WO2011070861A1 - Infrastructure de transport d'articles - Google Patents

Infrastructure de transport d'articles Download PDF

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Publication number
WO2011070861A1
WO2011070861A1 PCT/JP2010/068722 JP2010068722W WO2011070861A1 WO 2011070861 A1 WO2011070861 A1 WO 2011070861A1 JP 2010068722 W JP2010068722 W JP 2010068722W WO 2011070861 A1 WO2011070861 A1 WO 2011070861A1
Authority
WO
WIPO (PCT)
Prior art keywords
traveling
power receiving
travel
receiving unit
article transport
Prior art date
Application number
PCT/JP2010/068722
Other languages
English (en)
Japanese (ja)
Inventor
乾吉隆
Original Assignee
株式会社ダイフク
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社ダイフク filed Critical 株式会社ダイフク
Priority to SG2012039483A priority Critical patent/SG181120A1/en
Priority to CN201080055470.8A priority patent/CN102639380B/zh
Priority to US13/514,161 priority patent/US8448579B2/en
Priority to KR1020127015089A priority patent/KR101736887B1/ko
Priority to EP10835783.1A priority patent/EP2511150B1/fr
Publication of WO2011070861A1 publication Critical patent/WO2011070861A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
    • B60L5/005—Current collectors for power supply lines of electrically-propelled vehicles without mechanical contact between the collector and the power supply line
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H18/00—Highways or trackways for toys; Propulsion by special interaction between vehicle and track
    • A63H18/12—Electric current supply to toy vehicles through the track
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
    • B60L5/38—Current collectors for power supply lines of electrically-propelled vehicles for collecting current from conductor rails
    • B60L5/39—Current collectors for power supply lines of electrically-propelled vehicles for collecting current from conductor rails from third rail
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B13/00—Other railway systems
    • B61B13/04—Monorail systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/26—Rail vehicles

Definitions

  • the present invention includes a travel rail, and an article transport vehicle that is guided by the travel rail and travels freely, including a power receiving unit that is contactlessly supplied with driving power from a power supply line disposed along the travel rail.
  • the present invention relates to an article conveyance facility provided with
  • the article conveying equipment as described above is an article conveying equipment that conveys an article along a track, and the electric power for driving for running the article conveying vehicle is conveyed from a power supply line arranged along the traveling rail.
  • the power receiving unit provided in the vehicle is fed in a contactless manner.
  • the positional relationship between the power supply line and the power receiving unit is within an appropriate range in which power can be supplied (for example, a range where the power receiving unit and the power supply line overlap in the vertical direction). It is necessary to maintain.
  • the power supply line is arranged along the traveling rail, and the positional relationship between the power supply line and the power receiving unit in the lateral width direction of the article transporting vehicle can be supplied by running the article transporting vehicle along the traveling rail.
  • the article transport vehicle is driven while maintaining within an appropriate range.
  • a set travel path is set by combining a straight part and a curved part as a travel path for traveling the article transport vehicle.
  • a feeder line is provided.
  • the article transport vehicle rotates in contact with the guide wheels and the travel rail that are guided in the horizontal direction in contact with the travel rail so that the article transport vehicle can smoothly travel even in the curved portion of the set travel route.
  • a traveling part having a traveling wheel to be driven is provided, and the traveling part is connected to the vehicle body main body part by a connecting shaft so as to be rotatable around a vertical axis.
  • the travel portion rotates around the vertical axis with respect to the vehicle body portion by the connecting shaft and travels along the travel rail, thereby causing the curve portion to travel. Even so, the article transport vehicle can run smoothly.
  • the traveling part rotates around the vertical axis with respect to the vehicle body part and travels along the traveling rail.
  • the movement trajectory is a trajectory along the curve portion, but the movement trajectory of the vehicle body is a trajectory deviating from the trajectory along the curve portion (a trajectory closer to the inside than the trajectory along the curve portion).
  • the movement locus of the vehicle body becomes a locus that is largely inward from the locus along the curve portion as the radius of the curve portion becomes smaller.
  • the power receiving unit moves to the inside of the curved part with respect to the power supply line arranged along the curved part.
  • the distance between the feeder line and the power receiving unit in the direction increases. For this reason, the positional relationship between the power supply line and the power receiving unit in the width direction of the article transport vehicle may not be maintained within an appropriate range where power can be supplied, and power supply from the power supply line to the power receiving unit may not be performed properly. There is.
  • the power receiving unit is provided so as to be rotatable around the vertical axis with respect to the vehicle body main body by a shaft extending in the vertical direction, and the power receiving unit is guided by a roller abutting against the traveling rail. And a spring that urges the roller toward the side that abuts the running rail (see, for example, Patent Document 1).
  • the power receiving unit rotates around the vertical axis with respect to the vehicle body by guiding the roller against the traveling rail by the biasing force of the spring. And move along the traveling rail.
  • the positional relationship between the power supply line and the power receiving unit can be maintained within an appropriate range where power can be supplied. It is possible to properly supply power to the unit.
  • both the traveling unit and the power receiving unit are vertically centered with respect to the vehicle body main body. It is provided so as to be rotatable around.
