JP2011162001A - Driving structure, transportation vehicle, and transportation system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving structure capable of smoothly traveling a transportation vehicle by preventing impact, vibration or the like during traveling without providing secondary driving track used at acceleration/deceleration of the transportation vehicle, a transportation vehicle and a transportation system. <P>SOLUTION: The driving structure 30 for traveling/driving the transportation vehicle 3 using the driving track 21 moved in a predetermined direction includes: a first wheel 31 rotatably provided on the transportation vehicle 3 and arranged at a position where it is brought into contact with the driving track 21; a first braking part 32 for braking rotation of the first wheel 31; a second wheel 33 rotatably provided on the transportation vehicle 3 and arranged at a position where it is brought into contact with a non-movement part 22 different from the driving track 21; and a second braking part 34 for braking rotation of the second wheel 33. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

 The present invention relates to a drive structure, a transport vehicle, and a transport system.

 Patent Document 1 discloses a transport system having a drive cable that moves in a predetermined direction and a transport vehicle that is driven by the drive cable and travels. The transport vehicle is integrally provided with a grip portion for gripping the drive cable, and the transport vehicle travels with the movement of the drive cable when the grip portion grips the drive cable. Therefore, it is not necessary to install a driving device for traveling in the transport vehicle, and the configuration of the transport vehicle can be simplified.

 Moreover, the transportation system disclosed in Patent Document 1 has a drive belt that is disposed at a stop where the transport vehicle stops and is used when the transport vehicle is accelerated or decelerated. A transport vehicle that is stopped at a stop is first driven by a drive belt and begins to travel. When the moving speed of the driving belt is gradually increased and the traveling speed of the transport vehicle approaches the moving speed of the driving cable, the gripping portion of the transporting vehicle grips the driving cable, and the transporting vehicle is driven by the driving cable and travels. On the other hand, when the transport vehicle stops at the stop, the transport vehicle is driven by the drive belt after releasing the grip of the drive cable by the grip portion. The moving speed of the drive belt is gradually reduced to stop the transport vehicle at the stop. By using the drive belt, it is possible to smoothly start and stop the transport vehicle from the stop.

Japanese Patent Publication No. 64-6980

However, the following problems exist in the above-described prior art.
When the traveling speed of the transport vehicle and the moving speed of the drive cable are different, if the gripping portion grips the drive cable, there is a risk that the transport vehicle will be subjected to shock, vibration, or the like. Therefore, by gradually increasing the gripping force of the gripping part, the traveling speed of the transport vehicle is matched with the moving speed of the drive cable while suppressing impact and the like. However, it is difficult to control the gripping force, and there is a problem that it is not possible to easily suppress an impact or the like.

 In addition, since the relative speed between the transport vehicle and the drive cable is reduced by driving the transport vehicle with the drive belt described above during acceleration / deceleration of the transport vehicle, the impact generated when the gripping portion grips the drive cable, etc. Can be mitigated. However, installing a driving belt in addition to the driving cable has a problem of increasing the cost of the entire transportation system.

 The present invention has been made in consideration of the above points, such as impact and vibration during traveling without providing a secondary driving track such as the driving belt used at the time of acceleration / deceleration of a transportation vehicle. It is an object of the present invention to provide a drive structure, a transport vehicle, and a transport system that can prevent the vehicle from running and smoothly run the transport vehicle.

In order to solve the above problems, the present invention employs the following means.
The present invention is a drive structure for driving a transport vehicle using a drive track moving in a predetermined direction, the first wheel being rotatably provided in the transport vehicle and disposed at a position in contact with the drive track. A first braking portion that brakes the rotation of the first wheel, a second wheel that is rotatably provided on the transport vehicle and is disposed at a position that contacts a non-moving portion different from the drive track, and the rotation of the second wheel. The structure of having a second braking portion for braking is adopted.
In the present invention, when the transport vehicle is driven by the driving track, the traveling speed of the transport vehicle is adjusted by the cooperation of the first braking portion and the second braking portion.

 The present invention employs a configuration that includes a control unit that gradually changes each braking force of the first braking unit and the second braking unit with respect to the first wheel and the second wheel.

 The present invention has a speed measuring device for measuring the traveling speed of the transport vehicle, and the control unit is configured to control the first of the first braking unit and the second braking unit according to the traveling speed of the transport vehicle measured by the speed measuring device. A configuration is employed in which each braking force for the wheel and the second wheel is controlled.

 The present invention employs a configuration in which the speed measuring device includes an angular velocity meter that measures the angular velocity of the second wheel.

 The present invention employs a configuration in which a plurality of second wheels are provided, and the first wheel and the second wheel cooperate to support the transport vehicle.

 The present invention employs a configuration in which the first wheel is disposed between a pair of second wheels provided with a drive track interposed therebetween.

 The present invention employs a configuration in which a plurality of first wheels and a plurality of second wheels are provided and each can support a transport vehicle.

