JPH0620323B2 - Traveling control device for self-propelled vehicle for carrier device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling control device for a self-propelled vehicle for a transportation device, which is used for transporting a load in, for example, a space or a factory.

2. Description of the Related Art Conventionally, as a device of this type, for example, Japanese Patent Laid-Open No. 61-259
As disclosed in Japanese Patent No. 59, two rails for supporting and guiding a self-propelled vehicle are provided with two power supply rails and one signal rail, and the self-propelled vehicle can be slidably contacted with both power supply rails. A structure is provided in which two current collectors and one brush slidably contacting the signal rail are provided.

According to this conventional type, a current collector can be received by slidingly contacting a power supply rail, and various control signals can be transmitted and received by slidingly contacting a brush with a signal rail to control traveling.

Problems to be Solved by the Invention According to the above-mentioned conventional type, since the signal rail is provided over the entire length of the path, it is expensive, and the brush is constantly required to be slidably contacted with the signal rail, so that the brush needs to be frequently replaced due to abrasion. It also causes the generation of dust. Further, since a large number of rail devices are arranged in a continuous manner, the division of the rail devices becomes complicated due to the action of the signal rails arranged in these rail devices.

An object of the present invention is to provide a traveling control device for a self-propelled vehicle for a carrier device, which can contactlessly transmit and receive a traveling control signal without performing sliding contact and can arbitrarily delimit rail devices. .

Means for Solving the Problems In order to solve the above problems, the present invention provides a magnetic sensor for receiving a stop signal and a magnet for transmitting a seat signal in a self-propelled vehicle,
A traveling control device for a vehicle for a carrier device, in which an electromagnet means for sending a stop signal and a magnetic sensor for detecting seating are installed at a specified location of a rail device for guiding a self-propelled vehicle, wherein the electromagnet means is: The transmission range is formed to be about the same as or longer than the distance until the self-propelled vehicle receives the stop signal and stops, and the signal transmission and reception between the rail device side and the self-propelled vehicle is configured without contact. ing.

Action According to the configuration of the present invention, the self-propelled vehicle travels on a fixed route while being guided by the rail device. While running, by energizing the target electromagnet means among the electromagnet means provided on the rail device side, a stop signal is sent from this electromagnet means, and this stop signal is used for receiving the stop signal on the side of the self-propelled vehicle. The vehicle's self-propelled vehicle can be braked within the transmission range and automatically stopped after being detected by the magnetic sensor.

Here, the stop of the self-propelled vehicle continues while the electromagnet means is energized, regardless of the position of the self-propelled vehicle stopped. By cutting off the power supply to the electromagnet means, the self-propelled vehicle automatically starts (runs).

In addition, the magnet for the presence signal transmission of the self-propelled vehicle constantly transmits the self-propelled vehicle signal, and the magnetic sensor that detects the presence of the vehicle on the rail device side detects this self-propelled vehicle signal to allow the self-propelled vehicle to pass. You can check the stoppage and stop without contact.

Embodiment One embodiment of the present invention will be described below with reference to the drawings.

Reference numeral 1 denotes a self-propelled vehicle, which is a pair of left and right first wheels 4 rotatably attached to a machine frame 2 via an axle 3, and the machine frame at a position further away from this in either direction of a constant path 5. A pair of left and right second wheels 7 are attached to the vehicle 2 via an axle 6 so as to be freely rotatable, and lateral movement restricting wheels 8 and 9 attached to the wheels 3 and 6 form a main body. A motor 10 is arranged in a box-shaped machine frame 2 having at least an open lower surface, and the motor 10 is attached to the machine frame 2 side so as to be vertically swingable via a horizontal pin 11 in the front-rear direction intermediate portion. Further, the motor 10 is urged to swing toward the lower surface side by a spring 12 provided between the motor 10 and the machine frame 2. Reference numeral 13 is a stopper that regulates the amount of swinging against the spring 12.

A speed reducer 14 is connected to the swing end of the motor 10 in series.
A propulsion rotary shaft (friction rotary shaft) 16 located near the first wheel 4 is fixed to one end of a drive shaft 15 taken out laterally from the speed reducer 14, and a pinion gear 17 is fixed to the other end. To be done. On the machine frame 2 side, a pair of left and right collectors 18A, 18A
B is disposed, and the current collecting positions of these current collectors 18A and 18B are near the second wheel 7.

