JPH04323504A - Automatic measurement device for transporting carriage - Google Patents

Abstract

PURPOSE:To carry out accurate measurement in a short period of time without human hand by providing measurement devices for a shape of driving wheel, a stopping angle thereof, a level of driving axis, and for a stopper, and a calculator for comparing each measurement value with a reference. CONSTITUTION:An automatic measurement device is provided with a driving wheel shape measurement device provided at a position where a driving wheel 4 is partially stopped due to measurement of the abrasion of a driving wheel 9, a driving wheel stopping angle measurement device 25 provided on a station for measuring a stopping angle of the driving wheel 9 while a transporting carriage 8 is stopped, a driving axis level measurement device 26 provided on a casing part, a stopper position measurement device 27 provided on the lower surface side of the carriage 8, and a calculator 28. The abrasion condition of the driving wheel 9 is measured by the driving wheel shape measurement device, and the stopping angle of the driving wheel 9 by the driving wheel stopping angle measurement device 25, the level of the driving axis 4 by the driving axis level measurement device 26, and the position of a stopper 22 is measured by the stopper position measurement device 27. Measurement values are compared with references by the calculator 28. A point to be adjusted is thus pointed out clearly.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic measuring device for a transportation vehicle used for inspecting the functions and characteristics of a friction-driven transportation vehicle for transporting cargo in a factory or warehouse.

0002

2. Description of the Related Art As shown in FIGS. 8 and 9, this kind of friction-driven transport vehicle device has a drive shaft 4 disposed via a bearing 5 parallel to a traveling rail 1 laid on the ground side as a track. On the lower surface of a conveyance cart 8, which is rotatably driven by power from a drive device 3 via a V-belt 2, and placed on the above-mentioned running rail 1 via running wheels 6 and a guide shaft 7, Two sets of drive wheel units 10 each having a drive wheel 9 that is in pressure contact with the drive shaft 4 are attached. As shown in detail in FIG. 9, the drive wheel unit 10 includes a transport vehicle 8
A casing 11 rotatably supported via a bearing 15 on a vertical shaft 14 attached to the lower surface, and a drive rotatably supported via a bearing 13 on a horizontal drive wheel shaft 12 held by the casing 11. wheel 9 and the casing 11 for pressing the drive wheel 9 against the drive shaft 4.
and a return spring (torsion spring) 17 for constantly applying a directional force to the drive wheel 9 in a direction of 45 degrees with respect to the axial direction of the drive shaft 4. Further, the casing 11 of each drive wheel unit 10 has arms 18 extending in parallel, and the tip of each arm 18 has a chevron shape whose plate width gradually increases and then decreases with respect to the traveling direction of the transport vehicle. The control bar 19, the drive wheel unit 10, and the arm 18 form a parallelogram link mechanism. On the other hand, at the stop position of the transport vehicle 8 on the ground side, there are a dogleg-shaped operating lever 20 that can freely rotate in the horizontal direction with the intermediate part as a fulcrum, and an operating lever 20
A stopper device 23 is arranged, which includes a cylinder 21 connected to one end of the operating lever 20, and a roller-shaped stopper 22 rotatably attached to the other end of the operating lever 20 so as to be able to engage with the control bar 19.