 The present invention has a link member in which both the first wheel and the second wheel are rotatably provided, and each protrusion amount of the first wheel and the second wheel downward in the vertical direction as the link member swings. Adopting a configuration in which each changes.

The present invention employs a configuration in which the transport vehicle travels by driving a drive track moving in a predetermined direction, and has the drive structure according to any one of claims 1 to 8.
In the present invention, when the transport vehicle is driven by the driving track, the traveling speed of the transport vehicle is adjusted by the cooperation of the first braking portion and the second braking portion.

According to the present invention, the following effects can be obtained.
According to the present invention, in the driving of the transport vehicle by the drive track, the transport vehicle can be driven by the cooperation of the first braking unit and the second braking unit without providing a secondary drive track used for acceleration / deceleration of the transport vehicle. Travel speed can be adjusted. Therefore, there is an effect that it is possible to smoothly travel the transport vehicle while suppressing the cost of the transport system and preventing the impact and vibration during travel.

1 is a perspective view showing an overall configuration of a transport system 1. FIG. 2 is a schematic diagram showing a configuration of a transport vehicle 3. FIG. FIG. 5 is a schematic diagram illustrating a traveling operation of the transport vehicle 3. FIG. 4 is a schematic diagram showing an operation when the transport vehicle 3 passes through a joint 21 a of the drive belt 21. It is the schematic which shows the structure of 3 A of transport vehicles. It is the schematic which shows driving | running | working operation | movement of 3 A of transport vehicles.

 Hereinafter, embodiments of the present invention will be described with reference to FIGS. In each drawing used for the following description, the scale of each member is appropriately changed to make each member a recognizable size.

[First Embodiment]
The configuration of the transportation system 1 according to the present embodiment will be described with reference to FIG.
FIG. 1 is a perspective view showing an overall configuration of a transportation system 1 according to the present embodiment.
The transport system 1 is a system that is provided outdoors, underground, or in a building structure (a factory, a shopping mall, or the like) and transports people and objects to be transported. The transport system 1 includes a travel route 2 and a transport vehicle 3 that travels along the travel route 2.

 The travel route 2 is a route on which the transport vehicle 3 travels while being provided on an outdoor ground surface, a floor surface in a building structure, or the like, and includes a drive belt (drive track) 21 and a pair of travel surfaces (non-moving). Part) 22. The travel route 2 may be any of a route formed in an annular shape and a route connecting two predetermined points.

 The drive belt 21 is a drive track for driving the transport vehicle 3 to travel, and extends along the travel route 2. The driving belt 21 is driven by a driving device, a driving roller, and the like (not shown), and moves at a predetermined speed (approximately 30 km / h in this embodiment) in one direction. For the drive belt 21, a configuration in which plate members such as a substantially rectangular metal are connected side by side in the extending direction of the travel path 2, a configuration in which an elastic resin material (rubber or the like) is formed in a band shape, or the like is used. In any configuration, the transport vehicle 3 can be supported from below. The surface of the drive belt 21 on which the transport vehicle 3 is placed is substantially parallel to the horizontal plane, and is subjected to treatment (resin coating, surface roughening treatment, etc.) to improve its friction coefficient as appropriate.

 The traveling surface 22 is a fixed surface on which the transport vehicle 3 travels, and supports the transport vehicle 3 together with the drive belt 21 from below. The traveling surfaces 22 are provided on both sides of the drive belt 21 and extend along the traveling path 2. The traveling surface 22 is installed at substantially the same height as the surface of the driving belt 21 on which the transport vehicle 3 is placed. The traveling surface 22 is configured by connecting a plurality of predetermined members in the extending direction, but the steps and gaps in the connecting portion do not generate vibration or the like when the transport vehicle 3 travels through the connecting portion. It is set within the range. Instead of the traveling surface 22, a rail-like member that is fixed to the floor surface and extends along the traveling route 2 may be used.

Next, the configuration of the transport vehicle 3 according to the present embodiment will be described with reference to FIG.
2A and 2B are schematic views illustrating the configuration of the transport vehicle 3 according to the present embodiment, where FIG. 2A is a front view, FIG. 2B is a side view, and FIG. is there.

 The transport vehicle 3 travels along the travel route 2 and transports people and objects to be transported from a predetermined stop to another stop. The transport vehicle 3 is provided with a person's boarding space and a load space for transported objects, and an opening / closing door (not shown) is provided. A person gets in and out of the transport vehicle 3 or unloads a transported object through the open / close door. Since the transport vehicle 3 travels by driving the drive belt 21, it does not include a drive device for traveling. Therefore, the structure of the transport vehicle 3 can be simplified and the vehicle weight can be reduced.

 The transport vehicle 3 has a drive structure 30 for driving the transport vehicle 3 using the drive belt 21. The drive structure 30 includes a drive wheel (first wheel) 31, a drive wheel braking unit (first braking unit) 32, a driven wheel (second wheel) 33, and a driven wheel braking unit (second braking unit) 34. , A hydraulic pump 35, a battery 36, a speed measuring device 37, and a control unit 38.