  • the power receiving unit is provided on a connecting shaft that connects the vehicle body main body and the traveling unit, so that the power receiving unit is provided to be rotatable about the vertical axis with respect to the vehicle body main body by the connecting shaft.
  • the connecting shaft is provided in a state of penetrating the power receiving unit, so that the connecting shaft cannot be made thick, or heat is generated by sliding between the connecting shaft and the power receiving unit. A problem arises due to the provision of the power receiving unit on the connecting shaft.
  • the present invention has been made paying attention to such a point, and the purpose thereof is to appropriately supply power from the power supply line to the power receiving unit even in the curve portion of the set travel route without providing the power receiving unit on the connecting shaft.
  • the object is to provide an article conveyance facility that can be performed.
  • the article transport facility includes a traveling rail and a power receiving unit that is supplied with driving power in a contactless manner from a feeder line disposed along the traveling rail.
  • the traveling rail and the power supply line are disposed so as to extend along a set traveling route set by combining a straight portion and a curved portion, and the article transport vehicle is in contact with a vehicle body portion and the traveling rail.
  • the power receiving unit is rotatably supported by the vehicle body main body so as to be movable in a lateral width direction of the article transport vehicle, and the article transport vehicle has the travel unit when traveling on the curve portion.
  • the power receiving unit is not provided on the connecting shaft that connects the vehicle body main body and the traveling unit, but is provided in the vehicle body main body, and is movable in the lateral width direction of the article transport vehicle. Supported by the department. Therefore, there is no problem that the connecting shaft cannot be made thick by providing the power receiving portion on the connecting shaft, and that heat is generated by sliding between the connecting shaft and the power receiving portion.
  • the traveling unit rotates about the vertical axis with respect to the vehicle body main body and travels along the traveling rail. At this time, the power receiving unit moving means is connected to the vehicle body main body.
  • the power receiving unit is moved to the outside of the curved portion in the lateral width direction of the article transport vehicle with the rotation of the connecting shaft when rotating around the vertical axis.
  • the vehicle body part moves to the inside of the curve part, but the power receiving part moves to the outside of the curve part with respect to the vehicle body part, and the power supply line arranged along the curve part.
  • the power receiving unit moving means moves the power receiving unit to the outside of the curved portion in the lateral width direction of the article transport vehicle, thereby maintaining the positional relationship between the power supply line and the power receiving unit within an appropriate range where power can be supplied.
  • the amount of movement when the vehicle body is close to the inside of the curve portion corresponds to the amount of rotation of the connecting shaft, so that the power receiving unit moving means moves the power receiving unit as the connecting shaft rotates.
  • the power receiving unit can be moved by the amount of movement corresponding to the amount of movement when the vehicle body portion approaches the inside of the curved portion. Therefore, when moving the power receiving unit in the width direction of the article transport vehicle, it is easy to manage the amount of movement of the power receiving unit by using the rotation of the connecting shaft, and the positional relationship between the power supply line and the power receiving unit is within an appropriate range. It can be maintained accurately. From the above, it is possible to realize an article transport facility that can appropriately supply power from the power supply line to the power receiving unit even in the curved portion of the set travel route without providing the power receiving unit on the connecting shaft.
  • the traveling rail is disposed in a pair of left and right sides on one side and the other side in the lateral width direction of the article transporting vehicle, and the traveling unit is configured to be the traveling rail by the traveling wheel.
  • the vehicle body is supported by the connecting shaft so as to be suspended below the traveling rail by the connecting shaft, and the connecting shaft extends in the width direction of the article transport vehicle.
  • the power supply line is disposed at a position away from the connecting shaft in the lateral width direction of the article transport vehicle.
  • the traveling unit can be accurately guided by the pair of left and right traveling rails.
  • the traveling of the part can be made stable. Since the connecting shaft is disposed at the center of the gap between the pair of left and right traveling rails in the lateral width direction of the article transporting vehicle, the vehicle body is stably suspended and supported in the lateral width direction of the article transporting vehicle. can do.
  • the power supply line is disposed along the traveling rail, for example, a power receiving unit is provided on the upper portion of the vehicle body main body located below the traveling rail so that power can be supplied to the power receiving unit. It is useful to support the power supply line on the traveling rail. Since the traveling unit travels on the traveling rail and the vehicle body is supported by being suspended below the traveling rail, the connecting shaft and the power supply line are arranged in the horizontal width direction of the article transport vehicle. Will be set up. Therefore, according to such a configuration, the power supply line is disposed at a position off the connecting shaft in the lateral width direction of the article transporting vehicle, so that the power supply line installation space does not interfere with the connecting shaft.
  • the power receiving unit moving means can feed the positional relationship between the power supply line and the power receiving unit by moving the power receiving unit to the outside of the curved portion in the lateral width direction of the article transport vehicle. It is effective that it can be maintained within an appropriate range.
  • the connecting shaft can be disposed at a position where the vehicle body can be stably suspended and supported in the lateral width direction of the article transporting vehicle, and the feeder line is disposed at a position that does not interfere with the connecting shaft.
  • the positional relationship between the power supply line and the power receiving unit can be maintained within an appropriate range where power can be supplied.
