JPH094400A - Automatic conveying facility in tunnel - Google Patents

Abstract

PURPOSE: To exert sufficient driving force without using a track facility and a complicated mechanism and make a small turn available. CONSTITUTION: A guide line 1 is installed in a tunnel, an oscillating device 2 applying the AC control signal to the guide line 1 is connected, a vehicle body 4 for conveying a material or an apparatus 3 is provided, and a pair of driving tires 6 are provided at the center section of the vehicle body 4. Drive motors 8 are connected to the driving tires 6 respectively, and driven tires 10 are provided in the front and rear of the vehicle body 4 via casters 9 respectively. A sensor 11 for detecting the AC control signal is provided on the vehicle body 4, and motor control devices are connected between the sensor 11 and the drive motors 8. Distance sensors 32 are provided in the front and rear of the vehicle body 4, a central controller receiving the outputs of the distance sensors 32 and outputting the control signals to the motor control devices is provided, and multiple vehicle bodies 1 are traveled in no contact and in parallel with each other. A loading vehicle is connected, a steering motor controlled from the outside is provided, and the vehicle body 4 and the loading vehicle are connected and traveled.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a facility for automatically and automatically transporting materials and equipment in a tunnel,
It is suitable for carrying in and out of lining materials and concrete agitators in shield work. Further, the present invention relates to the one that can be carried in and out by a plurality of transport vehicles.

[0002]

2. Description of the Related Art In recent years, a shield construction method has been widely used in tunnel construction. In this method, it is generally necessary to carry in and out excavation shears, segments, backfill injection material, secondary lining material and other materials and equipment from the wellhead to the vicinity of the face.

Conventionally, as shown in FIG. 12, a rail 80 is laid inside the mine, and a transport vehicle 81 is operated on the rail 80 to carry in and out the above-mentioned equipment. However, when laying the rail 80 in the mine, it takes a lot of time to lay and remove the rail,
It was a hindrance to the original tunnel construction.

Therefore, a method not using a rail, that is,
Various devices have been devised that electrically guide a transport vehicle to cause it to travel on a road surface (invert) inside a mine to carry out the above-described loading and unloading.

Examples of such a transportation facility include, for example, Japanese Unexamined Patent Publication No. 2-164661 and Japanese Utility Model Laid-Open No. 4-26164.
Is described in Japanese Patent Application Publication No. JP-A-2-164
The one disclosed in Japanese Patent No. 661 has an electric tape attached to the inside of the tunnel while an optical sensor is provided on the side of the transport vehicle so that the existence of the induction tape can be recognized and the electric tape can be moved at a certain interval. The rail was made unnecessary by guiding it automatically.

On the other hand, in the one disclosed in Japanese Utility Model Laid-Open No. 4-26164, the floor of the tunnel is not flat but concave (because the cross section is circular), and tilts toward the carrier. A sensor is provided, and the steering of the transport vehicle is controlled so that the tilt signal from this sensor becomes 0, so that the vehicle can be moved straight in the tunnel.

In any of the above-mentioned devices, the device for controlling the direction of the transport vehicle is composed of a steering mechanism similar to that of a general four-wheeled vehicle, and a servomotor connected to this steering mechanism is operated from each of the above sensors. By controlling with a signal, the carrier is directed in a predetermined direction.

[0008]

However, in the above-mentioned conventional one, although the general steering mechanism is adopted, it does not hinder a light load operation in a flat place, but the floor has a semicircular shape. There are various problems in a curved tunnel.

First, the load of the transport vehicle is evenly distributed to the four wheels, but since the wheels on the steering side have no driving force, only the two rear wheels bear the driving force, especially the inclined surface. In some cases, sufficient driving force may not be exhibited. This can be improved by all-wheel drive, so-called 4WD, but it is not realistic because the structure is complicated.

Second, the minimum turning radius is 1 of the wheel base.
Since it requires about 0 times, there is a problem that it is difficult to drive in a narrow tunnel because the turning is difficult. Thirdly, there is a problem that connecting and disconnecting the above-mentioned transport vehicles is troublesome when connecting and traveling.

