TWI397482B - The level of handling the trolley - Google Patents

Description

Self-propelled trolley horizontal transport mechanism

The present invention relates to a plurality of steps of a building covering a building or the like, which is laid horizontally on a floor or a ceiling, or along a rail that is vertically laid on a wall, so that a carrier composed of a container and a trolley moves, and along the A horizontal conveyance mechanism that moves a self-propelled trolley in a horizontal posture at a time when a stack of documents, parts, and the like is lowered from the container or placed in a conveyance system of the container.

This type of handling system is widely used in the office for documents, mailings, stationery, medical records in hospitals, parts or products in factories, and even the carrying of specimens or reagents for automatic purposes. Ground.

The transport system is composed of a rail that is laid horizontally and vertically in a building, a trolley that moves a plurality of transporters on the rail, and a computer that controls the movement of the self-propelled trolley. The automatic trolley is formed by attaching a container on which a load is placed to a trolley that moves along the rail.

A container that can accommodate a large number of samples or reagents is mounted on the premise that the container can be transported horizontally. Therefore, when the support container that can be swung by the turning means on the trolley moves in the vertical section, the container is rotated 90 degrees on the trolley to maintain the horizontal state at any time (for example, refer to Patent Document 1).

In addition, in the self-propelled trolley of the conveyance system, the rails (tracks) are held from top to bottom in the front and rear directions in the moving direction, or four groups in which two rails are placed up and down. The moving wheel. The self-propelled trolley is in the interval where the track shifts from the horizontal section to the vertical section, that is, in the section where the rail is horizontally to vertical, or from vertical to horizontally bent by 90°, since the trolley changes from horizontal to vertical (or from vertical to vertical). The posture of the horizontal) needs to change the posture of the movement. Therefore, the container suspended by the trolley is rotated by 90 degrees by the turning means, and the horizontal posture of the container can be maintained. However, when the one side of the container is a heavy load, it is known. The container will be tilted due to its partial load, and the horizontal posture cannot be maintained.

Further, it is equipped with a turning means for maintaining the posture of the container horizontally at any time, and moving by rotating the trolley from the horizontal rail toward the vertical rail, and the space for the rotation of the container and the swinging movement space of the trolley are required, so that the horizontal interval of the track has to be The radius of the curve in the section between the vertical sections is increased, and the system is not only enlarged in size, but also the reason why the transportation system cannot be installed because of the reason that the radius of the curve is too large depending on the situation.

[Patent Document 1] Japanese Patent Laid-Open Publication No. 2005-047369

The present invention has been made in view of the above-described current situation of such a transport system, and an object of the present invention is to provide a curvature of a curve in which a posture of a container can be maintained at a constant level even without a turning means, and a change section of a direction of a track can be reduced. It is a small-scale construction mechanism for the self-propelled trolley of the self-propelled trolley.

The first configuration of the transport mechanism of the present invention, which is configured to solve the above problems, is a horizontal transport mechanism for a self-propelled trolley, and includes a transport mechanism for a self-propelled trolley on which a stowage product is mounted, the self-propelled vehicle system having: a rail laid horizontally and vertically inside the building; a rack laid along the rail; a moving wheel moving on the rail; and a driving portion of the sub-gear and the sub-gear that mesh with the rack, characterized in that the rail The curve section that changes direction from the horizontal direction to the vertical direction or the vertical direction to the horizontal direction, and the vertical section that is connected thereto, includes a sub-gear rail for the rack that meshes with the sub-gear, and the sub-gear for the sub-gear a moving wheel rail in which the racks are parallel and separated therefrom, and the bogie is provided on the left and right side surfaces thereof: a sub-gear that meshes with the sub-gear rail, and a moving wheel that is supported by the moving-wheel rail, and is in a corner The section and the vertical section following the section, the trolley can be moved in a horizontal posture, and the track for the sub-gear and the track for the moving wheel are arranged.

According to the present invention, in the first configuration, the first sub-gear and the first moving wheel are provided on the side surface perpendicular to the moving direction of the bogie, and the first sub-gear on the other side surface a position of the same phase, comprising a second moving wheel; a second sub-gear at a position in phase with the first moving wheel, and the first and second sub-gears and the moving wheel having different phases on the two sides Suppress the tilt of the trolley.

In the present invention, the carriage is provided with a sub-gear coaxially on the same phase of the intermediate portion of the left and right side surfaces, and includes a pair of right and left sides on the left and right sides of the moving direction of the carriage, and is swayed up and down. The moving wheels that are disposed above and below the pair of rotating shafts of the sub-gear are arranged in the vertical section of the curve section and the section, and the moving wheels and the sub-gears in either one of the front and the rear are supported by the individual rails. A second configuration in which the trolley is moved in a horizontal posture can be employed.

In the above two configurations, the sub-gear rail and the moving-wheel rail in the horizontal section of the rail may be formed by a composite rail in which two rails are parallel in parallel, and the composite rail is from a curve section. The vertical interval is configured to be separated before and after.

Further, the third configuration of the transport mechanism of the present invention which solves the above-described problems includes a transport mechanism for a self-propelled trolley equipped with a stowage, and the self-propelled vehicle has a rail that is horizontally and vertically laid inside the building; a rack that is laid on a track; a moving wheel that moves on the rail; and a driving portion that a sub-gear and a sub-gear that mesh with the rack, wherein the bogie is coaxial on the same phase of the middle portion of the left and right sides The auxiliary gear includes a horizontal moving wheel that is disposed before and after the pair of the auxiliary gears in the moving direction of the trolley, and a vertical moving wheel that blocks the upper and lower sides of the rotating shaft of the auxiliary gear. The track system has a curved track that has a moving path of a rack that meshes with the sub-gear and a moving part of the horizontal moving wheel in a curved section that changes direction from horizontal to vertical or from vertical to horizontal, and is connected to the curved In the vertical section of the track section, there is a vertical rail of the moving section of the rack engaged with the sub-gear and the moving part of the vertical moving wheel, and the horizontal moving wheel is supported by the curved rail in the curved section And the sub-gear, in the vertical section following the curve section, the vertical moving wheel and the sub-gear are supported by the vertical rail.

Further, a fourth configuration of the transport mechanism of the present invention which solves the above-described problems includes a transport mechanism for a self-propelled trolley on which a stowage product is mounted, and the self-propelled train has a rail that is horizontally and vertically laid inside the building; a rack that is laid along a track; a moving wheel that moves on the rail; and a sub-gear that meshes with the rack and a driving portion of the sub-gear, wherein the bogie is in the middle of the left and right sides The phase includes a sub-gear coaxially, and includes a horizontal moving wheel provided at a bottom portion of the bogie; and a vertical moving wheel that is disposed above and below the rotating shaft of the sub-gear to form a pair, and the rail system is provided : in a curve section that changes direction from horizontal to vertical or from vertical to horizontal, having a curved rack that meshes with the aforementioned sub-gear, and a curved rail that restrains the moving surface of the vertical moving wheel, and is connected In the shorter vertical section of the curve section, there is a vertical rack that meshes with the sub-gear and a vertical rail of the moving surface of the vertical moving wheel, in the curve section, the auxiliary tooth The wheel is supported on the curved rack, and the horizontal moving wheel is supported on the curved rail, and in the shorter vertical section following the curved section, the shorter rack is moved by the inner sub-gear and the vertical moving wheel The vertical track is supported to allow the trolley to move in a horizontal position at any time.

The transport mechanism according to the first aspect of the present invention includes a transport mechanism for a self-propelled trolley on which a staggered vehicle is provided, and the self-propelled vehicle has a rail that is horizontally and vertically laid inside the building, and a tooth that is laid along the rail. a moving wheel that moves on the track; and a driving portion of the sub-gear and the sub-gear that mesh with the rack, the track is a curve section that changes direction from horizontal to vertical or from vertical to horizontal, and continues The vertical section includes: a sub-gear rail for meshing with the sub-gear; a traveling wheel rail that is parallel to the sub-gear rail and separated therefrom, and the bogie is provided on the left and right side surfaces thereof a sub-gear that is engaged by the sub-gear rail and a moving wheel that is supported by the moving-wheel track, and the sub-gear rail and the moving-wheel rail are disposed so that the bogie can move in a horizontal posture in the vertical section. Even if there is no means of turning, the posture of the container can be maintained at a level at any time, and the curvature of the curve of the changing section of the direction of the track can be reduced, but Miniaturized construction system.

