JP2001138904A - Attitude control mechanism for rail vehicle - Google Patents
Attitude control mechanism for rail vehicleInfo
- Publication number
- JP2001138904A JP2001138904A JP35635599A JP35635599A JP2001138904A JP 2001138904 A JP2001138904 A JP 2001138904A JP 35635599 A JP35635599 A JP 35635599A JP 35635599 A JP35635599 A JP 35635599A JP 2001138904 A JP2001138904 A JP 2001138904A
- Authority
- JP
- Japan
- Prior art keywords
- cabin
- rail
- driving
- traveling vehicle
- drive
- 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.)
- Granted
Links
Landscapes
- Platform Screen Doors And Railroad Systems (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、斜面に沿って敷設
された軌条に沿って自走する走行車両の姿勢を水平に保
つ機構に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mechanism for maintaining the attitude of a traveling vehicle traveling along a rail laid on a slope horizontally.
【０００２】[0002]
【従来の技術】傾斜地での比較的少数の人員輸送や物資
の輸送においては、傾斜地に沿って軌条を敷設し、該軌
条に具えたラック、あるいはピン孔等の係止歯にピニオ
ン車輪やピン突起を持つ駆動輪が噛み合って自走する走
行車両を用いた軌条搬送装置が利用される。このような
軌条搬送装置においては、走行車両のキャビンあるいは
荷台等を水平に保つために以下のような技術が知られて
いる。2. Description of the Related Art In transporting a relatively small number of personnel or goods on a slope, a rail is laid along the slope and a pinion wheel or pin is attached to a locking tooth such as a rack or a pin hole provided on the rail. A rail conveyance device using a traveling vehicle that is self-propelled with driving wheels having projections is used. In such a rail transport device, the following technology is known for keeping a cabin or a bed of a traveling vehicle horizontal.
【０００３】まず第一は、図３に示すように走行軌条２
１を一定の傾斜角になるよう敷設し、この傾斜角に合わ
せて床面が水平になるようにあらかじめ角度を付けたキ
ャビン２２を用いて走行する方法がある。しかしなが
ら、この方法では軌条を支持するための脚柱２３を地面
の起伏にあわせてそれぞれ異なる高さで配置しなくては
ならず、走行線路にコストがかかるという欠点がある。[0003] First, as shown in FIG.
There is a method in which the vehicle 1 is laid so as to have a constant inclination angle, and the vehicle travels using the cabin 22 which is previously angled so that the floor surface is horizontal in accordance with the inclination angle. However, this method has a disadvantage that the pillars 23 for supporting the rails must be arranged at different heights in accordance with the ups and downs of the ground, and the running track is costly.
【０００４】次に、特開平９−２４９１１９号公報、特
開平１１−２０８４５９号公報、あるいは特開平１０−
２１７９５２号公報に示されるように、キャビンを台車
に回動可能に取り付け、傾斜角度に対応して該キャビン
に駆動力を附加し、姿勢を水平に保つように制御する技
術が知られている。Next, Japanese Patent Application Laid-Open No. 9-249119, Japanese Patent Application Laid-Open No. 11-208459, and
As disclosed in Japanese Patent No. 217952, there is known a technique in which a cabin is rotatably mounted on a bogie, a driving force is applied to the cabin in accordance with an inclination angle, and the cabin is controlled so as to maintain a horizontal posture.
【０００５】特開平９−２４９１１９号公報、及び特開
平１１−２０８４５９号公報に開示されている技術は、
走行台車上にキャビンを揺り籠状に揺動可能に支持し、
傾斜角に合わせて該キャビンを電動機等で駆動して水平
に保つようにしたものである。また、特開平１０−２１
７９５２号公報に示される技術は、走行台車と作業台と
の間を平行リンク機構として形成し、該平行リンク機構
にシリンダ等のリンク駆動手段を接続して姿勢制御する
ようになしたものである。しかしながら、これらの技術
においては、傾斜角を検知し姿勢制御を行うための専用
の制御装置および機構、駆動装置が必要であって構造も
複雑となりコスト、メンテナンスの面で難点を有する。[0005] The techniques disclosed in JP-A-9-249119 and JP-A-11-208459 are
The cabin is supported on the traveling trolley so that it can swing like a cradle,
The cabin is driven by an electric motor or the like in accordance with the inclination angle to keep the cabin horizontal. Also, Japanese Patent Laid-Open No. 10-21
The technique disclosed in Japanese Patent Publication No. 7952 is to form a parallel link mechanism between a traveling carriage and a work table, and to control a posture by connecting link driving means such as a cylinder to the parallel link mechanism. . However, these techniques require a dedicated control device, mechanism, and drive device for detecting the inclination angle and performing attitude control, and have a complicated structure, and have problems in cost and maintenance.