Fourthly, for the above reasons, when the transport vehicles are connected and traveled, there is a problem that it is difficult to synchronize the movements of the transport vehicles, so that smooth connected travel cannot be performed.
The present invention has been made in view of the above matters, and it is possible to provide a sufficient driving force without using a complicated mechanism, and to provide an automatic transport facility for a tunnel in which a small turn can be made. This is a technical issue of 1.

Further, it is a second technical object to provide an automatic transport facility for use in a tunnel which can be operated in parallel without connecting vehicle bodies. A third object is to provide an automatic transport facility for use in a tunnel that connects a plurality of transport vehicles and allows them to travel smoothly.

[0013]

The present invention adopts the following means in order to solve the above-mentioned problems. <Summary of First Invention> The present invention is directed to a guide wire 1 in a tunnel.
And an oscillator 2 for applying a control AC signal to the guide wire 1, while a pair of driving tires 5 and 6 are provided at the center of a vehicle body 4 of a transport vehicle for transporting equipment 3 A drive motor was connected to each of the drive tires 5 and 6.

Further, driven tires 10 are provided on the front and rear portions of the vehicle body 4 via casters 9, respectively, and a sensor 11 for detecting the control AC signal is provided on the vehicle body 4, and the sensor 11 and the drive motor are provided. The motor control device 12 was connected between 7 and 8.

[Guide Wire] The guide wire 1 is made of metal, and is installed by being buried or installed on the floor or side wall of the tunnel. The number is preferably one or two.

[Oscillator] The oscillator 2 outputs high-frequency or low-frequency alternating current. Since the output from here finally controls the drive motors 7 and 8, the frequency and the like are set in accordance with the frequency characteristics of the motor control device 12.

[Materials and Equipment] The material and equipment 3 is, in short, a piece of luggage, and therefore its content is arbitrary. Is preferred.

[Car Body] The car body 4 needs to have a structure and strength to support the load of the materials and equipment 3, and has a structure capable of withstanding a load of at least several tons or more.

[Driving Tire] The pair of driving tires 5 and 6 are made of rubber, and hollow or solid tires are used. Further, the brake may be incorporated. The driving tires 5 and 6 can be provided with reverse cambers, respectively. This is preferable to be 1 to 7 degrees, preferably about 5 degrees, and greatly improves the ground contact property with the concave tunnel floor. Strictly speaking, the angle of the reverse camber is related to the inner diameter of the tunnel, and in the case of a huge tunnel, it is not necessary to install the reverse camber because the floor approaches a flat surface. On the other hand, the effect becomes large in a small diameter tunnel.

[Drive Motor] The drive motor 7 can use either AC or DC, but in the case of AC, the drive frequency itself must be changed. In the case of direct current (brushless DC), the thyristor chopper method can be used. Further, the stepping type is controlled by a pulse power source. In any case, it is necessary to make it compatible with the system of the motor control device 12. Stand up.

[Caster] The caster 9 does not actively perform steering operation, but changes its direction according to the movement of the vehicle body 4. Specifically, the shaft is provided at a position offset with respect to the rotation axis, and the driven tire 10 is supported by the shaft. When the casters 9 are provided directly on the vehicle body 4, the grounding property becomes insufficient, so it is desirable to provide them via a sufficient suspension mechanism. In addition, a damper is preferably provided to prevent pitching of the vehicle body 4. A friction type may be used as the damper, but an oil shock absorber capable of varying the damping force is preferable.

[Driven Tire] The driven tire 10 is made of rubber similarly to the drive tires 5 and 6, and a hollow or solid tire is used. Further, the brake may be incorporated.

[Sensor] The sensor 11 is preferably a coil formed by winding a metal wire. The sensor 11 is provided close to the guide wire 1, and is preferably provided, for example, on the front left and right sides of the vehicle body 4.

[Motor Control Device] The motor control device 12 controls the drive motors 7 and 8 according to a signal from the sensor 11. Specifically, two systems of an amplifier that amplifies high (low) frequency power induced by the sensor 11 and a filter that is connected to a stage subsequent to the amplifier and that cuts an unnecessary band are provided, and outputs from the two filters are provided to the calculation unit 13. The electric power control unit 14 inputs the output from the arithmetic unit 13
Can be configured to enter.