In other words, in the horizontal posture transporting mechanism of the self-propelled vehicle according to the first aspect of the present invention, the sub-gear rotates while being engaged with the rack, and the traveling wheel is rotated by the moving wheel to move the bogie along the rail. In this case, the trolley has the sub-gear that meshes with the sub-gear rail and the moving wheel that is supported by the moving-wheel rail on the left and right side surfaces. Therefore, the posture of the container can be maintained at any time even without the turning means. At the level, even if it is in a single-sided load state, the stowage can be handled horizontally at any time. Then, the track is connected to the curve section that changes direction from horizontal to vertical or from vertical to horizontal, and the vertical section that is connected thereto, and includes a sub-gear rail for the rack that meshes with the sub-gear; Since the sub-gear rails are used for the moving wheel rails in which the rails are parallel and separated therefrom, the radius of curvature of the sub-gear rails can be independently set from the moving wheel rails, and the radius of curvature of the section between the horizontal section and the vertical section of the rail can be reduced. In other words, it is not necessary to provide the swivel space of the container and the rotational movement space of the bogie, and the entire transport mechanism can be miniaturized.

Further, in the transport mechanism according to the second aspect of the present invention, the bogie is provided with a sub-gear coaxially on the same phase in the middle portion of the left and right side surfaces, and includes a sub-gear that is held forward and backward in the moving direction of the bogie a pair of horizontal moving wheels before and after; and a vertical moving wheel that blocks the pair of rotating shafts that up and down the auxiliary gear, and the track system has a direction to change direction from horizontal to vertical or vertical to horizontal The track section has a rack that meshes with the sub-gear and a curved track of the moving surface of the horizontal moving wheel, and has a rack and a vertical moving wheel that mesh with the sub-gear in the vertical section following the section of the curve. The vertical rail of the moving surface supports the horizontal moving wheel and the auxiliary gear in the curved section by the curved rail, and supports the vertical moving wheel and the auxiliary gear by the vertical rail in the vertical section following the curved section Therefore, even if there is no turning means, the posture of the container can be maintained at a level at any time, and since the sub-gear and the moving wheel move on one track, there is no need to separately lay the rails. The entire construction system that can be miniaturized.

In the transport mechanism according to the third aspect of the present invention, the sub-gear meshes with the rack and rotates, and the traveling wheel is rotated by the moving wheel to move the bogie along the rail. At this time, the trolley is provided with a sub-gear coaxially on the same phase of the middle portion of the left and right sides, and the front and rear horizontal moving wheels of the pair of counter gears are held forward and backward in the moving direction of the bogie; The upper and lower vertical moving wheels of the pair of rotating shafts of the auxiliary gear are moved by the sub-gear and the vertical moving wheel to move the curve section and the vertical section continuing in the section, so that even if there is no turning means, it is always possible The conveyance posture of the container is maintained at a level, and even if it is in a unilateral load state, the stacked object can be conveyed in a horizontal posture at any time. Therefore, the rail system includes a rack that meshes with the sub-gear and a curved rail that has a moving surface with the horizontal moving wheel, in a curved section that changes direction from horizontal to vertical or from vertical to horizontal. And in a vertical section following the curve section, a vertical rail having a moving surface of the rack engaged with the sub-gear and the moving part of the vertical moving wheel, and in the curved section, the horizontal moving wheel and the auxiliary gear are supported by the curved rail In the vertical section following the curve section, the vertical section moving wheel and the sub-gear are supported by the vertical orbit, so that the curve section and the vertical section connected thereto can be formed by a single track, which can be miniaturized. The entire handling mechanism.

Further, in the transport mechanism according to the fourth aspect of the present invention, the bogie is provided with a sub-gear coaxially on the same phase of the intermediate portion of the left and right side surfaces, and includes a horizontal portion moving wheel provided at the bottom of the bogie; a vertical portion moving wheel that is disposed above and below the rotating shaft of the sub-gear, and the rail system has a direction in which the direction is changed from horizontal to vertical or from vertical to horizontal, and has the aforementioned a rack engaged by the sub-gear and a curved rail that restrains the moving surface of the vertical moving wheel, and having a shorter rack that meshes with the sub-gear in a shorter vertical section following the curve section, And the vertical rail of the moving surface of the vertical moving wheel, in the curved section, the auxiliary gear is supported on the curved rack, and the horizontal moving wheel is supported in the curved rail, in the shorter vertical interval following the curved section The sub-gear and the vertical moving wheel are supported by the vertical rail of the short rack, so that the trolley moves in a horizontal posture at any time, and thus is the same as the above-described transport mechanism of the present invention. The entire conveyance system is formed in a formed manner, and in particular, a small-sized portion is formed in which the moving direction is changed from horizontal to vertical, or vice versa, to change the moving direction.

In the fourth transport mechanism according to the present invention, the rack and the track in the curve section are unitized, and the unit can be moved when the trolley is vertically moved, in addition to the correspondence when the trolley moves from the horizontal movement to the vertical direction. The aforementioned curve section can be retracted to a position that does not affect the vertical movement of the trolley.

As a result, the curve section of the fourth transport mechanism has a function of changing the horizontal movement to the vertical movement.

Hereinafter, an embodiment of the horizontal transport mechanism of the self-propelled trolley of the present invention will be described with reference to the drawings. In the drawings, Fig. 1 is a front view showing an embodiment of a horizontal transport mechanism of a self-propelled trolley according to a first configuration of the present invention, and Fig. 2 is a right side view of the horizontal transport mechanism of Fig. 1, and Fig. 3 is a view FIG. 4 is a perspective view of the horizontal transport mechanism of the first configuration shown in FIGS. 1 to 3, and FIG. 5 is a perspective view of the horizontal transport mechanism of the self-propelled trolley according to the second configuration of the present invention. Fig. 6 is a right side view of the horizontal transport mechanism shown in Fig. 5, Fig. 7 is a plan view of Fig. 6, and Fig. 8 is a second configuration shown in Fig. 5 to Fig. 7. Fig. 9 is a front view showing a third embodiment of the horizontal transport mechanism of the self-propelled trolley of the present invention, and Fig. 10 is a right side view of the horizontal transport mechanism shown in Fig. 9, Fig. 11 FIG. 12 is a perspective view of the horizontal transport mechanism of the third configuration shown in FIGS. 9 to 11 , and FIG. 13 to FIG. 15 are diagrams for explaining the horizontal transport mechanism of the fourth configuration. Side view of the movement of the trolley, perspective view of the horizontal and vertical movement of the trolley system of Fig. Fig. 17 is a schematic side view of Fig. 16, Fig. 18 is a perspective view showing an example of a vertically moving conveyance path of the trolley, and Fig. 19 is a schematic side view of Fig. 18. Fig. 20 is a side view showing an example of a bogie used in an application example of the horizontal transport mechanism of the fourth aspect of the present invention, and Fig. 21 is a plan view of the bogie shown in Fig. 20. Fig. 22 is a left side view of the trolley of Fig. 20, Fig. 23 is a schematic perspective view of the trolley shown in Fig. 20 to Fig. 22, and Fig. 24 is a schematic diagram showing the movement of the trolley of Figs. 20 to 23 FIG. 25 is a front view of the rail portion in the state in which the trolley enters the left and right direction changing rail portion, and FIG. 26(a) to (f). A side cross-sectional view showing a state in which the trolley passes the direction changing track in a time series.

In the first to fourth figures, the horizontal transport mechanism of the first aspect of the present invention includes a pair of left and right sides that are laid horizontally and vertically in the interior of the building and are arranged in parallel with the moving direction of the bogie 30. a track 10; and a trolley 30 moving on the track 10.

As shown in FIG. 2, each of the rails 10 includes a horizontal rail formed in a horizontal section of a floor or the like; a curved rail which changes a direction from a horizontal direction to a vertical direction or a vertical direction; This is either a vertical rail placed in a vertical section of a column or the like. The curve section and the vertical section of each of the rails 10 are composed of a sub-gear rail 11 and a traveling wheel rail 12 which is parallel to the sub-gear rail 11 and which is separated from the front-rear direction. Then, the horizontal section is composed of a composite track 14 in which two tracks 11, 12 are parallel and juxtaposed.