 The drive wheels 31 are provided on the lower surface side of the transport vehicle 3 so as to be rotatable around a predetermined axis extending in a direction perpendicular to the extending direction of the drive belt 21 and parallel to the horizontal plane, and a plurality of drive wheels 31 are arranged at positions where the drive wheels 31 come into contact with the drive belt 21. Has been placed. The drive wheel 31 includes a wheel and a tire made of a resin such as rubber having elasticity and a high coefficient of friction. The tire portion of the drive wheel 31 is in contact with the drive belt 21 on the outer peripheral surface thereof, and the friction coefficient thereof so that it does not slide with the drive belt 21 even during driving by the drive belt 21 of the transport vehicle 3. In addition, the surface shape and the like are set.

 The drive wheel braking unit 32 is provided so as to be connected to the drive wheel 31 and brakes the rotation of the drive wheel 31. The drive wheel braking unit 32 is operated by the hydraulic pressure generated by the hydraulic pump 35, and is configured to be able to adjust the braking force for braking the drive wheel 31 in accordance with the change in hydraulic pressure. The drive wheel braking unit 32 uses, for example, a structure in which braking is performed by pressing (or sandwiching) a resin or metal pad on a metal disk that rotates in synchronization with the drive wheel 31. In order to reduce vibrations and shocks caused by braking of the drive wheel braking unit 32, a predetermined joint (fluid joint or the like) may be provided between the drive wheel 31 and the metal disk. In addition, a regenerative brake that generates power during braking may be used for the driving wheel braking unit 32. The generated power is used for charging the battery 36.

 The driven wheels 33 are provided on the lower surface side of the transport vehicle 3 so as to be rotatable around a predetermined axis extending in a direction perpendicular to the extending direction of the drive belt 21 and parallel to the horizontal plane, and a plurality of driven wheels 33 are provided at positions where the driven wheels 33 come into contact with the traveling surface 22. Has been placed. The driven wheel 33 includes a wheel and a tire made of a resin such as rubber having elasticity and a high coefficient of friction. The tire portion of the driven wheel 33 is in contact with the traveling surface 22 at the outer peripheral surface thereof. The driven wheel 33 cooperates with the drive wheel 31 to support the transport vehicle 3 from below. The driven wheels 33 are respectively provided corresponding to the four corners of the transport vehicle 3, and the driving wheels 31 are disposed between a pair of driven wheels 33 provided with the driving belt 21 interposed therebetween.

 The driven wheel braking unit 34 is provided so as to be connected to the driven wheel 33 and brakes the rotation of the driven wheel 33. The driven wheel braking unit 34 has the same configuration as that of the driving wheel braking unit 32, and thus the description thereof is omitted.

 The hydraulic pump 35 pumps oil to the driving wheel braking unit 32 and the driven wheel braking unit 34 to operate the driving wheel braking unit 32 and the driven wheel braking unit 34, and generates each braking force on the driving wheel 31 and the driven wheel 33. Is generated. The hydraulic pump 35 can individually and gradually adjust the pressure of the oil pumped to the driving wheel braking unit 32 and the driven wheel braking unit 34 based on a control instruction from the control unit 38. The drive source of the hydraulic pump 35 is electric power, and the electric power is supplied from the battery 36.

 The battery 36 is a storage battery that supplies power for operating the hydraulic pump 35, the speed measuring device 37, and the control unit 38. The battery 36 also supplies power to an air conditioner, a light, a direction indicator lamp, and the like provided in the transport vehicle 3.

 The speed measuring device 37 is a device for measuring the traveling speed of the transport vehicle 3. The speed measuring device 37 is provided in the vicinity of a predetermined driven wheel 33 and includes an angular velocity meter (not shown) that measures the angular velocity of the driven wheel 33. The speed measuring device 37 calculates and measures the traveling speed of the transport vehicle 3 from the angular velocity of the driven wheel 33 measured by the angular velocity meter and the outer diameter of the driven wheel 33, and outputs it to the control unit 38. The speed measuring device 37 may include only an angular velocity meter, and may output the measured angular velocity of the driven wheel 33 to the control unit 38 as it is and calculate the traveling speed of the transport vehicle 3 in the control unit 38.

 The control unit 38 controls the braking force of the driving wheel braking unit 32 and the driven wheel braking unit 34 on the driving wheel 31 and the driven wheel 33 according to the traveling speed of the transport vehicle 3 measured by the speed measuring device 37. Thus, it is a control device for controlling the traveling speed of the transport vehicle 3. The control unit 38 can gradually change the respective braking forces of the driving wheel braking unit 32 and the driven wheel braking unit 34 with respect to the driving wheel 31 and the driven wheel 33. Further, the control unit 38 controls each braking force of the driving wheel braking unit 32 and the driven wheel braking unit 34 so that the traveling speed of the transport vehicle 3 measured by the speed measuring device 37 changes at a predetermined speed change rate. be able to. Therefore, the control part 38 can drive the transport vehicle 3 smoothly.