  • the first feed line disposed at a position off the connection shaft on one side in the lateral width direction of the article transport vehicle, and the connection shaft. It is preferable that a second feeder line disposed at a position off the other side in the lateral width direction of the article transport vehicle is provided.
  • the power supply line is not a single power supply line, but two power supply lines, the first power supply line and the second power supply line, are provided. It can be performed reliably and stably.
  • the feed line on the side of the curve portion that is disposed at a position near the outside of the curve portion from the connecting shaft adjusts the placement position to the outside of the curve portion. If the possible range is small and the body part moves to the inside of the curve part at the curve part, the positional relationship between the power supply line and the power receiving part cannot be maintained within the appropriate range in which power can be supplied.
  • the power receiving unit moving means moves the power receiving unit in the lateral width direction of the article transport vehicle.
  • the positional relationship between the first power supply line and the second power supply line and the power receiving unit can be maintained within an appropriate range where power can be supplied, and power for driving can be supplied reliably and stably. Can do.
  • a pair of front and rear traveling parts are provided at intervals in the front-rear direction of the article transport vehicle, and each of the pair of front and rear traveling parts is connected to the vehicle body by the connecting shaft.
  • the power receiving unit moving means is connected only to the rotation of the connecting shaft that connects one side of the pair of front and rear traveling units and the vehicle body main unit. Accordingly, the power receiving unit is preferably configured to move in the width direction of the article transport vehicle.
  • the traveling units are provided in a pair of front and rear with an interval in the front-rear direction of the article transport vehicle, so that each of the pair of front and rear traveling units is independently guided by the traveling rail and travels. Therefore, it is possible to more smoothly and stably run on the curve portion. Since each of the pair of front and rear traveling portions is connected to the vehicle body main body by the connecting shaft so as to be rotatable about the vertical axis, the pair of connecting shafts are also arranged in the front and rear. Therefore, when traveling on a curved portion, both of the pair of front and rear connecting shafts rotate around the vertical axis, but the power receiving unit moving means is accompanied only by rotation of one side of the pair of front and rear connecting shafts.
  • the power receiving unit Since the power receiving unit is moved in the width direction of the transport vehicle, the power receiving unit can be moved without being obstructed by the rotation of the other side of the pair of front and rear connecting shafts, and the power receiving unit is maintained within an appropriate range where power can be supplied. It can be moved to an appropriate position.
  • the power receiving unit is supported movably in the lateral width direction of the article transport vehicle by a guide rail provided in the vehicle body main body portion and extending in the lateral width direction of the article transport vehicle.
  • the power receiving part moving means is a pinion part rotatable integrally with the connecting shaft, and a rack part formed on the power receiving part so as to extend along a lateral width direction of the article transporting vehicle and meshing with the pinion part. It is preferable that it is comprised.
  • the power receiving unit is supported by the guide rail so as to be movable in the lateral width direction of the article transport vehicle. Therefore, the power receiving unit can be smoothly and accurately moved along the lateral width direction of the article transport vehicle.
  • the power receiving unit moving means is configured to include a pinion portion that can rotate integrally with the connecting shaft and a rack portion that meshes with the pinion portion, the power receiving unit moving means has a simple configuration, The position of the power receiving unit moved by the engagement between the pinion unit and the rack unit can be maintained, and the positional relationship between the power supply line and the power receiving unit can be accurately maintained within an appropriate range where power can be supplied.
  • a confluence portion where a plurality of travel routes including a travel route of at least the curve portion join, and a travel route at least of the curve portion It has at least one of branch portions that branch into a plurality of travel routes including a travel route, and the travel rail is disposed only on one side in the lateral width direction of the article transport vehicle at the junction portion and the branch portion.
  • a pair of left and right sides are disposed on one side and the other side in the lateral width direction of the article transport vehicle at portions other than the junction portion and the branch portion, and the junction portion and the branch portion are provided with the traveling unit.
  • a merging / branching traveling rail is provided that abuts and guides the guided wheel so that the traveling portion joins and the traveling portion branches. Arbitrariness.
  • the traveling rail is disposed only on one side in the lateral width direction of the article transport vehicle at the junction portion and the branch portion, the article transport vehicle is disposed on the other side in the lateral width direction of the article transport vehicle.
  • a space that can be passed can be created, and the merging and branching can be performed without being disturbed by the traveling rail.
  • the traveling part is guided and traveled only on the traveling rail on one side in the lateral width direction of the article transport vehicle, so that traveling of the traveling part may become unstable.
  • the merging / branching traveling rail is provided at the merging / branching portion, and the traveling part can be guided and traveled by the merging / branching traveling rail.
  • the traveling portion is guided and traveled by the traveling rail and the traveling rail on one side in the width direction of the article transporting vehicle, so that the combined traveling and the branch traveling can be stably performed. And since the traveling part is guided and traveled by the traveling rail for merging / branching and the traveling rail on one side in the lateral direction of the article transport vehicle, the traveling part is connected to the vehicle body main body during the merging traveling and the branch traveling. Inadvertent rotation around the vertical axis can be prevented. Accordingly, it is possible to accurately prevent the power receiving unit from moving in the lateral width direction of the article transport vehicle due to inadvertent rotation of the traveling unit, and the power receiving unit from moving from an appropriate position.
