JPH09323644A - Cargo carrier equipment and carrier controller - Google Patents
Cargo carrier equipment and carrier controllerInfo
- Publication number
- JPH09323644A JPH09323644A JP14415696A JP14415696A JPH09323644A JP H09323644 A JPH09323644 A JP H09323644A JP 14415696 A JP14415696 A JP 14415696A JP 14415696 A JP14415696 A JP 14415696A JP H09323644 A JPH09323644 A JP H09323644A
- Authority
- JP
- Japan
- Prior art keywords
- carrier
- vehicle
- traveling
- carriage
- cargo
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
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Abstract
(57)【要約】
【課題】 貨物の偏荷重による搬送台車の振れやカーブ
走行時等における大幅な減速運転を行うので、システム
のサイクルタイムが延びてしまい、大量の貨物を高速で
運ぶことが困難である。
【解決手段】 貨物搬送台車ｔの上下にレール１２，１
３を設け、搬送台車ｔの下部に下レール１２に沿って走
行する走行車輪とガイドローラとを設けるとともに、搬
送台車ｔの上部に上レール１３に沿って搬送台車ｔ上部
を支持するガイドローラ１０を設けて搬送台車ｔを上下
で支持している。このように搬送台車ｔを上下で支持す
ることにより、搬送台車ｔの振れや傾きを容易に防止
し、またレール１２，１３の分岐合流の切換え動作距離
も短く容易に行えるため、大量の貨物を高速で搬送する
ことができる搬送台車設備Ｔを構成できる。
(57) [Abstract] [Problem] Since a large amount of deceleration operation of a carrier truck due to an unbalanced load of cargo or a large deceleration operation during curve traveling is performed, the cycle time of the system is extended and a large amount of cargo can be carried at high speed. Have difficulty. SOLUTION: Rails 12 and 1 are provided above and below a freight carrier truck t.
3 is provided, traveling wheels and guide rollers that travel along the lower rails 12 are provided at the bottom of the transport carriage t, and guide rollers 10 that support the upper portion of the transport carriage t along the upper rails 13 are provided above the transport carriage t. Is provided to support the carriage t up and down. By supporting the transport vehicle t up and down in this manner, swinging and tilting of the transport vehicle t can be easily prevented, and the switching operation distance of the branch and merge of the rails 12 and 13 can be performed easily, so that a large amount of cargo can be transported. It is possible to configure the carrier equipment T capable of carrying at high speed.
Description
【０００１】[0001]
【発明の属する技術分野】この出願に係る発明は、貨物
の仕分け作業や搬送作業を行うための搬送台車設備と搬
送台車制御装置に関し、詳しくは大量の貨物を効率的に
仕分けたり搬送したりすることができる貨物搬送台車設
備と搬送台車制御装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The invention of this application relates to a carrier vehicle facility and a carrier controller for performing cargo sorting work and transport work, and more particularly, to efficiently sort and transport a large amount of cargo. The present invention relates to a freight carrier vehicle facility and a carrier vehicle control device that can perform the function.
【０００２】[0002]
【従来の技術】従来より、貨物の仕分け作業や搬送作業
を行うためにコンベヤ式の搬送設備やフォークリフトを
用いた搬送設備が広く利用されており、大量の貨物を仕
分けたり搬送したりしている。この種の搬送設備を利用
する設備として空港における航空貨物（カーゴ／バゲー
ジ）搬送設備がある。以下、この航空貨物の搬送設備を
例に説明する。2. Description of the Related Art Conventionally, a conveyor type transfer facility or a transfer facility using a forklift has been widely used to sort or transfer cargo, and sorts or transfers a large amount of cargo. . There is an air freight (cargo / baggage) transportation facility at an airport as a facility that uses this type of transportation facility. Hereinafter, this air cargo transport facility will be described as an example.
【０００３】近年、諸外国における生産拠点で生産した
製品や部品等を他の諸外国へ輸出したり、高級鮮魚等を
生産国から諸外国へ迅速に輸出するために航空貨物が多
用されている。そのため、このような航空貨物の取扱い
量の急増に対応するために、空港設備を大規模化したり
搬送距離を増大したりして大量の貨物を高速で搬送する
必要性が生じている。In recent years, air cargo has been widely used to export products and parts produced at production bases in other countries to other countries and to quickly export high-grade fresh fish and the like from countries of origin to other countries. . Therefore, in order to cope with such a rapid increase in the handling amount of air cargo, it is necessary to transport a large amount of cargo at a high speed by enlarging the airport facility or increasing the transportation distance.
【０００４】一方、このような航空貨物を空港内の立体
倉庫への格納やコンテナへの積込みを行うための仕分け
や搬送を行う搬送設備には高度の信頼性や高速性といっ
た非常に高い輸送サービス水準が要求されているため、
上記したような従来の搬送設備で処理することが困難に
なっている。On the other hand, a transport facility for sorting and transporting such an air cargo in a three-dimensional warehouse in an airport and loading it in a container has a very high transportation service such as high reliability and high speed. Because the standard is required,
It is difficult to process with the conventional transfer equipment as described above.
【０００５】そのため、大量の貨物を搬送できるように
複数の自走式搬送台車を用いた貨物搬送設備を導入する
場合がある。この貨物搬送設備としては、上部に設けた
レールに沿って搬送台車が走行する吊下式と、床部に設
けたレールに沿って搬送台車が走行する床置式とがあ
り、このような有軌道式搬送台車は、地上から制御する
地上制御方式や車上から制御する車上制御方式によって
走行制御されている。Therefore, there are cases where a cargo transport facility using a plurality of self-propelled transport carts is introduced so that a large amount of cargo can be transported. As the cargo transport facility, there are a hanging type in which a carrier truck travels along a rail provided at the top and a floor-standing type in which a carrier truck travels along a rail provided at a floor. The traveling carrier is controlled by a ground control system that controls from the ground or an on-board control system that controls from the vehicle.
【０００６】なお、床置式の搬送台車における従来技術
として、特開昭６０−１９３７５６号公報記載の発明で
は１本のレールに沿って走行する無人搬送方式における
電動台車が記載され、特開昭６０−１９３７５７号公報
記載の発明では２本のレールに沿って走行する無人搬送
方式の電動台車が記載されている。As a conventional technique for a floor-standing type carrier truck, the invention described in JP-A-60-193756 describes an electric vehicle in an unmanned carrier system that travels along one rail. In the invention described in Japanese Patent Laid-Open No. 193757/1982, an unmanned transport type electric carriage that travels along two rails is described.
【０００７】[0007]
【発明が解決しようとする課題】しかしながら、上記吊
下式搬送台車を用いた場合、台車上部のみでの支持であ
るため貨物の偏荷重により搬送台車が振れる場合があ
る。そのため、この搬送台車の振れによる他の設備との
干渉を避けるためには広い占有スペースが必要となる。
しかも、上部のレールのみで搬送台車と貨物の荷重を支
えるため、レールとその支持架台が大きくなってしまい
多額の設備費用を要することとなる。さらに、カーブ走
行時等の遠心力による傾き等を小さく抑えるために搬送
速度を大幅に落として運転する必要があり、大量の貨物
を高速で運ぶ必要性のある搬送設備を構成することが困
難になる。However, in the case of using the above-mentioned suspended carriage, the carriage may be shaken due to an unbalanced load of the cargo because it is supported only by the upper part of the carriage. Therefore, a large occupied space is required in order to avoid the interference with other equipment due to the swing of the carrier.
Moreover, since the load of the carrier and cargo is supported only by the upper rail, the rail and its supporting frame become large, resulting in a large amount of equipment cost. Furthermore, it is necessary to drastically reduce the transportation speed in order to suppress the inclination due to centrifugal force when traveling on a curve, etc., making it difficult to configure a transportation facility that needs to carry a large amount of cargo at high speed. Become.
【０００８】また、上記床置式搬送台車を用いた場合、
搬送台車を安定させるにはレールが２本以上必要となる
ためレールの占有面積が広くなり、しかも、搬送台車の
進路を切換えるためにレールを分岐合流させる場合には
２本以上のレールを切換える必要があるため切換え動作
の距離が長くなって動作時間が長くなり、システムのサ
イクルタイムが延びてしまう。その上、これらのレール
間距離等の管理を行っておかなければスムーズな切換え
や走行ができなくなるので、レール管理に多大な労力と
費用を要することとなる。なお、上記特開昭６０−１９
３７５６号公報記載の発明では１本のレールで搬送台車
を支持しているため、貨物の偏荷重による荷重のアンバ
ランスを生じた時の安定性に欠ける。また、これら床置
式搬送台車の場合も、カーブ走行時等の遠心力による傾
き等を小さく抑えるために搬送速度を大幅に落とさなけ
ればならず、大量の貨物を高速で運ぶ必要性のある搬送
設備を構成することが困難になる。Further, when the floor-standing type carrier is used,
Since two or more rails are required to stabilize the carrier truck, the occupied area of the rail becomes large, and moreover, two or more rails must be switched when the rails branch and merge to switch the route of the carrier truck. Therefore, the distance of the switching operation becomes long, the operation time becomes long, and the cycle time of the system is extended. In addition, if the distances between the rails are not managed, smooth switching and running cannot be performed, so that much labor and cost are required for rail management. Incidentally, the above-mentioned JP-A-60-19
In the invention described in Japanese Patent No. 3756, since the carrier is supported by one rail, the stability is insufficient when the load is unbalanced due to the unbalanced load of the cargo. In addition, even in the case of these floor-standing transport carts, the transport speed must be significantly reduced in order to reduce the inclination due to centrifugal force when traveling on a curve, etc., and it is necessary to transport large amounts of cargo at high speed. Becomes difficult to configure.