The sub-gear rail 11 is a section composed of the front and rear walls 11a and 11b and the side wall 11c as illustrated in Figs. 3 and 4 . It is composed of a word or a channel-shaped cross-section member. The moving wheel rail 12 is also a section formed by the front and rear walls 12a, 12b and the side wall 12c. It is composed of a word or channel-shaped cross-section member. These rails 11, 12 are integrated by the connecting wall 13. The connecting wall 13 extends the side wall 12c of the moving wheel rail 12, and its extended end is connected to the open end edge of the front wall 11a of the sub-gear rail 11.

The composite track 14 in the horizontal section is composed of upper and lower walls 14a, 14b and side walls 14c. A word or channel-like cross section, such that the open faces are arranged to face each other. The composite rail 14 is connected to the sub-gear rail 11 and the moving-wheel rail 12 which are separated before and after the vertical section is formed by the curve section.

When the curve section is described in detail, the front wall 11a of the sub-gear rail 11 in the vertical section extends to the composite rail in the rail 10 on the front side of the second figure and the third figure on the right side of the first figure. The upper wall 14a of 14 is connected to this. As shown in Fig. 2, the rear wall 11b of the sub-gear rail 11 extends to the lower wall 14b of the composite rail 14 via the curved wall 15, and is integrated with the side wall 14c. The front wall 12a of the moving wheel rail 12 is partitioned by the upper wall 14a of the composite rail 14, and the rear wall 12b extends to and is connected to the lower wall 14b of the composite rail 14, and the side wall 12c together with the connecting wall 13 and the composite rail 14 The lower wall 14b is connected.

Further, on the left side of the first figure, in the rail 10 located at the deeper side of the second and third figures, the front wall 11a of the sub-gear rail 11 extends to the upper wall 14a of the composite rail 14, and In connection with this, the rear wall 11b is connected to the lower wall 14b of the composite rail 14 via a curved wall, and the side wall 11c extends to the lower wall 14b of the composite rail 14, and is integrated with the composite rail 14c. The front wall 12a of the moving wheel rail 12 is connected to the upper wall 14a of the composite rail 14, the rear wall 12b is connected to the lower wall 14b of the composite rail 14, and the side wall 12c extends together with the connecting wall 13 to the upper wall 14a of the composite rail 14. And connect with this.

The rack (rack gear) 20 is disposed on the rear wall 11b of the sub-gear rail 11, the curved wall 15, and the lower wall 14b of the composite rail 14, and is fixed.

The carriage 30 is provided with a moving wheel 31 and a sub-gear (sub-gear) 33 of the driving wheel on one side surface (right side surface) of the bogie body 35, and a moving wheel 32 and a sub-gear (sub-side) on the opposite side surface (left side surface) of the bogie body 35 Gear) 34. Each of the moving wheels 31, 32 is held on a bearing in which each axis is located on the carriage body 35. The sub-gear 33 is coaxial with the moving wheel 31, and is disposed on a left side surface of the moving wheel 32 of the truck body 35. The sub-gear 34 is coaxial with the moving wheel 31, and is disposed on a right side surface of the moving wheel 31 of the truck body 35. The sub-gears 33 and 34 are coupled to a drive unit including a motor, a speed reducer, and the like that provide each of the shafts inside the truck body 35 (not shown).

In one example of the carriage 30, when moving from the vertical section to the horizontal section, the circumferential surfaces of the moving wheels 31, 32 are located between the front and rear walls 12a, 12b of the moving wheel rail 12, and the sub-gears 33, 34 are laid and laid. The racks 20 of the sub-gear rails 11 are engaged and disposed between the rails 10. The carriage 30 is driven by the drive unit so that the sub-gears 33 and 34 are engaged with the rack 20 and move along the rack 20. In other words, the sub-gears 33 and 34 are engaged with the rack 20 and rotate in the vertical section and the curve section of the rail 10, and move inside the sub-gear rail 11, and engage with the rack 20 in the horizontal section. It also rotates and moves inside the composite track 14. At the same time, the moving wheels 31, 32 are rotated in the vertical section and the curve section along the front and rear walls 12a, 12b constituting the moving wheel rail 12, and are rotated along the upper and lower walls 14a, 14b of the composite rail 14 in the horizontal section. . Therefore, the carriage 30 is supported by the engagement of the sub-gears 33, 34 and the rack 20, and is supported by the moving wheel rail 12 by the moving wheels 32, 33, so that the carriage 30 maintains the horizontal posture in the vertical section. Move in parallel and move from the vertical section through the curve section toward the horizontal section. Even when the bogie 30 enters the vertical section from the horizontal section through the curve section, the bogie 30 moves in a state of a horizontal posture as described above.

The power supply to the driving unit is constituted by a wire arranged along the rail 10, and the movement control is constituted by communication between a computer device located outside the horizontal conveying mechanism and a controller located in the trolley 30, and The communication line that moves in parallel and moves between the external computer device and the controller receives the signal.

In this embodiment, the container is constituted, for example, by a container with a lid, and is provided on the upper surface of the trolley body 35 or assembled inside the trolley body 35. Then, several stations are placed along the composite track 14.

At the start of the operation, the operator mounts a case such as a sample or a reagent on the container. When the operator specifies the transfer station by the external computer device, the controller of the carriage 30 operates the drive unit from the external computer device in accordance with the command, and moves the carriage 30 to the destination transfer station to transport the load to the destination. station.

At this time, the sub-gears 33 and 34 disposed on the left and right sides of the bogie 30 are engaged with the rack 20, and the bogie 30 is moved in the vertical section from the horizontal section of the rail 10, and the carriage 30 is moved in parallel. By arranging the sub-gears 33 and 34 in front and rear of the bogie 30, the inclination of the direction in which the carriage 30 moves and the direction perpendicular to the movement direction are controlled, and the carriage 30 is moved in the horizontal posture. This horizontal posture is corrected by the moving wheels 31, 32, and the trolley 30 is moved in parallel without tilting. In other words, since the trolley 30 can be moved in a horizontal posture at any time, it is not necessary to horizontally maintain the turning means of the container. Therefore, even if it is a stowage that is required to be in a horizontal position at any time, it can be handled with peace of mind.

Not only the vertical section of the rail 10, but also the sub-gear rail 11 of the rack 20 that is engaged with the sub-gears 33, 34, and the moving wheels 31, 32 are rotated in the curve section of the boundary of the horizontal section and the vertical section. The moving wheel rails 12 are separated back and forth, and since the rails 11 and 12 can be set to different curvature radii, the horizontally configurable mechanism can be reduced by reducing the radius of curvature of the rails 11 and 12 in the curve section. The handling system is all.

In the embodiment of the horizontal transport mechanism according to the first aspect of the present invention described above, the carriage 30 is provided with the first sub-gear 33 and the first moving sheave 31 on a single side perpendicular to the moving direction thereof, and The first auxiliary gear 33 on the side is in phase (coaxially), and includes a second moving wheel 32. The second auxiliary gear 34 is provided in phase (coaxially) with the first moving wheel 31, and has a different arrangement phase on both sides. The first and second sub-gears 33, 34 and the first and second moving wheels 31, 32 control the trolley so as not to tilt when the moving direction of the carriage 30 is changed from the horizontal posture to the vertical direction. The horizontal transport mechanism of the self-propelled trolley of the present invention can be realized by the second embodiment of the transport mechanism of the present invention in Figs. 5 to 8 and will be described below.

In the horizontal conveyance mechanism of the present invention of the second configuration shown in FIGS. 5 to 8 , the carriage 130 is provided with the sub-gears 133 and 134 coaxially on the same phase (same position) as the intermediate portion including the left and right side faces. On the front side and the rear side related to the moving directions of the sub-gears 133 and 134, and the respective sub-gears 133 and the rotating shaft of the 134, and the pair of upper and lower first moving wheels 131a located at the upper and lower positions The same moving wheels 132a and 132b of 131b; and the moving wheels 137a and 137b arranged similarly to the second moving wheels 136a and 136b, in the curved section and the vertical section, by the upper and lower pair of the front and the rear The moving wheel and the sub-gear are supported on the rails 111 and 112, and even in the curve section and the vertical section, the horizontal posture can be maintained and moved.