In the transport vehicle 8, a drive wheel 9 of a drive wheel unit 10 is pressed by a pressing spring 16 against a drive shaft 4 which is rotationally driven by a drive device 3, and a drive wheel 9 is pressed by a return spring 17. Drive shaft 4
Since the vehicle is set to always face in a direction of 45 degrees with respect to the axial direction of the vehicle, when the angle of the drive wheels 9 is within a certain range of 45 to 90 degrees, thrust is obtained and the vehicle travels. in this case,
The transport vehicle 8 is accelerated as the angle of the drive wheels 9 approaches 45 degrees, and is decelerated as the angle of the drive wheels 9 approaches 90 degrees. Acceleration and deceleration of the transport vehicle 8 is controlled by a control bar 19 and a stopper device 23. That is, when it is desired to stop the carriage 8, the cylinder 21 is actuated to push the stopper 22 toward the drive shaft 4 and place it at a position where the control bar 19 passes. When the transport vehicle 8 runs in this state, the chevron-shaped portion of the control bar 19 comes into contact with the stopper 22 and is gradually pushed, so that the arm 18 fixed to the drive wheel unit 10 is pushed and the drive is driven. The wheel 9 is turned in the 90° direction and decelerated until it comes to a complete stop at 90°. When starting the transport vehicle 8, the stopper 22 is released from being held in position by the cylinder 21. As a result, the drive wheels 9 are directed in a 45° direction by the action of the return spring 17 of the drive wheel unit 10, and the vehicle is accelerated and travels.

[0004] A transport vehicle 8 driven by the method described above.
, the pressing spring 16 of the drive wheel unit 10
There is also a limit to the movement of the drive wheel shaft 12 of the drive wheel 9, which is pressed against the drive wheel unit by the drive shaft 4. Thrust to 10 becomes gradually difficult to obtain. Further, the stopping angle of the driving wheel 9 is largely related to the position of the stopper 22 via the control bar 19. That is, even if the stopper 22 is out of position, the stopping angle of the drive wheels 9 changes. On the other hand, even if there is no deviation in the position of the stopper 22, if the control bar 19 is deformed, the stopping angle of the drive wheels 9 will change. Therefore, it is necessary to measure and inspect each part and replace or adjust the parts before such problems occur.

[0005] Conventionally, therefore, the shape and dimensions of the drive wheels 9 and the stopping angle of the drive wheels 9 have been measured. In reality, the measurements are carried out manually using a measuring tape, an angle meter, a stopwatch, etc., in accordance with predetermined measurement items, with the 8 completely stopped.

[0006]

[Problems to be Solved by the Invention] However, in the case of the above-mentioned conventional measurement method, there is a problem in that it takes a long time to measure because each measurement item is recorded using a tape measure, an angle meter, a stopwatch, etc. Moreover, since the measurement is done visually, there are concerns about accuracy, and at least 2 to 3 people are required to perform the measurement.Furthermore, since the measurement is done while the equipment is stopped, the availability rate of the equipment may be affected. There are also problems that can reduce the

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide an automatic measuring device for a transport vehicle that can perform accurate measurements in a short period of time without requiring any manual labor while operating the transport vehicle.

[0008]

[Means for Solving the Problems] In order to solve the above-mentioned problems, the present invention includes a plurality of drive wheels that rotate in pressure contact with a drive shaft provided parallel to a track and are capable of rotating around a vertical axis. A transport vehicle is arranged so as to be able to run along the above-mentioned track, and the tip of the arm extending from the casing that holds the above-mentioned drive wheels is connected to a control bar for controlling the turning angle of the above-mentioned drive wheels. In an automatic measuring device for a transport vehicle used for inspecting the functions and characteristics of a transport vehicle device, a stopper configured to be able to move in and out of the passage position of the control bar is disposed at a side station, and the wear state of the drive wheels is measured. A drive wheel shape measurement device installed at a position where the drive shaft partially breaks off for measurement, and a drive wheel stop angle measurement device installed at a station to measure the stop angle of the drive wheel when the transport vehicle is stopped. a drive shaft level measuring device provided on the casing to measure the level of the drive shaft; and a stopper position measuring device provided on the bottom side of the transport vehicle to measure the position of the stopper. , and a calculation device that compares and calculates the measurement values obtained by each of the measurement devices and a reference value.

Further, as a drive wheel stop angle measuring device, two sets of two laser sensors are installed in parallel to detect one width end face and the other width end face of the drive wheel. It is preferable to use a drive wheel stop angle measuring device configured to be arranged on the same plane at a required angle.