【０００９】一方、このような有軌道式搬送台車の地上
制御方式においては、搬送台車の位置を常時把握するよ
うな閉塞制御が一般的に採用されているので各閉塞制御
軌道内における搬送台車数を１台に制限する必要があっ
たため、搬送台車数が増加すると閉塞数が増大し、それ
によって地上制御器による制御が複雑化してしまい制御
装置に要するコストの増大や信頼性の低下を招いてしま
う。On the other hand, in such a ground control system for a guided vehicle with a track, a blockage control for constantly grasping the position of the carrier truck is generally adopted. Since it was necessary to limit the number to one, the number of blockages increased as the number of carrier vehicles increased, which complicates control by the ground controller, resulting in an increase in cost required for the control device and a decrease in reliability. I will end up.
【００１０】また、この有軌道式搬送台車の車上制御方
式においては、合流分岐を行うために運行管制装置を地
上に設置する必要があり、しかもこの装置によって、合
流分岐制御のための情報（搬送台車の現在位置、搬送台
車への分岐合流制御情報）を常時又は、一定時間毎に搬
送台車の車上制御器との通信によって地上側で授受する
必要があるため、非常に煩雑な制御が必要となり、設備
の複雑化によるコストの増大や信頼性の低下を招いてし
まう。Further, in this on-vehicle control system for a guided vehicle with a track, it is necessary to install an operation control device on the ground in order to carry out the merging / branching, and by this device, information for merging / branching control ( Since the current position of the carrier vehicle and branch / merge control information to the carrier vehicle must be exchanged on the ground side at all times or by communication with the onboard controller of the carrier vehicle at a fixed time, very complicated control is required. This is necessary, which leads to an increase in cost and a decrease in reliability due to the complicated equipment.
【００１１】[0011]
【課題を解決するための手段】そこで、上記課題を解決
するために、この出願に係る発明の貨物搬送台車設備
は、貨物搬送台車の上下にレールを設け、搬送台車の下
部に下レールに沿って走行する走行手段を設けるととも
に、搬送台車の上部に上レールに沿って搬送台車上部を
支持する上部支持手段を設けて搬送台車を上下で支持し
ている。このように搬送台車を上下で支持することによ
り、簡単な構造で搬送台車に作用する貨物の偏荷重によ
る振れや傾きを容易に防止でき、またレールの分岐合流
の切換え動作距離も短く容易に行えるため、高速で大量
の貨物を搬送することができる。In order to solve the above-mentioned problems, therefore, the freight carrier system according to the invention of the present application is provided with rails above and below the freight carrier and along the lower rail at the bottom of the carrier. In addition to providing traveling means for traveling, the upper portion of the transport vehicle is provided with upper support means for supporting the upper portion of the transport vehicle along the upper rail to support the transport vehicle vertically. By supporting the carrier truck up and down in this way, it is possible to easily prevent shake and tilt due to an unbalanced load of the cargo that acts on the carrier truck with a simple structure, and the switching operation distance of the rail branch and merge can be easily performed. Therefore, a large amount of cargo can be transported at high speed.
【００１２】また、この出願に係る発明の搬送台車制御
装置は、搬送台車の車上制御器においては自己の走行制
御を行わせ、地上制御器においては個々の分岐合流部の
みの切換え制御を行わせ、これらの制御を組合せること
によって搬送台車による搬送制御を行っている。このよ
うな制御装置により、車上制御器による制御および地上
制御器による制御が個々独立して簡略化されるので、同
一本線上で多くの搬送台車を高速で走行させて大量の貨
物を搬送することができる。Further, the carrier vehicle control device of the invention according to this application causes the on-vehicle controller of the carrier vehicle to perform its own traveling control, and the ground controller controls the switching of only individual branch / merging portions. In addition, the transport control by the transport carriage is performed by combining these controls. Such a control device simplifies the control by the on-board controller and the control by the ground controller independently, so that a large number of transport carriages travel at high speed on the same main line to transport a large amount of cargo. be able to.
【００１３】[0013]
【発明の実施の形態】この出願に係る発明の貨物搬送台
車設備は、貨物を積んだ搬送台車が走行するレールを台
車走行用の本線と、該本線から分岐する貨物積み降ろし
用の引込線とで構成し、該レールを搬送台車の上下に少
なくとも各１本設け、該下レールに沿って走行する走行
手段を前記搬送台車の下部に設けるとともに、該上レー
ルに沿って搬送台車の上部を支持する上部支持手段を搬
送台車の上部に設けて搬送台車を上下で支持するように
している。このように搬送台車を上下のレールで支持す
ることにより、カーブ走行時等でも安定した走行が可能
となるので、少ない占有スペースの設備で大量の貨物を
高速で搬送することができる。BEST MODE FOR CARRYING OUT THE INVENTION The freight carrier system according to the invention of the present application comprises a rail on which a carrier carrying freight travels, a main line for running the bogie, and a lead-in line for loading and unloading the cargo branched from the main line. At least one rail is provided on each of the upper and lower sides of the carriage, and a traveling means for traveling along the lower rail is provided at a lower portion of the carriage, and an upper portion of the carriage is supported along the upper rail. The upper supporting means is provided on the upper part of the carrier to support the carrier vertically. By supporting the carrier truck with the upper and lower rails in this manner, stable traveling is possible even when traveling on a curve, so that a large amount of cargo can be transported at high speed with equipment having a small occupied space.
【００１４】上記走行手段を、駆動機を具備して下レー
ルに沿って走行する走行車輪と、該下レールに沿って摺
動するガイドローラと、該ガイドローラと前記走行車輪
とを一体的に垂直軸回りで回動可能に支持する支持手段
とで構成すれば、搬送台車をレールの形状に沿わせて安
定した状態で走行させる構成を容易に形成することがで
きる。The traveling means comprises a traveling wheel equipped with a driving machine and traveling along the lower rail, a guide roller sliding along the lower rail, and the guide roller and the traveling wheel integrally. If it is configured with a supporting unit that is rotatable about a vertical axis, it is possible to easily form a configuration in which the transport carriage travels in a stable state along the shape of the rail.
【００１５】また、駆動機の駆動電力を受ける集電子を
搬送台車上部に設け、該集電子に電力を供給する給電子
を上レールに沿って設ければ、駆動機を駆動するための
電力を搬送台車の上部を支持する上レールから容易に供
給することができる。Further, if a current collector for receiving the driving power of the driving machine is provided on the upper part of the carrier, and a power supply for supplying the current to the current collecting machine is provided along the upper rail, the power for driving the driving machine is provided. It can be easily supplied from the upper rail that supports the upper part of the carrier truck.
【００１６】さらに、走行手段と上部支持手段との垂直
方向軸心をほぼ一致させて設ければ、カーブ走行時でも
搬送台車を傾かせることなく確実に支持して走行させる
ことができる。Furthermore, if the vertical axes of the traveling means and the upper support means are substantially aligned with each other, the transport carriage can be reliably supported and run without tilting even when traveling on a curve.
【００１７】また、この出願に係る発明の搬送台車制御
装置は、搬送先の識別手段を具備した搬送台車を搬送元
から本線に沿って所定方向へ走行させ、各引込線手前の
地上制御器で搬送台車の識別手段を読み取り、該読み取
った識別手段の搬送台車搬送先の手前に位置する分岐部
を地上制御器で引込線側に切換えて搬送台車を引込線へ
引き込むようにしている。このように制御することによ
り、地上制御器が搬送台車の識別手段を読み取って分岐
部の切換えを行えば、搬送台車を切換えられた分岐部か
ら引込線の所定搬送先ステーションへと走行させること
ができる。Further, according to the carrier control apparatus of the invention of this application, a carrier having a destination identifying means is caused to travel in a predetermined direction from the carrier along the main line, and the carrier is carried by the ground controller before each drop line. The identification means of the trolley is read, and the branch portion located in front of the destination of the transportation trolley of the read identification means is switched to the lead-in side by the ground controller so that the delivery trolley is drawn into the lead-in line. By controlling in this manner, if the ground controller reads the identification means of the carrier vehicle and switches the branch portion, the carrier vehicle can be driven from the switched branch portion to the predetermined destination station of the service line. .
【００１８】さらに、分岐部と合流部の切換え状態を車
上制御器で読み取って走行又は停止を搬送台車側で判断
して自動走行又は自動停止するようにすれば、搬送台車
が分岐部と合流部の切換え状態を自分で判断して走行又
は停止することができる。Furthermore, if the on-vehicle controller reads the state of switching between the branching portion and the merging portion to determine whether the vehicle is running or stopped on the side of the transporting vehicle, and automatically starts or stops the transporting vehicle, the transporting vehicle joins the branching portion. It is possible to run or stop by judging the switching state of the section by oneself.