In other words, the carriage 130 is disposed on one side surface of the carriage body 135, and a pair of moving wheels 131a, 131b, and 136a that sandwich the sub-gear 133 and the sub-gear 133 from the front and rear sides are disposed at a central portion thereof (a central portion of the right side surface). 136b, on the opposite side surface of the truck body 135, on the center portion (the central portion of the left side surface), coaxially with the sub-gear 133, the front gear 134 and the sub-gear 134 are disposed The right side of the moving wheels 131a, 131b and 137a, 137b. The shafts of the right and left auxiliary gears 133 and 134 are coupled to a drive unit including a motor, a speed reducer, or the like provided inside the carriage body 135.

The rails 110 are arranged in parallel with each other. The left and right rails 110 disposed in the vertical section are composed of a sub-gear rail 111 and a moving-wheel rail 112 which are laid along a wall or a column. As shown in Figs. 7 and 8, the sub-gear rail 111 in the vertical section is constituted by an L-shaped cross-section member, and the moving wheel rail 112 is a section. A character or channel-like cross-sectional member is formed, and the two rails 111 and 112 are integrally formed with a rear wall 111b that forms an open surface rail 111, and a front wall 112a of the rail 112. The left and right rails 111 and 112 are arranged such that the open faces are opposed to each other in parallel. The left and right orbits 110 of the horizontal interval are slightly The rails 114 of the shape or channel-like cross section are formed so that the open surfaces are opposed to each other.

The rear side wall 111b (the front wall 112a of the moving wheel rail 112) of the sub-track for the sub-gear of the vertical section is connected to the lower wall 114b of the rail 114 of the horizontal section via the curved wall 115 forming the curve section. The side wall 111c of the vertical section extends to the upper wall 114a of the rail 114 in the horizontal section, and is integrated with the side wall 114c of the rail 114b. The front wall 112a of the moving wheel rail 112 in the vertical section extends to the upper wall 114a of the rail 114 in the horizontal section, and a hole 117 for passage is formed inside the rail 114. The rear wall 112b of the vertical section extends to the lower wall 114b of the rail 114 of the horizontal section and is connected thereto. Then, the side wall 112c of the vertical section extends to the lower wall 114b of the rail 114 of the horizontal section.

The upper wall 114a of the rail 114 in the horizontal section has a width of the sub-gear rail 111 having a vertical section, and more specifically, has a rear wall 111b for the sub-gear rail 111, and a moving wheel rail 112 of a vertical section. The opening 116 of the corresponding width of the front wall 112a is provided with a guide wall 118 standing around the opening 116. The side wall of the guide wall 118 is integrated with the side wall 111c of the sub-gear rail 111 in the vertical section.

The left and right racks 120 for guiding the left and right sub-gears 133 and 134 are the front and inner sides of the rear wall 111b of the sub-gear rail 111 in the vertical section, and are the inner faces of the curved wall 115 forming the curve section. The upper surface of the lower wall 114b of the rail 114 forming the horizontal section is laid.

The racking of the trolley 130 opposite to the rail 110 of the vertical section is such that the outer peripheral surfaces of the moving wheels 136a, 136b, and 137a, 137b are located between the front wall 112a of the moving wheel rail 112 and the rear wall 112b of the vertical section. By the vicinity of the boundary between the horizontal section and the curve section, the sub-gears 133, 134 can be engaged with the rack 120 laid on the lower wall 114b of the rail 114. Here, the racking of the bogie 130 opposite to the rail 110 of the horizontal section is the upper and lower pair of moving wheels 131a to 137b on the left and right sides of the bogie body, and is guided to the upper wall 114a and the lower wall 114b of the rail 114. The inner surface, and the left and right sub-gears 133 and 134 are supported by being engaged with the left and right racks 120 formed on the inner surface of the lower wall of the rail 114. Further, although not shown, the power supply to the motor by the drive unit is a wire arrangement disposed along the track 110, and the movement control system is controlled by the computer device disposed outside the track 110 and the control disposed on the carriage 130. The communication between the devices is performed, and the signal is received between the external computer device and the controller along the track 110 through a communication line that moves in parallel with the aforementioned line.

The drive unit (not shown) rotates while the sub-gears 133 and 134 are engaged with the rack 120, and the carriage 130 moves, for example, in the horizontal section and the curve section of the rail 110, and starts moving in the vertical section from here. Here, the distance between the upper wall 114a and the lower wall 114b of the track 114 in the horizontal section is such that the distance between the upper end of the moving wheel 131a constituting the carriage 130 and the lower end of the 131b, that is, the respective moving wheels 131a and 131b, The heights of 136a and 136b, 132a and 132b, 137a and 137b are substantially equal, and therefore, the moving wheels 131a and 131b, 136a and 136b, 132a and 132b, 137a and 137b are along the upper and lower walls 114a, 114b of the track 114. Rolling causes the trolley 130 to move horizontally. Thus, when the carriage 130 moves in the horizontal posture, the left and right moving wheels 136a and 136b, 137a and 137b constitute the front and rear walls 112a, 112b of the moving wheel track (retrack portion) 112 of the vertical section, and start moving, and The moving wheels 131a and 131b, 132a and 132b are guided to the guide wall 118, pass through the opening 116, and are moved to the outer side of the monorail 114. Thereby, the trolley 130 can be moved from the horizontal section of the horizontal posture to the vertical section and moved in the vertical section (see FIGS. 6 and 8).

The container of the horizontal transport mechanism of the present invention shown in Figs. 5 to 8 also includes a container (not shown) which is provided on the upper surface of the trolley body 35 or incorporated in the interior of the trolley body 35. The setting aspect. For example, the stowage formed by the case of the specimen or the reagent is stored in the container, and the transport station is instructed by the terminal electrically connected to the external computer, and the motor of the drive unit is operated to move the cart 130 to the purpose. Move the station and stop here.

In the bogie 130 of the horizontal transport mechanism according to the second aspect of the present invention, the sub-gears 133 and 134 are disposed on the right and left side surfaces, and the sub-gear moves along the rack 120 and is disposed in the sub-disc 120. The left and right sides of the gears 133, 134 and the rack 120 and the trolley 130 are restrained from tilting of the trolley 130 by the moving wheels 131a and 131b, the 132a and 132b, the 136a and 136b, the 137a and 137b, which constitute the pair, respectively. Therefore, even if the trolley 130 is tilted, the tilt within the allowable range can be moved in parallel. Therefore, it is of course possible to move the container provided in the trolley 130 in the horizontal section in a horizontal posture, and to move in a horizontal posture even in a curved section or a vertical section. Thereby, since the turning means or the like is not required, an increase in the type or amount of the stowage can be achieved.

Further, in the horizontal section, the sub-gears 133 formed on the right and left sides of the bogie 30 of the rails 114 and the sub-gear rails of the left and right racks 120 engaged with the 134 are laid; the upper and lower sides of the trolley are placed above and below The moving wheel rails that constitute the pair of moving wheels 131a, 131b, 132a, 132b, 136a, 136b, 137a, and 137b are separated from the curve section into the sub-tracks in the portion where the vertical section is formed from the curve section. The rail 111 and the moving wheel rail 112 form a rail 110 in a vertical section, and the rails 111 and 112 are set to have different curvature radii, thereby reducing the radius of curvature of the sub-gear rail 111 and the rack 120, and miniaturization. We build the whole transportation system.

The horizontal transport mechanism of the self-propelled trolley according to the third aspect of the present invention is as shown in Figs. 9 to 12, and can be realized by the third embodiment. Hereinafter, the embodiment of the third example will be described with reference to FIGS. 9 to 12.

In the horizontal conveyance mechanism of Figs. 9 to 12, the carriage 230 is provided with the sub gears 233 and 234 coaxially on the same phase in the middle of the left and right side surfaces, and on the front side related to the moving direction of the sub gears 233 and 234. On the rear side, horizontal moving wheels 231a, 231b, 232a, and 232b are disposed, and vertical moving wheels 236a, 236b, 237a, and 237b are disposed on the upper side and the lower side of the sub-gears 233, 234, respectively. In the vertical section, the carriage 230 supports the rails 211 by supporting the upper and lower vertical moving wheels 236a, 236b, 237a, 237b and the sub-gears 233 and 234, so that the trolley 230 can maintain a horizontal posture from the horizontal section. mobile.

