JPH08301111A - Rail traveling vehicle - Google Patents

Abstract

(57) [Summary] [Purpose] To prevent damage to the truck and rail and to facilitate rail installation. [Configuration] The control device 16 calculates an interval between the rails 4a and 4b based on signals from the sensors 10a to 10d,
The value is compared with the current distance between the drive wheels 6a and 6b and the driven wheels 6c and 6d. If these distances do not match, the motors of the jacks 8a and 8b are rotated to move the drive wheels 6a and the driven wheels 6c toward or away from the vehicle body 14 to match the wheel distances with the rail distances. The control device 16 also detects a deviation in the traveling direction of the carriage with respect to the rail and a lateral deviation of the carriage with respect to the rail based on the signal from the sensor, and drives the steering actuators 12a and 12b based on the result.
The driven wheels 6c and 6d are rotated rightward or leftward so that the traveling direction of the dolly 2 coincides with the extending direction of the rails, and lateral deviation is eliminated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle running on a rail.

[0002]

2. Description of the Related Art For example, in shield construction, two rails made of H-shaped steel are laid in a mine, and a bogie having four wheels is run on the rails to debris generated by tunnel excavation or equipment. Are being transported. In such a bogie, side rollers for preventing derailment are provided on both sides of the bogie in addition to the wheels supporting the vehicle body. This side roller rotates around its vertical axis with its peripheral surface appropriately contacting the side portion of the H-shaped steel rail to prevent lateral movement of the carriage.

[0003]

However, depending on the laying conditions of the rails, such as when the spacing between the rails is not appropriate,
The above side rollers and H-shaped steel rails were heavily worn, often resulting in their damage. Further, if the distance between the rail side portions and the side rollers is too wide, derailment of the truck is caused, while if too narrow, smooth running of the truck is alienated. Therefore, there is a problem that the allowable range of the interval is narrow, the H-shaped steel rail requires high accuracy in the interval, and it takes time to lay the rail. Therefore, an object of the present invention is to provide a rail traveling vehicle that eliminates damage to the bogie and the rail and facilitates the laying of the rail.

[0004]

In order to achieve the above-mentioned object, the present invention provides a vehicle which is equipped with two front wheels and two rear wheels respectively arranged on two rails and which travels on the rails. First and second jacks respectively driven by first and second motors to move one of the front wheels and one of the rear wheels arranged on one side of the vehicle in their rotational axis directions, respectively. First and first driven by third and fourth motors, respectively, for rotating both the front wheels or both the rear wheels around their rotation axes and a predetermined axis orthogonal to the traveling direction of the vehicle. The steering actuators of No. 2 and the distances from the front both sides of the vehicle to the rails near the both sides are respectively measured, and a signal representing the measurement result is output. The first and second distance sensors, and the third and fourth distance sensors that measure the distances from the rear both sides of the vehicle to the rails that are respectively close to the both sides and output a signal indicating the measurement result. Based on signals from the distance sensor and at least the first and second distance sensors or the third and fourth distance sensors, the respective distances between the two front wheels and the two rear wheels are set to A first controller for controlling the rotation of the first and second motors so as to match the distance;
Of the first to fourth distance sensors, the rotation of the third and fourth motors is controlled based on signals from at least two distance sensors that measure the distance to the same rail, and the vehicle is controlled. A second control device that steers the vehicle, and at least two distance sensors that measure the distance to one of the rails and the distance to the other of the first to fourth distance sensors, respectively. And a third control device for controlling the rotation of the third and fourth motors to steer the vehicle based on the above signal. The present invention is also characterized in that the first to fourth distance sensors measure the distance using a laser. The invention is also characterized in that the rails consist of H-section steel. The present invention is also characterized in that the first to third control devices include a computer. The present invention is also characterized in that the rail is laid for tunnel construction or underground excavation construction.