【００１９】また、車上制御器で他の搬送台車との距離
を検出して所定距離以上に保つように走行制御すれば、
同一本線上を走行する他の搬送台車との接触を防止する
ように走行することができる。Further, if the on-vehicle controller detects the distance to another carrier vehicle and controls the traveling so as to keep the distance over a predetermined distance,
It is possible to travel so as to prevent contact with other transport vehicles traveling on the same main line.
【００２０】さらに、引込線から本線へ出る搬送台車を
地上制御器で検出すると、地上制御器が本線上の所定範
囲における搬送台車の有無を検出し、該所定範囲に搬送
台車が無いことを検出したら地上制御器が合流部を切換
えて引込線を本線に連通させて引込線の搬送台車が本線
へ進入可能となるようにすれば、本線上の搬送台車を地
上制御器で検出して合流部の切換えを行えば、引込線上
の搬送台車は合流部の切換え状態を検出して本線へ進入
することができる。Further, when the ground controller detects a carrier vehicle that goes out from the service line to the main line, the ground controller detects the presence or absence of the carrier vehicle in a predetermined range on the main line, and if it detects that there is no carrier vehicle in the predetermined range. If the ground controller switches the merging section and connects the drop line to the main line so that the carriage of the drop line can enter the main line, the ground controller detects the carriage on the main line and switches the merging section. If this is done, the carrier on the service line can detect the switching state of the merging section and enter the main line.
【００２１】また、引込線の分岐部と合流部の地上側に
設けた識別手段を車上制御器で読み取って搬送台車の速
度を制御するようにすれば、分岐部や合流部、あるいは
カーブ走行時において搬送台車の速度を自動的に落とし
て安定した走行をすることができる。Further, if the on-board controller reads the identification means provided on the ground side of the junction and the junction of the service line to control the speed of the carrier vehicle, the junction, the junction, or when traveling on a curve. In, it is possible to automatically reduce the speed of the carrier truck and perform stable traveling.
【００２２】その上、所定数の引込線ごとに１台の地上
制御器で制御し、全引込線の制御を複数の地上制御器で
制御するようにすれば、各制御器における制御要素が少
なくなるので制御装置を簡略化することができる。Moreover, if one ground controller is used for controlling each predetermined number of service lines and a plurality of ground controllers are used for controlling all service lines, the number of control elements in each controller is reduced. The control device can be simplified.
【００２３】[0023]
【実施例】以下、この出願に係る発明の一実施例を図面
に基づいて説明する。図１はこの出願に係る発明の貨物
搬送台車設備の一実施例を示す合流部における斜視図で
あり、図２は同搬送台車設備の側面図、図３は同搬送台
車設備の正面図である。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the invention according to this application will be described below with reference to the drawings. FIG. 1 is a perspective view of a freight carrier system according to an embodiment of the invention according to the present application at a confluence, FIG. 2 is a side view of the carrier system, and FIG. 3 is a front view of the carrier system. .
【００２４】図示するように、貨物搬送台車ｔは、平板
状に形成された底部フレーム１と、この底部フレーム１
の中央前後方向に設けられた門形の上部支持フレーム２
と、この上部支持フレーム２を左右で支える補強フレー
ム３とを有し、底部フレーム１の前部には車上制御器４
が設けられている。また、底部フレーム１上には複数の
貨物を積込むためのコンテナＳが前後に２個載置されて
おり、このコンテナＳの下部には積み降ろしをするため
の横移動用チェーンコンベヤ５が設けられている。この
チェーンコンベヤ５を駆動することにより貨物を積んだ
コンテナＳを横方向に積み降ろしすることができる。な
お、５ａはチェーンコンベヤ５とともに側方へ移動して
コンテナＳを底部フレーム１の中央部に載せるための係
止具であり、５ｂはチェーンコンベヤ５の駆動機であ
る。As shown in the figure, the freight carrier trolley t has a bottom frame 1 formed in a flat plate shape, and the bottom frame 1
Gate-shaped upper support frame 2 provided in the front-back direction of the center of the
And a reinforcement frame 3 that supports the upper support frame 2 on the left and right, and an onboard controller 4 is provided at the front of the bottom frame 1.
Is provided. Further, two containers S for loading a plurality of cargoes are placed on the front and rear on the bottom frame 1, and a laterally traveling chain conveyor 5 for loading and unloading is provided under the container S. Has been. By driving this chain conveyor 5, it is possible to laterally load and unload containers S loaded with cargo. Reference numeral 5a is a locking tool for moving sideways together with the chain conveyor 5 to place the container S on the central portion of the bottom frame 1, and 5b is a drive device for the chain conveyor 5.
【００２５】そして、貨物搬送台車設備Ｔには、この搬
送台車ｔが走行するためのレールが上下に各１本設けら
れている。搬送台車ｔの下部には下レール１２に沿って
走行する走行手段Ｖが設けられ、搬送台車ｔの上部には
上レール１３に沿って搬送台車ｔの上部を支持する上部
支持手段Ｗが設けられている。この走行手段Ｖと上部支
持手段Ｗとによって搬送台車ｔを上下で支持したモノレ
ール式の貨物搬送台車設備Ｔが構成されている。この上
レール１３は、搬送台車ｔの上部で傾倒防止を図るもの
であるため、偏荷重等に起因する横荷重のみに耐え得る
ような軽量部材でよく、また下レール１２も、上レール
１３によって傾倒防止が図られているので縦荷重にのみ
耐え得るような部材でよく、これら上下のレール１２，
１３で搬送台車ｔに作用する荷重を分配しているのでレ
ール１２，１３の軽量化を図ることができる。Further, the freight carrier vehicle equipment T is provided with one rail at the top and one rail at which the carrier vehicle t travels. A traveling means V that travels along the lower rail 12 is provided below the transport carriage t, and an upper support means W that supports the upper portion of the transport carriage t along the upper rail 13 is provided above the transport carriage t. ing. The traveling means V and the upper support means W constitute a monorail type freight carrier vehicle equipment T in which the carrier vehicle t is vertically supported. Since the upper rail 13 is intended to prevent tilting at the upper portion of the transport vehicle t, it may be a lightweight member that can withstand only a lateral load caused by an unbalanced load, etc. Since it is designed to prevent tilting, a member that can withstand only a vertical load may be used.
Since the load acting on the transport vehicle t is distributed by the rail 13, the weight of the rails 12, 13 can be reduced.
【００２６】この実施例では上記走行手段Ｖを、駆動機
たるモータ６を具備して下レール１２の上面に沿って走
行する走行車輪７と、この下レール１２の両側面に沿っ
て摺動するガイドローラ８と、このガイドローラ８と走
行車輪７とを一体的に垂直軸回りで回動可能に支持する
支持手段たる支持軸９とで構成している。したがって、
モータ６を駆動すると走行車輪７が下レール１２上を走
行し、この時、走行車輪７は一体的に設けられたガイド
ローラ８によって下レール１２上から外れることなく下
レール１２に沿うように支持軸９回りで回動しながら走
行することができる。なお、１８は下レール１２の支柱
である。In this embodiment, the traveling means V is provided with a motor 6 as a driving machine, and travels along traveling wheels 7 along the upper surface of the lower rail 12, and slides along both side surfaces of the lower rail 12. A guide roller 8 and a support shaft 9 as a support means for integrally supporting the guide roller 8 and the traveling wheel 7 so as to be rotatable around a vertical axis. Therefore,
When the motor 6 is driven, the traveling wheels 7 travel on the lower rails 12, and at this time, the traveling wheels 7 are supported by the integrally provided guide rollers 8 so as to be along the lower rails 12 without being disengaged from the lower rails 12. It is possible to travel while rotating around the shaft 9. In addition, 18 is a support of the lower rail 12.
【００２７】また、搬送台車ｔの上部を支持する上部支
持手段Ｗたるガイドローラ１０が上部支持フレーム２の
上部に設けられており、この実施例では、走行車輪７と
ほぼ一致する垂直方向軸心にガイドローラ１０が設けら
れ、このガイドローラ１０が上レール１３を左右から挟
むように位置している。このように走行車輪７とガイド
ローラ１１との垂直方向軸心をほぼ一致させて設けるこ
とにより、搬送台車ｔのカーブ走行時でも底部フレーム
１を傾かせることなくほぼ水平状態に保ことができる。
なお、この上部支持手段Ｗは前後のいずれか片側１箇所
でもよく、また他の構成であってもよい。A guide roller 10 serving as an upper support means W for supporting the upper part of the transport carriage t is provided on the upper part of the upper support frame 2, and in this embodiment, a vertical axis that substantially coincides with the traveling wheels 7. A guide roller 10 is provided in the guide roller 10, and the guide roller 10 is positioned so as to sandwich the upper rail 13 from the left and right. By thus providing the traveling wheels 7 and the guide rollers 11 with their vertical axes substantially aligned with each other, the bottom frame 1 can be maintained in a substantially horizontal state without tilting even when the transport vehicle t travels in a curve.
It should be noted that the upper support means W may be provided at one position on either side of the front and rear, or may have another configuration.