【０００６】次に、特開平４−１５３１８４号公報に開
示される技術も知られる。この技術は、斜面昇り側車輪
が走行する第一のガイドレールと、斜面降り側車輪が走
行する第二のガイドレールとを敷設し、両ガイドレール
間の垂直方向距離を傾斜角度に対応して変化させかごを
水平に維持するようにしたものである。この技術におい
ては、かごあるいはキャビンの構造は簡単であるもの
の、少なくとも線路中には２本以上のガイドレールを敷
設しなくてはならずコスト、施工の面で難点を有する。Next, a technique disclosed in Japanese Patent Application Laid-Open No. 4-153184 is also known. This technology lays a first guide rail on which a slope-upside wheel runs, and a second guide rail on which a slope-downside wheel runs, and adjusts the vertical distance between both guide rails according to the tilt angle. The car is changed so as to keep it horizontal. In this technique, although the structure of a car or a cabin is simple, at least two or more guide rails must be laid in a track, which is disadvantageous in terms of cost and construction.
【０００７】[0007]
【発明が解決しようとする課題】本発明は上述した点に
鑑みてなされたものであって、構造が簡単であって安価
に構成され、車両の姿勢を傾斜角度の変化に対応して水
平に維持することのできる軌条走行車両の姿勢制御機構
を提供することを目的とするものである。SUMMARY OF THE INVENTION The present invention has been made in view of the above points, and has a simple structure and is inexpensively constructed. It is an object of the present invention to provide an attitude control mechanism of a rail traveling vehicle that can be maintained.
【０００８】[0008]
【課題を解決するための手段】上記した課題を解決する
ために本発明は、斜面に敷設された軌条に沿って自走す
る軌条走行車両をそれぞれ独立して駆動される２台の駆
動車両と、人あるいは貨物を搭載するためのキャビン
と、該キャビンと前記駆動台車の一とを連結するための
支持フレームとで構成し、前記キャビンの一端は一方の
駆動台車と垂直方向に回動自在に枢着し、前記キャビン
の他端は他方の駆動台車との間でそれぞれに少なくとも
垂直方向に回動自在に枢着した前記支持フレームで連結
され、各駆動台車の相対速度を変化させてキャビンの水
平姿勢を維持するようにしたことを特徴とするものであ
る。SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention relates to two driving vehicles that are independently driven by rail-traveling vehicles that run independently along a rail laid on a slope. A cabin for mounting a person or cargo, and a support frame for connecting the cabin and one of the driving bogies, one end of the cabin being rotatable in a vertical direction with one of the driving bogies. The other end of the cabin is pivotally connected to the other driving bogie, and the other end of the cabin is connected to the other driving bogie by the supporting frame which is rotatably pivoted at least in the vertical direction. The horizontal posture is maintained.
【０００９】[0009]
【発明の実施の形態】以下、本発明の実施の形態を図を
用いて説明する。図１は本発明の軌条走行車両の構造を
模式的に表した正面図である。Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a front view schematically showing the structure of the rail traveling vehicle of the present invention.
【００１０】図において軌条１は、ラックあるいはピン
孔等の係止歯を具えたものであって傾斜地に敷設されて
おり、該軌条１上を走行車両が走行するものである。走
行車両は２台の駆動台車３、４と、人または貨物等を乗
せるためのキャビンと２と、駆動台車４とキャビン２と
の間に介在し、それぞれを連結するための支持フレーム
５とからなっている。In the drawing, a rail 1 is provided with locking teeth such as a rack or a pin hole, is laid on an inclined ground, and a traveling vehicle runs on the rail 1. The traveling vehicle is composed of two driving bogies 3 and 4, a cabin 2 for carrying a person or cargo, and a supporting frame 5 interposed between the driving bogie 4 and the cabin 2 and connecting each of them. Has become.
【００１１】各駆動台車３、４には、荷重を支持して軌
条１上を転動する走行輪６、６と、軌条１の係止歯と噛
み合って推力を得るためのピニオン等の駆動輪７、７を
具える。該駆動輪７、７にはそれぞれ電動機（図示せ
ず）が接続されており、各電動機をそれぞれ独立して駆
動するように制御装置で制御される。Each of the driving bogies 3 and 4 has running wheels 6 and 6 that roll on the rail 1 while supporting a load, and driving wheels such as pinions for engaging with the locking teeth of the rail 1 to obtain a thrust. It has 7,7. An electric motor (not shown) is connected to each of the driving wheels 7 and is controlled by a control device so as to drive each electric motor independently.
