical to the left / right / right. Therefore, according to Fig. 2244 (see also Fig. 2255) below, the left direction change direction conversion in Fig. 2255 is shown below. I will explain the structure of the raille section 331122. .
- FIG. 1133 The horizontal horizontal rail rail 331100 and the vertical vertical rail rail 331111 to which the left / right / right direction change conversion rail rail 331122 is appropriately applied are shown in FIG. 1133.
- at least a fixed stationary horizontal horizontal rail section 331100aa and a stationary The vertical straight rail part 3311 llaa shall be provided. .
- the direction change conversion rail part 331122 is connected to the upper and lower upper ends of the upper and lower fixed stationary vertical rail parts 3311 llaa.
- the vertical vertical part 331122aa where the parts are joined and joined, and the vertical vertical part 331122aa are arranged below and below the vertical vertical part 331122aa. It is formed by arranging the 33 parts of the carve part 331122bb, 331122cc, 331122dd. .
- the vertical vertical section 331122aa may be provided with a rack rack 331122ee which is combined with the above-mentioned vertical vertical rail section 3311 llaa 3311 IIdd.
- the 33 parts of the carve part 331122bb, 331122cc, 331122dd are the upper part of the upper part and the lower part 22 part of the carve part.
- Top and bottom nips 333344 ((333333)) sandwiched in a bogie 333300 above and below
- the car brave braille which moves the lower running wheel 333377aa and 333377bb ((333366aa and 333366bb)) from the horizontal direction to the vertical direction.
- the carve part 331122cc between the middle and middle is formed on the same axis as the pininion onion 333344 ((33 3333)) and each pininion onon.
- the anti-roll-off prevention roller roll 333344aa ((333333aa)) is provided in each case with a rack 331122ff and a guide groove 331122gg arranged in parallel.
- Dadabuburrutotrakku (double-double-running route)) Contents have been bites form formation formed in the Burereruru. .
- the Drudabburrut truck structure is constructed according to the present invention of the present invention horizontal water transport carrier mechanism of the twenty-second and thirty-third structures described above. This is the case when the Pipinionon 113333, 113344 and 223333, 223344 installed in the trolley of the car are equipped with anti-roll-off prevention rollers. Therefore, the present invention can also be applied appropriately to a carving braille rail provided with a racket that can be fitted to the pininionon. .
- a transport mechanism to which the fourth configuration of the present invention is applied which includes a carriage 330 having the configuration described with reference to Figs. 20 to 25, horizontal and vertical rails 310 and 311 and a direction changing rail portion 312. Then, as illustrated in Fig.
- the carriage 330 force S that has been driven by the traveling wheels 331a, 3 31b on the horizontal rail 310 from the left side of the figure, the one joined to the upper vertical rail 31 la
- the direction change rail 312 moves to the upper and lower curves 3 ⁇ 4312b and 312d Lenoles of the left and right upper and lower vertical running wheels 336a and 337b and the same 337a and 337b forces in the left and right direction change Lenore ⁇ .
- the left and right pinini 333 and 334 and the anti-roll-off rollers 333a and 334a on the same axis enter the rail provided with the rack 312f of the intermediate curve portion 312c and the guide groove 312g in parallel. .
- the upper and right stationary vertical rail portions 31 are formed by the action and the use of the anti-removal rollers 333a and 334a and the guide grooves 312g for guiding the rollers to prevent the both pinions 333 and 334 from being detached from the respective racks 312e. You will enter la correctly and drive (see Fig. 26 (a) ⁇ ).
- the carriage 330 includes the left and right traveling wheels 336a, 336b arranged in the vertical rail section 31 la including the vertical section 312a of the left and right direction changing rail sections 312. 337a, 337b, and left and right pininis 333, 334, respectively, according to the right and left rule, the three rolling elements are supported by the left and right vertical rails 311.
- the vehicle can travel along the vertical rail 311 while maintaining the horizontal posture that has traveled on the rail 310 (see FIG. 26 (f)). This is the same as the previous embodiment described with reference to FIGS.
- the horizontal rail of the horizontal section is formed by one composite rail having a channel-shaped cross section.
- the pinion rail and running A carriage that travels in a horizontal section which can be composed of rails for traveling wheels, can use a traveling wheel system that receives driving force in addition to a rack and pinion, so it can be used as a transport mechanism that can maintain a horizontal attitude at all times. It can be easily implemented by applying existing technology.
- the pinion is prevented from coming off from the rack force on the same axis as the pinion that outputs the driving force of the curve section force and the vertical section traveling in combination with the rack. Therefore, the pinion and rack can be stably combined in a curved section where the running mode is changed from horizontal to vertical.
- the vertical rail and the horizontal rail are laid along the floor and wall of the building. Even if these rails are laid on a pillar or ceiling, the horizontal transport mechanism of the present invention Can be formed.
- the transported item is an item that must maintain a specific posture, and if it is necessary to travel on the ceiling, the cross-sectional shape of the horizontal rail, the support structure of the traveling wheel, or the rail laying
- the rails that make up the horizontal section, the curved section, and the rails that make up the vertical section that follow it are laid out in a staircase, for example, so that the ceiling and walls can be used without containers.
- a trolley equipped with the container can be driven while maintaining the horizontal posture.
- FIG. 1 is a front view showing an embodiment of a horizontal transport mechanism for a self-propelled carriage according to a first configuration of the present invention.
- FIG. 2 is a right side view of the horizontal transport mechanism shown in FIG.
- FIG. 3 is a plan view of FIG.
- FIG. 4 is a perspective view of the horizontal transport mechanism shown in FIGS.
- FIG. 5 is a front view showing an embodiment of a horizontal transport mechanism of a self-propelled carriage according to a second configuration of the present invention.