In the bogie 230, a sub-gear 233 is provided at the center of one side surface (the center of the right side surface) of the bogie body 235, and the sub-gear 233 is clamped, and a pair of horizontal-part moving wheels 231a and 231b are disposed in the front-rear direction, and a pair of the vertical direction are disposed in the vertical direction. The vertical portion moving wheels 236a and 236b are disposed at the center of the opposite side surface (the center of the left side surface) of the carriage body 235, and the sub-gear 234 is disposed coaxially with the sub-gear 233, and the sub-gear 234 is clamped to arrange the horizontal portion moving wheels 232a, 232b. And moving wheels 237a, 237b. All of the moving wheels are formed to have the same diameter, but are smaller than the diameter of the sub-gears 233, 234.

In the ninth to twelfthth drawings, the pair of left and right pairs of the rails 210 in the horizontal section are arranged in parallel with each other. The vertical section is provided with vertical rails 211 along the walls or columns, and the sub-gears 233, 234 of the trolley 230 and the vertical moving wheels 236a, 236b, 237a, 237b are in communication. As shown in Figures 11 and 12, the vertical track 211 is composed of The inside of the front and rear walls 211a and 211b is a moving path of each of the moving wheels, and is close to the outside of the connecting wall 211c, and serves as a rack moving path in which the sub-gears 233 and 234 move. Each of the tracks forming the horizontal section is constituted by a horizontal parallel rail 214. The horizontal rail 214 is a sub-gear rail of a cross section in which the upper wall 214a, the lower wall 214b, and the connecting wall 214c are joined at right angles to each other, and has the same cross section as the vertical rail 211, and is integrally formed: an inverted L shape is formed on the upper wall 214a. The moving wheel guide wall 219a of the cross section is formed; or the moving wheel guide wall 219b of the L-shaped cross section is formed in the lower wall 214b.

The rear wall 211b of the vertical rail 211 is connected to and integrated with the lower wall 214b of the horizontal rail 214 via a curved wall 215 forming a curve section. The curved surface rear wall 211b which forms the curve section forms a passage 217 through which the moving wheels 231b, 232b of the carriage 230 pass. The passage 217 is composed of a vertical opening having a width that extends the front and rear walls 211a and 211b of the vertical rail 211, and a horizontal opening having a width that extends the horizontal rail 214. Further, the front wall 211a is formed to be connected to the upper wall 214a of the vertical rail, and a part of the curve section is cut out to form an opening 216 through which the moving wheels 236a, 237a of the carriage 130 pass. Then, the side wall 211c extends to the side wall 214c of the horizontal rail 214, and is integrated with the side wall 214c.

In the vertical rail 211 of Figs. 9 to 12, the track portion for the moving wheel that is caught by the front and rear walls 211a, 211b and the track portion for the sub gear are different in width. That is, the portion of the moving path that forms the moving wheels 236a, 236b and 237a, 237b close to the connecting wall 211c forms a width close to the diameter of the moving wheels, and becomes a part of the moving path of the sub-gears 233, 234. A width is formed that is wider than the diameter of the secondary gears. The rack 220 for the sub-gear is disposed across the rear wall 211b of the vertical rail 211 forming the vertical section, the curved wall 215 forming the curve section, and the lower wall 214b of the horizontal rail 214 forming the horizontal section. In order to support the horizontal moving wheels 231b and 232b in the curve section, a guide member 243 having a curved surface is disposed on the back surface of the rear wall 211b.

In the ninth to twelfth drawings, the carriage 230 of the trolley 230 is placed between the upper and lower walls 214a and 214b of the horizontal rail 214, and the circumferential surfaces of the horizontal moving wheels 231a, 231b, 232a, and 232b are disposed. The vertical moving wheels 236a and 237a are disposed on the outer surface of the wall 214a, the vertical moving wheels 236b and 237b are disposed on the outer surface of the lower wall 214b, and the sub-gears 233 and 234 are engaged with the rack 220 of the horizontal rail 214. Further, although not shown, the sub-gears 233 and 234 are coupled to a drive unit including a motor, a speed reducer, or the like that has a shaft provided inside the carriage body 235. Then, an example of power supply to the motor by the driving unit is performed by a wire disposed along the track 210 or by a communication between the computer device located outside the track 210 and the controller located in the trolley 230. In the configuration, along the track 210, signal transmission between the external computer device and the controller is performed by a communication line that moves in parallel with the aforementioned overhead line.

In the horizontal transport mechanism of the present invention of the third configuration shown in FIGS. 9 to 12, the drive unit of the bogie 230 is rotated by the sub-gears 233 and 234 engaged with the rack 220 on the rack. The horizontal interval moves while continuing to move in the curve section and the vertical section of the track 210.

When moving in the horizontal section, the trolley 230 is moved along the horizontal rail 214 in a horizontal posture by the horizontal moving wheels 231a, 231b, 232a, and 232b, and the sub-gears 233, 234. At this time, the vertical portion moving wheels 236a, 236b, 237a, 237b are rolled outside the upper and lower walls 214a, 214b of the horizontal rail 214, and the horizontal posture of the carriage 230 is corrected.

When the trolley 230 enters the curve section, as shown in Fig. 10, the sub-gears 233, 234 are engaged with the rack 220 and roll, and the vertical moving wheels 236a, 237a are passed through the lower end of the front wall 211a of the vertical rail 211. The curved surface is introduced between the front and rear walls 211a, 211b, the vertical moving wheels 236b, 237b are separated from the passage 217, and are directed between the front and rear walls 211a, 211b, and the horizontal moving wheels 231a, 232a are located on the horizontal rail 214. The slope of the end of the upper wall 214a is guided upward. At this time, the moving wheel 231a is in contact with and rotated with the upper wall 214a of the horizontal rail 214, and the moving wheel 231b is in contact with and rolled by the guiding member 243 located at the back of the vertical rail 211, while maintaining the horizontal posture, and causing the trolley 230 to start to rise. .

When the carriage 230 starts to ascend by the rotation of the sub-gears 233 and 234, the vertical portion moving wheels 236a, 236b, 237a, and 237b move along the moving surfaces formed on the front and rear walls 211a and 211b, and the horizontal portion moves the wheel 231a. The 232a is lifted off the opening 216, and the moving wheels 231b and 232b are pulled out by the guide member 243. The vertical moving wheels 236a, 236b, 237a, and 237b of the trolley 230 are caught between the front and rear walls 211a, 211b of the vertical rail 211 while being held by the sub-gears 233, 234b, and are maintained in a horizontal posture and rise in the vertical section.

According to the transport mechanism of the present invention of the third configuration described with reference to FIGS. 9 to 12, the container is provided on the upper surface of the bogie 230 or in the interior of the bogie body 235 of the bogie 230. This container is, for example, a stowage composed of a case in which a sample or a reagent is accommodated. The trolley 230 instructs the transport platform by a terminal electrically connected to an external computer, and operates the motor of the drive unit and moves to the destination transport station to stop.

As described above, the carriage 230 of the transport mechanism according to the third aspect of the present invention is disposed on the right and left side surfaces on the sub-gears 233 and 234, and the sub-gear moves along the rack 220, and the sub-gear 233, 234, and a pair of racks 220 for engaging the sub-gears, horizontal moving wheels 231a, 231b, 232a, 232b, horizontal rails 214 for supporting them, and vertical moving wheels 236a, 236b, 237a 237b, a vertical rail 211 supporting the same, and a rail 210 including a rack section of the rack and the rail which are continuous with the rack 220 and the rails 214 and 211, and the horizontal posture of the carriage 230 is maintained. Therefore, it is substantially unnecessary to tilt the trolley 230 and move in parallel, and the container assembled inside the trolley 230 can move not only in the horizontal position but also in the curved section and the vertical section. Then, in order to maintain the movement of the horizontal posture, the swing mechanism is not required, so that the stowage capacity of the container can be increased.

Moreover, the track constituting the curve section and the vertical section connected thereto is single, that is, the track for the sub-gear and the track for the moving wheel are integrally formed, without separate laying, thereby reducing the occupation of the tracks. In particular, the curvature of the curve can be suppressed to a minimum in the curve section, and therefore, the entire transportation system can be miniaturized.