【００１２】制御装置は前記電動機の速度制御を行う機
能の他に、例えば電動機軸と同軸にパルス発信器やエン
コーダ等を接続し、これらの電気信号から走行位置およ
び走行速度を算出する機能も有する。In addition to the function of controlling the speed of the motor, the control device has a function of connecting a pulse transmitter, an encoder, etc., for example, coaxially with the motor shaft, and calculating the running position and running speed from these electric signals. .
【００１３】前記駆動台車３、４のうち一方の駆動台車
３には、キャビン２の前方下端部を垂直方向に回動自在
に例えばピン等で枢支する。一方、他方の駆動台車４と
キャビン２の後方下端部は支持フレーム５を介して連結
され、該支持フレーム５両端はそれぞれ駆動台車４およ
びキャビン２と水平方向及び垂直方向に回動自在に枢着
する。このように構成することにより走行車両は軌条１
が左右方向に屈曲しても走行することが可能である。
尚、軌条１が左右方向に変位しない線路構成の場合に
は、前記支持フレーム５と駆動台車４及びキャビン２と
は垂直方向のみ回動自在に枢着すればよい。また、前記
支持フレーム５の長さＬ１は図２に示すように走行車両
が線路中の最急勾配で、駆動台車４がキャビン２の後方
下端部のほぼ真下に位置したときにキャビン２を水平に
支持する長さを有している。The lower front end of the cabin 2 is pivotally supported on one of the driving carts 3, 4 by a pin or the like so as to be rotatable in the vertical direction. On the other hand, the other lower end of the drive truck 4 and the rear end of the cabin 2 are connected via a support frame 5, and both ends of the support frame 5 are pivotally connected to the drive truck 4 and the cabin 2 so as to be rotatable in the horizontal and vertical directions, respectively. I do. With such a configuration, the traveling vehicle can use the rail 1
It is possible to travel even if is bent left and right.
In the case of a track configuration in which the rail 1 is not displaced in the left-right direction, the support frame 5, the drive truck 4, and the cabin 2 may be pivotally connected only in the vertical direction. As shown in FIG. 2, the length L1 of the support frame 5 is such that when the traveling vehicle is at the steepest slope in the track, and the driving bogie 4 is located almost directly below the lower rear end of the cabin 2, the cabin 2 is leveled. It has a length to support.
【００１４】このように構成された走行車両は、各駆動
台車３、４間の距離を変化させることによりキャビン２
の角度を変化させることができる。すなわち、図１のよ
うに緩勾配の時には駆動台車３、４間の距離Ｌ２を広く
して水平を維持し、図２のように急勾配の時には間隔Ｌ
２を狭めることにより支持フレーム５が直立してキャビ
ン２の端部を持ち上げ、このようにしてキャビン２の水
平を維持するのである。The traveling vehicle having the above-described configuration changes the distance between the driving bogies 3 and 4 so as to change the cabin 2.
Can be changed. That is, when the vehicle has a gentle gradient as shown in FIG. 1, the distance L2 between the driving carts 3 and 4 is widened to maintain the level, and when the vehicle has a steep gradient as shown in FIG.
By narrowing 2, the support frame 5 stands upright and lifts the end of the cabin 2, thus maintaining the cabin 2 horizontal.
【００１５】次に、本軌条走行車両が軌条を走行する時
の動作を説明する。走行車両が勾配変化のない部分を走
行するときには、前後の駆動台車３、４の駆動輪を同速
で駆動し駆動台車３、４間の間隔Ｌ２を一定に保ちキャ
ビン２の姿勢を水平に維持して走行する。Next, the operation when the rail traveling vehicle travels on the rail will be described. When the traveling vehicle travels on a portion where the gradient does not change, the drive wheels of the front and rear drive trucks 3 and 4 are driven at the same speed to keep the distance L2 between the drive trucks 3 and 4 constant and to maintain the attitude of the cabin 2 horizontal. And run.
【００１６】駆動台車３が勾配の急な部分にさしかかる
と制御装置はこの位置を検出し、支持フレーム５側駆動
台車４の駆動輪７の速度を早めるように制御する。この
ように制御されることにより駆動台車３、４間の間隔Ｌ
２は狭められ、前述したようにキャビン２の姿勢を勾配
に対応して水平にする。このとき、制御装置にはあらか
じめ走行速度と勾配の変化量とから電動機の回転速度を
決定するようにプログラムされており、このプログラム
に基づいて制御されることにより勾配の変化量に対応し
てキャビン２の姿勢が水平に維持される。When the drive vehicle 3 approaches a steep part, the control unit detects this position and controls the drive wheels 7 of the drive vehicle 4 on the support frame 5 side to increase the speed. By controlling as described above, the interval L between the driving bogies 3 and 4 is determined.
