JP2000159099A - Tracked truck - Google Patents

Abstract

(57) [Summary] [Problem] To reduce the height of a bogie, even if traveling wheels are provided in front of and behind a bogie in a traveling direction of the bogie, the length of the bogie can be reduced. A carrier 20 and a pair of traveling means 22 attached to the front and rear of the carrier 20 in the traveling direction of the carriage so as to be integrally pivotable with respect to the carrier 20 in a horizontal plane.
A, 22B and a controller 39. One traveling means 22A includes a pair of left and right drive wheels 24 connected to each other via a differential gear 27, which rolls on rails 21A and 21B, and a drive mechanism 25 for driving the drive wheels 24. I have. The other traveling means 2
2B is a pair of left and right independent driven wheels 33 rolling on the rails 21A and 21B, and a pulse attached to each of the pair of driven wheels 33 for generating a pulse corresponding to the traveling distance of the bogie. And an encoder 34. The controller 39 controls the traveling of the bogie based on the pulse from the encoder 34.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tracked bogie, and more particularly, to reduce the length of a bogie even if traveling wheels are provided in front of and in the rear of the bogie in the traveling direction of the bogie to reduce the height of the bogie. The present invention relates to a tracked bogie that can perform traveling control easily.

[0002]

2. Description of the Related Art For example, a tracked truck for transporting cargo in an automatic warehouse is disclosed in Japanese Patent Laid-Open No. 5-23838.
There was one disclosed in Japanese Patent Publication No. 0.

[0003] Hereinafter, this tracked truck will be referred to as Prior Art 1. Hereinafter, an outline of the prior art 1 will be described with reference to the drawings. FIG. 7 is a schematic plan view showing the prior art 1, and FIG.
FIG. 9 is a diagram showing driving wheels in the prior art 1, and FIG. It is a figure showing a driven wheel in prior art 1.

[0004] In FIGS. 7 to 9, reference numeral 1 denotes a carrier, 2
A and 2B are rails, and 3 is a pair of drive wheels attached below the carrier 1. Each of the pair of drive wheels 3 rolls on one rail 2A. Reference numeral 4 denotes a pair of driven wheels mounted below the carrier 1. Each of the pair of driven wheels 4 rolls on the other rail 2B. 5 is a motor attached to each of the pair of driving wheels 3, 6 is a driving wheel 3
And side guide rollers for preventing the driven wheel 4 from deviating from the rails 2A and 2B. The driving wheel 3
As shown in FIG. 8, the motor 5 can be freely turned by a turning shaft 7 together with the motor 5. As shown in FIG. 9, the driven wheel 4 can revolve and rotate by a fixed turning shaft 8 and a movable turning shaft 9. Reference numeral 10 denotes a traveling control controller for the truck.

[0005] According to the above-mentioned prior art 1, the bogie travels along the rails 2A and 2B by the driven wheels 4 and the drive wheels 3 whose rotation is controlled by the controller 10. When the truck travels on the curved portion, the drive wheel 3 turns around the turning shaft 7, and the driven wheel 4 turns around the fixed turning shaft 8 and the movable turning shaft 9.

Another tracked truck is disclosed in JP-A-8-30.
No. 329 was disclosed. Hereinafter, this tracked truck is referred to as Conventional Technology 2. Hereinafter, an outline of the prior art 2 will be described with reference to the drawings. FIG. 10 is a schematic plan view showing Conventional Technique 2.

In FIG. 10, reference numeral 11 denotes a carrier, 12A,
12B is a rail, and 13 is a pair of drive wheels mounted below the carrier 11. Each of the pair of drive wheels 13 rolls on one rail 12A. 14 is the loading platform 1
1 is a pair of driven wheels attached below the first driven wheel. Each of the pair of driven wheels 14 rolls on the other rail 12B. Reference numeral 15 denotes a motor attached to each of the pair of driving wheels 13, and 16 denotes an encoder attached to the axle 17 of one driving wheel 13 for generating a pulse corresponding to the traveling distance of the bogie, which will be described later. Sends a pulse to the controller Reference numeral 18 denotes a magnetic sensor that detects a curve pattern formed by a magnetic tape provided on a rail in a curve section. Reference numeral 19 denotes a traveling controller for the truck.