Subsequently, the traveling operation of the transport vehicle 3 according to the present embodiment will be described with reference to FIGS. 2 to 4.
FIGS. 3A and 3B are schematic views showing the traveling operation of the transport vehicle 3, wherein FIG. 3A is when the transport vehicle 3 is stopped, FIG. 3B is when the transport vehicle 3 is accelerating / decelerating, and FIG. A traveling at a constant speed by driving the belt 21 is shown. FIG. 4 is a schematic view showing the operation when the transport vehicle 3 passes through the joint 21 a of the drive belt 21. 3 and 4, the transport vehicle 3 is conceptually represented only by the drive wheels 31 and the driven wheels 33, and FIG. 2 is referred to for other configurations.

First, the traveling operation of the transport vehicle 3 will be described with reference to FIG.
First, the operation until the transport vehicle 3 that is stopped accelerates and travels at a constant speed by driving the drive belt 21 will be described.

 As shown in FIG. 3A, the driven wheel braking unit 34 brakes the driven wheel 33 in accordance with a control instruction from the control unit 38. On the other hand, the driving wheel braking unit 32 releases the braking of the driving wheel 31 according to the control instruction of the control unit 38. Further, since the driving wheel 31 is in contact with the driving belt 21 that moves at a constant speed in the direction indicated by the arrow F, the driving wheel 31 rotates as the driving belt 21 moves. That is, since the driving wheel braking unit 32 does not brake the driving wheel 31 at all, the driving force of the driving belt 21 is not transmitted to the transport vehicle 3 and the transport vehicle 3 is stopped.

Next, as shown in FIG. 3B, the driven wheel braking unit 34 gradually releases the braking of the driven wheel 33 and the driving wheel braking unit 32 gradually brakes the driving wheel 31 according to the control instruction of the control unit 38. Begin to. The driving force of the driving belt 21 is gradually transmitted to the transport vehicle 3 by gradually releasing the braking of the driven wheel 33 by the driven wheel braking unit 34 and the braking of the driving wheel 31 by the driving wheel braking unit 32 at the same time. car 3 begins to gradually traveling in the direction indicated by the arrow M _1.

 Further, the control unit 38 controls each braking force of the driving wheel braking unit 32 and the driven wheel braking unit 34 so that the traveling speed of the transport vehicle 3 measured by the speed measuring device 37 is increased at a predetermined speed change rate. . Therefore, the transport vehicle 3 can start traveling smoothly under the control of the control unit 38 and increase its traveling speed at a predetermined speed change rate. Therefore, the traveling speed of the transport vehicle 3 can be smoothly adjusted by the cooperation of the drive wheel braking unit 32 and the driven wheel brake unit 34 without providing a secondary drive track used when the transport vehicle 3 is accelerated. .

Finally, as shown in FIG. 3 (c), the drive wheel braking unit 32 brakes the drive wheel 31 in accordance with a control instruction from the control unit 38. On the other hand, the driven wheel braking unit 34 releases the braking of the driven wheel 33 according to the control instruction of the control unit 38. Drive wheel 31 is in contact with the drive belt 21 which moves at a constant speed, and since the high frictional force between the drive wheel 31 and the drive belt 21 occurs, transporter 3 driven in the direction indicated by the arrow M ₂ The vehicle travels at a constant speed as the belt 21 moves. That is, the traveling speed of the transport vehicle 3 is the same as the moving speed of the drive belt 21. The driven wheel 33 that is in contact with the traveling surface 22 rotates as the transport vehicle 3 travels.
With the above, the operation until the stopped transport vehicle 3 accelerates and travels at a constant speed by driving the drive belt 21 is completed.

 Next, the operation until the transport vehicle 3 traveling at a constant speed by driving the drive belt 21 decelerates and stops will be described.

First, as shown in FIG. 3 (c), the drive wheel braking unit 32 brakes the drive wheel 31 in accordance with a control instruction from the control unit 38. On the other hand, the driven wheel braking unit 34 releases the braking of the driven wheel 33 according to the control instruction of the control unit 38. Drive wheel 31 is in contact with the drive belt 21 which moves at a constant speed, and since the high frictional force between the drive wheel 31 and the drive belt 21 occurs, transporter 3 driven in the direction indicated by the arrow M ₂ The vehicle travels at a constant speed as the belt 21 moves. That is, the traveling speed of the transport vehicle 3 is the same as the moving speed of the drive belt 21. The driven wheel 33 that is in contact with the traveling surface 22 rotates as the transport vehicle 3 travels.

Next, as shown in FIG. 3B, the driving wheel braking unit 32 gradually releases the braking of the driving wheel 31 and the driven wheel braking unit 34 gradually brakes the driven wheel 33 according to the control instruction of the control unit 38. Begin to. By simultaneously and gradually releasing the braking of the driving wheel 31 by the driving wheel braking unit 32 and the braking of the driven wheel 33 by the driven wheel braking unit 34, the driving force of the driving belt 21 is hardly transmitted to the transport vehicle 3. The travel of the transport vehicle 3 is braked by the travel surface 22 which is a fixed surface. That is, the transport vehicle 3 is also while traveling in the direction indicated by the arrow M _1, starts to gradually decelerated.