<Summary of Second Invention> In the second invention, a guide wire 1 is installed in a tunnel, and an oscillating device 2 for applying a control AC signal to the guide wire 1 is connected to the guide wire 1. A vehicle body for transporting the vehicle is provided, and a pair of drive tires 5 and 6 are provided at the center of the vehicle body 4, and drive motors 7 and 8 are connected to the drive tires 5 and 6, respectively.

Then, driven tires 10 are provided on the front and rear portions of the vehicle body 4 via casters 9, respectively, and a sensor 11 for detecting the control AC signal is provided on the vehicle body 4, and the sensor 11 and the drive motor are provided. The motor control device 12 was connected between 7 and 8.

Further, a distance sensor 32 is provided at the front and rear of the vehicle body 4, and a central control unit 51 which receives the output from the distance sensor 32 and sends a control signal to the motor control device 12 is provided. The plurality of vehicle bodies 4 are configured to be able to travel in parallel without contact.

Among the constituent elements of the present invention, those other than those common to the first invention will be described. [Distance Sensor] The distance sensor 32 is for measuring the distance between the vehicle body 4 and the surrounding obstacles. Specifically, a photoelectric type that measures the distance to an obstacle from the angle difference between the irradiation angle and the light receiving angle is preferable, but a sensor using laser or ultrasonic waves can also be used.

[Central Control Unit] The central control unit 51 controls the motor control device 12 by constantly recognizing whether or not the distance to the obstacle is dangerous from the signal from the distance sensor 32. Generally CPU / memory and I / O
Is used.

Although the present invention has the above-mentioned requirements, a structure for connecting the vehicle bodies 4 to each other for operation may be provided. In this case, connecting sensors are provided in front of and behind the vehicle body, and the central control unit 51 constantly monitors the connected state for connecting operation. In addition, a receiver for wireless control may be provided and input to the central control unit 51 for external control.

<Summary of Third Invention> In a third invention, a guide wire 1 is installed in a tunnel, and an oscillator 2 for applying a control AC signal is connected to the guide wire 1. As a vehicle body 4 having a driving force and a loading vehicle 94 connected to the vehicle body 4 for traveling, a pair of driving tires 5 and 6 are provided at the center of the vehicle body. Drive motors 7 and 8 are connected to the drive tires 5 and 6, respectively, and driven tires 10 are provided on the front and rear portions of the vehicle body 4 via casters 9, respectively, to detect the control AC signal on the vehicle body 4. Sensor 11
Is provided.

Further, a motor control device 12 is connected between the sensor 11 and the drive motors 7 and 8, and a connection sensor 50 for detecting a connection state is provided on the vehicle body 4, and the drive motors 7, 8 is provided with a receiver 23 for externally controlling the connection sensor 50 and the receiver 2
3 has a central control unit 51 that receives a signal from the control unit 3 as an input and sends a control signal to the motor control device.
4 has a steering motor 95 which is controlled from the outside, and is configured so that the vehicle body 4 and the loading vehicle 94 can be connected to each other for traveling.

Among the respective constituent elements of the present invention, elements other than those common to the first and second inventions will be described. [Car Body] The car body 4 functions as a locomotive having a driving force. However, it goes without saying that it can be equipped with the function of mounting equipment.

[Receiver] The receiver 23 receives a signal transmitted from the outside. The receiver 23 may include an ID decoder that analyzes a modulated input signal, for example, decodes a DTMF signal and performs paging.

[Coupling Sensor] The coupling sensor 50 is for detecting the coupling state, and examples thereof include a strain sensor, a pressure sensor and a potentiometer. In short, it detects whether or not the force or direction applied to the coupling sensor 50 is normal, and if abnormal, it sends data to control the vehicle body to optimize this.

[Central Control Unit] The central control unit 51 always recognizes from the data from the receiver 23 and the connection sensor 50 whether or not the connection of the vehicle bodies is normal, and the motor control device 1
2 is controlled. Generally, a microcomputer including a CPU / memory and I / O is used.

[Loaded Vehicle] The loaded vehicle 94 is connected to the vehicle body 4 and runs. The present invention is suitable when connected to the front of the vehicle body 4. Of course, it can be connected to the rear of the vehicle body. The structure may be similar to that of the vehicle body 4, or may be a four-wheeled vehicle having a steering mechanism.