  • FIG. 1 It is a figure which shows the outline of the setting driving
  • this article transporting facility is along a set travel route set by combining a straight portion 4 that is a straight travel route and a curved portion 5 that is an arcuate travel route.
  • a plurality of article transporting vehicles 2 traveling in a certain direction are provided.
  • the set travel route is set so as to pass through the plurality of article processing units 3, and the article transport vehicle 2 transports the article 7 between the plurality of article processing units 3.
  • FIG. 1 In the one shown in FIG.
  • the traveling rail 1 is set on the ceiling side, and extends along the set traveling route over the entire length of the main traveling route 6b and the plurality of auxiliary traveling routes 6a as the set traveling route. It is arranged to extend.
  • the traveling rail 1 is installed in a fixed state on the ceiling portion by a traveling rail bracket 8, and a pair of left and right traveling rails 1 are provided on one side and the other side in the lateral width direction (Y direction in the figure) of the article transport vehicle 2.
  • 2 is a side view when viewed in a direction along the lateral width direction (Y direction in the figure) of the article transport vehicle 2
  • FIG. 3 is a direction along the front-rear direction (X direction in the figure) of the article transport vehicle 2.
  • FIG. 4 is a plan view of the article transport vehicle 2 viewed from above the traveling rail 1.
  • the article transporting vehicle 2 includes a vehicle body 9, a traveling unit 10 that travels on the traveling rail 1, and a gripping unit 11 that grips the article 7 in a suspended state.
  • the traveling unit 10 is provided in a pair of front and rear at a position corresponding to the front end portion and a position corresponding to the rear end portion of the vehicle body main body 9 with a space in the front-rear direction of the article transport vehicle 2.
  • Each of 10 is connected to the vehicle body 9 by a connecting shaft 12 so as to be rotatable around a vertical axis.
  • the grip portion 11 is provided so as to be movable up and down with respect to the vehicle body main body portion 9.
  • Each of the pair of front and rear traveling units 10 includes a traveling wheel 14 that is rotated by an electric drive motor 13 and rolls on the upper surface along the horizontal plane of each of the pair of left and right traveling rails 1, and the pair of left and right traveling rails 1.
  • a guide wheel 15 is provided that is in contact with the opposite side surfaces along the vertical direction and is freely rotatable.
  • One traveling wheel 14 is disposed at each end of the article transport vehicle 2 in the width direction (Y direction in the figure).
  • two guide wheels 15 are arranged at both ends in the lateral width direction of the article transport vehicle 2 in a state of being lined up in the front-rear direction of the article transport vehicle 2.
  • the traveling wheels 14 are rotationally driven around the horizontal axis by the drive motor 13, and the guide wheels 15 that are rotatable around the vertical axis are in contact with the pair of traveling rails 1 and guided in the horizontal direction.
  • the vehicle is configured to travel while being guided by the travel rail 1.
  • Each of the pair of front and rear traveling units 10 is coupled to the vehicle body 9 by a coupling shaft 12 so as to be rotatable around the vertical axis.
  • the connecting shaft 12 is disposed in the central portion of the gap between the pair of left and right traveling rails 1 in the lateral width direction of the article transport vehicle 2, and the central portion of the vehicle body 9 and the traveling portion 10 in the lateral width direction of the article transport vehicle 2. Is connected to the center.
  • part 5 (refer FIG. 1) whose driving
  • working part 10 is the periphery of a vertical axis center with respect to the vehicle body main body part 9 with the connection shaft 12. It is possible to travel along the traveling rail 1 by rotating at. As a result, the article transport vehicle 2 can smoothly travel not only in the straight part 4 but also in the curved part 5.
  • the vehicle body 9 is formed in a U-shape in which the front end side and the rear end side in the front-rear direction of the article transport vehicle 2 extend downward and the lower side is open, and the front end side and the rear end extending downward are provided.
  • a gripping portion 11 is disposed between the two sides.
  • the vehicle body 9 is provided with an electric lifting motor 16 for raising and lowering the grip 11 and an electric turning motor 17 for turning the grip 11 around the vertical axis. .
  • the elevating motor 16 winds or feeds the belt 18 by rotationally driving a rotating drum 19 around which a belt 18 (not limited to a belt, for example, a timing belt or a wire can be applied) is wound.
  • a belt 18 not limited to a belt, for example, a timing belt or a wire can be applied
  • the grip portion 11 can be moved up and down between the raised position and the lowered position.
  • the raised position is a position to be brought close to the vehicle body main body 9
  • the lowered position is an article processing unit installed on the floor surface side although not shown.
  • 3 is a position for transferring an article to / from an article transfer station corresponding to each of 3.
  • the station is configured by a mounting table for mounting and supporting the article 7.
  • the station 7 receives the article 7 to be subjected to a predetermined process by the article processing unit 3 from the article transport vehicle 2 or performs a predetermined process by the article processing unit 3. This is for delivering the performed article 7 to the article transport vehicle 2.