【００２８】さらに、上記モータ６を駆動するための電
源は、上レール１３に沿って設けられた給電子１４から
供給されており、搬送台車ｔの上部に設けられた集電子
１１がこの給電子１４に沿って摺動することにより、給
電子１４から集電子１１が電力の供給を受けている。こ
の集電子１１を上部支持手段たるガイドローラ１０の側
部に設けることにより、集電子１１と上レール１３との
距離が常に一定となるようにしている。Further, the power source for driving the motor 6 is supplied from the power supply 14 provided along the upper rail 13, and the current collector 11 provided on the upper part of the carrier t is the power supply. The current collector 11 is supplied with electric power by sliding along the current collector 14. The current collector 11 is provided on the side of the guide roller 10 serving as the upper support means so that the distance between the current collector 11 and the upper rail 13 is always constant.
【００２９】また、底部フレーム１の前部に設けられた
車上制御器４は、モータ６の回転数等から自己の走行距
離を検出したり、搬送ステーション等の情報を記録でき
るように構成されている。The on-vehicle controller 4 provided at the front part of the bottom frame 1 is constructed so as to detect its own traveling distance from the number of rotations of the motor 6 and record information on the transfer station. ing.
【００３０】一方、上記搬送台車ｔが走行するレール１
２，１３は、台車走行用の本線１２ａ，１３ａと貨物の
積み降ろし用の引込線１２ｂ，１３ｂとが設けられてお
り、本線１２ａ，１３ａから引込線１２ｂ，１３ｂへの
分岐部Ａ（後述する図５参照）と本線への合流部Ｂとに
は切換機Ｃが設けられている。この切換機Ｃは、本線１
２ａ，１３ａ側の下レール１２ｃおよび上レール１３ｃ
と、引込線１２ｂ，１３ｂ側の下レール１２ｄおよび上
レール１３ｄとが一体的に切換えられるものであり、枠
部材１５内に設けられたスライドフレーム１６上のこれ
らレール１２ｃ，１２ｄ，１３ｃ，１３ｄを切換手段た
るシリンダ１７を伸縮させることによって切換える。な
お、図１における下部スライドフレーム１６ａと上部ス
ライドフレーム１６ｂとは一体的にスライドするように
図示しない部材によって連結されている。On the other hand, the rail 1 on which the carrier vehicle t travels
2 and 13 are provided with main lines 12a and 13a for traveling by bogies and lead lines 12b and 13b for loading and unloading cargo, respectively, and a branch portion A from the main lines 12a and 13a to the lead lines 12b and 13b (see FIG. A switch C is provided between the main line and the junction B to the main line. This switch C is the main line 1
Lower rail 12c and upper rail 13c on the 2a, 13a side
And the lower rail 12d and the upper rail 13d on the lead-in wire 12b, 13b side are integrally switched, and these rails 12c, 12d, 13c, 13d on the slide frame 16 provided in the frame member 15 are switched. Switching is performed by expanding and contracting the cylinder 17 as a means. The lower slide frame 16a and the upper slide frame 16b in FIG. 1 are connected by a member (not shown) so as to slide integrally.
【００３１】以上のように構成された貨物搬送台車設備
Ｔによれば、モータ６を駆動することによってガイドロ
ーラ８が下レール１２に沿った状態で走行車輪７が下レ
ール１２上を走行し、上部支持フレーム３のガイドロー
ラ１０は上レール１３に沿った状態で走行するので搬送
台車ｔは安定した状態で走行する。また、分岐部Ａ（図
５）や合流部Ｂでは、引込線側の下レール１２ｂおよび
上レール１３ｂが本線側の下レール１２ａおよび上レー
ル１３ａと連続するように切換えられるので、引込線１
２ｂ，１３ｂへの分岐時や本線１２ａ，１３ａへの合流
時には上下のガイドローラ８，１０が搬送台車ｔをほぼ
水平に保った状態でスムーズに走行させることができ
る。したがって、搬送台車ｔに、偏った貨物の偏荷重や
カーブ走行時等の遠心力が作用したとしても、常に安定
した状態で大量の貨物を高速で搬送することができる。According to the freight carrier equipment T constructed as described above, by driving the motor 6, the traveling wheels 7 travel on the lower rail 12 with the guide rollers 8 along the lower rail 12. Since the guide rollers 10 of the upper support frame 3 travel along the upper rails 13, the transport carriage t travels in a stable state. Further, in the branch portion A (FIG. 5) and the merging portion B, since the lower rail 12b and the upper rail 13b on the lead-in line side are switched to be continuous with the lower rail 12a and the upper rail 13a on the main line side, the lead-in line 1
At the time of branching to 2b, 13b or merging to the main lines 12a, 13a, the upper and lower guide rollers 8, 10 can smoothly run while the transport carriage t is kept substantially horizontal. Therefore, even if an unbalanced load of an unbalanced cargo or a centrifugal force such as when traveling on a curve is applied to the carrier t, a large amount of cargo can be always transported at a high speed in a stable state.
【００３２】次に、このような貨物搬送台車設備Ｔの制
御装置を、図４〜図７に基づいて以下に説明する。図４
はこの出願に係る発明の搬送台車制御装置による合流部
の搬送台車通過合流状態を示す制御説明図であり、(a)
は本線側搬送台車の通過状態を示す模式図、(b) は引込
線側搬送台車の合流状態を示す模式図である。図５はこ
の制御装置により搬送元ステーションから搬送先ステー
ションまで貨物を搬送する搬送台車を制御する説明図で
あり、(a) は搬送元ステーションにおける状態を示す模
式図、(b) は搬送途中における状態を示す模式図、(c)
は搬送先ステーションにおける状態を示す模式図であ
る。図６は搬送台車の速度自動制御を説明するための模
式図であり、図７は地上制御器のユニット化を説明する
ための模式図である。なお、以下の説明では上記実施例
における搬送台車ｔを例に説明し、下レール１２のみを
図示して説明する。Next, a control device for such a freight carrier system T will be described below with reference to FIGS. FIG.
FIG. 6 is a control explanatory view showing a merging state of the merging section through which the trolleys are conveyed by the trolley controller of the invention according to the present application;
[Fig. 6] is a schematic diagram showing a passage state of a main line side transport carriage, and (b) is a schematic diagram showing a merged state of lead-in line side transport carriages. 5A and 5B are explanatory views for controlling the carrier truck that carries the cargo from the carrier station to the carrier station by this control device, FIG. 5A is a schematic diagram showing a state in the carrier station, and FIG. Schematic diagram showing the state, (c)
FIG. 4 is a schematic diagram showing a state in a transfer destination station. FIG. 6 is a schematic diagram for explaining speed automatic control of the carrier vehicle, and FIG. 7 is a schematic diagram for explaining unitization of the ground controller. In the following description, the carrier vehicle t in the above embodiment will be described as an example, and only the lower rail 12 will be illustrated and described.
【００３３】まず、制御装置の基本構成を説明すると、
この出願に係る発明の制御装置は、地上側に設けられた
地上制御器２０による搬送台車ｔの出発や到着の検出あ
るいは分岐部Ａおよび合流部Ｂにおけるレール切換制御
と、搬送台車側に設けられた車上制御器４による走行車
輪７の走行距離検出やモータ６の回転速度制御、あるい
は前方の搬送台車ｔとの距離を所定距離以上に保つ距離
制御等の機能を有している。First, the basic structure of the control device will be described.
The control device of the invention according to the present application is provided on the side of the carrier vehicle, and detects the departure or arrival of the carrier vehicle t by the ground controller 20 provided on the ground side or controls the rail switching at the branching portion A and the joining portion B. Further, the on-vehicle controller 4 has functions such as detection of the traveling distance of the traveling wheels 7 and control of the rotation speed of the motor 6, or distance control for keeping the distance from the front transport carriage t at a predetermined distance or more.
【００３４】また、搬送台車ｔを常に一方向のみへ走行
させる本線のレール１２ａは周回状に設けられており、
この本線の所定位置には分岐部Ａによって貨物を積み降
ろしするための引込線１２ｂが分岐して設けられてい
る。この引込線１２ｂの出口側合流部Ｂによっては本線
１２ａへ合流するように形成されている。この引込線１
２ｂにおいても全ての搬送台車ｔは一方向のみへ走行す
る。また、本線１２ａ側を走行する搬送台車ｔが優先走
行するように制御される。Further, the rail 12a on the main line that allows the carrier t to travel in only one direction at all times is provided in a circular shape.
At a predetermined position on the main line, a branch line A is provided with a branch line 12b for loading and unloading cargo. The exit-side joining portion B of the lead-in wire 12b is formed so as to join the main wire 12a. This service line 1
Also in 2b, all the carrier vehicles t travel in only one direction. Further, the carrier vehicle t traveling on the main line 12a side is controlled to preferentially travel.
【００３５】次に、図４(a) の本線側搬送台車通過時を
示す模式図と、(b) の引込線側搬送台車発進時を示す模
式図に基づいて合流部Ｂにおける制御を説明する。これ
らの図面は、引込線１２ｂ側から本線１２ａ上へ出よう
とする搬送台車ｔ1 があることを地上制御器２０で検出
した場合に、本線１２ａ上の搬送台車ｔ2 と引込線１２
ｂ上の搬送台車ｔ1 との優先順を示しており、図４(a)
に示すように、本線１２ａ上の所定範囲（図示略）を搬
送台車ｔが走行していることを地上制御器２０が検出し
た場合、本線１２ａ側は信号器１９ａによって進入可の
信号を出すとともに合流部Ｂはレール１２ｃが本線側と
連続するようにしておく。この時には、引込線１２ｂの
信号器１９ｂが進入不可の信号を出すので引込線１２ｂ
上の搬送台車ｔ1 は停止している。Next, the control in the merging portion B will be described based on the schematic diagram of FIG. 4 (a) showing the passage of the main carriage on the main line side and the schematic diagram of FIG. 4 (b) showing the start of the lead truck on the lead-in line side. These drawings show that when the ground controller 20 detects that there is a carriage trolley t 1 that is going to go out onto the main line 12a from the lead-in wire 12b side, the carriage trolley t 2 on the main line 12a and the drop-in wire 12 are detected.