Furthermore, the drive wheel shape measuring device is provided with a laser sensor for detecting the lower end of the moving drive wheel and the lower end of the drive wheel shaft, and an optical sensor for determining the measurement timing of each of the laser sensors. A driving wheel shape measuring device having the following configuration can be used.

[0011]

[Operation] The wear condition of the drive wheel is measured by the drive wheel shape measuring device, the stopping angle of the drive wheel is measured by the drive wheel stop angle measuring device, the level of the drive shaft is measured by the drive shaft level measuring device, and the stopper position is measured. The position of the stopper is measured by a measuring device, and each measured value is compared with a reference value by an arithmetic device, thereby identifying areas that require adjustment.

Furthermore, if the drive wheel stop angle measuring device is configured with two sets of laser sensors, accurate measurement is possible even if the drive wheels are worn.

Furthermore, if the drive wheel shape measuring device is constructed from two laser sensors and a timing optical sensor, it becomes possible to accurately measure only the width of the moving drive wheel.

[0014]

Embodiments Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIGS. 1 to 7 show an embodiment of the present invention. Similar to the carrier device shown in FIGS. A transport vehicle 8 equipped with a plurality of drive wheel units 10 each having a drive wheel unit 10 having a drive wheel 9 that can be rotated under pressure and pivoted about a vertical axis 14 is mounted movably on the traveling rail 1, and The tip of the arm 18 extending from the casing 11 holding the wheel 9 is connected to a control bar 19 for controlling the turning angle of the drive wheel 9 so as to form a parallelogram link mechanism, and further, In a configuration in which a stopper 22 configured to be able to move in and out of the passing position of the control bar 19 is disposed at a station on the ground side (transportation vehicle stop position), the shape and dimensions of the drive wheel 9 are measured to check the wear state. A driving wheel shape measuring device 24 that measures the driving wheel shape, and a driving wheel stopping angle measuring device 2 that measures the stopping angle of the driving wheel 9.
5, a drive shaft level measuring device 26 that measures the level of the drive shaft 4, a stopper position measuring device 27 that measures the position of the stopper 22, and each of the above measuring devices 24, 25, 26.
. Note that the same parts as in FIGS. 8 and 9 are given the same reference numerals.

The drive wheel shape measuring device 24 is installed at a position where the drive shaft 4 is partially interrupted, and is mounted on a pedestal 29 installed on the ground in a direction intersecting the drive shaft 4, as shown in FIGS. 2 and 3. A slit light receiving type laser sensor 24a consisting of a light emitting part and a light receiving part that continuously measures the lower surface of the drive wheel 9 is installed at both ends.
A slit light-receiving type laser sensor 24b consisting of a light emitting part and a light receiving part, which measures the lower end of the casing 11 as the lower surface of the drive wheel shaft 12, is installed above the drive wheel shaft 12. An optical sensor 24c consisting of a light emitting part and a light receiving part is installed on the upper part of the casing 11 so as to determine the timing of measurement by each of the laser sensors 24a and 24b by detecting the side end surface of the casing 11.

The drive wheel stop angle measuring device 25 is installed at a station where the transport vehicle 8 is stopped by the stopper device 23, and as shown in FIGS. Mount 3 installed on
0, slit light-receiving laser type sensors 25a and 25b consisting of a light emitting part and a light receiving part are arranged in parallel so that one side end of the drive wheel 9 in the stopped position can be measured. The sensors 25c and 25d are arranged on the same plane as the laser sensors 25a and 25b at a certain angle β so as to be able to measure the drive wheel 9.

As shown in FIGS. 2 and 3, the drive shaft level measuring device 26 has a bracket 31 projecting from the outside of the casing 11 constituting the drive wheel unit 10 in a direction perpendicular to the drive wheel shaft 12. To each bracket 31,
A slit light-receiving laser sensor 26a consisting of a light emitting part and a light receiving part is attached to measure the upper surface level of the drive wheel 9, and the level of the drive shaft 4 is measured through the level of the drive wheel 9, which is constantly pressed against the drive shaft 4. The configuration is such that it can be measured.