Magnetic sensors 19 and 20 for receiving a stop signal are attached to both front and rear ends of the machine frame 2 in the traveling direction, and a magnet for transmitting a seat signal is provided between the magnetic sensors 19 and 20. (Permanent magnet) 21 is attached. The magnetic sensors 19 and 20 and the magnet 21 are located at the center of the main body in the width direction. A load storage unit (not shown) or the like is attached to the upper side of the machine frame 2.

Reference numeral 30 denotes a left-right symmetrical rail device that supports and guides the self-propelled vehicle 1. A self-propelled vehicle guide portion 32 having a C-shaped cross section having an opening 31 for running the self-propelled vehicle on one surface, and this self-propelled vehicle guide The U-shaped device arranging portion 33 is provided continuously outside the other surface of the portion 32. The self-propelled vehicle guide portion 32 with the opening portion 31 facing upward faces the first traveling guide surface 34 that comes into contact with the first wheel 4 from above, and the second traveling guide surface 34.
A second traveling guide surface 35 and a friction rolling surface 36 that come into contact with the wheel 7 and the propulsion rotary wheel 16 from below, and a third traveling guide surface 37 that comes into contact with the lateral movement regulating wheels 8 and 9 from the outside. Have
A rack 38 with which the pinion gear 17 engages in an inclined path or the like is provided near the second traveling guide surface 35.

A slit 39 for arranging a rail-side device is formed on the other side plate of the self-propelled vehicle guide 32 over the entire length, and the slit 39 connects the two parts 32 and 33 to each other. An insulating strip is provided at the end of the self-propelled vehicle guide portion 32 where the slit 39 is formed.
40A and 40B are externally fitted and mounted, and these insulating strips 40A and 40B
B is a power supply rail 41 on which the current collectors 18A and 18B are in sliding contact.
A and 41B are attached.

Rail-side devices 42 are arranged at a plurality of designated places (stations or the like) of the rail device 30. That is, the rail-side device 42 arranged from the slit 39 to the device arranging portion 33 has a pair of left and right magnetic pole plates 43A and 43B between the magnetic pole plates 43A and 43B with respect to the traveling direction of the vehicle 1. It is composed of a pair of front and rear coils 44 and 45, and a magnetic sensor 46 provided between the coils 44 and 45 for detecting the presence of the vehicle 1. Here, the magnetic pole plates 43A and 43B and the coils 44 and 45 are provided.
Are examples of electromagnet means for sending a stop signal from the ground to the self-propelled vehicle 1. Then, the electromagnet means sets the lengths of the magnetic pole plates 43A and 43B in the traveling direction so that the transmission range is formed to be equal to or longer than the distance until the self-propelled vehicle 1 receives the stop signal and stops. It is set.

Here, as shown in FIG. 7, the magnet for transmitting the presence signal is provided.
The magnetic flux A in the vertical direction generated by 21 is detected by the magnetic sensor 46 for detecting the presence of the seat, and as shown in FIG. 4, the coil of the electromagnet means for sending the stop signal.
The magnetic flux B in the left-right direction generated between the magnetic pole plates 43A and 43B when electricity is applied to 44 and 45 is detected by the magnetic sensors 19 and 20 for receiving the stop signal. This allows
Signals can be exchanged between the rail device 30 side and the vehicle 1 without contact.

The lower ends of both the magnetic pole plates 43A and 43B are engaged with the projecting pieces 47A and 47B integrally formed on the bottom plate portion of the device placement portion 33, whereby the rail-side device 42 is positioned. Also, in the basic type, the upper end projects into the self-propelled vehicle guide portion 32 as shown in FIG.
Magnetic sensor for receiving stop signal, which is a device on the side of the vehicle,
Located on both sides of 20 and magnet 21. And on the curved path,
The magnetic pole plate 43B located outside the curved arc is formed low, for example, as shown in FIG.