 Further, the control unit 38 controls each braking force of the driving wheel braking unit 32 and the driven wheel braking unit 34 so that the traveling speed of the transport vehicle 3 measured by the speed measuring device 37 is decreased at a predetermined speed change rate. . Therefore, the transport vehicle 3 can reduce the traveling speed at a predetermined speed change rate under the control of the control unit 38. Therefore, the traveling speed of the transport vehicle 3 can be smoothly adjusted by the cooperation of the drive wheel braking unit 32 and the driven wheel brake unit 34 without providing a secondary drive track used when the transport vehicle 3 is decelerated. .

Finally, as shown in FIG. 3A, the driven wheel braking unit 34 brakes the driven wheel 33 in accordance with a control instruction from the control unit 38. On the other hand, the driving wheel braking unit 32 releases the braking of the driving wheel 31 according to the control instruction of the control unit 38. Since the driving wheel 31 is in contact with the driving belt 21, the driving wheel 31 rotates as the driving belt 21 moves. That is, since the driving wheel braking unit 32 does not brake the driving wheel 31 at all, the driving force of the driving belt 21 is not transmitted to the transport vehicle 3 and the transport vehicle 3 stops.
Thus, the operation until the transportation vehicle 3 traveling at a constant speed is decelerated and stopped by driving the drive belt 21 is completed.

Next, with reference to FIG. 4, the operation when the transport vehicle 3 passes through the joint 21a of the drive belt 21 will be described.
Since the drive belt 21 is reversed and turned back by a predetermined length, a plurality of drive belts 21 are arranged along the extending direction in the travel path 2. Therefore, a step is generated in the joints 21a of the plurality of drive belts 21 for folding. But in the transport vehicle 3 of this embodiment, the drive wheel 31 is arrange | positioned between a pair of driven wheels 33 provided on both sides of the drive belt 21. As shown in FIG. Therefore, when the driving wheel 31 passes through the joint 21a, the pair of driven wheels 33 are in contact with the running surface 22 to support the transport vehicle 3, thereby preventing impact, vibration, etc. when passing through the joint 21a. Can do.

Therefore, according to the present embodiment, the following effects can be obtained.
According to the present embodiment, in driving the transport vehicle 3 by the drive belt 21, the driving wheel braking unit 32 and the driven wheel braking unit 34 are not provided without providing a secondary drive track used when the transport vehicle 3 is accelerated or decelerated. The traveling speed of the transport vehicle 3 can be adjusted by cooperation. Therefore, there is an effect that it is possible to smoothly travel the transport vehicle 3 while suppressing the cost of the transport system 1 and preventing an impact or vibration during travel.

[Second Embodiment]
The configuration of the transport vehicle 3A according to the present embodiment will be described with reference to FIG.
FIG. 5 is a schematic view showing the configuration of the transport vehicle 3A according to the present embodiment, in which (a) is a side view, (b) is a plan view showing the configuration of the drive structure 30A, and (c) is a link member 41. It is a side view of the vicinity. In FIG. 5, the same components as those of the first embodiment shown in FIG. 2 are denoted by the same reference numerals, and the description thereof is omitted.

 The transport vehicle 3 </ b> A has a drive structure 30 </ b> A for driving the transport vehicle 3 </ b> A using the drive belt 21. The drive structure 30A includes a drive wheel 31, a drive wheel braking unit 32, a driven wheel 33, a driven wheel braking unit 34, a hydraulic pump 35, a battery 36, a speed measuring device 37, a control unit 38, and a link. Member 41.

 The link member 41 is a substantially rod-like member extending in a predetermined direction, and is perpendicular to the moving direction of the drive belt 21 and parallel to the horizontal plane on the support portion 3s that protrudes downward in the vertical direction from the vehicle body of the transport vehicle 3A. It is provided so as to be rotatable around a predetermined axis extending in the direction in which it moves. Four link members 41 are provided in the transport vehicle 3A. Each link member 41 is provided with both the driving wheel 31 and the driven wheel 33 so as to be rotatable. The driving wheel 31 and the driven wheel 33 are provided at both ends of the link member 41, and are connected to the support portion 3 s at the center of the link member 41. In the present embodiment, the driving wheel 31 and the driven wheel 33 are provided on the link member 41 one by one, but at least one of the driving wheel 31 and the driven wheel 33 provided on the link member 41 may be plural. Good.

