JPH06135331A - Speed controller of non-linear rail running truck - Google Patents

Abstract

PURPOSE:To provide a speed controller of an economic non-linear rail running truck for preventing abrasion of front and rear wheels when the truck runs along a pair of right and left non-linear rails consisting of arc rail and a linear rail. CONSTITUTION:Arrival of a front wheel 2a of truck 1 running on a pair of right and left rails for which an arc rail 3a and a linear rail 3b are connected together, upon the joint point, is detected, and a time required from the point of detection to a point when the front wheels 2a or rear wheels 2b of the truck 1 run along an interval L1 between the front wheels 2a and the rear wheels 2b on the linear rail 3b, is measured. The running speed of the front wheels 2a or the rear wheels 2b is controlled so that the measured time becomes equal to a time required for the rear wheels 2b or the front wheels 2a to run along an arc length L2 corresponding to the linear length L1 on the arc rail 3a.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a speed control device for a non-linear rail traveling carriage.

[0002]

2. Description of the Related Art For example, as shown in the plan view of FIG. 2, in a trolley 1 traveling on a rail track formed by connecting a circular rail 3a and a straight rail 3b, the trolley 1 passes through the circular rail 3a. When approaching the seam position a ₁ , there is a difference in rail travel length between the front wheel 2a traveling on the straight rail 3b and the rear wheel 2b traveling on the arc rail 3a. By the way, since the two have the same speed, slippage occurs in either one.

[0003]

In such a case, when one of the front wheel 2a or the rear wheel 2b is a driving wheel and the other is a driven wheel, no slip occurs between these wheels and the rail. However, when the front and rear wheels are both driving wheels and they travel at the same traveling speed, they will be attracted to each other or pushed against each other by the difference in rail traveling length, and slip between the rails. Occurs, and there is a problem that the wheels are badly worn.

The present invention has been proposed in view of such circumstances, and when traveling along a non-straight rail consisting of an arc rail and a straight rail, it is an economical non- economical method for preventing wear of front wheels and rear wheels. An object is to provide a speed control device for a straight rail traveling vehicle.

[0005]

To this end, the present invention detects that the front wheels of a bogie traveling on a rail connecting an arc rail and a straight rail have reached the joint position, and counting from that point, the bogie is counted. Of time required for the front wheels or the rear wheels to travel on the linear rail in the distance L ₁ between the front wheels and the rear wheels, and the arc length L ₂ corresponding to the straight line length L ₁ of the rear wheels or the front wheels on the arc rail. It is characterized in that the traveling speed of the front wheels or the rear wheels is controlled so that the time required to travel the vehicle becomes the same.

[0006]

According to this structure, when it is detected that the front wheels of the truck traveling on the rail connecting the circular rail and the straight rail have reached the joint position,
Counting from that point, the time required for the front wheel (or rear wheel) to travel on the straight rail by the distance L ₁ between the front wheel and the rear wheel, and the rear wheel (or front wheel) have a straight length L on the circular rail. The traveling speed of the front wheels (or rear wheels) is controlled so that the time required to travel the arc length L ₂ corresponding to ₁ is the same, and slippage does not occur between both wheels and the rail. The dolly runs smoothly.

[0007]

1 is a plan view of the present invention, and FIG. 2 is a partially enlarged view showing a geometrical relationship of a connecting portion II between an arc rail and a linear rail in FIG.
FIG. 3 is a diagram showing the geometrical relationship of the part III of the circular arc rail of FIG. 1, and FIG. 4 is a speed control flowchart of the truck.

First, in FIG. 1, it is assumed that a trolley 1 having front wheels 2a and rear wheels 2b, which are driving wheels, runs along a rail track connecting an arc rail 3a and a straight rail 3b. In the same figure, considering the case where the carriage 1 passes through the arc rail 3a and the joint position a ₁ of both rails,
As indicated by the solid line, the front wheel 2a just above the seam position a ₁ is now traveling on the straight rail 3b, while the rear wheel 2b is such that the front wheel 2a is on the straight rail 3b and the distance L between the front and rear wheels is L.
_While traveling only ₁ (Fig. 2), travel on the arc rail 3a. That is, the distance traveled by the front wheels 2a and the distance traveled by the rear wheels 2b are different. The present invention controls the traveling speeds of the front wheels and the rear wheels so that the two wheels that travel different distances as described above travel without slippage with the rails.

Next, referring to FIGS. 2 and 3, the circular arc rail 3
Let r be the arc radius of a, L _{1 be} the straight running distance of the front wheel 2a, L _{2 be} the arc running distance of the rear wheel 2b corresponding to the same running distance L ₁ , and 2θ be the central angle. Formula (1) is materialized. L ₁ = 2rsin θ L ₂ = 2rθ ∴L ₂ / L ₁ = θ / sin θ (1) Therefore, assuming that the traveling speed of the front wheels 2 a is v ₁ and the traveling speed of the rear wheels 2 b is v _2. , Formula (2) is materialized. v ₂ / v ₁ = L ₂ / L ₁ = θ / sin θ (2) In the device of the present invention, the traveling speed v ₁ or v ₂ is set so as to maintain the relationship of the equation (2). Control. That is, v ₁
The front wheel 2a from the position a ₁ to the position a ₃ and the rear wheel 2b the position a by making v ₂ slightly faster.
_By running from ₂ to a ₁ in the same required time, both wheels can smoothly run along the rails 3a and 3b without slipping.