According to the above-mentioned prior art 2, the bogie travels along the rails 12A and 12B by the driven wheels 14 and the driving wheels 13 whose rotation is controlled by the controller 19. It is necessary to change the number of rotations of the driving wheel 13 and the driven wheel 14 between the left curve and the right curve. This is performed by detecting a curve pattern by the magnetic sensor 18.

[0009]

However, the above-mentioned prior arts 1 and 2 have the following problems. (1) In the prior arts 1 and 2, when the traveling space of the truck is limited, it is necessary to reduce the height of the truck as much as possible. In order to lower the height of the cart, the carts 1 and 11 may be provided in front of and behind the carts 1 and 11 in the traveling direction of the cart. That is, the carriers 1 and 11 may be provided between the wheels in the longitudinal direction of the truck.

However, in the prior arts 1 and 2, since the motors 5 and 15 are mounted on the driving wheels 3 and 13 provided in the front-rear direction of the truck, the movable space of the motors 5 and 15 when the truck turns is limited. Becoming wider, the overall length of the truck becomes longer. When the length of the whole bogie becomes long, not only hindrance to the small turn of the bogie is hindered, but also the number of running bogies decreases. (2) According to the prior art 2, since the encoder 16 is attached to one of the wheels to measure the traveling distance of the bogie, there is a difference in traveling distance between the left curve and the right curve. Therefore, it is necessary to detect the left curve or the right curve by some method, and the control system becomes complicated. (3) In prior art 2, only one kind of radius of curvature can be used, and it is not possible to cope with curves having different radii of curvature. (4) According to the prior art 2, when a normal pulse is not generated due to the failure of the encoder 16, the traveling distance is counted small and there is a possibility that the vehicle will collide with a bogie in front.

[0011] Therefore, an object of the present invention is to reduce the height of the truck, even if the traveling wheels are provided forward and rearward in the direction of travel of the truck to reduce the height of the truck. Another object of the present invention is to provide a tracked bogie that can simplify traveling control.

[0012]

According to the first aspect of the present invention,
In a tracked truck capable of traveling on two rails, a carrier, and a pair of traveling means attached to the front and rear of the carrier in a traveling direction of the carrier so as to be integrally pivotable with respect to the carrier in a horizontal plane. , A controller and
One of the pair of traveling means includes a pair of left and right driving wheels that are connected to each other via a differential gear that rolls on the rail, and a driving mechanism for driving the driving wheels, The other of the running means rolls on the rail, and a pair of left and right independent driven wheels, and a pulse attached to each of the pair of driven wheels for generating a pulse corresponding to the traveling distance of the bogie. And an encoder, wherein the controller controls the traveling of the bogie based on a pulse from the encoder.

[0013] The invention according to claim 2 is characterized in that the loading platform is formed so that its planar shape is hexagonal. The invention according to claim 3 is characterized in that the controller controls traveling of the bogie based on an average value of the number of pulses from the pair of encoders.

According to a fourth aspect of the present invention, the controller has a special feature in detecting an electrical or mechanical failure of the encoder based on a difference in the number of pulses from the pair of encoders. .

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, an embodiment of a tracked bogie according to the present invention will be described with reference to the drawings. FIG. 1 is a perspective view showing a tracked truck of the present invention, FIG. 2 is a front view showing a tracked truck of the present invention, and FIG. 3 is a plan view showing the tracked truck of the present invention with a carrier removed. 4 corresponds to A- in FIG.
FIG. 5 is a sectional view taken along the line A, FIG. 5 is a plan view showing the approaching state at the corner of the tracked bogie of the present invention in which the loading platform is formed in a hexagonal shape, and FIG. 6 is a plan view of the present invention in which the loading platform is formed in a rectangular shape. It is a top view which shows the proximity state in the corner part of a track bogie.

In FIG. 1 to FIG. 6, reference numeral 20 denotes a loading platform formed by cutting off a corner portion and forming a hexagonal planar shape. By forming the flat shape of the loading platform 20 in a hexagonal shape, as shown in FIG. 5, the interval between the adjacent bogies in the curved portion and the straight portion can be kept constant (L1). It is not necessary to change the running control pattern of the vehicle, and the running control system of the bogie is simplified.
On the other hand, when the planar shape of the loading platform 20 is rectangular, as shown in FIG. 6, the distance between the adjacent bogies between the straight portion and the curved portion is (L2), (L3), (L4). Therefore, it is necessary to change the running control pattern of the bogie between the straight portion and the curved portion, and the running control system of the bogie is complicated accordingly.