[0005]

The first and second distance sensors measure the distances between the front both sides of the vehicle and the rails adjacent to the both sides, respectively, and output signals representing the measurement results. Further, the third and fourth distance sensors measure the distances between the rear both side portions of the vehicle and the rails that are close to the both side portions, respectively, and output a signal indicating the measurement result.

The first control device controls the rotations of the first and second motors based on signals from at least the first and second distance sensors or the third and fourth distance sensors to control the rotation of the first and second motors. The first and second jacks are driven to match the spacing of each of the two front wheels and the two rear wheels with the spacing of the rails.

Further, the second control device includes the first to fourth control devices.
Among the above distance sensors, at least two distance sensors that measure the distance to the same rail detect a deviation between the extending direction of the rail and the traveling direction of the vehicle. And controlling the fourth motor to drive the first and second steering actuators so that both front wheels or both rear wheels are centered around their rotation axes and a predetermined axis orthogonal to the traveling direction of the vehicle. Rotate each,
Align the traveling direction of the vehicle with the rail direction.

Further, the third control device includes at least the first control device.
And a signal from the second distance sensor or the third and fourth distance sensors to detect lateral displacement of the vehicle with respect to the rail and, if necessary, control the third and fourth motors to control the first and second distance sensors. Controlling the traveling direction of the vehicle by driving the second steering actuator to rotate both front wheels or both rear wheels around their respective rotation axes and a predetermined axis orthogonal to the traveling direction of the vehicle. This eliminates lateral displacement of the vehicle with respect to the rail.

Therefore, when the vehicle of the present invention is used,
Since the distance between the wheels is automatically adjusted according to the width of the rail, the rail does not need to be laid with the width set particularly strictly, which makes the laying of the rail extremely easy. Further, since the vehicle is automatically steered, its traveling direction always coincides with the extending direction of the rail, and lateral displacement of the vehicle with respect to the rail is eliminated, so that the vehicle always travels on the rail. Therefore, it is not necessary to provide a side roller as in the conventional case, and as a result, the problem of damage due to wear of the side roller and the H-shaped steel rail does not occur at all.

[0010]

EXAMPLES Next, examples of the present invention will be described. FIG.
2 is a plan view showing an example of a rail traveling vehicle according to the present invention, and FIG. 2 is a side view. This trolley 2 is used for transporting debris, equipment, etc. generated by tunnel excavation in a mine, for example, in a shield tunnel or excavation work. Then, two rails 4a and 4b made of, for example, H-shaped steel are laid inside the mine, and the carriage 2 travels on the rails.

The carriage 2 has two drive wheels 6a, 6b and 2
It has one driven wheel 6c, 6d. Drive wheels 6a, 6b
Are attached to both sides of the lower rear part of the carriage 2 and are arranged on rails 4a and 4b, respectively. Then, the carts 2 are moved by being rotated by the driving devices 7a and 7b each including a motor. On the other hand, the driven wheels 6c and 6d are attached to both sides of the front lower part of the trolley 2 and are respectively connected to the rails 4a and
It is arranged on 4b. Of the four wheels, one driving wheel 6a and one driven wheel 6c are jacks 8a, 8c.
The structure is such that it is moved in the axial direction of the wheel by b. Each of the jacks 8a and 8b has a motor, and is driven by each motor to move the drive wheel 6a and the driven wheel 6c.

The driven wheels 6c and 6d are attached to the vehicle body 14 via steering actuators 12a and 12b, respectively. The actuators 12a and 12b are also provided with motors, respectively, and driven by the motors so that the driven wheels 6c and 6d are extended in a predetermined axis perpendicular to the axes of the driven wheels 6c and 6d and the traveling direction A of the carriage 2, that is, in the vertical direction. Rotate around a predetermined axis.

Supports 14a, 14b, 1 extending vertically downward are provided on both rear sides and both front sides of the vehicle body 14.
4c and 14d are attached to the back surface of the vehicle body 14 at their one ends, and laser distance sensors 10a, 10b and 1 are attached to the other ends of the columns 14a to 14d, respectively.
0c and 10d are attached. Each of these sensors emits a laser beam toward the side surface of the rails 4a and 4b, receives the reflected light thereof, measures the distance from the sensor to the side surface of the rail, and outputs a signal indicating the measurement result.