Engagement portions 48A, 48B are formed in the inner surfaces of the power supply rails 41A, 41B facing each other, and the engagement portions 48A, 48B are formed in a recessed manner.
An insulating cover 49 for opening and closing the slit 39 is detachably provided via the. As shown in FIG. 4, the insulating cover 49 has convex portions 50A and 50B for covering the upper ends of the magnetic pole plates 43A and 43B.
And one of the protrusions 50A and 50B is the first in the curved path.
It becomes low as shown in the figure. The rail-side device 42 is disposed at a designated location in the length direction, and a concave insulating cover 49 is provided at a location other than this location as shown in FIG.
a is used.

The width 1 of the device placement portion 33 is narrower than the width L of the self-propelled vehicle guide portion 32, and therefore both side surfaces of the rail device 30 are formed in steps. A erection locking portion 60 is formed in a concave shape on the outer end of the side surface of the device placement portion 33. As shown in FIG. 1, with the opening 31 facing upward, the floor-side installation tool 61 includes a pair of engagement pieces 62 that can be engaged with and disengaged from the outside of the engagement portion 60, and a bolt 63 that tightens and connects these engagement pieces 62. And nut 64 and both engaging pieces
It is composed of a base frame 66 and the like that supports the 62 via fixtures (bolts and nuts) 65.

As shown in FIG. 8, the ceiling-side installation tool 70 includes a pair of engagement pieces 71 that can be engaged with and disengaged from the locking portion 60 from the outside, and these engagement pieces 71.
A bridging member 73 disposed via a bolt 72 between them, and both engaging pieces 71
And a suspension rod 74 that is tightened and connected to.

Next, the traveling control of the vehicle 1 in the above embodiment will be described.

In the traveling of the self-propelled vehicle 1, the rotational force of the motor 10 is transmitted to the propulsion rotary shaft 16 via the speed reducer 14 and the drive shaft 15, and the propulsion rotary shaft 16 is press-contact-rolled on the friction rolling surface 36. It can be done by At this time, the traveling is performed by rolling the first wheel 4 with respect to the first traveling guide surface 34, rolling the second wheel 7 with respect to the second traveling guide surface 35, and lateral movement regulating wheel 8 with respect to the third traveling guide surface 37. , 9 rolling stably on the fixed path 5 such as horizontal or inclined without shaking. Then, in the ascending and descending inclined paths, the pinion gears 17 are engaged with the rack 38 to allow slip-free traveling.

When the coils 44, 45 of the electromagnet means for sending the stop signal are not energized during such traveling, the magnetic sensors 19, 20 for receiving the stop signal passing between the magnetic pole plates (convex portions) 43A, 43B are Does not receive stop signal. However, as shown in FIG. 7, since the vertical magnetic flux (self-propelled vehicle signal) A constantly generated from the magnet 21 for transmitting the seating signal is detected by the magnetic sensor 46 for detecting the seating, The fact that the self-propelled vehicle 1 has passed through the place where the magnetic sensor 46 for detecting the presence of the seat (passenger is present in a certain section) is automatically detected without contact, and the detection signal is the control unit. Given to.

Then, when stopping the designated self-propelled vehicle 1 at the designated place (station or the like), the coil of the electromagnet means arranged at the designated place before the self-propelled vehicle 1 arrives.
Energize 44 and 45. Then, as shown in FIGS. 1, 4, and 6, a magnetic flux (stop signal) B in the left-right direction is generated between the upper ends of the magnetic pole plates 43A and 43B, so that the vehicle 1 The magnetic sensors 19 and 20 for receiving the stop signal, which have moved together, detect the magnetic flux B, thereby stopping the motor 10 and applying a brake. As a result, the self-propelled vehicle 1 is braked within the transmission range and then automatically stopped by non-contact control. Due to this stop, the magnet 21 faces the magnetic sensor 46 for detecting the presence of the seat, the magnetic flux A is detected in the same manner as described above, and the stop is confirmed by the control unit.

Here, the stop of the self-propelled vehicle 1 is continued while the coils 44, 45 of the electromagnet means are energized, regardless of the position of the self-propelled vehicle 1 stopped. By cutting off the power supply to the coils 44, 45 of the electromagnet means, the self-propelled vehicle 1 automatically starts (re-runs).