  • the grip portion 11 is coupled to the vehicle body main body 9 so as to be rotatable around the vertical axis by a turning shaft 20 extending downward from the upper end of the vehicle body main body 9. Then, the turning motor 17 rotates the turning shaft 20 around the vertical axis via the rotational driving force transmission part 21 having a pair of pulleys and a belt, thereby turning the gripping part 11 around the vertical axis. It is configured.
  • the rotational driving force transmission unit 21 may be a member belonging to another prior art such as a structure constituted by a plurality of engaging gears.
  • the gripping unit 11 includes a gripping tool 22 for gripping the article 7 and an electric gripper for switching the gripping tool 22 between a gripping posture for gripping the article 7 and a gripping release posture for releasing the gripping.
  • Motor 23 is provided.
  • FIG. 3 shows a state where the gripping tool 22 is switched to the gripping posture.
  • the article transport vehicle 2 includes a cart side control unit that controls the operation of the article transport vehicle 2 by controlling the travel operation of the travel unit 10, the raising / lowering operation of the gripping unit 11, the posture switching operation of the gripping tool 22, and the like. ing. And if the trolley
  • the cart side control unit is based on detection information of various sensors such as a sensor for detecting a target stop position corresponding to each station and a sensor for detecting the travel distance of the article transport vehicle 2 from the reference point.
  • various sensors such as a sensor for detecting a target stop position corresponding to each station and a sensor for detecting the travel distance of the article transport vehicle 2 from the reference point.
  • the traveling operation of the traveling unit 10 is controlled so as to travel to the designated transportation source station
  • the lifting / lowering operation of the gripping unit 11 and the posture switching operation of the gripping tool 22 are controlled to control the article from the transportation source station.
  • the operation of the article transport vehicle 2 is controlled to receive 7.
  • the cart side control unit controls the travel of the article transport vehicle 2 so as to travel to the designated transport source station based on the detection information of the various sensors, and the article 7 is wholesaled to the transport destination station.
  • the operation of the article transport vehicle 2 is controlled.
  • the power supply line 24 for supplying driving power to the article transport vehicle 2 extends over the entire length of the main travel path 6b as the set travel path and the plurality of sub travel paths 6a, like the pair of left and right travel rails 1. Are arranged so as to extend along the set travel route.
  • Each of the first power supply line 24 a and the second power supply line 24 b is fixedly supported by each of the pair of left and right traveling rails 1 and is disposed so as to extend along the traveling rail 1.
  • the vehicle body 9 of the article transport vehicle 2 is supplied with a single drive power without contact from the feeder line 24.
  • a power receiving unit 25 (power receiving coil) is provided.
  • the power receiving unit 25 is disposed in the center of the vehicle body 9 between the pair of front and rear connecting shafts 12 in the front-rear direction (X direction in the figure) of the article transport vehicle 2 and is formed in a rectangular shape in plan view. ing.
  • the power receiving unit 25 is disposed at the center of the vehicle body 9 in the lateral direction (Y direction in the drawing) of the article transport vehicle 2, and extends in the front-rear direction of the article transport vehicle 2.
  • the cross-sectional shape along the direction is E-shaped (a shape having an upper portion extending horizontally in the width direction, a lower portion extending horizontally in the width direction, and an intermediate portion extending vertically between the upper portion and the lower portion. ).
  • a magnetic field is generated by supplying an alternating current to the power supply line 24, and driving power is generated in the power receiving unit 25 by this magnetic field to supply power in a non-contact state.
  • the article transport vehicle 2 travels the traveling unit 10 and raises and lowers the gripping unit 11 with the driving power. ing.
  • the driving power is supplied from the power supply line 24 to the power receiving unit 25 in a contactless manner.
  • the straight part 4 and the curve part 5 are supplied. It is necessary to maintain the positional relationship in the lateral width direction of the article transport vehicle between the power supply line 24 and the power receiving unit 25 within an appropriate range over which power can be supplied over the entire length of the set travel route set in combination. That is, as shown in FIG. 6, the power supply possible region K of the power receiving unit 25 (the region indicated by the slanted line in the figure, the error, over the entire length of the set travel route set by combining the straight part 4 and the curved part 5. It is necessary to maintain the positional relationship between the power supply line 24 and the power reception unit 25 within an appropriate range in which the power supply line 24 is positioned in the upper and lower portions of the character-shaped power reception unit 25. There is.
  • the traveling unit 10 rotates about the vertical axis with respect to the vehicle body main body 9 when traveling on the curved portion 5.
  • a power receiving unit moving means 26 for moving the power receiving unit 25 to the outside of the curved portion 5 in the lateral width direction of the article transport vehicle 2 as the connecting shaft 12 rotates is provided.
  • 7 and 8 show the relationship between the traveling unit 10, the power receiving unit 25, and the vehicle body 9 and FIG. 7 shows a case where the vehicle travels along the straight part 4, and FIG. 8 shows a curved part. The time when driving 5 is shown.
  • the power receiving unit 25 is slidably provided along the guide rail 27 extending in the lateral width direction of the article transporting vehicle 2 so as to protrude upward on the upper surface of the vehicle body main body 9. It has been.