 Between one end side of the link member 41 and the vehicle body of the transport vehicle 3A, a hydraulic cylinder 42 is provided that expands and contracts in a predetermined direction by hydraulic pressure. The expansion and contraction of the hydraulic cylinder 42 causes the link member 41 to swing around the connection portion with the support portion 3s. That is, as the link member 41 swings, the amount of protrusion of the drive wheel 31 and the driven wheel 33 downward in the vertical direction changes. A hydraulic pump 35 is connected to the hydraulic cylinder 42, and the expansion / contraction operation of the hydraulic cylinder 42 is controlled by a control unit 38 connected to the hydraulic pump 35. Note that the plurality of driving wheels 31 and the plurality of driven wheels 33 in the present embodiment are arranged so as to be able to support the transport vehicle 3A on the one hand.

Next, the traveling operation of the transport vehicle 3A according to this embodiment will be described with reference to FIGS.
FIGS. 6A and 6B are schematic views showing the traveling operation of the transport vehicle 3A, where FIG. 6A is a time when the transport vehicle 3A is first stopped, FIG. 6B is a time when the transport vehicle 3A is stopped, and FIG. At the time of acceleration / deceleration of the transport vehicle 3A, (d) is the first traveling at a constant speed by driving the drive belt 21 of the transport vehicle 3A, and (e) is a constant speed by driving the drive belt 21 of the transport vehicle 3A. The second traveling time is shown. In FIG. 6, the transport vehicle 3 </ b> A is conceptually represented only by the drive wheel 31, the driven wheel 33, and the link member 41, and FIG. 5 is referred to for other configurations.

 First, the operation until the stopped transport vehicle 3A accelerates and travels at a constant speed by driving the drive belt 21 will be described.

 As shown in FIG. 6A, the hydraulic cylinder 42 (not shown in FIG. 6) is actuated by the control instruction of the control unit 38, and the link member 41 is inclined in a predetermined direction, so that the drive wheels 31 are driven. The driven wheel 33 is separated from the belt 21 and is in contact with the running surface 22. That is, the transport vehicle 3 </ b> A is supported only by the plurality of driven wheels 33. In addition, the driven wheel braking unit 34 brakes the driven wheel 33 in accordance with a control instruction from the control unit 38. That is, the driving force of the drive belt 21 is not transmitted to the transport vehicle 3A, and the transport vehicle 3A can be reliably stopped.

 Next, as shown in FIG. 6B, the hydraulic cylinder 42 is actuated by the control instruction of the control unit 38, the link member 41 is swung, and the driving wheel 31 contacts the driving belt 21. At this time, the driving wheel braking unit 32 releases the braking of the driving wheel 31 according to the control instruction of the control unit 38. Further, since the driving wheel 31 contacts the driving belt 21 that moves at a constant speed in the direction indicated by the arrow F, the driving wheel 31 rotates as the driving belt 21 moves. That is, since the driving wheel braking unit 32 does not brake the driving wheel 31 at all, the driving force of the driving belt 21 is not transmitted to the transport vehicle 3A, and the transport vehicle 3A continues to stop.

Next, as shown in FIG. 6C, the driven wheel braking unit 34 gradually releases the braking of the driven wheel 33 and the driving wheel braking unit 32 gradually brakes the driving wheel 31 according to the control instruction of the control unit 38. Begin to. By gradually releasing the braking of the driven wheel 33 by the driven wheel braking unit 34 and the braking of the driving wheel 31 by the driving wheel braking unit 32 at the same time, the driving force of the driving belt 21 is gradually transmitted to the transport vehicle 3A. car 3A begins to gradually travels in the direction indicated by the arrow M _1.

 Further, the control unit 38 controls each braking force of the driving wheel braking unit 32 and the driven wheel braking unit 34 so that the traveling speed of the transport vehicle 3A measured by the speed measuring device 37 increases at a predetermined speed change rate. . Therefore, the transport vehicle 3A can start traveling smoothly under the control of the control unit 38 and increase its traveling speed at a predetermined speed change rate. Therefore, the traveling speed of the transport vehicle 3A can be smoothly adjusted by the cooperation of the drive wheel braking unit 32 and the driven wheel brake unit 34 without providing a secondary drive track used during acceleration of the transport vehicle 3A. .

Next, as shown in FIG. 6D, the drive wheel braking unit 32 brakes the drive wheel 31 in accordance with a control instruction from the control unit 38. On the other hand, the driven wheel braking unit 34 releases the braking of the driven wheel 33 according to the control instruction of the control unit 38. Drive wheel 31 is in contact with the drive belt 21 which moves at a constant speed, and since the high frictional force between the drive wheel 31 and the drive belt 21 occurs, transporter 3A is driven in the direction indicated by the arrow M ₂ The vehicle travels at a constant speed as the belt 21 moves. That is, the traveling speed of the transport vehicle 3A is the same as the moving speed of the drive belt 21. The driven wheel 33 that is in contact with the traveling surface 22 rotates as the transport vehicle 3A travels.