Fig. 4 (a) shows the order of priority with the transport vehicle t 1 on b.
When the ground controller 20 detects that the carrier vehicle t is traveling in a predetermined range (not shown) on the main line 12a, the main line 12a side issues a signal indicating that entry is possible by the signal device 19a. The merging portion B is set so that the rail 12c is continuous with the main line side. At this time, the signal device 19b of the service line 12b outputs a signal indicating that the service is inaccessible.
The upper transport vehicle t 1 is stopped.
【００３６】そして、図４(b) に示すように、本線１２
ａ上の所定範囲を搬送台車ｔが走行していないことを地
上制御器２０が検出した場合、本線１２ａ側は信号器１
９ａによって進入不可の信号を出すとともに合流部Ｂの
レール１２ｄを引込線側が連続するように切換える。こ
の時には、引込線１２ｂ側の信号器１２ｂが進入可の信
号を出すので引込線１２ｂ上の搬送台車ｔ1 が走行可能
と判断して本線１２ａ上へと出て行くこととなる。上記
信号器１９ａ，１９ｂによる搬送台車の進入可否を搬送
台車ｔ1,ｔ2 が検出する方法としては、信号器１９ａ，
１９ｂの信号によって異なる検知バー（図示略）をレー
ル１２ａ側へ突出させ、この突出した検知バーを搬送台
車ｔ1,ｔ2 に設けられた検出器（図示略）で検出するよ
うにすれば容易に達成することができる。なお、本線１
２ａ上の所定範囲を搬送台車ｔが走行していないことを
判断するための手段としては、所定範囲の入口側と出口
側にスイッチ等を設けておき、この入口側スイッチと出
口側スイッチとで通過回数を検出すれば容易に可能であ
る。また、この所定範囲は、搬送台車ｔの台数や走行速
度に応じて決定すればよい。さらに、この信号器１９
ａ，１９ｂの進入可否信号を搬送台車ｔ側で検出する手
段は他の構成であってもよい。Then, as shown in FIG. 4 (b), the main line 12
When the ground controller 20 detects that the transport vehicle t is not traveling in the predetermined range on the line a, the main line 12a side has the traffic light 1
A signal indicating that entry is impossible is issued by 9a, and the rail 12d of the junction B is switched so that the lead-in side is continuous. At this time, the signal device 12b on the lead-in line 12b side outputs a signal indicating that entry is possible. Therefore, it is judged that the transport vehicle t 1 on the lead-in line 12b can travel and goes out onto the main line 12a. As a method for detecting whether or not the transport vehicle can enter by the above-mentioned signal devices 19a and 19b, the transport vehicles t 1 and t 2 can detect the signal devices 19a and 19b.
It is easy if a detection bar (not shown) that differs depending on the signal of 19b is made to project toward the rail 12a side and the projecting detection bar is detected by a detector (not shown) provided on the transport carriages t 1 and t 2. Can be achieved. Main line 1
As a means for determining that the transport vehicle t is not traveling in a predetermined range on 2a, a switch or the like is provided on the entrance side and the exit side of the predetermined range, and the entrance side switch and the exit side switch are combined. This is easily possible if the number of passages is detected. In addition, this predetermined range may be determined according to the number of transport vehicles t and the traveling speed. Furthermore, this signal device 19
The means for detecting the admission permission signals of a and 19b on the side of the carrier vehicle t may have another configuration.
【００３７】このように、本線１２ａ側を走行している
搬送台車ｔ2 が優先して合流部Ｂを通過し、本線１２ａ
側の所定範囲に搬送台車ｔが走行していないことを検出
したら引込線１２ｂ側から搬送台車ｔ1 が本線１２ａ上
へと出ることとなる。As described above, the carrier t 2 traveling on the main line 12a side preferentially passes through the junction B, and the main line 12a
When it is detected that the carrier vehicle t is not traveling within the predetermined range on the side, the carrier vehicle t 1 exits from the lead-in line 12b side onto the main line 12a.
【００３８】次に、図５(a) 〜(c) の模式図に基づい
て、搬送元ステーション２１から搬送先ステーション２
２まで貨物を搬送する搬送台車ｔの制御について説明す
る。この例では搬送元ステーション２１から第２搬送先
ステーション２２ｂへ貨物を搬送する場合を説明し、上
記実施例と同一の構成には同一の符号を付して説明す
る。Next, based on the schematic diagrams of FIGS. 5A to 5C, the transfer source station 21 to the transfer destination station 2 are transferred.
The control of the transport vehicle t that transports cargo up to 2 will be described. In this example, the case where the cargo is transported from the transport source station 21 to the second transport destination station 22b will be described, and the same configurations as those in the above-described embodiment will be denoted by the same reference numerals.
【００３９】(a) の搬送元ステーション２１における状
態を示す模式図では、搬送元ステーション２１に設けら
れた地上側の記録器２３によって搬送台車ｔに所定の情
報を記録する状態を示している。この記録器２３によっ
て記録される情報は、搬送台車ｔの車上制御器４と接続
された識別手段たる読み書き自由な識別カード２４（こ
の識別カード２４を「IDENTIFICATION CARD」といい、
以下、単に「ＩＤカード」という）に記録される。この
ＩＤカード２４としては、例えば磁気カードが用いら
れ、記録される情報としては、自己の搬送台車番号や貨
物を積んだコンテナＳを降ろす搬送先ステーション２２
等である。In the schematic diagram showing the state in the transfer source station 21 of (a), a state in which predetermined information is recorded in the transfer vehicle t by the recorder 23 on the ground side provided in the transfer source station 21 is shown. The information recorded by the recorder 23 is a readable / writable identification card 24 (identification card 24 is referred to as "IDENTIFICATION CARD", which is an identification means connected to the on-board controller 4 of the carriage t).
Hereinafter, it will be simply recorded on an “ID card”. As the ID card 24, for example, a magnetic card is used, and as the information to be recorded, the destination station 22 for unloading the own carrier vehicle number and the container S loaded with the cargo.
And so on.
【００４０】そして、(b) の搬送途中における状態を示
す模式図では、第１搬送先ステーション２２ａの分岐部
Ａの手前に設けられた地上側の読取器２５によってＩＤ
カード２４の情報が読み取られる。この読取器２５で読
んだ情報により、この搬送台車ｔがコンテナＳ（貨物）
を搬送しようとする搬送先ステーション２２がこの分岐
部Ａの引込線１２ｂにないことを検出すると、分岐部Ａ
を切換えずに本線１２ａ側のレール１２ｃを連続させた
状態にして搬送台車ｔを通過させる。Further, in the schematic diagram showing the state in the middle of the conveyance of (b), the ID by the reader 25 on the ground side provided in front of the branch portion A of the first conveyance destination station 22a.
The information on the card 24 is read. According to the information read by the reader 25, the carrier t is a container S (freight).
When it is detected that the destination station 22 which is trying to convey the paper is not on the service line 12b of the branch A, the branch A
The rail 12c on the main line 12a side is made to be continuous without switching, and the carrier t is passed.
【００４１】次に、(c) の搬送先ステーションにおける
状態を示す模式図では、第２搬送先ステーション２２ｂ
の分岐部Ａの手前に設けられた地上側の読取器２５によ
ってＩＤカード２４の情報が読み取られる。この読取器
２５で読んだ情報により、この搬送台車ｔのコンテナＳ
（貨物）を搬送しようとする第２搬送先ステーション２
２ｂがこの分岐部Ａの引込線１２ｂにあることを検出す
ると、分岐部Ａを切換えて引込線側のレール１２ｄを本
線１２ａと連続させる。そのため、搬送台車ｔはレール
１２ａ，１２ｄに沿って引込線１２ｂへと引き込まれ、
第２搬送先ステーション２２ｂに設けられた検知器２６
によって所定位置に停止させられる。Next, in the schematic diagram showing the state at the transfer destination station of (c), the second transfer destination station 22b
The information on the ID card 24 is read by the reader 25 on the ground side, which is provided in front of the branch portion A of the above. Based on the information read by the reader 25, the container S of the transport carriage t
2nd destination station 2 which is going to transport (cargo)
When it is detected that 2b is on the service line 12b of the branch A, the branch A is switched and the rail 12d on the service line side is connected to the main line 12a. Therefore, the carrier vehicle t is drawn into the drop line 12b along the rails 12a and 12d,
Detector 26 provided at the second transfer destination station 22b
Is stopped at a predetermined position.