Further, the stopper position measuring device 27 includes:
As shown in FIG. 1, it consists of a slit light-receiving type laser sensor 27a attached to the lower surface of the carriage 8 so that a light emitting part and a light receiving part face each other, and the carriage 8 is brought to a stopped state by pushing the control bar 19 with a stopper 22. When the
The arrangement is such that the peripheral surface of the stopper 22 in contact with the control bar 19 can be measured.

Furthermore, as shown in FIG. 6, the arithmetic unit 28 includes a CPU, a ROM in which a measurement program is written, and
An arithmetic unit 33 having an AM, an interface circuit, etc., and configured to accumulate measurement data from each of the measurement devices 24, 25, 26, 27 input via the connection unit 32 and compare it with a reference value, and a keyboard 34. , a CRT 35, and a printer 36, and the connection section 32 includes an operation control panel 3.
7 can be connected, and the number of the transport vehicle 8 and the arrival number can be input to the arithmetic unit 33. In addition,
The operation control panel 37 receives position signals and truck number signals when several transport vehicles 8 are running on the traveling rail 1, and ensures that the transport vehicles 8 do not collide with each other and reliably control the transport vehicles 8. Stopper 2 so that the load above 8 can be transferred
2 is used to control the operation. Also, this operation control panel 3
7 is designed so that the stopper 22 can be moved in and out manually.

The measurement of the drive wheel 9 by the drive wheel shape measuring device 24 is performed as follows. That is, when the drive wheel 9 arrives at the discontinued position of the drive shaft 4 and the optical sensor 24c is activated, the laser sensor 24b activates the casing 11.
At the same time, the laser sensor 24a measures the time during which the carriage 8 travels at a constant speed and the width of the drive wheel 9 passes. In this case, by arranging the optical axis of the optical sensor 24c near the axis of the driving wheel shaft 12,
The operating state can be maintained only while the width of the casing 11 passes through without detecting the gap between the casing 11 and the drive wheel 9. As a result, the drive wheel unit 10
Accurate measurement is always possible even if there are multiple.

In the above, as shown in FIG. 3, the distance between the center of the drive wheel shaft 12 and the lower surface of the casing 11 is a,
The distance in the height direction between the laser sensors 24a and 24b is l
1. If the measured values of the laser sensors 24b and 24a are X1 and X2, respectively, the diameter D of the drive wheel 9 is D=
2{a+l1 −(X2 −X1 )} (1), and it is possible to continuously and accurately measure the width of the driving wheel 9.

Furthermore, the measurement of the stopping angle of the driving wheel 9 by the driving wheel stopping angle measuring device 25 is performed as follows. That is, as shown in FIGS. 4 and 5, the drive wheels 9 usually have their end faces cut, so the laser sensors 25a,
25b, the diameter Y of the cut inner dimension portion is measured. Here, if the width direction dimension of the drive wheel 9 cut by the optical axis plane is B, the end face direction dimension of the drive wheel 9 is W, the measured value in that state is E, and the stopping angle of the drive wheel 9 is α. , E=W sin α+B cos α
...The relationship (2) holds true. For the dimension W, if the distance H from the lower point of the diameter Y to the optical axis plane is constant,
Since the dimension W is determined by calculation, the stopping angle α can be determined.

However, since the drive wheel 9 wears out with use, the distance H gradually increases, and even for the same stopping angle α, the distance H is calculated using a larger value. In order to eliminate such inconveniences, the present invention provides another set of laser sensors 25 in addition to the laser sensors 25a and 25b.
c and 25d are arranged on the same plane as the laser sensors 25a and 25b, inclined at an angle β. If the measured values obtained by these laser sensors 25c and 25d are F, then
F=W sin(β-α)+B cos(β-α)
...(3). (2) If we eliminate W from equations (3), we get
F sin α=(EB cos α)・sin
(β-α)+B sin α・cos(β-α)


...(4) As a result, the stopping angle can be found regardless of the distance H. Note that the measured values E and F are the distance between the centers of the laser sensors 25a and 25b by l2, the distance between the centers of the laser sensors 25c and 25d by l3, and the distance between the centers of the laser sensors 25a, 25b, 25c.
, 25d is the measurable width dimension S, and the respective measurement values are X3, X4, X5, and X6, then E=l
2 +(X3 +X4)-S...(5)F=l3
+(X5 +X6)-S...It can be calculated from (6).