A conveyor 36 is provided on the carrier 20 in a direction perpendicular to the traveling direction of the truck, and loads are delivered from the carrier 20 of the truck stopped at a predetermined position, for example, in a direction perpendicular to the traveling direction of the truck. Can be transferred to another conveyor.

21A and 21B are rails, 22A and 22
B is a pair of traveling means, which are attached to the front of the carriage 20 in the traveling direction of the carriage 20 and the rear of the carriage 20 by pivoting shafts 23A and 23B so as to be integrally pivotable with the carriage 20 in a horizontal plane. As described above, by providing the pair of traveling means 21A and 21B in front of and behind the carriage 20 in the carriage traveling direction, that is, by providing the carrier 20 between the pair of traveling means 21A and 21B, the carrier 2
The height of 0, that is, the height of the cart can be reduced.

One of the pair of running means 22A is connected to the rail 2
A pair of left and right driving wheels 24 rolling on 1A and 21B, a driving mechanism 25 for driving the driving wheels 24, and a rail 2
Rails 21A, 21B rolling on inner surfaces of 1A, 21B
Side guide roll 2 for preventing departure of drive wheel 24 from above
6 is provided. The pair of driving wheels 24 are connected to each other via a differential gear 27, and the pair of driving wheels 2
Even if there is a difference in the number of revolutions between the four wheels, the running resistance does not occur. The driving mechanism 25 includes a motor 28, a pulley 2
9, 30, a timing belt 31 and an idler 32.

The other of the pair of running means 22B is a rail 2
A pair of left and right independent driven wheels 33 rolling on 1A and 21B, and an encoder 34 attached to each of the pair of driven wheels 33 for generating a pulse corresponding to the traveling distance of the bogie; Side guide rollers 5 are provided for preventing the driven wheels 33 from deviating from the rails 21A, 21B, which roll on the inner surfaces of the rails 21A, 21B.

As described above, the pair of traveling means 22A, 22
By providing the motor 28 on only one side of the truck B, the movable space of the motor 28 during the turning of the truck is smaller than in the case where the motor is provided on each of the drive wheels in the front-rear direction of the truck as in the prior arts 1 and 2. And by this,
Even if the carrier 20 is provided between the pair of traveling means 22A and 22B, it is not necessary to increase the overall length of the carriage.

Reference numeral 37 denotes a trolley attached to the side surface of one of the rails 12B for supplying power to the motor 28 and the like; 38, a trolley current collector attached to each of the pair of traveling means 22A, 22B; , 39 are controllers provided in the truck for controlling the traveling of the truck based on signals from the encoder 34 and the like.

According to the tracked truck of the present invention configured as described above, the truck travels on the rails 21A and 21B as follows. Depending on the traveling of the trolley,
The pulse from the encoder 34 of each driven wheel 33 is sent to the controller 39. The controller 39 calculates the average of both pulse numbers and converts the traveling distance of the bogie.
As a result, the pulse count value becomes two rails 2
It represents the distance of the wheel rolling on the center line of 1A, 21B. As a result, there is no need to detect each of the left curve and the right curve. Further, even if the wheels roll on rails having different curvatures, no error occurs in the measurement distance. As described above, the encoder 34 is attached to each of the pair of driven wheels 33 independent of each other.
Is provided, the traveling control of the bogie is simplified.

Further, the controller 39 calculates the difference between the number of pulses from the two encoders 34, and when the difference is out of the preset range, stops the carriage immediately. As a result, electrical and mechanical failures of the encoder 34 can be reliably detected.