【００４２】上記搬送台車ｔの走行時において、搬送台
車ｔ側の車上制御器４は(a) の搬送元ステーション２１
を出発してからの走行距離と搬送先ステーション２２と
を認識しているため、上記(c) の状態のように目的とす
る搬送先ステーション２２の分岐部Ａが近づいたことを
自己の制御器４で検知し、分岐部Ａに近づくと減速する
ように制御される。また、(b) および(c) の状態では、
前方を走行する搬送台車ｔとの距離を一定以上に保よう
に制御されており、例えば各搬送台車ｔに距離センサＵ
（図３参照）を設けて前方を走る搬送台車ｔとの距離が
所定距離以下とならないように制御して接触防止を図っ
ている。When the transport vehicle t is running, the on-board controller 4 on the transport vehicle t side displays the transport source station 21 of (a).
Since it recognizes the distance traveled from the departure point and the destination station 22, the controller of its own control indicates that the target branch point A of the destination station 22 is approaching as in the state of (c) above. It is detected at 4 and is controlled so as to decelerate when approaching the branch portion A. Also, in the states of (b) and (c),
It is controlled so as to keep the distance from the transport carriage t traveling in front to a certain level or more.
(See FIG. 3) is provided to prevent contact by controlling the distance from the transporting vehicle t running in front of the vehicle to a predetermined distance or less.
【００４３】一方、地上制御器２０では、各分岐部Ａの
手前においてその搬送先ステーション２２に降ろすコン
テナＳ（貨物）を積んだ搬送台車ｔであるかどうかを判
断し、その搬送台車ｔであれば分岐部Ａの切換え操作を
し、搬送先ステーション２２の所定位置に搬送台車ｔが
到着したら搬送台車ｔを停止させてコンテナＳを降ろす
ように制御する。したがって、地上制御器２０では、出
発点と到着点とにおける各搬送台車ｔの制御と、各分岐
部Ａにおける各搬送台車ｔの進路制御、および合流部Ｂ
での制御を行うのみで各搬送台車ｔの位置制御を行わな
いため、多くの搬送台車ｔを同一本線１２ａ上で走行さ
せたとしても地上制御器２０による搬送台車ｔの制御は
簡単な制御となり、制御系統が簡略化されて簡単な制御
装置で複数台の搬送台車ｔを制御することが可能とな
る。On the other hand, the ground controller 20 judges whether or not it is the transport vehicle t loaded with the container S (freight) to be unloaded at the transport destination station 22 before each branch A, and the transport vehicle t is determined. For example, the branching section A is switched, and when the transport vehicle t arrives at the predetermined position of the transport destination station 22, the transport vehicle t is stopped and the container S is controlled to be unloaded. Therefore, the ground controller 20 controls the transport vehicles t at the departure point and the arrival point, the path control of the transport vehicles t at the branch points A, and the merging point B.
Since the position control of each transport vehicle t is not performed but the position control of each transport vehicle t is performed, even if many transport vehicles t travel on the same main line 12a, the control of the transport vehicle t by the ground controller 20 is a simple control. The control system is simplified, and it becomes possible to control a plurality of carrier vehicles t with a simple control device.
【００４４】このようにして搬送先ステーション２２の
所定位置にコンテナＳを降ろした搬送台車ｔは、上述し
た合流部Ｂにおける制御に基づいて本線１２ａへ合流す
ることとなる。なお、この搬送先ステーション２２で新
たにコンテナＳを積込んで別の搬送先ステーション２２
へ運ぶ場合には、搬送先ステーション２２に設けられた
記録器（図示略）によって新たな搬送先ステーション等
の情報が書き込まれ、上記したような地上制御器２０と
車上制御器４とによる制御によって搬送される。The transport vehicle t having the container S lowered to the predetermined position of the transport destination station 22 in this way joins the main line 12a under the control of the above-mentioned joining section B. It should be noted that a container S is newly loaded at this delivery destination station 22 and another delivery destination station 22
When carrying to the destination, information of a new destination station or the like is written by a recorder (not shown) provided in the destination station 22, and control by the above ground controller 20 and the onboard controller 4 is performed. Transported by.
【００４５】ところで、上記した実施例では地上制御器
２０による分岐部Ａおよび合流部Ｂの切換え操作を説明
したが、次に、図６に示す搬送台車の速度自動制御を説
明するための模式図に基づいて、車上制御器４による搬
送台車ｔの速度制御方法の一例を説明する。By the way, in the above-mentioned embodiment, the switching operation of the branching section A and the merging section B by the ground controller 20 has been described. Next, a schematic diagram for explaining the automatic speed control of the carrier vehicle shown in FIG. An example of the method for controlling the speed of the carriage t by the on-board controller 4 will be described based on FIG.
【００４６】この実施例では、ループ状に設けられた本
線１２ａ上を走行する搬送台車ｔが分岐部Ａやカーブ等
を走行する時に自動的に減速や加速をする場合を示して
おり、搬送台車ｔ側の車上制御器４が地上に設けられた
識別手段２７を自動的に読み取って速度制御するように
している。この例では、車上制御器４で引込線１２ｂの
分岐部Ａ手前に設けられた識別手段２７を読み取ると減
速し、合流部Ｂを通過したことを識別手段２７で読み取
ると加速し、カーブ手前の識別手段２７を読み取ると減
速し、カーブ通過したことを識別手段２７で読み取ると
加速するように自動制御される。したがって、地上の所
定位置に識別手段２７を設置すれば、搬送台車ｔが自動
的に情報をで読み取って速度制御を行うため、最も効率
的な走行制御を行うことが可能となる。なお、搬送台車
ｔが読み取る識別手段としては、公知の技術である電圧
変化による識別手段や、接触センサーの位置による識別
手段等を用いれば容易に速度制御をすることができる。This embodiment shows a case where a carrier vehicle t traveling on a main line 12a provided in a loop shape automatically decelerates or accelerates when traveling on a branch A, a curve or the like. The on-vehicle controller 4 on the t side automatically reads the identification means 27 provided on the ground to control the speed. In this example, when the onboard controller 4 reads the identification means 27 provided in front of the branch A of the service line 12b, the vehicle decelerates, and when the identification means 27 reads that the vehicle has passed the junction B, the vehicle accelerates. When the identification means 27 is read, the vehicle is decelerated, and when the identification means 27 reads that the vehicle has passed the curve, it is accelerated. Therefore, if the identification means 27 is installed at a predetermined position on the ground, the carrier vehicle t automatically reads the information and controls the speed, and thus the most efficient traveling control can be performed. As the identification means read by the carrier t, the speed control can be easily performed by using the identification means based on the change in voltage, the identification means based on the position of the contact sensor, or the like, which is a known technique.
【００４７】この場合も上記実施例と同様に、分岐部Ａ
から目的とする搬送先ステーション２２まで走行する
と、目的とする搬送先ステーション２２に設けられた識
別手段２７の情報を搬送台車ｔの車上制御器４が読み取
って、自動的に停止することができる。なお、これら識
別手段２７に上述したＩＤカード２４を用いてもよい。In this case as well, similar to the above embodiment, the branch portion A
When the vehicle travels from the target transport destination station 22 to the target transport destination station 22, the onboard controller 4 of the transport vehicle t can read the information of the identification means 27 provided in the target transport destination station 22 and stop automatically. . The ID card 24 described above may be used as the identification means 27.
【００４８】また、上述したようにこの出願に係る発明
における地上制御器２０は、各分岐部Ａにおいてその搬
送先ステーション２２に降ろすコンテナＳ（貨物）を積
んだ搬送台車ｔであるかどうかを判断して分岐部Ａを切
換えたり、搬送先ステーション２２の所定位置における
搬送台車ｔの停止やコンテナＳを降ろすような制御であ
るため、制御系統としては簡略化されるが、さらに図７
に示す搬送台車制御装置における地上制御器のユニット
化を説明するための模式図のように、ある所定範囲の引
込線１２ｂの分岐部Ａと合流部Ｂおよび搬送先ステーシ
ョン２２をユニット化することにより、地上制御器２０
を更に簡略化して簡単な制御装置を構成することが可能
となる。このように制御装置を簡略化できるのは、地上
制御器２０による制御と車上制御器４による制御とを分
離させているので可能となる。Further, as described above, the ground controller 20 in the invention according to the present application determines whether or not the transport vehicle t is loaded with the containers S (freight) to be unloaded at the transport destination station 22 at each branch A. The control system is simplified because the control is performed by switching the branch portion A, stopping the transport vehicle t at a predetermined position of the transport destination station 22, and unloading the container S.
As shown in the schematic diagram for explaining the unitization of the ground controller in the carrier control device shown in FIG. 1, by unitizing the branching section A, the merging section B, and the transfer destination station 22 of the service line 12b within a certain predetermined range, Ground controller 20
Can be further simplified to form a simple control device. In this way, the control device can be simplified because the control by the ground controller 20 and the control by the onboard controller 4 are separated.
【００４９】なお、このユニット化は、搬送先ステーシ
ョン２２の数や全体設備の大きさ等に応じて適宜設定す
ればよい。Incidentally, this unitization may be appropriately set according to the number of destination stations 22 and the size of the entire equipment.