In short, it has a function of steering by the following steering motor 95. Materials and equipment are mounted on the loading vehicle 94. The content is arbitrary, but a concrete agitator or the like for supplying concrete is suitable.

Further, by mounting a long object or a heavy object over the vehicle body and the loading vehicle, it is possible to ease the restriction on the loading of the carried object. [Steering Motor] The steering motor 95 operates the steering of the loaded vehicle 94, and operates by a command from the vehicle body 4 or control by radio. Further, as a signal from the outside, a sensor 11 mounted on the loaded vehicle detects a signal from the guide wire 1, and the steering motor 9 is detected by this signal.
It is also possible to configure so as to control 5.

<Additional Requirement> The first to third inventions can be realized even if the following requirements are added. [First Additional Requirement] A reverse camber is provided on each of the driving tires 5 and 6.

[Second Additional Requirement] Two or more of the sensors 11 are installed in the width direction of the vehicle body, and the motor control device 12 receives signals from the respective sensors 11 as inputs, and Calculation unit 13 that outputs the deviation
And the drive motors 7, which are connected to the arithmetic unit 13, respectively.
Power control unit 14 for independently controlling the power supplied to
And can be provided.

[0042]

[Action]

<Operation according to the first invention> In the structure of claim 1, a pair of driving tires 5 and 6 are provided in the center of the vehicle body, and a driving motor is connected to each of the driving tires to drive the driving tires. The driving tires 5 and 6 will be involved. Therefore, high driving force transmission efficiency can be obtained.

Since the sensor 11 receives the signal transmitted from the guide wire 1 and controls the vehicle body 4 to run along the guide wire 1, unmanned driving is possible. Further, when the driving tires 5 and 6 are rotated in the opposite direction, the direction can be changed on the spot.

The driven tires 10 provided on the front and rear portions of the vehicle body 4 via casters respectively serve to ensure stability in the longitudinal direction of the vehicle body. <Operation according to the second invention> In addition to the operation and effect resulting from the invention according to claim 1, when a number of vehicle bodies 4 are run in parallel, central control is performed by a signal from the distance sensor 32. The section 51 performs appropriate speed adjustment and steering control so that the plurality of vehicle bodies 4 can be operated at regular intervals. Further, when wireless control is added, it can be controlled from the outside, so that connection and disconnection can be arbitrarily performed.

If the guide wire 1 is double-tracked, it is possible to perform the passing of the vehicle body and the replacement of the vehicle body similarly to the double-track railway. <Operation according to the third invention> In addition to the operation and effect produced by the invention according to claim 1 and the invention according to claim 2, when a large number of vehicle bodies 4 are connected, a central signal is generated by a signal from the connection sensor 50. The control unit 51 appropriately controls the steering and the drive system to enable smooth operation. Also, since it can be controlled from the outside, it can be arbitrarily connected or disconnected.

Further, a control signal from the central control unit 51,
Alternatively, a signal from the guide wire 1 is detected, and the steering motor 95 is controlled by the detected signal to control the traveling direction of the loaded vehicle 94. Therefore, smooth connection running in synchronization with the vehicle body is possible.

<Operation when adding additional constituent requirements>
As the first additional structural requirement, the reverse camber is provided on each of the driving tires 5, so that the ground contact with the tunnel floor is greatly improved.

Further, when the second additional constituent element is added, the signal from the sensor 11 is input to the arithmetic unit 13, and the arithmetic unit 13 outputs the deviation amount from each sensor. Since the output power of the power control unit 14 is controlled, the control of the vehicle body 4 becomes reliable.

[0049]

【Example】

<Embodiment 1> Hereinafter, Embodiment 1 of the present invention will be described with reference to FIGS.
It will be described based on the following. In this embodiment, the guide wire 1 is installed in the center of the floor of the tunnel 60, and the vehicle body 4 of the transport vehicle is driven along the guide wire 1. The vehicle body 4 is for mounting a segment which is the equipment 3.

An oscillating device 2 is connected to the guide wire 1, and a high frequency control AC signal is constantly input to the guide wire 1. As shown in FIG. 2, the vehicle body 4 has a rectangular shape with a total length of 4.4 m and a total width of 1.5 m. A pair of drive tires 5 and 6 are provided at the center of the vehicle body 4. The axles of the drive tires 5 and 6 are provided with a reverse camber of 5 degrees as shown in FIG. The drive motors 7 and 8 are respectively driven via the bevel helical reducers 7a and 8a.
It is connected to the.