Further, the moving wheel guide walls 219a and 219b of the horizontal rail 214 are omitted depending on the type of the load, and the configuration may be the same as the cross section of the vertical rail 211. Therefore, the installation cost or the occupied space can be further reduced.

In addition to the embodiment of the three configurations of the transport mechanism according to the present invention, the embodiment of the transport mechanism of the fourth configuration of the present invention in which the trolley moves from the horizontal section to the vertical section via the horizontal section is referred to 13 to 19 are explained.

The trolley 330 used in the transport mechanism of the fourth configuration of the present invention shown in Figs. 13 to 19 is provided with horizontal movement for moving two horizontal sections of two groups in front and rear of the bottom of the truck body 335. Wheels 331a, 331b. The driving force for movement is input to the horizontal moving wheel 331a or 331b. Further, at a position slightly in the middle of the right and left side faces of the carriage 330, left and right drive sub-gears 333 for the vertical section are provided (the auxiliary gears on the opposite side of the figure are not visible); and the drive sub-gear is held up and down The moving wheels 336a, 336b for the upper and lower vertical sections of the positioning of 333 are not visible (the moving wheels on the opposite side of the figure are not visible). Further, the drive sub-gear 333 is preferably one of the moving wheels 336a or 336b for the vertical section, and is preferably arranged to be switched to the lower 336b.

Further, the rail of the transport mechanism of the fourth configuration is disposed such that the horizontal rails 310 on which the moving wheels 331a and 331b roll are perpendicular to the vertical rails 311. Then, the horizontal rail 310 is attached to the fixed horizontal rail portion 310a and the front end portion of the rail portion 310a, and is horizontally and erectably coupled to the undulating rail portion 310b by a driving force such as a cylinder or a motor (not shown). form.

Further, the vertical rail 311 is a fixed vertical rail portion 311a, 311b disposed in a direction perpendicular to the fixed horizontal rail portion 310a; and a portion substantially the same length as the length of the undulating rail portion 310b is attached to the rail The position on the extension line of the portion 310b is further separated from the position, and is formed by the separated cut-away rail portion 311c.

The cutting-and-off rail portion 311c functions to be reversely engaged with the rail portions 311a and 311b in a direction perpendicular to the vertical rail portions 311a and 311b by a driving force of a cylinder or the like. The vertical rail 311, the fixed vertical rail portions 311a and 311b, and the cut-away rail portion 311c are provided with a rack 311d that is guided by the drive sub-gear 333 to be engaged on the inner surface.

In the transport mechanism of the present invention having the fourth configuration, in addition to the vertical and horizontal rails 310 and 311, when the cut rail portion 311c is opposite to the fixed vertical rail portions 311a and 311b, the upper and lower portions are deviated. Between the vertical rail portions 311a and 311b, the direction changing rail portion 312 that shifts the direction of the trolley 330 moving on the horizontal rail 310 to the upper fixed vertical rail portion 311a is arranged in synchronization with the above-described cutting rail portion 311c. Act in the horizontal direction.

The direction changing rail portion 312 as a curved rail is a lower portion of the upper fixed vertical rail portion 311a, a vertical portion 312a joined to the upper end portion thereof, and a curved line of three routes in the vertical direction below the vertical portion 312a. The portions 312b, 312c, and 312d are formed. The vertical portion 312a is provided with a rack 312d that is engaged with the rack 311d.

Here, the two curve portions 312b and 312d above and below the three curve portions 312b, 312c, and 312d are formed on the sub gear 333 for guiding the bogie 330 on the horizontal rail 310. The curved rails of the moving wheels 336a and 336b and the intermediate curved portion 312c are formed on the curved rails of the rack 312f that guides the sub-gears 333.

A curved rail portion 312c formed as a direction changing rail portion 312 as a curved rail of the guide driving sub-gear 333 is provided with a rack 312f engaged with the sub-gear 333 on the lower side of the inner side. When the sub-gear 333 is provided in a state of being switched between the vertical wheel and the moving wheel 336b, the rack 312f engaged with the sub-gear 333 is provided on the lower side of the lower side of the curved portion 312d.

In the transport mechanism of the fourth aspect of the present invention comprising the bogie 330 having the above-described configuration and the horizontal and vertical rails 310 and 311, as shown in Figs. 13 to 15, the moving wheels 331a and 331b are used to When the trolley 330 moved on the horizontal rail 310 to the left of the figure reaches the direction changing rail portion 312 engaged with the upper vertical rail portion 311a, the upper and lower moving wheels 336a, 336b are in the entering direction changing rail portion 312. At the same time as the tracks of the upper and lower corner portions 312b, 312d, the sub-gear 333 enters the orbit of the rack 312f of the intermediate curve portion 312c.

The aforementioned moving wheels 336a, 336c and the sub-gears 333 entering the curve portions 312b, 312d, and 312c are respectively guided to the curve rails, and reach the vertical portion 312a of the direction changing rail portion 312, by The sub-gear 333 and the action of the rack 312e of the occlusion guide sub-gear 333 move toward the upper fixed vertical rail portion 311a (see FIGS. 14, 16, and 17).

Here, the trolley 330 is supported by the three rolling elements of the vertical moving wheels 336a and 336b and the sub gear 333 in the section including the vertical rail portion 311a of the vertical portion 312a of the direction changing rail portion 312. In the vertical rail 311, the entirety of the trolley 330 moves on the horizontal rail 310 and maintains the vertical posture, and maintains the horizontal posture via the direction changing rail portion 312, and is movable along the vertical rail 311 (refer to Fig. 15).

When the horizontally moved trolley 330 enters the upper vertical rail portion 311a, the undulating rail portion 310b is raised (refer to FIGS. 18 and 19), and the engagement of the direction changing rail portion 312 and the vertical rail portion 311a is released. In the horizontal direction, the erecting rail portion 311c of the vertical rail 311 is inserted between the upper and lower fixed vertical rail portions 311a and 311b, and the vertical rail 311 is moved. Since the whole is joined in a through state, the trolley 330 that has entered the vertical rail portion 311a moves upward along the upper vertical rail portion 311a or moves toward the lower vertical rail portion 311b side, and the moving direction can be selected.

As described above, the transport mechanism of the present invention having the fourth configuration has the function of a mechanism for changing the moving direction of the bogie 320 from the horizontal rail 310 toward the vertical rail 311 and maintaining the horizontal posture, and has the function of moving the horizontal rail 310 into the vertical rail. The direction of movement of the trolley 320 in the vertical direction can be selected as either the upper or lower side, and functions as a branching mechanism of the moving direction.

Next, an application example of the horizontal transport mechanism of the fourth configuration of the present invention described above with reference to FIGS. 13 to 19 will be described with reference to FIGS. 20 to 26. In Fig. 20 to Fig. 26, the same reference numerals as in Figs. 13 to 19 represent the same member or the same portion.

The trolley 330 used in the present invention is applied to the horizontal transport mechanism of the fourth configuration described in the drawings of Figs. 13 to 19, and is illustrated in Figs. 20 to 23 . In the 20th to 23rd drawings, the trolley 330 is provided at the front and the rear of the bottom of the trolley body 335, and has two horizontal moving wheels 331a and 331b as a group, and is provided with clamping prevention from the left and right sides. The auxiliary wheels 331c and 331d of the horizontal posture of the guide rail (not shown) are guided. The horizontal moving wheel 331D for obtaining the horizontal moving force in the illustrated example is disposed at the center of the bottom of the truck body 335. The driving force for horizontal movement is input to the above-described moving wheel 331a or 331b, or can be input to both sides. This eliminates the need for the horizontal moving wheel 331D.

On the other hand, at a substantially intermediate position between the left and right side faces of the bogie 330, viewed from the front (back side) of the bogie body 335, the inside of the sub-gears 333 and 334 (close to the bogie body) are provided with: The moving wheels 336a, 336b and 337a, 337b for the vertical sections of the upper and lower two positions are positioned. On the outer side of the pair of sub-gears 333 and 334, and on the outer surfaces of the pair of sub-gears 333 and 334, rollers 333a and 334a for preventing the separation of the sub-gears 333 and 334 from the rack are provided, respectively. The rollers 333a and 334a for preventing the fall-off have the same shape and are smaller in diameter than the sub-gears 333 and 334, respectively. On the other hand, in Figs. 20 to 23, CT is a container schematically showing the carriage main body 335.