  • a pair of front and rear guide rails 27 are provided at an interval in the front-rear direction of the article transport vehicle 2, and each of the pair of front and rear guide rails 27 passes through both ends of the power receiving unit 25 in the front-rear direction. It is slidably supported in the horizontal width direction. Accordingly, the power receiving unit 25 can smoothly move in the lateral width direction of the article transport vehicle 2 with respect to the vehicle body main body 9.
  • the travel unit 10 travels along the travel rail 1 by rotating around the vertical axis with respect to the vehicle body main body 9 by the connecting shaft 12.
  • the power receiving section moving means 26 is located outside the curved portion 5 in the lateral width direction of the article transport vehicle 2 (in the direction away from the curved center of the curved portion in the radial direction in FIG.
  • the power receiving unit 25 is moved in the direction of the arrow).
  • a pair of front and rear connecting shafts 12 are provided, but the power reception unit moving means 26 conveys the article only with the rotation of the connecting shaft 12 that connects one side of the pair of front and rear traveling units 10 and the vehicle body 9.
  • the power receiving unit 25 is configured to move in the lateral width direction of the vehicle 2. That is, the power receiving unit moving means 26 in FIG. 5, FIG. 7 and FIG. 8 includes the power receiving unit 25 in the lateral width direction of the article transport vehicle 2 in accordance with the rotation of one of the pair of front and rear connecting shafts 12 a. Move.
  • the power receiving unit moving means 26 includes a pinion unit 28 that can rotate integrally with the connecting shaft 12, and a rack unit 29 that is formed in the power receiving unit 25 so as to extend along the widthwise direction of the article transport vehicle 2 and meshes with the pinion unit 28. And is configured.
  • the connecting shaft 12 rotates
  • the pinion portion 28 rotates integrally with the rotation of the connecting shaft 12
  • the pinion portion 28 meshes with the rack portion 29, and the power receiving portion 25 extends outside the curved portion 5 in the lateral width direction of the article transport vehicle 2. (See the arrow in FIG. 8 on the left side in FIG. 8).
  • the positional relationship between the feeder line 24 and the power receiving unit 25 in the lateral width direction of the article transport vehicle will be described.
  • the traveling rail 1 is also disposed along the straight portion 4.
  • the vehicle travels without rotating around the vertical axis. Therefore, the movement trajectory of the traveling unit 10 and the movement trajectory of the vehicle body main body 9 are the same trajectory extending along the straight part 4, and the power receiving unit 25 provided in the vehicle body main part 9 is also along the straight part 4.
  • the trajectory is the same as the trajectory of the traveling part 10 that extends.
  • the movement trajectory of the vehicle body 9 becomes a trajectory extending along the straight portion 4, and as shown in FIG.
  • the first power supply line 24a and the second power supply line 24b can be positioned in the region), and power supply from the power supply line 24 to the power receiving unit 25 can be appropriately performed.
  • the traveling rail 1 is disposed along the curved portion 5, so that the traveling portion 10 is around the vertical axis with respect to the vehicle body portion 9.
  • the movement locus of the traveling unit 10 is a locus extending along the curve portion 5
  • the movement locus of the vehicle body 9 and the power receiving unit 25 is not a locus extending along the curve portion 5, but the curve portion. It becomes the locus which approached the inside of 5.
  • the straight line P1 passing through the center of the power receiving unit 25 along the front-rear direction of the article transport vehicle 2 is located on the straight line P2 that connects the connecting shafts 12 of the pair of front and rear traveling units 10, but the straight line P1 is a position close to the inside of the curve portion 5. Therefore, the interval Q1 between the arc-shaped curve P3 (corresponding to the movement trajectory of the connecting shaft 12) connecting the center of the gap between the pair of left and right traveling rails 1 along the curve part 5 and the straight line P1 is widened.
  • the second power supply line 24 b located outside the curved portion 5 protrudes outside the power receiving unit 25 in the lateral width direction of the article transport vehicle 2.
  • the second power supply line 24 b is disconnected from the power supply possible region K of the power reception unit 25, and power supply from the power supply line 24 to the power reception unit 25 can be appropriately performed. It may not be possible.
  • the power receiving unit moving means 26 when the traveling unit 10 rotates about the vertical axis with respect to the vehicle body main unit 9.
  • the pinion portion 28 rotates while meshing with the rack portion 29 in accordance with the rotation of the connecting shaft 12 at that time, and the power receiving portion 25 is outside the curved portion 5 in the lateral width direction of the article transport vehicle 2 (the left side in FIG. (See the arrow in FIG. 8). Accordingly, as shown in FIG.
  • a straight line P ⁇ b> 1 passing through the center of the power receiving unit 25 along the front-rear direction of the article transport vehicle 2 is a straight line P ⁇ b> 2 that connects the connecting shafts 12 of the pair of front and rear traveling units 10.
  • the distance Q2 between the curve P3 and the straight line P1 is smaller than the distance Q1 in FIG. 9A described above. Therefore, it is possible to prevent the second power supply line 24 b from protruding outside the power receiving unit 25 in the lateral width direction of the article transport vehicle 2. As a result, as shown in FIG.