The speed control procedure for the front and rear wheels of the trolley at that time is as follows:
Hereinafter, FIG. 4 will be described. Here, front wheel 2a, rear wheel 2
b are provided with speed sensors 4a and 4b, respectively, to constantly detect the traveling speeds v ₁ and v _2, and a position sensor 4c is installed at the joint position a ₁ to provide the front wheels 2a.
Has been detected at the seam position a ₁ , and the detection signals are sent to the control device (not shown) (see FIG. 1).

When the position sensor 4c detects that the front wheel 2a of the trolley 1 traveling on the circular arc rail 3a at v ₁ = v ₂ has reached the seam position a ₁ , the front and rear wheels travel at the same time or in advance. Using the detected speed values v ₁ and v ₂ , the front wheel 2
a control speed v ₁ = kv ₀ (where v ₂ = v ₀ , k = si
n θ / θ) and the time required for the front wheel 2a to reach the distance L ₁ t ₁ =
L ₁ / kv ₀ is calculated and the front wheel 2a is controlled to this speed, and at the same time, the elapsed time t after the front wheel 2a reaches the position a ₁ is counted and t = t _1, that is, the front wheel 2a is moved to the position a ₃ . , When the rear wheels 2b reach the position a ₁ , respectively,
Immediately, the traveling speed v ₁ of the front wheels 2a is the original speed v ₁ = v
It is adjusted to ₀ (= v ₂ ). Thus, the front wheels 2a and the rear wheels 2b can travel over different distances L ₁ and L ₂ in the same required time, and the carriage 1 can travel smoothly without slippage between the wheels and the rail.

In the present embodiment, the case where the carriage goes from the circular rail to the straight rail has been described, but the wheel speed control can be performed by the same operation as above when the straight rail goes to the straight rail. Further, in this example, the front wheel speed is controlled in accordance with the rear wheel speed, but the rear wheel speed may be controlled conversely, and the intermediate speeds v ₁ = v ₀ −k ₁ v ₀ , It may be v ₂ = v ₀ + k ₁ v ₀ . However, k ₁ = (1 + k) / (1-k) Further, as in the present embodiment, the front wheel is at the rail joint position a ₁
Instead of detecting that the front wheels have reached the position (see FIG. 2), the front wheels or the rear wheel speed may be controlled by detecting that the rear wheels have reached the position a ₂ and receiving this signal.

[0013]

According to such a device, when the trolley travels at the joint position where the arc rail and the straight rail are connected, it is detected that the front wheels of the trolley have come to the rail joint position, and the detection signal is detected. In response, the time required for the front wheel (or rear wheel) to travel on the straight rail by the distance L ₁ between the front wheel and the rear wheel and the rear wheel (or front wheel) straight line on the circular arc rail Since the traveling speed of the front wheels (or the rear wheels) is controlled so that the time required to travel the arc length L ₂ corresponding to the length L ₁ is the same, the two wheels and the rail are controlled. There is no slippage between the wheels, and therefore the wheels are hardly worn, and the bogie can travel smoothly at the rail joint position.

In short, according to the present invention, it is detected that the front wheels of the truck traveling on the rail connecting the circular rail and the straight rail have reached the joint position, and counting from that point,
The time required for the front wheels or the rear wheels of the dolly to travel on the linear rail in the distance L ₁ between the front wheels and the rear wheels, and the arc length L corresponding to the straight line length L ₁ of the rear wheels or the front wheels on the arc rail. By controlling the traveling speed of the front wheels or rear wheels so that the time required to travel ₂ is the same, when traveling along a non-straight rail consisting of an arc rail and a straight rail, The present invention is extremely useful industrially because an economical speed control device for a non-linear rail traveling carriage that prevents wear of rear wheels is obtained.

[Brief description of drawings]

FIG. 1 is a plan view showing an embodiment of the present invention.

FIG. 2 is a partially enlarged view showing a geometrical relationship of a connecting portion between the arc rail and the linear rail in FIG.

FIG. 3 is a partially enlarged view showing a geometrical relationship of a part III of the circular arc rail of FIG.

4 is a speed control flowchart of the truck of FIG. 1. FIG.

[Explanation of symbols]

1 bogie 2a front wheel 2b rear wheel 3a arc rail 3b straight rail 4a, 4b speed sensor 4c position sensor L ₁ distance between front wheel and rear wheel L ₂ arc travel distance θ central angle 1/2 v ₁ front wheel speed v ₂ Rear wheel running speed v ₀ Average speed of v ₁ and v ₂

Claims (1)

[Claims] 1. A front wheel of a bogie traveling on a rail connecting an arc rail and a straight rail is detected at its joint position, and the front wheels or rear wheels of the bogie are counted on the straight rail from the time point. The time required to travel the distance L ₁ between the front wheels and the rear wheels and the length of the straight line L for the rear wheels or the front wheels on the arc rail.
A speed control device for a non-linear rail traveling vehicle characterized in that the traveling speed of the front wheels or the rear wheels is controlled so that the time required to travel the arc length L ₂ corresponding to ₁ becomes the same. .