The anti-dropping rollers 333a and 334a that are disposed coaxially with the sub-gears 333 and 334, in the same manner as the roller, are the same as the second and third configurations of the horizontal conveying mechanism of the present invention. The sub-gears 133, 134, 233, and 234 provided in the trolleys 130 and 230 can also be applied.

The direction changing rail portion 312 in which the carriage 330 moves and changes in the direction from the horizontal direction in the vertical direction is disposed at the intersection of the horizontal rail 310 and the vertical rail 311 of the transport mechanism of the present invention having the fourth configuration, and is provided with the 24th portion. The type shown in the figure.

The direction changing rail portion 312 of Fig. 24 views the sub-gears 333, 334 and the vertical section of the left and right sides of the bogie body 335 in the state of the bogie 330 schematically shown in Fig. 25 from the front (or the back) The moving wheels 336a, 336b, 337a, and 337b and the falling prevention rollers 333a and 334a have an end surface (cross-sectional) shape as shown in Fig. 25.

The left-right direction changing rail portion 312 of the cross-sectional (end surface) shape is shown in Fig. 25, and the rail portion 312 on the left side of Fig. 25 is shown in Fig. 24. The shape of the left-right direction changing rail portion 312 is the same type of left-right symmetry, and the structure of the direction-changing rail portion 312 on the left side of Fig. 25 will be described below with reference to Fig. 24 (see also Fig. 25).

The horizontal rail 310 and the vertical rail 311 of the left and right direction changing rail portion 312 are applied, and at least the fixed horizontal rail portion 310a and the fixed vertical rail portion 311a are provided in the same manner as the example described above with reference to Figs. 13 to 19 . .

The direction changing rail portion 312 is formed to include a vertical portion 312a that is joined to the upper end portion at the lower end of the upper fixed vertical rail portion 311a, and three curved portions that are arranged in the vertical direction below the vertical portion 312a. 312b, 312c, 312d. The vertical portion 312a is provided with a rack 312e that meshes with the rack 311d of the vertical rail 311a.

The three curved portions 312b, 312c, 312d shown in Fig. 24, the upper and lower curved portions 312b, 312d sandwich the sub-gear 334 (333) of the trolley 330 on the horizontal rail 310, and are formed in: The lower moving wheels 337a, 337b (336a, 336b) are guided from the horizontal direction to the vertical direction curved rails, and the middle curved portion 312c is formed to be used for the sub-gears 334 (333) and the respective pairs. The gear is a double-track curved portion provided in parallel with the guide groove 312g in which the rack 312f for guiding the falling prevention roller 334a (333a) is guided in parallel.

In order to guide the detachment prevention roller 334a (333a), the double rail structure having the guide groove 312g arranged in parallel with the rack 312f, the sub gear 133 provided in the carriage of the horizontal conveyance mechanism of the present invention of the second and third configurations described above 134, 233, and 234 are provided with a roller for preventing falling off, and are also applicable to a curved rail provided with a rack that meshes with the sub-gear.

The curved portion 312c formed by the curved portion of the double rail for guiding the sub-gear 334 (333) and the falling prevention roller 334a (333a) is provided on the inner lower portion with the sub-gear 334 (333). The meshed rack 312f.

A transport mechanism that applies the fourth configuration of the present invention including the bogie 330 having the configuration described in FIGS. 20 to 25, the horizontal and vertical rails 310 and 311, and the direction changing rail portion 312 is as follows. As illustrated in Fig. 26, the trolley 330 moved from the left side of the figure by the moving wheels 331a, 331b on the horizontal rail 310 reaches the direction changing rail portion 312 engaged with the upper vertical rail 311a, and the left and right sides The lower vertical section moving wheels 336a, 336b and 337a, 337b enter the left and right direction changing rails 312b, 312d of the upper and lower direction of the rail portion 312, and the left and right sub-gears 333, 334, The roller 333a and 334a for preventing the falling off on the coaxial line enter the track in which the rack 312f and the guide groove 312g of the intermediate curved portion 312c are arranged side by side.

The moving wheels 336a, 336b and 337a and 337b and the sub-gears 333 and 334 for the vertical sections of the respective curved portions 312b, 312d, and 312c, and the anti-dropping rollers 333a and 334a for the coaxial bending are incorporated by the respective curved portions. Guided to reach the vertical portion 312a of the direction changing rail portion 312, the sub-gears 333, 334, the left and right racks 312e that are engaged with the sub-gears 333, 334, and the prevention of the two sub-gears 333, 334 The detachment prevention rollers 333a and 334a that are detached from the rack 312e and the guide grooves 312g for guiding the rollers move into the upper left and right fixed vertical rail portions 311a and move (refer to 26 (a) ~ (f)).

As shown in Fig. 26(f), the carriage 330 includes the left and right moving wheels 336a, 336b and 337a, 337b in the section including the vertical rail portion 311a of the vertical portion 312a of the left and right direction changing rail portions 312. And three rolling elements on the left and right sides of the left and right sub-gears 333 and 334 are supported by the left and right vertical rails 311, and the trolley 330 is moved to the horizontal rail 310 to maintain a horizontal posture, and can be along the vertical rail 311. Move (refer to Figure 26 (f)). This is the same as the previous embodiment explained in Figs. 13 to 19 .

[Possibility of industrial use]

In the embodiments of the first to fourth configurations and the application examples described above, the horizontal rails in the horizontal section are formed by one composite rail having a channel-shaped cross section, but the same as the vertical section, depending on the purpose of setting or setting the environment. The sub-gear rail and the moving wheel rail may be configured. The movement of the trolley in the horizontal section may be maintained at a level as long as the moving wheel method that receives the driving force is used in addition to the rack and the sub-gear. The handling mechanism of the posture can be easily implemented by applying the existing technology. In particular, in the application example of the fourth configuration of the present invention, the sub-gear that meshes with the rack and outputs the driving force for the vertical section from the curve section is provided with a roll for preventing the detachment of the sub-gear from the rack. Therefore, the movement mode is changed from horizontal to vertical, and the yoke of the sub-gear and the rack of the vertical section ensures the stability.

Further, in the above embodiment, the vertical rail and the horizontal rail are laid along the floor and the wall of the building, but the transport mechanism of the present invention can be formed even if the rail is laid on the pillar or the ceiling. For example, if the carrier is a product that must maintain a specific posture and cannot move on the ceiling, the cross-sectional shape of the horizontal rail or the supporting structure of the moving wheel or the method of laying the rail must be appropriately selected, and the staged laying constitutes a horizontal section. The track and the curve section, and the track of the vertical section which is indirectly continuous with the zones, can move the trolley provided with the container while maintaining the horizontal posture of the container even if the patio and the wall do not have a turning means.

10. . . track

11. . . Secondary gear track

12. . . Moving wheel track

14. . . Composite rail

15. . . Curved wall

20. . . rack

30. . . Trolley

31, 32. . . Moving wheel

33, 34. . . Counter gear

35. . . Trolley body

110. . . track

111. . . Secondary gear track

112. . . Moving wheel track

114. . . Monorail

115. . . Curved wall

116. . . Opening

117. . . hole

118. . . Guide wall

120. . . rack

130. . . Trolley

131a, 131b. . . Moving wheel

132a, 132b. . . Moving wheel

133, 134. . . Counter gear

135. . . Trolley body

136a, 136b. . . Moving wheel

137a, 137b. . . Moving wheel

210. . . track

211. . . Vertical rail

214. . . Horizontal rail

215. . . Curved wall

216. . . Opening

217. . . aisle

220. . . rack

230. . . Trolley

231a, 231b. . . Horizontal moving wheel

232a, 232b. . . Horizontal moving wheel

233, 234. . . Counter gear

235. . . Trolley body

236a, 236b. . . Vertical moving wheel

237a, 237b. . . Vertical moving wheel

Fig. 1 is a front elevational view showing an embodiment of a horizontal transport mechanism of a self-propelled trolley according to a first configuration of the present invention.

Fig. 2 is a right side view of the horizontal transport mechanism of Fig. 1.