  • the first power supply line 24 a and the second power supply line 24 b can be maintained in the power supplyable region K of the power receiving unit 25, and the power supply line 24 to the power receiving unit 25 can be maintained. Power can be properly supplied.
  • the amount of movement when the vehicle body 9 moves closer to the inside of the curved portion 5 corresponds to the amount of rotation of the connecting shaft 12, so that the power receiving unit moving means 26 receives power as the connecting shaft 12 rotates.
  • the power receiving unit 25 can be moved by a movement amount corresponding to the movement amount when the vehicle body 9 approaches the inside of the curved portion 5.
  • the movement amount of the power receiving unit 25 can be easily managed by using the rotation of the connecting shaft 12, and the positions of the power supply line 24 and the power receiving unit 25 can be controlled.
  • the relationship can be accurately maintained within an appropriate range.
  • one travel route branches into a travel route of the straight part 4 and a travel route of the curve part 5, and the travel route of the straight part 4 It has the junction part 31 where the travel route of the curve part 5 joins.
  • the traveling rail 1 is disposed only on one side in the lateral width direction of the article transport vehicle 2, and the guided wheel 32 provided in the traveling unit 10.
  • a merging / branching traveling rail 33 is provided which is guided to abut and is caused to branch and travel at the branching portion 30 and to join and travel at the merging portion 31.
  • the branch portion 30 is illustrated, and the merging portion 31 is not illustrated.
  • a merging / branching traveling rail 33 for guiding a freely guided wheel 32 is provided.
  • the merging / branching traveling rail 33 has two guide surfaces that are opposite to each other as a guide surface for guiding the guided wheel 32, that is, a surface facing one side in the lateral width direction of the article transport vehicle 2 and a surface facing the other side. It is prepared in a state of facing.
  • One side of the two guide surfaces of the merging / branching travel rail 33 is configured by a first guide surface 33 a that guides the travel route of the straight portion 4, and the other side guides the travel route of the curve portion 5. It is comprised by 2 guide surfaces 33b.
  • Guide surface switching means 34 can switch between the first guide surface 33a and the second guide surface 33b.
  • a pair of guided wheels 32 are provided in a state of being lined up in the front-rear direction of the article transport vehicle 2.
  • the guide surface switching means 34 includes a swing arm 36 that can swing around a vertical axis by a drive unit 35 such as a motor, a movable body 37 provided at the tip of the swing arm 36, and the movable body 37 as an article.
  • a guide moving unit 38 that guides and moves the transport vehicle 2 in the lateral width direction.
  • the guided wheel 32 is supported at the tip of the moving body 37 so as to be rotatable around the vertical axis.
  • the guide surface switching means 34 swings the swing arm 36 by the drive unit 35 to change the position of the guided wheel 32 to the left side or the right side in the lateral width direction of the article transport vehicle 2, so In FIG. 33, the guide wheel 32 is guided by the first guide surface 33a or the guide wheel 32 is guided by the second guide surface 33b.
  • the guide surface switching means 34 is switched to a state in which the guided wheel 32 is guided on the second guide surface 33 b in the merging / branching traveling rail 33.
  • the traveling rail 1 is disposed only on one side in the lateral width direction of the article transport vehicle 2, as in the above-described branch portion 30, and the guided wheel A traveling rail for merging / branching for guiding 32 is provided. Then, the guide surface switching means 34 changes the position of the guided wheel 32 to the left or right side in the lateral width direction of the article transport vehicle 2 so that the guided wheel 32 is guided by the merging / branching traveling rail.
  • the article transport vehicle 2 is configured to travel by merging by guiding the guided wheel 32 with the branch traveling rail.
  • the traveling rail 1 is disposed only on one side in the lateral width direction of the article transporting vehicle 2 at the branch portion 30 and the junction portion 31, the traveling portion 10 is in the vertical axis with respect to the vehicle body portion 9.
  • the power receiving unit moving means 26 moves the power receiving unit 25 in the lateral width direction of the article transport vehicle 2 along with the rotation, and the positional relationship between the power supply line 24 and the power receiving unit 25. May not be maintained within the proper range.
  • the junction 30 and the junction 31 are provided with the junction / branch running rail 33, and the junction / branch running rail 33 is provided in the traveling unit 10.
  • the guided wheel 32 is guided. Thereby, it can prevent that the traveling part 10 rotates carelessly around the vertical axis with respect to the vehicle body part 9. Therefore, the positional relationship between the power supply line 24 and the power reception unit 25 can be maintained in an appropriate range even when traveling through the branch part 30 and the merge part 31, and power supply from the power supply line 24 to the power reception part 25 is appropriate. Can be done.
  • the power receiving unit moving unit 26 includes the pinion unit 28 and the rack unit 29.
  • the structure is not limited to the pinion unit 28 and the rack unit 29, and other structures are adopted.
  • the power receiving unit moving unit 26 can be configured.
  • a swing part 39 that can swing integrally with the connecting shaft 12, and the power receiving part 25 is moved in the lateral width direction of the article transport vehicle 2 by swinging the swing part 39.