[0025]

As described above, the present invention has the following useful effects. (1) By providing a carrier between a pair of traveling means,
The height of the cart can be reduced. (2) By providing a motor only to one of the pair of traveling means, compared to the case where the motor is provided to each of the driving wheels in the front-rear direction of the bogie as in the prior arts 1 and 2, the motor is not rotated when the bogie turns. The movable space is reduced, and as described in (1), even if the carrier is provided between the pair of traveling means, it is not necessary to increase the overall length of the carriage. (3) By providing an encoder for each of a pair of independent driven wheels, traveling control of the bogie is simplified, and electrical and mechanical failures of the encoder can be reliably detected. (4) If the corners of the loading platform are cut off, for example, if the planar shape of the loading platform is hexagonal, the distance between the adjacent bogies in the curved portion and the straight portion can be kept constant. There is no need to change the running control of the bogie,
The traveling control system of the bogie is simplified.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a tracked truck according to the present invention.

FIG. 2 is a front view showing a tracked truck according to the present invention.

FIG. 3 is a plan view showing the tracked truck of the present invention from which the carrier is removed.

FIG. 4 is a sectional view taken along line AA of FIG. 2;

FIG. 5 is a plan view showing a proximity state at a corner of the tracked bogie according to the present invention, in which the loading platform is formed in a hexagonal shape.

FIG. 6 is a plan view showing an approaching state at a corner portion of the tracked bogie according to the present invention in which the loading platform is formed in a rectangular shape.

FIG. 7 is a schematic plan view showing Conventional Technique 1.

FIG. 8 is a diagram showing driving wheels according to the conventional technique 1.

FIG. 9 is a diagram illustrating a driven wheel according to the related art 1.

FIG. 10 is a schematic plan view showing a conventional technique 2.

[Explanation of symbols]

 1: loading platform 2A, 2B: rail 3: driving wheel 4: driven wheel 5: motor 6: side guide roller 7: rotating shaft 8: fixed rotating shaft 9: movable rotating shaft 10: controller 11: loading platform 12A, 12B: rail 13 : Drive wheel 14: driven wheel 15: motor 16: encoder 17: axle 18: magnetic sensor 19: controller 20: carrier 21A, 21B: rail 22A, 22B: running means 23A, 23B: turning shaft 24: drive wheel 25: drive Mechanism 26: Side guide roll 27: Differential gear 28: Motor 29: Pulley 30: Pulley 31: Timing belt 32: Idler 33: Driven wheel 34: Encoder 35: Side guide roller 36: Conveyor 37: Trolley 38: Trolley collector 39 :controller

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Hiroshi Ishikawa 1-1-2 Marunouchi, Chiyoda-ku, Tokyo Japan Co., Ltd. (72) Inventor Noriaki Masada 1-2-1, Marunouchi, Chiyoda-ku, Tokyo Japan (72) Inventor Eiji Oshida 1-2-1, Marunouchi, Chiyoda-ku, Tokyo Japan 1-2.Inventor Yoichi Yoshinaga 1-1-2, Marunouchi, Chiyoda-ku, Tokyo Japan Tube (72) Inventor Kazuhiro Usami 1-2-1, Marunouchi, Chiyoda-ku, Tokyo Nihon Kokan Co., Ltd. (72) Inventor Kiyoshi Kawamura 1-2-1, Marunouchi, Chiyoda-ku, Tokyo Nihon Kokan Co., Ltd. F-term (reference) 3F022 JJ11 LL12 LL32 MM01 MM61 QQ03

Claims (4)

[Claims] 1. A tracked vehicle capable of traveling on two rails, wherein a carrier and a front and rear of the carrier in a traveling direction of the carrier are integrally rotatably attached to the carrier in a horizontal plane. One of the pair of running means includes a pair of running means and a controller, and one of the pair of running means drives the pair of left and right driving wheels connected to each other via a differential gear, rolling on the rail, and the driving wheels. A driving mechanism for the vehicle, and the other of the pair of traveling means rolls on the rail, a pair of left and right independent driven wheels, and a bogie attached to each of the pair of driven wheels. An encoder for generating a pulse corresponding to a traveling distance, wherein the controller controls traveling of the bogie based on a pulse from the encoder. Rail truck. 2. The tracked bogie according to claim 1, wherein the loading platform is formed to have a hexagonal planar shape. 3. The tracked bogie according to claim 1, wherein the controller controls the running of the bogie based on an average value of the number of pulses from the pair of encoders. 4. The track according to claim 1, wherein the controller detects an electrical or mechanical failure of the encoder based on a difference in the number of pulses from the pair of encoders. Trolley.