A total of four sets of driven tires 10 are provided on the front and rear portions of the vehicle body 4 via casters 9. The caster 9 has a horizontal arm 9b pivotally supported by a pivot shaft 9c on a caster base 9a pivotally supported by a vertical shaft 35.
The driven tire 10 is rotatably provided at the tip of the horizontal arm 9b. A suspension 9d containing a coil spring is provided in the middle of the horizontal arm 9b, and a shock absorber 9e containing an oil damper is provided at the tip of the horizontal arm 9b.

Sensors 11 for detecting the control AC signal are provided at the front and rear of the vehicle body 4 facing downward. Two sensors 11 are provided in each of the front and rear, and are switched and used according to the traveling direction of the vehicle body. That is, the sensor 11 on the side located in the traveling direction of the vehicle body 4 is used.

A motor controller 12 is connected between the sensor 11 and the drive motors 7, 8. As shown in FIG. 4, this motor control device 12 is provided for each sensor 1
The amplifiers 11a and 11a which receive the signal from 1 are provided, and the outputs of these amplifiers 11a and 11a are input to the calculation unit 13. In the arithmetic unit 13, the difference between the outputs of the amplifiers 11a and 11a and the amplifier 11 on either side
This is to calculate and output whether the output of a is large.

Then, after weighting the difference in advance by programming, the difference is output to the power control unit 14 as two outputs. These power control units 14 are connected to the drive motors 7 and 8, respectively, and independently control the power supplied thereto.

Batteries 15 and 15 are mounted on the front and rear portions of the vehicle body, respectively, to supply necessary electric power. In this embodiment, the facility is provided with a wireless remote control device. That is, a handy wireless antenna 20, an induction wireless antenna 21, and an ID transmitting / receiving antenna 22 that receive radio waves from a transmitter carried by a worker or the like are provided. For example, a signal from the handy wireless antenna 20 is received. It is input to the machine 23, and steering and starting / stopping are controlled. In addition, the emergency stop button 2 is located outside the vehicle body.
4 and an external control switch 25 are provided so that the worker can use them for avoiding danger and driving.

The vehicle body 4 is provided with an operation panel 26 and a DC / DC converter 27 so that various modes can be set and electric power can be supplied to the electronic circuit. Bumpers 28 and 29 are provided in front of and behind the vehicle body 4, respectively. A leaf spring 30 is provided inside each of the bumpers 28 and 29 so as to reduce the shock of a collision.

A rotating lamp 31, an obstacle sensor or a distance sensor 32, and a headlight 33 are provided at the front of the vehicle body 4. The obstacle sensor 32 is an infrared sensor or a sound wave sensor, and has an ability to detect an object within 6 m.
When the vehicle approaches m, power transmission to the power control unit 14 is stopped, and a brake is applied as necessary to avoid danger.

[Operation / Effect of Embodiment 1] The vehicle body 4 is always controlled by the sensor 11 so that the vehicle body 4 travels along the guide line 1 when it receives the signal transmitted from the guide line 1. That is, if the vehicle body 4 deviates from the guide wire 1 in either direction, the output of the sensor 11 on the deviated side becomes low. As a result, the calculation unit 13 outputs a signal for speeding up the rotation of the drive motor in the deviated direction to the power control unit 14.

As a result, the direction of the vehicle body 4 changes and the guide line 1
It is corrected so that the vehicle body 4 is located directly above. The pair of driving tires 5 and 6 are provided at the center of the vehicle body, and the driving motors 7 and 8 are connected to the driving tires 5 and 6, respectively, so that the driving tires 5 and 6 drive most of the load.
It will take six.

Therefore, even if a high driving force transmission efficiency is obtained and there is a strong inclination, there is no fear of slipping or the like. At this time, the driven tires provided on the front and rear portions of the vehicle body 4 via the casters 9 respectively ensure stability in the front and rear direction of the vehicle body.