  • the power receiving unit moving means 26 can be configured by including the link unit 40 that links the movement of the swinging unit 39 and the movement of the power receiving unit 25 so as to be moved.
  • the link portion 40 has one end portion pivotally connected to the tip end portion of the swinging portion 39, one end portion pivotally connected to the other end portion of the first link portion 40a, and the other end.
  • the second link unit 40 b is fixed to the power receiving unit 25.
  • other conventional techniques can be used as the power reception unit moving means.
  • a pair of rubber wheels that are frictionally engaged with each other can be used instead of the pinion and the rack portion of the above embodiment.
  • a sensor that measures the rotation of the connecting shaft 12 and a linear motor that moves the power receiving unit 25 according to the output from the sensor can be used.
  • a stepping motor can be used as any of the motors described in this specification.
  • the traveling rail 1 is also provided on the both sides in the lateral width direction of the article transporting vehicle 2 and provided as a pair on the left and right sides. However, for example, only one traveling rail may be provided.
  • the vehicle body 9 is suspended and supported on the traveling unit 10 below the traveling rail 1.
  • the vehicle body 9 can be disposed above the traveling unit 10 so as to reverse the positional relationship.
  • the traveling unit 10 is not limited to a pair of front and rear, and for example, a single traveling unit 10 may be provided.
  • the present invention can be used as an article conveying facility used in a warehouse, a manufacturing facility, or the like.

Abstract

L'invention porte sur une infrastructure de transport d'articles qui peut distribuer de l'énergie d'une ligne d'alimentation électrique à une unité de réception d'énergie, d'une manière appropriée, sans avoir à installer d'unité de réception d'énergie sur un arbre de connexion, et même dans des parties incurvées de trajets de déplacement établis. Le rail de déplacement (1) et la ligne d'alimentation électrique sont disposés de manière à s'étendre en correspondance avec un trajet de déplacement établi, combinant des parties droites et des parties incurvées (5), et un véhicule de transport d'articles comporte des unités de déplacement (10), ainsi que des roues de guidage (15), en contact avec le rail de déplacement (1), qui sont guidées dans la direction horizontale, et des roues de déplacement (14), en contact avec le rail de déplacement, qui sont entraînées de façon rotative. Les unités de déplacement (10) sont reliées par des arbres de liaison (12) à un corps principal de châssis (9) afin de tourner librement autour d'axes verticaux, l'unité de réception d'énergie (25) étant portée sur le corps principal de châssis (9) afin de se déplacer librement dans la direction horizontale du véhicule de transport d'articles, et le véhicule de transport d'articles comporte en outre un moyen de déplacement de l'unité de réception d'énergie (26) afin de déplacer l'unité de réception d'énergie (25) vers le côté extérieur des parties incurvées (5) dans la direction horizontale du véhicule de transport d'articles en correspondance avec les rotations des arbres de liaison (12) lorsque les unités de déplacement (10) tournent autour des axes verticaux par rapport au corps principal de châssis (9), au fur et à mesure que le véhicule de transport d'articles se déplace sur les parties incurvées (5).
PCT/JP2010/068722 2009-12-07 2010-10-22 Infrastructure de transport d'articles WO2011070861A1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
SG2012039483A SG181120A1 (en) 2009-12-07 2010-10-22 Item conveyance infrastructure
CN201080055470.8A CN102639380B (zh) 2009-12-07 2010-10-22 物品运送设备
US13/514,161 US8448579B2 (en) 2009-12-07 2010-10-22 Article transport facility
KR1020127015089A KR101736887B1 (ko) 2009-12-07 2010-10-22 물품 반송 설비
EP10835783.1A EP2511150B1 (fr) 2009-12-07 2010-10-22 Infrastructure de transport d'articles

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2009277732A JP5141987B2 (ja) 2009-12-07 2009-12-07 物品搬送設備
JP2009-277732 2009-12-07

Publications (1)

Publication Number Publication Date
WO2011070861A1 true WO2011070861A1 (fr) 2011-06-16

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PCT/JP2010/068722 WO2011070861A1 (fr) 2009-12-07 2010-10-22 Infrastructure de transport d'articles

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US (1) US8448579B2 (fr)
EP (1) EP2511150B1 (fr)
JP (1) JP5141987B2 (fr)
KR (1) KR101736887B1 (fr)
CN (1) CN102639380B (fr)
SG (1) SG181120A1 (fr)
TW (1) TWI419829B (fr)
WO (1) WO2011070861A1 (fr)

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Also Published As

Publication number Publication date
KR101736887B1 (ko) 2017-05-17
JP2011116313A (ja) 2011-06-16
TWI419829B (zh) 2013-12-21
CN102639380A (zh) 2012-08-15
EP2511150B1 (fr) 2017-12-06
EP2511150A4 (fr) 2015-03-18
KR20120098775A (ko) 2012-09-05
TW201124330A (en) 2011-07-16
JP5141987B2 (ja) 2013-02-13
SG181120A1 (en) 2012-07-30
US8448579B2 (en) 2013-05-28
CN102639380B (zh) 2015-04-15
EP2511150A1 (fr) 2012-10-17
US20120312188A1 (en) 2012-12-13

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