The control device 16 (first to third control devices of the present invention) constituted by including a microcomputer is
It is installed on the surface of the vehicle body 14 and is electrically connected to the motors of the sensors 10a to 10d, the jacks 8a and 8b, and the motors of the actuators 12a and 12b. Then, the motors of the jacks 8a and 8b are controlled based on the signals from the sensors 10a to 10d to adjust the distance between the drive wheels 6a and 6b and the distance between the driven wheels 6c and 6d, respectively. Similarly, the sensors 10a to 10d
Based on the signal from the steering actuator 12a,
Power is appropriately supplied to each motor 12b to control the traveling direction of the carriage 2.

Next, the operation will be described. The control device 16 holds in its memory data indicating the current distance between the drive wheels 6a, 6b and the driven wheels 6c, 6d. Then, based on the signals from the sensors 10a and 10b, the rails 4a,
The distance between the rails 4a and 4b is calculated based on the signals from the sensors 10c and 10d. Then, the average value of the two calculated values is further calculated, and is set as the interval between the rails 4a and 4b.

The controller 16 determines the distance between the rails 4a and 4b thus obtained, and the driving wheels 6a and 6b and the driven wheel 6 indicated by the wheel distance data stored in the memory.
Compare the distances c and 6d. As a result, when the wheel spacing indicated by the above data is smaller than the calculated rail spacing, power is supplied to each motor of the jacks 8a and 8b,
The jacks 8a and 8b are driven by rotating a predetermined number of times in a predetermined direction according to the difference between the wheel spacing and the rail spacing to drive both the driving wheels 6a and the driven wheels 6c, for example, as shown by dotted lines in the figure. It is separated from the vehicle body 14 and the wheel spacing is matched with the rail spacing.

On the other hand, when the wheel spacing indicated by the above data is larger than the calculated rail spacing, the jacks 8a, 8a
Supply power to each motor of b, and in the opposite direction to the above,
The jacks 8a and 8b are rotated by a number of times corresponding to the difference between the wheel interval and the rail interval to drive the driving wheels 6a and the driven wheels 6c together toward the vehicle body 14 and the wheel interval is matched with the rail interval. Then, the control device 16 stores the calculated rail distance in the memory as the current wheel distance and prepares for the control of the next wheel distance.

The controller 16 also includes sensors 10a-10.
A deviation between the extending direction of the rails 4a and 4b and the traveling direction of the carriage 2 is detected based on the signal from d, and the steering actuators 12a and 12b are controlled based on the result. For example, when the distance to the rail 4a indicated by the signal from the front sensor 10c is longer than the distance to the rail 4a indicated by the signal from the rear sensor 10a, or the rail indicated by the signal from the rear sensor 10b. When the distance to the rail 4b indicated by the signal from the front sensor 10d is shorter than the distance to 4b, the traveling direction of the carriage 2 is shifted to the right with respect to the rails 4a and 4b. Therefore, the control device 16 controls the actuator 12a,
12b to supply electric power to each motor to drive the actuator 12
By driving a and 12b, the driven wheels 6c and 6d are rotated counterclockwise as viewed from above, as shown by the dotted line in FIG. 1, to change the traveling direction of the carriage 2. Then, when the distance from the front sensor to the rail and the distance from the rear sensor to the rail detected by the signals from the respective sensors match, the actuators 12a and 12b are driven in the reverse direction to drive the driven wheels 6c and 6d. To the original state shown by the solid line in FIG. As a result, the traveling direction of the carriage 2 is the rail 4
The carriage 2 travels on the rails without derailing, in conformity with the directions of a and 4b.