【００５０】このように、この出願に係る発明によれ
ば、搬送台車を管理するための地上運行管制装置の必要
性と、地上と車上の煩雑な通信を行うシステム全体の管
理を不要とし、個々の分岐合流地点のみに着目した地上
制御器による信号装置の制御と、搬送台車ｔの車上制御
器が信号装置を識別することによって進入可否を自律判
断する方式によって、分岐合流の制御システムを簡略化
することができる。As described above, according to the invention of this application, it is not necessary to provide a ground operation control device for managing a carrier vehicle and to manage the entire system for performing complicated communication between the ground and the vehicle. A control system for branching and merging is implemented by controlling the signaling device by the ground controller focusing only on individual branching and merging points and by a system in which the onboard controller of the carrier vehicle t autonomously determines whether or not to approach by identifying the signaling device. It can be simplified.
【００５１】したがって、この出願に係る発明によれ
ば、搬送台車ｔの台数が増大したとしても、搬送台車ｔ
は自己に設けた車上制御器４による走行制御を行い、地
上制御器２０は各分岐部Ａや合流部Ｂにおける制御のみ
を行うため、制御装置としての構成は台車台数に関係な
くシステムの構築が容易であり、しかも台車台数の増加
・減少が自由に行える。Therefore, according to the invention of this application, even if the number of transport carriages t increases, the transport carriage t
Performs the traveling control by the on-board controller 4 provided in itself, and the ground controller 20 only controls at the branching points A and the merging points B. Therefore, the configuration of the controller is a system construction regardless of the number of vehicles. It is easy and the number of trolleys can be increased or decreased freely.
【００５２】[0052]
【発明の効果】この出願に係る発明は、以上説明したよ
うな形態で実施され、以下に記載するような効果を奏す
る。The invention according to this application is carried out in the form described above, and has the following effects.
【００５３】貨物搬送台車設備によれば、搬送台車を上
下で支持することにより搬送台車の振れや傾きを防止し
て高速で貨物を搬送することが可能となり、しかもレー
ルの占有面積が少なく切換え動作距離も短くなるので設
備を小さくすることが可能となるので、設備費用を抑え
て搬送時間を大幅に短縮した高速の大量貨物搬送が可能
となる。According to the freight carrier system, by supporting the carrier car from above and below, it is possible to prevent the carrier car from swinging and tilting and to carry the cargo at a high speed, and the occupying area of the rail is small, and the switching operation is performed. Since the distance can be shortened and the equipment can be made small, it is possible to carry out high-speed mass cargo transportation with the equipment cost suppressed and the transportation time significantly shortened.
【００５４】また、搬送台車の走行手段を、駆動機を具
備した走行車輪と下レールに沿うガイドローラとこれら
を垂直軸回りで回動可能に支持する支持手段とで構成す
れば、搬送台車をレールに沿って走行させる構成を容易
に形成することができ、集電子を搬送台車上部に設けて
上レールから駆動電力を供給するようにすれば、搬送台
車へ容易に電力を供給することが可能となる。Further, if the traveling means of the carrier truck is composed of traveling wheels equipped with a drive unit, guide rollers along the lower rail, and supporting means for rotatably supporting these around a vertical axis, the carrier truck is constructed. It is possible to easily form a configuration to run along the rails, and if the current collector is installed on the upper part of the carrier truck and drive power is supplied from the upper rail, power can be easily supplied to the carrier truck. Becomes
【００５５】さらに、走行手段と上部支持手段とを垂直
方向軸心がほぼ一致するように設ければ、カーブ走行時
に安定した高速走行が可能となる。Further, if the traveling means and the upper support means are provided so that the vertical axes thereof are substantially coincident with each other, stable high speed traveling can be achieved during curve traveling.
【００５６】また、搬送台車制御装置によれば、本線上
を走行する搬送台車の識別手段を地上制御器で読み取っ
て分岐部を切換えて搬送台車を所定搬送先へ走行させる
ので、地上側と車上側とで煩雑な運行管理を行うことな
く搬送台車を簡単な制御で目的とする搬送先へ確実に走
行させることが可能となるので、制御装置に要するコス
トを抑えて信頼性の高い制御が可能となる。Further, according to the carrier control apparatus, the means for identifying the carrier traveling on the main line is read by the ground controller and the branching unit is switched to allow the carrier to travel to a predetermined destination. Since it is possible to reliably move the transport vehicle to the target transport destination with simple control without performing complicated operation management with the upper side, it is possible to suppress the cost required for the control device and perform highly reliable control. Becomes
【００５７】さらに、同一本線上で多くの搬送車を走行
させても、車上制御器が分岐部や合流部の切換え状態の
確認や他の搬送台車との距離、あるいは搬送台車の速度
制御を行うので、簡単な制御装置で大量の貨物を目的と
する搬送先まで確実に搬送することが可能となる。Further, even when many vehicles are traveling on the same main line, the on-board controller confirms the switching state of the branching portion and the merging portion, controls the distance from other transportation vehicles, or controls the speed of the transportation vehicles. Since this is performed, a large amount of cargo can be reliably transported to the intended transport destination with a simple control device.
【００５８】特に、全引込線の制御を複数の地上制御器
で制御すれば、全体の制御装置を更に簡略化して安価に
製造することが可能となる。In particular, if the control of all service lines is controlled by a plurality of ground controllers, the overall control device can be further simplified and manufactured at low cost.
【図１】この出願に係る発明の貨物搬送台車の一実施例
を示す合流部における斜視図である。FIG. 1 is a perspective view of a confluence section showing an embodiment of a freight carrier according to the present invention.
【図２】図１に示す貨物搬送台車の側面図である。FIG. 2 is a side view of the freight carrier truck shown in FIG.
【図３】図１に示す貨物搬送台車の正面図である。3 is a front view of the freight carrier truck shown in FIG. 1. FIG.
【図４】この出願に係る発明の搬送台車制御装置による
合流部の搬送台車通過合流状態を示す制御説明図であ
り、(a) は本線側搬送台車の通過状態を示す模式図であ
り、(b) は引込線側搬送台車の合流状態を示す模式図で
ある。FIG. 4 is a control explanatory diagram showing a transport vehicle passing / merging state of a merging portion by the transport vehicle control device of the invention according to the present application, and (a) is a schematic diagram showing a passing state of the main line side transport vehicle; b) is a schematic view showing a merging state of the lead-in line side carriages.
【図５】この出願に係る発明の搬送台車制御装置により
搬送元ステーションから搬送先ステーションまで貨物を
搬送する搬送台車を制御する説明図であり、(a) は搬送
元ステーションにおける状態を示す模式図、(b) は搬送
途中における状態を示す模式図、(c) は搬送先ステーシ
ョンにおける状態を示す模式図である。FIG. 5 is an explanatory diagram for controlling a carrier vehicle that transports cargo from a carrier station to a destination station by the carrier vehicle control device of the invention according to this application, and (a) is a schematic diagram showing a state in the carrier station. , (B) is a schematic diagram showing a state during conveyance, and (c) is a schematic diagram showing a state at a conveyance destination station.
【図６】この出願に係る発明の搬送台車制御装置におけ
る搬送台車の速度自動制御を説明するための模式図であ
る。FIG. 6 is a schematic diagram for explaining automatic speed control of the carrier in the carrier controller of the invention according to the present application.
【図７】この出願に係る発明の搬送台車制御装置におけ
る地上制御器のユニット化を説明するための模式図であ
る。FIG. 7 is a schematic diagram for explaining unitization of a ground controller in the carrier control device of the invention according to this application.