Fig. 3 is a plan view of Fig. 2.

Fig. 4 is a perspective view of the horizontal transport mechanism shown in Figs. 1 to 3 .

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

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

Fig. 7 is a plan view of Fig. 6.

Fig. 8 is a perspective view of the horizontal transport mechanism shown in Figs. 5 to 7.

Fig. 9 is a front elevational view showing an embodiment of a horizontal transport mechanism of a self-propelled trolley according to a third configuration of the present invention.

Fig. 10 is a right side view of the horizontal transport mechanism shown in Fig. 9.

Figure 11 is a plan view of Figure 9.

Fig. 12 is a perspective view of the horizontal transport mechanism shown in Figs. 9 to 11.

Fig. 13 is a side view for explaining the movement of the horizontal section of the bogie of the horizontal transport mechanism of the fourth configuration of the present invention.

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

Fig. 15 is a side view for explaining the movement of the vertical section of the bogie of the horizontal transport mechanism of the fourth configuration.

Fig. 16 is a perspective view of the trolley and the posture of each track in the case where the trolley is moved from the horizontal section to the vertical section.

Figure 17 is a side view of the mode of Figure 16.

Fig. 18 is a perspective view of the trolley and the posture of each track in the case where the trolley is moved in the vertical section in a horizontal posture.

Figure 19 is a side view of the mode of Figure 18.

Fig. 20 is a side view showing an example of a bogie used in an application example of the horizontal transport mechanism of the fourth aspect of the present invention.

Figure 21 is a plan view of the trolley of Figure 20.

Figure 22 is a left side view of the trolley of Figure 20.

Fig. 23 is a schematic perspective view of the trolley shown in Figs. 20 to 22.

Fig. 24 is a perspective view showing the pattern of the direction changing rail portion (left rail portion) of the trolley movement in the 20th to 23rd views.

Fig. 25 is a front elevational view showing the rail portion of the state in which the carriage enters the left and right direction changing rail portion in Fig. 22;

Fig. 26 (a) to (f) are side cross-sectional views showing a state in which the trolley passes the direction changing rail portion in a time series.

110. . . track

111. . . track

111b. . . Back wall

111c. . . Side wall

112. . . Moving wheel track

112b. . . Back wall

112c. . . Side wall

114. . . track

114b. . . track

114c. . . Side wall

115. . . Curved wall

116. . . Opening

120. . . rack

130. . . Trolley

131a. . . Moving wheel

131b. . . Moving wheel

133. . . Counter gear

135. . . Trolley body

136a. . . Moving wheel

136b. . . Moving wheel

Claims (10)

A horizontal transport mechanism for a self-propelled trolley includes a transport mechanism for a self-propelled trolley equipped with a stowage, the self-propelled trolley system having: a rail that is horizontally and vertically laid inside the building; and a rack that is laid along the rail a moving wheel that moves on the track; and a driving part that is engaged with the sub-tooth and the sub-gear that mesh with the rack, wherein the track is a curve section that changes direction from horizontal to vertical or from vertical to horizontal, And a vertical section which is connected to the sub-gear, includes a sub-gear rail having a rack engaged with the sub-gear, a traveling wheel rail which is parallel to the sub-gear rail and separated therefrom, and the bogie is attached to the left and right sides thereof A sub-gear that meshes with the sub-gear rail and a moving wheel that is supported by the moving-wheel rail, and that is arranged in a vertical section in the curve section and the section, and the trolley can be moved in a horizontal posture. The aforementioned sub-gear rail and the moving wheel rail. The horizontal transport mechanism of the self-propelled trolley according to the first aspect of the invention, wherein the side of the one perpendicular to the moving direction of the bogie includes: the first sub-gear and the first moving wheel, and the side of the other side The first sub-gear has a second moving wheel at the same phase position; the second sub-gear is provided at a position in phase with the first moving wheel, and the first and second sub-phases are arranged on the two sides by different phases. Gears and moving wheels, to suppress The tilt of the trolley. The horizontal transport mechanism of the self-propelled trolley according to the first aspect of the invention, wherein the trolley is provided with a sub-gear coaxially on a coaxial position of the same phase of the intermediate portions of the left and right sides, and is provided in the moving direction of the trolley The front and rear pair of moving wheels that are placed on the front and rear of the sub-gears and that are placed on the rotating shaft of the sub-gears up and down, and the movements in either the front and the rear in the curve section and the vertical section following the section The wheels and the secondary gears are supported on individual tracks to move the trolley in a horizontal position. The horizontal transport mechanism of the self-propelled trolley according to the second or third aspect of the invention, wherein the track for the sub-gear in the horizontal section of the track and the track for the moving wheel are formed by a composite track in which two tracks are arranged in parallel, The composite track is arranged from the curve section and separated back and forth in the vertical section. A horizontal transport mechanism for a self-propelled trolley, comprising: a transport mechanism for a self-propelled trolley equipped with a stowage; the self-propelled train has: a rail that is horizontally and vertically laid inside the building; and a rack that is laid along the rail; a moving wheel that moves on the rail; and a driving unit that is engaged with the sub-tooth and the sub-gear that mesh with the rack, wherein the bogie is provided with a sub-gear coaxially on the same phase in the middle portion of the left and right side surfaces, and includes: a horizontal moving wheel that is paired with respect to the pair of front and rear gears in the moving direction of the trolley; and a pair of upper and lower vertical moving wheels that slide up and down the rotating shaft of the auxiliary gear, the track system has: a rack and water that meshes with the sub-gear in a curved section that changes horizontally from horizontal to vertical or from vertical to horizontal. The curved track of the moving surface of the flat moving wheel, and in the vertical section following the curved section, the vertical rail having the rack engaged with the sub-gear and the moving surface having the vertical moving wheel is borrowed in the curved section The horizontal moving wheel and the auxiliary gear are supported by the curved rail, and the vertical moving wheel and the auxiliary gear are supported by the vertical rail in the vertical section following the curved section. A horizontal transport mechanism for a self-propelled trolley, comprising: a transport mechanism for a self-propelled trolley equipped with a stowage; the self-propelled train has: a rail that is horizontally and vertically laid inside the building; and a rack that is laid along the rail; a moving wheel that moves on the rail; and a sub-gear that meshes with the rack and a driving unit of the sub-gear, wherein the bogie is provided with a sub-gear coaxially on the same phase in the middle portion of the left and right side surfaces. And a horizontal moving wheel provided at a bottom of the trolley; and a vertical moving wheel that is disposed above and below the pair of rotating shafts of the auxiliary gear, the track system is provided to be horizontally or vertically a curved rack that is vertically oriented horizontally and that changes direction, has a curved rack that meshes with the aforementioned sub-gear, and a curved rail that restrains the moving surface of the vertical moving wheel, and is shorter in the subsequent section of the curve In the vertical section, there is a shorter rack that meshes with the sub-gear and a shorter vertical rail that has a moving surface of the vertical moving wheel. In the curve section, the sub-gear is Holding the curved rack, and the horizontal moving wheel is supported on the curved rail. In the shorter vertical section following the curved section, the sub-gear and vertical are supported by the vertical rail of the shorter rack. Move the wheel to move the trolley in a horizontal position at any time. For example, the level of self-propelled trolleys in the scope of patent application No. 3, 5 or In the transport mechanism, the sub-gears on the left and right sides of the bogie are respectively provided with rollers for preventing falling off on the coaxial side. The horizontal conveyance mechanism of the self-propelled trolley according to the fourth aspect of the invention, wherein the auxiliary gears on the left and right sides of the trolley are provided with a roller for preventing falling off on the coaxial side. The horizontal transport mechanism of the self-propelled trolley according to the third, fifth or sixth aspect of the patent application, wherein the curved rail disposed in the curve section includes: a rack that meshes with the left and right secondary gears of the trolley, and is used for The guide groove that guides and supports the sub-gear and the roller for preventing falling off on the coaxial side is provided to constitute the rack and the double rail. The horizontal transport mechanism of the self-propelled trolley according to the fourth aspect of the invention, wherein the curved rail disposed in the curve section is provided with a rack that meshes with the left and right sub-gears of the trolley, and is used for the sub-gear The guide groove that is guided and supported by the roller for preventing falling off on the coaxial shaft is provided to constitute the above-described rack and the double rail.