If the distance from the front sensor 10c to the rail 4a is shorter than the distance from the rear sensor 10a to the rail 4a, or if the distance from the rear sensor 10b is greater than the distance to the rail 4a. Indicated by rail 4
When the distance to the rail 4b indicated by the signal from the front sensor 10d is longer than the distance to b, the traveling direction of the carriage 2 is shifted to the left with respect to the rails 4a and 4b. Therefore, the control device 16 controls the actuator 12
Electric power is supplied to the motors a and 12b to drive the actuators 12a and 12b to rotate the driven wheels 6c and 6d clockwise when viewed from above, thereby changing the traveling direction of the carriage 2. Then, when the distance from the front sensor to the rail and the distance from the rear sensor to the rail, which are detected by the signals from the respective sensors, match, the actuators 12a and 12b are driven in the opposite directions to drive the driven wheels 6c,
6d is returned to the original state. As a result, the traveling direction of the carriage 2 coincides with the directions of the rails 4a and 4b, and the carriage 2 travels on the rails without derailing.

The controller 16 also includes sensors 10a-10.
Based on the signal from d, the lateral deviation of the carriage 2 with respect to the rails 4a and 4b is detected, and the steering actuators 12a and 12b are controlled based on the result, and the lateral deviation of the carriage 2 is eliminated. That is, as described above, in the state where the traveling direction of the carriage 2 matches the rail direction, the left sensor 1
When the distance from the sensor to the rail 4a detected by at least one of the sensors 0a and 10c is shorter than the distance from the sensor to the rail 4b detected by at least one of the right sensors 10b and 10d. The position of the carriage 2 is displaced to the left with respect to the rail. Therefore, the control device 16 supplies electric power to the motors of the actuators 12a and 12b to drive the actuators 12a and 12b to drive the driven wheels 6c and 6d.
When viewed from above, the carriage 2 is rotated clockwise to change the traveling direction of the carriage 2, and then the actuators 12a and 12b are driven in the opposite directions to return to the original state. With this, dolly 2
The position is moved to the right, and the control device 16 performs such control until the lateral deviation is eliminated.

On the contrary, the distance from the sensor to the rail 4a detected by at least one of the left sensors 10a and 10c is the right sensors 10b and 10d.
If it is longer than the distance from the sensor to the rail 4b detected by at least one of the sensors, the position of the carriage 2 is displaced to the right with respect to the rail. , 12b
Is driven to rotate the driven wheels 6c and 6d counterclockwise as viewed from above to change the traveling direction of the carriage 2, and then to drive the actuators 12a and 12b in the opposite direction. Return to the state of. As a result, the position of the carriage 2 moves to the left, and the control device 16 performs such control.
Repeat until the lateral slippage is resolved.

As described above, in the bogie 2 of the present embodiment, the distance between the rail and the vehicle body 14 is constantly monitored by the signals from the sensors 10a to 10d, and the jacks 8a, 8 are used when necessary.
b, the wheel spacing is matched with the rail spacing, and the driven wheels 6c and 6d are rotated to steer the carriage 2 so that the traveling direction of the carriage 2 is aligned with the rail direction. Eliminate the lateral slippage. Therefore, it is not necessary to use a side roller as in the prior art, and the problem of damage due to wear of the side roller and the H-shaped steel rail does not occur at all. Further, since the width of the rail is not required to be highly accurate, it is extremely easy to lay the rail.

In this embodiment, the four distance sensors 1
The distances between the rails 4a and 4b are measured with high accuracy by using all the signals from 0a to 10d, but the two sensors 10a and 10b or the two sensors 10c and 10b are used.
It is possible to measure the rail interval with practical accuracy only by using the signal from d.

As described above, in the rail traveling vehicle of the present invention, the first and second distance sensors respectively measure the distances between the front both side portions of the vehicle and the rails adjacent to the both side portions. It measures and outputs a signal representing the measurement result. Further, the third and fourth distance sensors measure the distances between the rear both side portions of the vehicle and the rails that are close to the both side portions, respectively, and output a signal indicating the measurement result.

The first control device includes at least the first and second control devices.
Based on signals from the first distance sensor or the third and fourth distance sensors to control the rotation of the first and second motors to drive the first and second jacks to drive the two front wheels and the two front wheels. Match the distance between each of the rear wheels to the distance between the rails.