１…底部フレーム ２…上部支持フレーム ３…補強フレーム ４…車上制御器 ５…チェーンコンベヤ ６…モータ ７…走行車輪 ８…ガイドローラ ９…支持軸 １０…ガイドローラ １１…集電子 １２…下レール １２ａ（１２ｃ）…本線（下レール） １２ｂ（１２ｄ）…引込線（下レール） １３…上レール １３ａ（１３ｃ）…本線（下レール） １３ｂ（１３ｄ）…引込線（下レール） １４…給電子 １５…枠部材 １６…スライドフレーム １６ａ…下部スライドフレーム １６ｂ…上部スライドフレーム １７…シリンダ １８…支柱 １９ａ，１９ｂ…信号器 ２０…地上制御器 ２１…搬送元ステーション ２２（２２ａ，２２ｂ）…搬送先ステーション ２３…記録器 ２４…ＩＤカード（識別カード） ２５…読取器 ２６…検知器 ２７…識別手段 Ａ…分岐部 Ｂ…合流部 Ｃ…切換機 Ｓ…コンテナ ｔ（ｔ1,ｔ2 ）…搬送台車 Ｔ…搬送台車設備 Ｖ…走行手段 Ｗ…上部支持手段1 ... bottom frame 2 ... upper support frame 3 ... reinforcement frame 4 ... on-board controller 5 ... chain conveyor 6 ... motor 7 ... traveling wheel 8 ... guide roller 9 ... support shaft 10 ... guide roller 11 ... collector 12 ... lower rail 12a (12c) ... Main line (lower rail) 12b (12d) ... Service line (lower rail) 13 ... Upper rail 13a (13c) ... Main line (lower rail) 13b (13d) ... Service line (lower rail) 14 ... Power supply 15 ... Frame member 16 ... Slide frame 16a ... Lower slide frame 16b ... Upper slide frame 17 ... Cylinder 18 ... Struts 19a, 19b ... Signal device 20 ... Ground controller 21 ... Transport source station 22 (22a, 22b) ... Transport destination station 23 ... Recorder 24 ... ID card (identification card) 25 ... Reader 26 ... Detector 27 ... Identification means A Bifurcation B ... confluent part C ... diverter S ... Container t (t 1, t 2) ... conveying carriage T ... transport vehicle facilities V ... traveling means W ... upper supporting means
───────────────────────────────────────────────────── フロントページの続き (72)発明者 大道 寛 兵庫県神戸市中央区東川崎町３丁目１番１ 号 川崎重工業株式会社神戸工場内 (72)発明者 徳田 則昭 兵庫県神戸市中央区東川崎町３丁目１番１ 号 川崎重工業株式会社神戸工場内 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Hiroshi Odo 3-1-1 Higashikawasaki-cho, Chuo-ku, Kobe-shi, Hyogo Kawasaki Heavy Industries Ltd. Kobe factory (72) Noriaki Tokuda Higashi-kawasaki-cho, Chuo-ku, Kobe-shi, Hyogo 3-1-1 Kawasaki Heavy Industries Ltd. Kobe factory
Claims (10)
貨物を搬送するための貨物搬送台車設備であって、 前記レールを台車走行用の本線と、該本線から分岐する
貨物積み降ろし用の引込線とで構成し、該レールを搬送
台車の上下に少なくとも各１本設け、該下レールに沿っ
て走行する走行手段を前記搬送台車の下部に設けるとと
もに、該上レールに沿って搬送台車の上部を支持する上
部支持手段を搬送台車の上部に設けて搬送台車を上下で
支持するようにしたことを特徴とする貨物搬送台車設
備。1. A freight carrier vehicle facility for carrying cargo along a rail with a carrier vehicle carrying freight, wherein the rail is for a main line for traveling the bogie and a cargo loading / unloading branch from the main line. And a rail provided at least one above and below the carriage, and a traveling means for traveling along the lower rail is provided at a lower portion of the carriage and an upper portion of the carriage along the upper rail. Cargo carrier equipment, characterized in that upper support means for supporting the carrier is provided above the carrier to support the carrier vertically.
備して下レールに沿って走行する走行車輪と、該下レー
ルに沿って摺動するガイドローラと、該ガイドローラと
前記走行車輪とを一体的に垂直軸回りで回動可能に支持
する支持手段とで構成したことを特徴とする請求項１記
載の貨物搬送台車設備。2. The traveling means according to claim 1, wherein the traveling wheel comprises a drive unit and travels along a lower rail, a guide roller sliding along the lower rail, the guide roller and the traveling. 2. The freight carrier equipment according to claim 1, further comprising: a supporting unit that integrally supports the wheel so as to be rotatable about a vertical axis.
台車上部に設け、該集電子に電力を供給する給電子を上
レールに沿って設けたことを特徴とする請求項１又は請
求項２記載の貨物搬送台車設備。3. A collector according to claim 1, wherein a current collector for receiving driving power of the driving machine is provided on an upper portion of the carrier, and a power supplier for supplying power to the current collector is provided along the upper rail. 2 Cargo carrier equipment.
心をほぼ一致させて設けたことを特徴とする請求項１〜
３のいずれか１項に記載の貨物搬送台車設備。4. The vertical axis of the traveling means and the upper support means are substantially aligned with each other.
The freight carrier vehicle facility according to any one of 3 above.
搬送元から本線に沿って所定方向へ走行させ、各引込線
手前の地上制御器で搬送台車の識別手段を読み取り、該
読み取った識別手段の搬送台車搬送先の手前に位置する
分岐部を地上制御器で引込線側に切換えて搬送台車を引
込線へ引き込むようにしたことを特徴とする搬送台車制
御装置。5. A transportation vehicle equipped with a transportation destination identifying means is caused to travel in a predetermined direction from a transportation source along a main line, and the transportation vehicle identifying means is read by a ground controller before each drop line, and the read identification means. The carriage control device is characterized in that a branch portion located in front of the carriage destination is switched to the lead-in side by a ground controller so that the carriage is drawn into the lead-in line.
器で読み取って走行又は停止を搬送台車側で判断して自
動走行又は自動停止するようにしたことを特徴とする請
求項５記載の搬送台車制御装置。6. The automatic traveling or automatic stopping according to claim 5, wherein the switching state between the branching portion and the merging portion is read by an on-vehicle controller to determine whether the vehicle is running or stopped on the side of the carrier vehicle. Carrier control device.
出して所定距離以上を保つように走行制御することを特
徴とする請求項５又は請求項６記載の搬送台車制御装
置。7. The carrier control device according to claim 5, wherein the on-vehicle controller detects a distance to another carrier and performs travel control so as to maintain a predetermined distance or more.
御器で検出すると、地上制御器が本線上の所定範囲にお
ける搬送台車の有無を検出し、該所定範囲に搬送台車が
無いことを検出したら地上制御器が合流部を切換えて引
込線を本線に連通させて引込線の搬送台車が本線へ進入
可能となるようにしたことを特徴とする請求項５〜７の
いずれか１項に記載の搬送台車制御装置。8. When the ground controller detects a carrier vehicle that goes out from the service line to the main line, the ground controller detects the presence or absence of the carrier vehicle in a predetermined range on the main line, and when it detects that there is no carrier vehicle in the predetermined range. 8. The transport vehicle according to claim 5, wherein the ground controller switches the merging portion to connect the drop line to the main line so that the transport vehicle on the drop line can enter the main line. Control device.
た識別手段を車上制御器で読み取って搬送台車の速度を
制御したことを特徴とする請求項５〜８のいずれか１項
に記載の搬送台車制御装置。9. The speed of the carrier vehicle is controlled by reading an identification means provided on the ground side of the branch portion and the merging portion of the service line to control the speed of the carriage. The carriage control device described in 1.
器で制御し、全引込線の制御を複数の地上制御器で制御
するようにしたことを特徴とする請求項５〜９のいずれ
か１項に記載の搬送台車制御装置。10. A ground controller for every predetermined number of drop lines, and control of all the drop lines is controlled by a plurality of ground controllers. The carrier control device according to item 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14415696A JP2902354B2 (en) | 1996-06-06 | 1996-06-06 | Cargo transport trolley equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14415696A JP2902354B2 (en) | 1996-06-06 | 1996-06-06 | Cargo transport trolley equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH09323644A true JPH09323644A (en) | 1997-12-16 |
| JP2902354B2 JP2902354B2 (en) | 1999-06-07 |
Family
ID=15355512
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP14415696A Expired - Fee Related JP2902354B2 (en) | 1996-06-06 | 1996-06-06 | Cargo transport trolley equipment |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2902354B2 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2000018629A1 (en) * | 1998-09-29 | 2000-04-06 | Gen Date | High-speed transportation mechanism on rail track |
| CN101844680A (en) * | 2009-03-27 | 2010-09-29 | 株式会社大福 | Path switching device |
| US8322287B2 (en) | 2009-03-27 | 2012-12-04 | Daifuku Co., Ltd. | Article Transport facility |
| CN109230442A (en) * | 2018-10-19 | 2019-01-18 | 浙江衣拿智能科技有限公司 | Transportation system pipeline collaborates docking facilities |
| CN109823788A (en) * | 2019-03-28 | 2019-05-31 | 浙江天珩自动包装机械有限公司 | Trolley handoff path mechanism |
| GB2576006A (en) * | 2018-07-31 | 2020-02-05 | Castree Projects Ltd | Switch for a rail track |
-
1996
- 1996-06-06 JP JP14415696A patent/JP2902354B2/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2000018629A1 (en) * | 1998-09-29 | 2000-04-06 | Gen Date | High-speed transportation mechanism on rail track |
| CN101844680A (en) * | 2009-03-27 | 2010-09-29 | 株式会社大福 | Path switching device |
| US20100242784A1 (en) * | 2009-03-27 | 2010-09-30 | Daifuku Co., Ltd. | Switching Facility for Crossed Paths |
| JP2010228674A (en) * | 2009-03-27 | 2010-10-14 | Daifuku Co Ltd | Intersection switching equipment |
| US8245647B2 (en) * | 2009-03-27 | 2012-08-21 | Daifuku Co., Ltd. | Switching facility for crossed paths |
| US8322287B2 (en) | 2009-03-27 | 2012-12-04 | Daifuku Co., Ltd. | Article Transport facility |
| TWI404646B (en) * | 2009-03-27 | 2013-08-11 | 大福股份有限公司 | Intersection switching device |
| GB2576006A (en) * | 2018-07-31 | 2020-02-05 | Castree Projects Ltd | Switch for a rail track |
| GB2576006B (en) * | 2018-07-31 | 2022-08-17 | Castree Projects Ltd | Switch for a rail track |
| CN109230442A (en) * | 2018-10-19 | 2019-01-18 | 浙江衣拿智能科技有限公司 | Transportation system pipeline collaborates docking facilities |
| CN109823788A (en) * | 2019-03-28 | 2019-05-31 | 浙江天珩自动包装机械有限公司 | Trolley handoff path mechanism |
| CN109823788B (en) * | 2019-03-28 | 2024-03-12 | 浙江天珩自动包装机械有限公司 | Trolley switching track mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2902354B2 (en) | 1999-06-07 |
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