On the other hand, the level of the drive shaft 4 can be measured by a drive shaft level measuring device 26. That is,
The level of the drive shaft 9 can be indirectly measured by measuring the upper surface of the drive wheel 9 driven along the upper surface of the drive shaft 4 using the laser sensor 26a attached to the casing 11 of the drive wheel unit 10. Can be done.

Furthermore, the position of the stopper 22 can be measured by a stopper position measuring device 27. That is, when the control bar 19 is pushed by the stopper 22 so that the drive wheel 9 is close to 90 degrees with respect to the axial direction of the drive shaft 4 and the transport vehicle 8 is stopped, the surface of the stopper 22 that contacts the control bar 19 is measured by the laser sensor 27a.

When performing measurements using each of the measuring devices 24, 25, 26, and 27, the measurements are started by turning on the power to the arithmetic unit 28 shown in FIG. 6, and then executing the measurement control program. The specific procedure is as shown in the flowchart of FIG.

The above-mentioned drive shaft level measurement and stopper position measurement are performed on the carriage 8. in this case,
The arithmetic device 28 consisting of the arithmetic unit 33 and its attached equipment is placed on the carrier 8, and if there is any previous measurement data, that data is input before starting work. At this time, if the station position at which the carriage 8 stops cannot be read from the carriage 8, the measurement start position is input using the keyboard 35. As the station position serving as a reference for measurement, a location near the bearing 5 with relatively little vertical change is selected and similarly input as the reference station, and measurement is started. The computing unit 33 accumulates measurement data or continuous measurement data for each station, compares it with a reference station, and displays it on the CRT 35 or outputs it on the printer 36. Also, if there is previous measurement data, it is compared with it and displayed and output in the same way.

On the other hand, the drive wheel shape measurement and the drive wheel stop angle measurement are performed on the ground side. In this case, the computing unit 33
and an arithmetic device 28 consisting of its attached equipment is placed on the ground,
The measuring devices 24, 25 and the operation control panel 37 are connected to the connection part 32, and the operation control panel 37 inputs the number of the transport vehicle 8 and the arrival signal to the calculator 33 to perform measurement. At this time, if the number signal of the transport vehicle 8 is not obtained, the number is input using the keyboard 35 in the order in which the transport vehicle 8 is arranged. In driving wheel shape measurement, the measurement data obtained from the laser sensors 24a and 24b is accumulated in the calculator 33, and when the measurement is completed, it is substituted into calculation formula (1) for calculation, and the diameter and shape are calculated. Output. Note that the diameter is compared with the previous measurement value and output. In the drive wheel stop angle measurement, the measured values obtained by the laser sensors 25a, 25b, 25c, and 25d are substituted into calculation formulas (5) and (6), and the obtained results are substituted into calculation formula (4). The stopping angle is measured by calculation. This measured value is also compared with the previous measured value and output.

[0030] Each of the above measurement items is selective, and only necessary items can be measured.