Finally, as shown in FIG. 6 (e), the hydraulic cylinder 42 is actuated to swing the link member 41 according to the control instruction of the control unit 38, the driven wheel 33 is separated from the traveling surface 22, and the drive wheel 31 is driven. Continues to contact the drive belt 21. That is, the transport vehicle 3 </ b> A is supported only by the plurality of drive wheels 31. Further, the drive wheel braking unit 32 brakes the drive wheel 31 in accordance with a control instruction from the control unit 38. The plurality of drive wheels 31 support the transport vehicle 3 </ b> A, and the weight of the transport vehicle 3 </ b> A is added to the plurality of drive wheels 31. Therefore, even if the flatness of the drive belt 21 varies somewhat, the drive wheel 31 always contacts the drive belt 21 that moves at a constant speed, and a high frictional force is generated between the drive wheel 31 and the drive belt 21. Can be generated. Therefore, transporter 3A is stably running at a constant speed with the movement of the drive belt 21 in the direction indicated by the arrow M _2.
Thus, the operation until the stopped transport vehicle 3A accelerates and travels at a constant speed by driving the drive belt 21 is completed.

 Next, the operation until the transport vehicle 3A traveling at a constant speed by driving the drive belt 21 decelerates and stops will be described.

First, as shown in FIG. 6 (e), the hydraulic cylinder 42 is actuated and the link member 41 is inclined in a predetermined direction by the control instruction of the control unit 38, and the driven wheel 33 is separated from the travel surface 22, The drive wheel 31 is in contact with the drive belt 21. That is, the transport vehicle 3 </ b> A is supported only by the plurality of drive wheels 31. Further, the drive wheel braking unit 32 brakes the drive wheel 31 in accordance with a control instruction from the control unit 38. The plurality of drive wheels 31 support the transport vehicle 3 </ b> A, and the weight of the transport vehicle 3 </ b> A is added to the plurality of drive wheels 31. Therefore, even if the flatness of the drive belt 21 varies somewhat, the drive wheel 31 always contacts the drive belt 21 that moves at a constant speed, and a high frictional force is generated between the drive wheel 31 and the drive belt 21. Can be generated. Therefore, transporter 3A is stably running at a constant speed with the movement of the drive belt 21 in the direction indicated by the arrow M _2. That is, the traveling speed of the transport vehicle 3 </ b> A is the same as the moving speed of the drive belt 21.

Next, as shown in FIG. 6D, the hydraulic cylinder 42 is actuated by the control instruction of the control unit 38, the link member 41 is swung, and the driven wheel 33 comes into contact with the traveling surface 22. At this time, the driven wheel braking unit 34 releases the braking of the driven wheel 33 according to the control instruction of the control unit 38. Further, the drive wheel braking unit 32 brakes the drive wheel 31 in accordance with a control instruction from the control unit 38. Drive wheel 31 is in contact with the drive belt 21 which moves at a constant speed, and since the high frictional force between the drive wheel 31 and the drive belt 21 occurs, transporter 3A is driven in the direction indicated by the arrow M ₂ As the belt 21 moves, it continues to travel at a constant speed. The driven wheel 33 that is in contact with the traveling surface 22 rotates as the transport vehicle 3A travels.

Next, as shown in FIG. 6 (c), the driving wheel braking unit 32 gradually releases the braking of the driving wheel 31 and the driven wheel braking unit 34 gradually brakes the driven wheel 33 according to the control instruction of the control unit 38. Begin to. By simultaneously and gradually releasing the braking of the driving wheel 31 by the driving wheel braking unit 32 and the braking of the driven wheel 33 by the driven wheel braking unit 34, the driving force of the driving belt 21 is hardly transmitted to the transport vehicle 3A. The travel of the transport vehicle 3A is braked by the travel surface 22 which is a fixed surface. That is, transporter 3A also while traveling in the direction indicated by the arrow M _1, starts to gradually decelerated.

 Further, the control unit 38 controls each braking force of the driving wheel braking unit 32 and the driven wheel braking unit 34 so that the traveling speed of the transport vehicle 3A measured by the speed measuring device 37 decreases at a predetermined speed change rate. . Therefore, the transport vehicle 3 </ b> A can reduce the traveling speed at a predetermined speed change rate under the control of the control unit 38. Therefore, the traveling speed of the transport vehicle 3A can be adjusted smoothly by the cooperation of the drive wheel braking unit 32 and the driven wheel brake unit 34 without providing a secondary drive track used when the transport vehicle 3A decelerates. .

 Next, as shown in FIG. 6 (b), the driven wheel braking unit 34 brakes the driven wheel 33 in accordance with a control instruction from the control unit 38. On the other hand, the driving wheel braking unit 32 releases the braking of the driving wheel 31 according to the control instruction of the control unit 38. Since the driving wheel 31 is in contact with the driving belt 21, the driving wheel 31 rotates as the driving belt 21 moves. That is, since the driving wheel braking unit 32 does not brake the driving wheel 31 at all, the driving force of the driving belt 21 is not transmitted to the transport vehicle 3A, and the transport vehicle 3A stops.