Further, the second control device includes the first to fourth control devices.
Among the above distance sensors, at least two distance sensors that measure the distance to the same rail detect a deviation between the extending direction of the rail and the traveling direction of the vehicle. And controlling the fourth motor to drive the first and second steering actuators so that both front wheels or both rear wheels are centered around their rotation axes and a predetermined axis orthogonal to the traveling direction of the vehicle. Rotate each,
Align the traveling direction of the vehicle with the rail direction.

Further, the third control device detects lateral displacement of the vehicle with respect to the rail by a signal from at least the first and second distance sensors or the third and fourth distance sensors, and if necessary, The third and fourth motors are controlled to drive the first and second steering actuators, and both front wheels or both rear wheels are driven to rotate their rotation axes and a predetermined axis orthogonal to the traveling direction of the vehicle. The lateral displacement of the vehicle with respect to the rail is eliminated by rotating the vehicle to the center and controlling the traveling direction of the vehicle.

Therefore, when the vehicle of the present invention is used,
Since the distance between the wheels is automatically adjusted according to the width of the rail, the rail does not need to be laid with the width set particularly strictly, which makes the laying of the rail extremely easy. Further, since the vehicle is automatically steered, its traveling direction always coincides with the extending direction of the rail, and lateral displacement of the vehicle with respect to the rail is eliminated, so that the vehicle always travels on the rail. Therefore, it is not necessary to provide a side roller as in the conventional case, and as a result, the problem of damage due to wear of the side roller and the H-shaped steel rail does not occur at all.

[Brief description of drawings]

FIG. 1 is a plan view showing an example of a rail traveling vehicle according to the present invention.

2 is a side view showing the rail traveling vehicle of FIG. 1. FIG.

[Explanation of symbols]

 2 vehicles 4a, 4b rails 6a, 6b driving wheels 6c, 6d driven wheels 7a, 7b driving device 8a, 8b jacks 10a, 10b, 10c, 10d laser distance sensor 12a, 12b steering actuator 14 vehicle body 14a, 14b, 14c, 14d prop 16 Control device

Claims (5)

[Claims] 1. A vehicle that includes two front wheels and two rear wheels respectively arranged on two rails and travels on the rails, wherein the vehicle is driven by first and second motors, respectively. Driven by first and second jacks respectively moving one of the front wheels and one of the rear wheels arranged on one side in the direction of their rotation axes, and third and fourth motors, respectively. First and second steering actuators for respectively rotating the front wheels or both of the rear wheels around their rotation axes and a predetermined axis orthogonal to the traveling direction of the vehicle, and from both front side portions of the vehicle, First and second distance sensors that respectively measure the distances to the rails that are close to each of the both sides and output a signal indicating the measurement result; Third and fourth distance sensors that measure the distances from the both sides to the rails that are respectively close to the both sides, and output a signal indicating the measurement result; and at least the first and second distance sensors. Alternatively, based on the signals from the third and fourth distance sensors,
A first controller for controlling rotations of the first and second motors so that respective distances between the two front wheels and the two rear wheels match the distances between the rails; Of the four distance sensors, at least two distance sensors that measure the same distance to the rail control the rotations of the third and fourth motors to steer the vehicle. Of the first to fourth distance sensors, and based on signals from at least two distance sensors that respectively measure the distance to one of the rails and the distance to the other of the rails. A third control device that controls rotations of the third and fourth motors and steers the vehicle, a rail traveling vehicle. 2. The rail traveling vehicle according to claim 1, wherein the first to fourth distance sensors measure a distance using a laser. 3. The rail traveling vehicle according to claim 1, wherein the rail is made of H-shaped steel. 4. The rail traveling vehicle according to claim 1, wherein the first to third control devices include a computer. 5. The rail traveling vehicle according to claim 1, wherein the rail is laid for tunnel construction or underground excavation construction.