- FIG. 6 is a right side view of the horizontal transport mechanism shown in FIG.
- FIG. 7 is a plan view of FIG.
- FIG. 8 is a perspective view of the horizontal transport mechanism shown in FIGS.
- FIG. 9 is a front view showing an embodiment of the horizontal transport mechanism of the self-propelled carriage according to the third configuration of the present invention. Plan view.
- FIG. 10 A right side view of the horizontal transport mechanism shown in FIG.
- FIG. 11 is a plan view of FIG.
- FIGS. 12 A perspective view of the horizontal transport mechanism shown in FIGS.
- FIG. 17 is a schematic side view of FIG.
- FIG. 19 is a schematic side view of FIG.
- FIG. 21 is a plan view of the carriage shown in FIG.
- FIG. 22 is a left side view of the cart shown in FIG.
- FIG. 23 is a schematic perspective view of the carriage shown in FIGS. 20 to 22.
- FIG. 24 is a perspective view schematically showing the direction change rail (left rail) on which the carriage of FIGS. 20 to 23 travels.
- FIG. 25 is a front view of the rail portion in a state where the cart of FIG. 22 enters the left and right direction change rail portions.
- [26] (a) to (f) are side cross-sectional views showing the state in which the carriage passes through the direction change rail section in time series.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Platform Screen Doors And Railroad Systems (AREA)
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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JP2008526696A JP5009913B2 (ja) | 2006-07-27 | 2007-05-30 | 自走台車の水平搬送機構 |
CN2007800277629A CN101495357B (zh) | 2006-03-31 | 2007-05-30 | 用于自推进车架的水平运送机构 |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
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JPPCT/JP2006/314838 | 2006-07-27 | ||
PCT/JP2006/314838 WO2007116538A1 (ja) | 2006-03-31 | 2006-07-27 | 自走台車の水平搬送機構 |
JPPCT/JP2007/055946 | 2007-03-23 | ||
PCT/JP2007/055946 WO2007116643A1 (ja) | 2006-03-31 | 2007-03-23 | 自走台車の水平搬送機構 |
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WO2008012989A1 true WO2008012989A1 (fr) | 2008-01-31 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2007/061020 WO2008012989A1 (fr) | 2006-03-31 | 2007-05-30 | Mécanisme de transport horizontal pour chariot autopropulsé |
Country Status (2)
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KR (1) | KR101076007B1 (ja) |
WO (1) | WO2008012989A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2010137108A1 (ja) * | 2009-05-25 | 2010-12-02 | 株式会社S&Sエンジニアリング | 台車を水平姿勢に保持する搬送システム |
JP2021143073A (ja) * | 2018-09-14 | 2021-09-24 | アラート イノヴェイション インコーポレイテッド | コンプライアントピニオン駆動装置付きのクライミングロボット |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JP6573099B2 (ja) * | 2014-12-05 | 2019-09-11 | 日新イオン機器株式会社 | イオン源、支持台、吊下機構、イオン源搬送システム及びイオン源搬送方法 |
KR101711883B1 (ko) * | 2016-08-12 | 2017-03-03 | 김용국 | 작업용 리프트 |
KR102300631B1 (ko) * | 2019-11-07 | 2021-09-09 | 세메스 주식회사 | 가이드 레일 및 이를 갖는 천장 이송 장치 |
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JPS50131705U (ja) * | 1974-04-14 | 1975-10-29 | ||
JPS5247282A (en) * | 1975-10-09 | 1977-04-14 | Fuji Electric Co Ltd | Electric car truck |
JPS6012769Y2 (ja) * | 1980-05-07 | 1985-04-24 | 株式会社ダイフク | 荷搬送設備 |
JPS62137764U (ja) * | 1986-02-18 | 1987-08-31 | ||
JPS6326384Y2 (ja) * | 1980-09-25 | 1988-07-18 | ||
JPH1035816A (ja) * | 1996-07-20 | 1998-02-10 | Nippon Shiyuutaa:Kk | 搬送設備 |
JP2005047369A (ja) * | 2003-07-28 | 2005-02-24 | Siemens Kk | 自走台車システム及びこれに用いられる自走台車 |
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- 2007-05-30 KR KR1020097002023A patent/KR101076007B1/ko active IP Right Grant
- 2007-05-30 WO PCT/JP2007/061020 patent/WO2008012989A1/ja active Application Filing
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JPS50131705U (ja) * | 1974-04-14 | 1975-10-29 | ||
JPS5247282A (en) * | 1975-10-09 | 1977-04-14 | Fuji Electric Co Ltd | Electric car truck |
JPS6012769Y2 (ja) * | 1980-05-07 | 1985-04-24 | 株式会社ダイフク | 荷搬送設備 |
JPS6326384Y2 (ja) * | 1980-09-25 | 1988-07-18 | ||
JPS62137764U (ja) * | 1986-02-18 | 1987-08-31 | ||
JPH1035816A (ja) * | 1996-07-20 | 1998-02-10 | Nippon Shiyuutaa:Kk | 搬送設備 |
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Publication number | Priority date | Publication date | Assignee | Title |
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WO2010137108A1 (ja) * | 2009-05-25 | 2010-12-02 | 株式会社S&Sエンジニアリング | 台車を水平姿勢に保持する搬送システム |
JP2021143073A (ja) * | 2018-09-14 | 2021-09-24 | アラート イノヴェイション インコーポレイテッド | コンプライアントピニオン駆動装置付きのクライミングロボット |
JP7377836B2 (ja) | 2018-09-14 | 2023-11-10 | アラート イノヴェイション インコーポレイテッド | コンプライアントピニオン駆動装置付きのクライミングロボット |
Also Published As
Publication number | Publication date |
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KR20090034942A (ko) | 2009-04-08 |
KR101076007B1 (ko) | 2011-10-21 |
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