Finally, as shown in FIG. 6A, the hydraulic cylinder 42 is actuated by the control instruction of the control unit 38, the link member 41 is swung, and the drive wheel 31 is separated from the drive belt 21. That is, the transport vehicle 3 </ b> A is supported only by the plurality of driven wheels 33. In addition, the driven wheel braking unit 34 brakes the driven wheel 33 in accordance with a control instruction from the control unit 38. That is, the driving force of the drive belt 21 is not transmitted to the transport vehicle 3A, and the transport vehicle 3A can be reliably stopped.
Thus, the operation until the transport vehicle 3A traveling at a constant speed by driving the drive belt 21 decelerates and stops is completed.

 When the transport vehicle 3A passes through the joint 21a of the drive belt 21 shown in FIG. 4, it is necessary to operate the hydraulic cylinder 42 to bring the link member 41 into the state shown in FIG. 6C or 6D. .

Therefore, according to the present embodiment, the following effects can be obtained.
According to the present embodiment, in addition to the effects obtained in the first embodiment, the transport vehicle 3A can be supported only by the plurality of drive wheels 31, so even if the flatness of the drive belt 21 varies somewhat, the drive wheels 31 Has the effect of stably contacting the drive belt 21.

 As described above, the preferred embodiments according to the present invention have been described with reference to the accompanying drawings, but the present invention is not limited to the examples. Various shapes, combinations, and the like of the constituent members shown in the above-described examples are examples, and various modifications can be made based on design requirements and the like without departing from the gist of the present invention.

 For example, in the above embodiment, the drive belt 21 is used as a drive track for driving the transport vehicles 3 and 3A. However, the drive belt 21 is not limited to this, and a drive cable made of a wire or the like may be used. Good. In this case, instead of the drive wheel 31, a drive pulley or the like that can stably contact the drive cable may be used.

 In the above embodiment, the control unit 38 controls the driving wheel braking unit 32 and the driven wheel braking unit 34 according to the measurement result of the speed measuring device 37. However, the present invention is not limited to this. The transport vehicle 3, 3A may be configured to travel smoothly by gradually changing the braking force of the driving wheel braking unit 32 and the driven wheel braking unit 34 in a predetermined time without using the device 37. .

 Moreover, in the said embodiment, although the driving | running route 2 is installed in the outdoor ground surface, the floor surface in a building structure, etc. and the transport vehicle 3 drive | works on the driving | running route 2, it is not limited to this, A suspension type structure in which the transport vehicle 3 travels while being suspended from a rail may be used.

DESCRIPTION OF SYMBOLS 1 ... Transportation system, 2 ... Travel route, 21 ... Drive belt (drive track), 22 ... Travel surface (non-moving part), 3, 3A ... Transport vehicle, 30, 30A ... Drive structure, 31 ... Drive wheel (1st Wheels), 32... Driving wheel braking part (first braking part), 33 .. driven wheel (second wheel), 34 .. driven wheel braking part (second braking part), 37... Speed measuring instrument, 38. 41 ... Link member

Claims (10)

A drive structure for driving a transport vehicle using a drive track moving in a predetermined direction,
A first wheel provided rotatably on the transport vehicle and disposed at a position in contact with the drive track;
A first braking unit that brakes rotation of the first wheel;
A second wheel provided rotatably on the transport vehicle and disposed at a position in contact with a non-moving part different from the drive track;
And a second braking portion that brakes rotation of the second wheel. The drive structure according to claim 1,
A drive structure comprising: a control unit that gradually changes each braking force of the first braking unit and the second braking unit with respect to the first wheel and the second wheel. The drive structure according to claim 2,
Having a speed measuring device for measuring the traveling speed of the transport vehicle;
The control unit controls each braking force of the first braking unit and the second braking unit on the first wheel and the second wheel according to a traveling speed of the transport vehicle measured by the speed measuring device. The drive structure characterized by doing. The drive structure according to claim 3,
The speed measuring device includes an angular velocity meter that measures an angular velocity of the second wheel. In the drive structure according to any one of claims 1 to 4,
A plurality of the second wheels are provided,
The drive structure, wherein the first wheel and the second wheel cooperate to support the transport vehicle. The drive structure according to claim 5, wherein
The drive structure according to claim 1, wherein the first wheel is disposed between a pair of the second wheels provided with the drive track interposed therebetween. In the drive structure according to any one of claims 1 to 4,
The drive structure according to claim 1, wherein a plurality of the first wheels and the second wheels are provided, and each of the first wheels and the second wheels can support the transport vehicle. The drive structure according to claim 7, wherein
Each of the first wheel and the second wheel has a link member provided rotatably.
A drive structure in which the amount of protrusion of each of the first wheel and the second wheel toward the lower side in the vertical direction changes with the swing of the link member. A transport vehicle that travels by driving a drive track moving in a predetermined direction,
A transport vehicle comprising the drive structure according to any one of claims 1 to 8. A transport system in which a transport vehicle travels along a predetermined travel route,
A transportation system comprising the transportation vehicle according to claim 9 as the transportation vehicle.

Images