When traveling on a curved path, the self-propelled vehicle 1 is swung outward due to centrifugal force, and the magnetic sensor 19 for receiving a stop signal,
The 20 and the magnet 21 for transmitting the presence signal also move to the outside. At this time, as shown in FIG. 1, the magnetic pole plates 43A, 43B.
Since the outer side of the convex portions 50A and 50B is formed low, these collisions do not occur.

By removing the insulating covers 49, 49a, the inside of the device placement portion 33 can be cleaned, the rail-side device 42 can be inspected and confirmed, the rail-side device 42 can be replaced or the installation position can be changed.

In the above embodiment, the magnetic sensors 19 and 20 for receiving the stop signal are attached to the front and rear ends of the self-propelled vehicle 1, but only one of them may be attached. It should be noted that by installing two of them, the one on the rear side suitably works at the time of overrun, and both forward and backward running can be suitably performed.

EFFECTS OF THE INVENTION According to the present invention having the above configuration, the self-propelled vehicle can be guided by the rail device and run on a fixed route. While running, by energizing the target electromagnet means among the electromagnet means provided on the rail device side, a stop signal is sent from this electromagnet means, and this stop signal is used for receiving the stop signal on the side of the self-propelled vehicle. By the magnetic sensor of No. 2, the self-propelled vehicle can stop automatically at the designated place after braking traveling within the transmission range by contactless control.

Here, the stop of the self-propelled vehicle can be continued while the electromagnet means is energized, regardless of where the self-propelled vehicle is stopped,
By cutting off the power supply to the electromagnet means, the self-propelled vehicle can automatically start (re-run) without using another start command device.

In addition, the magnet for the presence signal transmission of the self-propelled vehicle always transmits the self-propelled vehicle signal, and the magnetic sensor that detects the presence of the self-propelled vehicle on the rail device side detects the self-propelled vehicle signal, It is possible to confirm (passenger) whether the vehicle is passing or stopping by contactless control.

As described above, according to the present invention, it is possible to perform contactless signal transmission / reception between the rail device side and the self-propelled vehicle without sliding contact, and it is possible to eliminate the need for expensive full length signal rails and wear. Occurrence can be prevented. Furthermore, since the electromagnet means and the magnetic sensor on the rail device side may be attached to the necessary places, the rail device can be arbitrarily separated.

BRIEF DESCRIPTION OF THE DRAWINGS The drawing shows an embodiment of the present invention, and FIG.
FIG. 2 is a partially cutaway side view, FIG. 3 is a partially cutaway plan view, and FIGS. 4 and 5 are longitudinal rear views of main parts, FIG. 6 and FIG.
FIG. 8 is a schematic side view showing a working state, and FIG. 8 is an explanatory view of a hanging type. 1 ... self-propelled vehicle, 5 ... constant route, 16 ... propulsion wheel,
18A, 18B ... Electronic collector, 19,20 ... Magnetic sensor for receiving stop signal, 21 ... Magnet for transmitting seated signal, 30 ... Rail device, 32 ... Self-guided vehicle guide section, 33 ... Equipment placement section, 36 ...
... Friction rolling surface, 41A, 41B ... power supply rail, 42 ... rail side equipment, 43A, 43B ... magnetic pole plate (an example of a component member of electromagnet means for sending a stop signal), 44, 45 ... coil (stop) An example of constituent members of electromagnet means for transmitting signals), 46 ... Magnetic sensor for detecting presence, 49, 49a ... Insulation cover, 50A,
50B: convex portion, A, B: magnetic flux.

Claims (1)

[Claims] 1. A magnetic sensor (19, 20) for receiving a stop signal.
And a magnet (21) for transmitting a seat signal to the self-propelled vehicle (1), an electromagnet means (44, 45, 43A, 43B) for sending a stop signal, and a magnetic sensor (46) for detecting a seat. A traveling control device for a self-propelled vehicle for a carrier device installed at a designated location of a rail device (30) for guiding a traveling vehicle (1), wherein the electromagnet means (44, 45, 43A, 43B) are in a transmission range. Is formed to be equal to or longer than the distance until the self-propelled vehicle (1) receives the stop signal and stops, and there is no signal exchange between the rail device (30) side and the self-propelled vehicle (1). A traveling control device for a self-propelled vehicle for a carrier device that uses contact.