When the drive tires 5 and 6 are provided with the reverse campers, the drive tires 5 and 6 and the tunnel floor are in a state of being close to a right angle, so that the grounding property is greatly improved. <Embodiment 2> Embodiment 2 of the present invention has the same structure as Embodiment 1, and as shown in FIGS. 6 and 7, this embodiment is a concrete agitator for supplying concrete to the vehicle body 4. Is installed as the equipment 3. The concrete agitator has a cylindrical body 3a containing concrete placed on a rotating roller 3b so as to be rotatable.

[Operation / Effect of Second Embodiment] Since the same operation / effect as that of the first embodiment is produced, the description thereof will be omitted. <Embodiment 3> An embodiment of the present invention will be described with reference to FIGS. Since this embodiment has substantially the same configuration as that of the first embodiment, the difference will be mainly described and the description of the common parts will be omitted.

Similar to the first embodiment, the guide wire 1 is installed in the center of the floor of the tunnel 60, and the vehicle body 4 is driven along the guide wire 1. The vehicle body 4 is equipped with a segment, which is equipment. The guide wire 1 has an oscillating device 2
Is connected, and the high-frequency control AC signal is constantly input to the guide wire 1. A pair of driving tires 5 and 6 are provided at the center of the vehicle body 4.

A handy radio antenna 20 for receiving radio waves from a transmitter carried by a worker, an induction radio antenna 21, and an ID transmitting / receiving antenna 22 are provided.
For example, a signal from the handy radio antenna 20 is input to the receiver 23, and steering and oscillation are controlled. An inductive receiver 23a is connected to the inductive wireless antenna 21, and an ID transceiver 3b is connected to the ID transmitting / receiving antenna 22.

Further, the ID transmitter / receiver 23b is provided with a decoder for decoding with an identification code set for each vehicle body so that the vehicle body can be identified in the case of wireless control.

Further, a bumper 28 is provided in front of and behind the vehicle body 4,
29 are provided respectively. A leaf spring 30 is provided inside each bumper 28, 29 to reduce the shock of a collision. Further, the leaf spring 30 is provided with a connection sensor 50.

The receiver 23, inductive receiver 23a, ID
The outputs of the transceiver 23b and the connection sensor 50 are input to the central control unit 51, these data are processed according to a preset procedure, and are input to the arithmetic unit 13.

Further, in another mode, the electric power control unit 14 is controlled by measuring the distance from another vehicle 4 traveling in parallel and inputting data to the central control unit 51.

[Operation / Effect of Third Embodiment] Differences from the first embodiment will be mainly described, and common points will be omitted. A mode in which the plurality of vehicle bodies 4 are operated in parallel without contact will be described with reference to FIG. In this mode, the distance between the distance sensor 3 and the adjacent vehicle body 4 is measured. When the distance between the front and rear bodies is too large, the rear body 4 is accelerated or the front body is decelerated to keep the distance between the bodies constant. Acceleration and deceleration are performed by controlling the power control unit 14 by a central control unit 51 provided in each vehicle body.

The distance sensor 32 provided on the leading vehicle body 4 operates as an obstacle sensor, and when there is a line worker 90 or an obstacle, the vehicle body 4 is stopped by sensing this at the distance as described above. This makes it possible to avoid danger.

The present embodiment also has a mode in which a plurality of vehicle bodies 4 are connected to operate. That is, when a plurality of vehicle bodies 4 are connected, the movements of the respective vehicle bodies 4 are usually not completely linked to each other, and smooth movement cannot be performed. In the present invention, the connection sensor 50
The connection state is detected by, and when an excessive force is applied, a signal is sent to the arithmetic unit 13 via the central control unit 51 to optimally correct the driving force.

By carrying out the parallel operation at regular intervals in this way, the transportation efficiency can be greatly improved. In addition, the trouble of connecting and disconnecting becomes unnecessary. <Fourth Embodiment> A fourth embodiment will be described with reference to FIGS. Detailed description of common items to the first embodiment will be omitted. In this embodiment, the guide wire 1 is provided at the center of the floor of the tunnel 60.
Is installed, and the vehicle body 4 having the same structure as the transport vehicle shown in the first embodiment is driven along the guide line 1. Although this vehicle body 4 is used as a locomotive, it also has a function of mounting a segment, which is the equipment 3. A loading vehicle 94 shown in FIG. 8 is connected to the front end of the vehicle body 4, and by pushing the loading vehicle 94, materials and equipment are transported.