[0031]

As described above, according to the present invention, there is provided a driving wheel shape measuring device, a driving wheel stop angle measuring device, a driving shaft level measuring device, a stopper position measuring device, and an operation for comparing each measured value with a reference value. Since it has a configuration that includes a device, it is possible to perform measurements in a short time even during operation without requiring human intervention. Therefore, the measurement timing can be freely set, and there is no measurement error caused by humans, making it more accurate. Measured values can be obtained, allowing anyone to know the state of wear on the drive wheels, and changes over time can be clarified by comparison with previous measured values, making it especially useful for early detection of abnormal wear, etc. In addition, the drive wheel stop angle measuring device is configured such that two sets of laser sensors are arranged in parallel, and the two sets are arranged on the same plane at the required angle. , it is possible to accurately determine the stopping angle even if the drive wheel is worn, and furthermore, the drive wheel shape measuring device is equipped with a laser sensor that detects the lower end of the drive wheel and the lower end of the drive wheel shaft.
By using a configuration that includes an optical sensor that takes the measurement timing of each laser sensor, it is possible to accurately measure the time that the width of the drive wheel passes, and it is possible to correspond to multiple drive wheels. It has a great effect.

[Brief explanation of the drawing]

FIG. 1 is a schematic diagram of a transport vehicle device showing an embodiment of an automatic measuring device for a transport vehicle device according to the present invention.

FIG. 2 is a schematic diagram showing a drive wheel shape measuring device and a drive shaft level measuring device.

FIG. 3 is a partially cutaway side view of FIG. 2;

FIG. 4 is a schematic diagram of a drive wheel stop angle measuring device.

FIG. 5 is a plan view of FIG. 4;

FIG. 6 is a block diagram showing an overview of the arithmetic device.

FIG. 7 is a flowchart showing a work procedure.

FIG. 8 is a schematic diagram showing an example of a carrier device.

FIG. 9 is a sectional view of the drive wheel unit.

[Explanation of symbols]

1 Traveling rail (track) 4 Drive shaft 8 Transport vehicle 9 Drive wheel 11 Casing 12 Drive wheel shaft 14 Vertical shaft 18 Arm 19 Control bar 22 Stopper 24 Drive wheel shape measuring device 24a, 24b Laser sensor 24c Optical sensor 25 Drive wheel stop angle Measuring device 25a, 25b, 25c, 25d Laser type sensor 2
6 Drive shaft level measuring device 27 Stopper position measuring device 28 Arithmetic device

Claims (3)

[Claims] Claim 1: A transport vehicle equipped with a plurality of drive wheels that rotate in pressure contact with a drive shaft provided parallel to the track and that can rotate around a vertical axis is disposed so as to be able to run along the track, The tip of the arm protruding from the casing that holds the wheel is connected to a control bar for controlling the turning angle of the drive wheel, so that it can enter and exit the station on the ground side through the position where the control bar passes. In an automatic measuring device for a transport vehicle used for inspecting the function and characteristics of a transport vehicle device in which the configured stopper is disposed, a drive provided at a position where the drive shaft is partially interrupted in order to measure the wear state of the drive wheel. a wheel shape measuring device, a driving wheel stopping angle measuring device installed at the station to measure the stopping angle of the driving wheels when the conveyance vehicle is stopped, and a driving wheel stopping angle measuring device installed at the station to measure the level of the driving shaft. A drive shaft level measuring device provided in the section, a stopper position measuring device provided on the underside of the transport vehicle to measure the position of the stopper, and the measured values by each of the measuring devices and a reference value are compared and calculated. 1. An automatic measuring device for a transport vehicle device, characterized in that it has a configuration including a calculation device. 2. As a drive wheel stop angle measuring device, two sets of two laser sensors arranged in parallel are provided so as to detect one width end face and the other width end face of the drive wheel, and each set of two laser sensors are provided. 2. The automatic measuring device for a transport vehicle device according to claim 1, which uses a drive wheel stop angle measuring device having a structure in which laser sensors are arranged on the same plane at a required angle. 3. The driving wheel shape measuring device is provided with a laser sensor for detecting the lower end of the moving driving wheel and the lower end of the driving wheel shaft, and an optical sensor for determining the measurement timing of each of the laser sensors. 2. An automatic measuring device for a transport vehicle device according to claim 1, which uses a drive wheel shape measuring device having the following configuration.