Since the automatic transfer equipment including the trolley has the same structure as that of the above embodiment, the characteristic points of this embodiment will be mainly described below. In this embodiment, an inductive receiver 23a is connected to the inductive wireless antenna 21,
An ID transmitting / receiving base 23b is connected to the ID transmitting / receiving antenna 22. Further, the ID transmitting / receiving base 23b is provided with a decoder for outputting and decoding the recognition code set for each of the connected transport vehicles, so that the vehicle body can be identified in the case of wireless control.

Further, a leaf spring 30 is provided inside the bumpers 28, 29 so that the shock of a collision can be reduced. In addition, the leaf spring 3
A connection sensor 50 is provided at 0. The connection sensor 50 is for detecting the strength and the direction in which the bumper 28 is pushed.

FIG. 8 shows a vehicle body 4 having a driving body and a loading vehicle 94.
It is a side view of the state where and were connected. In this embodiment, a vehicle body having the above-mentioned structure (left side in the drawing) is pushed by a vehicle body having a different structure (right side in the drawing). The other vehicle body is a four-wheeled vehicle, which includes a sensor 11 that detects a control signal from the guide wire 1, and a steering mechanism is attached to the front wheels.
5 is attached.

In addition, the driven wheels 10 with casters on the rear wheels
Is provided. Of course, the loaded vehicle 94 on the pushed side may have the same structure as the vehicle body 4 described above. A concrete agitator is mounted on the loading vehicle 94.

[Operation / Effect of Embodiment 4] The point which produces the same operation as that of Embodiment 1 will be mainly described. That is, as in the first embodiment, the vehicle body 4 always receives a signal transmitted from the guide wire 1 at the time of traveling by the sensor 11, and is controlled so that the vehicle body 4 travels along the guide wire 1.

The loading vehicle 94 connected to the front of the vehicle body 4 is
A signal from the central control unit 51 causes the steering motor 95 to operate.
Is controlled, it becomes possible to perform smooth synchronous operation in complete coordination with the movement of the vehicle body 4. By carrying out the linked operation in this way, it is possible to greatly improve the transportation efficiency. In addition,
Connection and disconnection are performed by radio control from the outside.

[0079]

According to the first aspect of the present invention, a pair of driving tires are provided at the center of the vehicle body, drive motors are connected to the driving tires, and driven tires are provided at the front and rear portions of the vehicle body via casters, respectively. Since it is provided, most of the load can be received by the driving tire. Therefore, a sufficient driving force can be exhibited without using a complicated mechanism such as 4WD. Also, track equipment such as rails is not particularly required.

In addition, since a small turn is effective, it is possible to sufficiently adapt to a sharp turn or a steep slope. Moreover, if the driving tire is rotated in the reverse direction, the vehicle body can be turned on the spot, so that driving in a narrow tunnel is easy.

Further, according to the second aspect of the invention, since the distance sensors are provided at the front and rear of the vehicle body and the output is used to control the motor control device, a larger number of vehicle bodies can be operated in parallel at appropriate intervals. Can be made. Therefore, it is possible to save the trouble of connecting and disconnecting.

Furthermore, according to the third aspect of the present invention, when the loading vehicle is connected to the vehicle body, it is possible to greatly improve the load carrying amount. Moreover, since the control signal from the central control unit or the signal of the guide wire is detected and the steering motor is controlled by the detected signal to control the traveling direction of the loaded vehicle, smooth connected traveling in synchronization with the vehicle body can be achieved. It will be possible.

Further, the vehicle body is provided with a coupling sensor for detecting the coupling state, and the drive motor and the steering motor are controlled by the signal from the coupling sensor and the signal from the receiver. Even when the vehicle is connected and traveled, there is an effect that the vehicle can be operated in an optimal connected state.

Further, in each of the above-mentioned inventions, if the driving tire is provided with a reverse camber, it is possible to greatly improve the ground contact property to the floor car having a concave surface, and it is possible to improve the stability even under a heavy load. The effect will occur.

Further, in each of the above inventions, when the signal from the sensor is input to the arithmetic unit and the deviation from each sensor is output by this arithmetic unit and the output power of the electric power control unit is controlled by this, the control of the vehicle body is performed. Will be certain.

[Brief description of drawings]

FIG. 1 is a side view of a vehicle body according to an embodiment of the present invention.

FIG. 2 is a plan view of the vehicle body of the embodiment of the present invention.

FIG. 3 is a front view of the vehicle body according to the embodiment of the present invention.

FIG. 4 is a block diagram of an embodiment of the present invention.

FIG. 5 is a front view showing an installation state in the tunnel according to the embodiment of the present invention.

FIG. 6 is a side view of a vehicle body of another embodiment.

FIG. 7 is a front view of a vehicle body according to still another embodiment of the present invention.

FIG. 8 is a side view showing a connected state of a vehicle body according to still another embodiment of the present invention.

9 is a block diagram of the embodiment of FIG.

FIG. 10 is a side view showing a connected state of still another embodiment of the present invention.

FIG. 11 is a block diagram of the embodiment of FIG.

FIG. 12 is a cross-sectional view of a tunnel showing a conventional transportation facility for inside a tunnel.

[Explanation of Codes] 1 Guide wire 2 Oscillator 3 Equipment 4 Car body 5 Drive tire 6 Drive tire 7 Drive motor 8 Drive motor 9 Castor 10 Driven tire 11 Sensor 12 Motor control device 13 Calculation unit 14 Power control unit 23 Receiver 50 Coupling sensor 51 Central control unit 94 Loading vehicle 95 Steering motor

Claims (5)

[Claims] 1. A transport facility equipped with a transport vehicle for transporting materials and equipment while moving in a tunnel pit, wherein an oscillating device is provided in which a guide wire is installed in the tunnel and a control AC signal is applied to the guide wire. On the other hand, while connecting, a pair of driving tires are provided in the center of the vehicle body of the transport vehicle, driving motors are connected to the driving tires, and driven tires are provided on the front and rear portions of the vehicle body via casters, respectively, and An automatic transport facility for use in a tunnel, comprising a sensor for detecting a control AC signal, and a motor control device connected between the sensor and the drive motor. 2. A transport facility equipped with a transport vehicle for transporting materials and equipment while moving in a tunnel pit, wherein an oscillating device is provided in which a guide wire is installed in the tunnel, and a control AC signal is applied to the guide wire. On the other hand, while connecting, a pair of driving tires are provided in the center of the vehicle body of the transport vehicle, driving motors are connected to the driving tires, and driven tires are provided on the front and rear portions of the vehicle body via casters, respectively, A sensor for detecting a control AC signal is provided, a motor control device is connected between this sensor and the drive motor, a distance sensor is provided in front of and behind the vehicle body, and an output from the distance sensor is used as an input. An automatic transport facility for use in a tunnel having a central control unit for sending a control signal to the motor control device. 3. A transport facility equipped with a transport vehicle for transporting materials and materials while moving inside a tunnel pit, wherein an oscillating device is provided in which a guide wire is installed in the tunnel and a control AC signal is applied to the guide wire. On the other hand, it has a vehicle body having a driving force as the transport vehicle and a loading vehicle that is connected to the vehicle body to travel, and a pair of drive tires is provided in the center of the vehicle body, and a drive motor is connected to each of the drive tires. Driven wheels are provided on the front and rear portions of the vehicle body via casters, and a sensor for detecting the control AC signal is provided on the vehicle body, and a motor control device is connected between the sensor and the drive motor. In addition, a connection sensor for detecting the connection state is provided on the vehicle body, and a receiver for externally controlling the drive motor is provided. Has a central control unit that sends a control signal to the motor control device, and the loaded vehicle has a steering motor that is controlled from the outside, and the vehicle is connected to the loaded vehicle to run. An automatic transport facility for use in tunnels, characterized by being constructed so that it can be rolled. 4. The automatic transfer equipment for tunnel inside according to claim 1, 2 or 3, wherein each of the driving tires is provided with a reverse camber. 5. The sensor is provided with two or more sensors in the width direction of the vehicle body, and the motor control device receives a signal from each sensor and outputs a deviation between the sensors, and 5. An automatic transfer facility for use in a tunnel according to claim 1, further comprising a power control unit that is connected to a calculation unit and that independently controls power supplied to each of the drive motors. .