2 is narrowed, and the attitude of the cabin 2 is made horizontal according to the gradient as described above. At this time, the control device is programmed in advance to determine the rotation speed of the electric motor from the running speed and the change amount of the gradient, and the cabin is controlled in accordance with the change amount of the gradient by controlling based on this program. 2 is maintained horizontal.
【００１７】勾配の変化が終了し一定の勾配になると再
び各駆動輪７、７は同速で運転され、また、勾配の変化
が上記と逆の場合、すなわち急勾配から緩勾配に変化す
る場合には、駆動台車４の駆動輪７の速度が遅くなるよ
うに制御して駆動台車３、４間の間隔Ｌ２を広げキャビ
ン２の水平を維持する。When the gradient change is completed and the gradient becomes constant, the driving wheels 7, 7 are again operated at the same speed. When the gradient change is opposite to the above, that is, when the gradient changes from a steep gradient to a gentle gradient. In this case, the speed of the drive wheels 7 of the drive truck 4 is controlled to be slow, so that the distance L2 between the drive trucks 3 and 4 is widened and the cabin 2 is kept horizontal.
【００１８】[0018]
【発明の効果】上記説明した駆動輪及び制御装置は、本
来軌条走行車両には具えられているものであり、本発明
ではこれを利用し駆動輪の速度制御をおこなってキャビ
ンの姿勢制御をおこなうものであるから、特別な専用の
姿勢制御機器類を必要とせず、余分なコストを必要とし
ない。また、一の駆動台車とキャビンとの間を支持フレ
ームで連結するだけの簡単な構成であるので、メンテナ
ンスも容易であって故障要因も少ない。さらには、軌条
運搬装置においては軌条と駆動輪とは常に噛み合って走
行するから、タイヤ駆動などの摩擦駆動と違い軌条と駆
動輪の間には滑りが生じることがなく、従って前記説明
した動作が確実に行われ、また、制御も容易である。The driving wheels and the control device described above are originally provided in a rail traveling vehicle. In the present invention, the control of the speed of the driving wheels and the control of the attitude of the cabin are performed by utilizing the driving wheels and the control device. Therefore, it does not require special dedicated attitude control devices and does not require extra cost. In addition, since it is a simple configuration in which only one drive bogie and the cabin are connected by the support frame, maintenance is easy and there are few causes of failure. Further, in the rail transport device, the rail and the drive wheel always travel while meshing with each other, so that unlike the friction drive such as the tire drive, there is no slippage between the rail and the drive wheel. It is performed reliably and the control is easy.
【００１９】このように、本発明によれば軌条の傾斜角
が変化しても対応してキャビンを確実に水平に維持する
ことができ、構成が簡単で安価であり、軌条運搬装置に
好適な軌条走行車両を提供することができる。As described above, according to the present invention, even if the inclination angle of the rail changes, the cabin can be reliably maintained in a horizontal state, and the configuration is simple and inexpensive. A rail running vehicle can be provided.
【図１】 緩傾斜における軌条走行車両の正面図。FIG. 1 is a front view of a rail traveling vehicle on a gentle slope.
【図２】 急傾斜における軌条走行車両の正面図。FIG. 2 is a front view of the rail traveling vehicle on a steep slope.
【図３】 従来技術の一形態を示す軌条運搬装置の正面
図。FIG. 3 is a front view of a rail transportation device showing an embodiment of the related art.
１ 軌条 ２ キャビン ３、４ 駆動台車 ５ 支持フレーム ６ 走行輪 ７ 駆動輪 ２１ 走行軌条 ２２ キャビン ２３ 脚柱 Ｌ１ 支持フレーム長さ Ｌ２、Ｌ２’台車間距離 Reference Signs List 1 track 2 cabin 3, 4 drive bogie 5 support frame 6 running wheel 7 drive wheel 21 running rail 22 cabin 23 pillar L1 support frame length L2, L2 '
Claims (1)
軌条走行車両であって、該軌条走行車両はそれぞれ独立
して駆動される２台の駆動台車と、人あるいは貨物を搭
載するためのキャビンと、該キャビンと前記駆動台車の
一とを連結するための支持フレームとからなり、前記キ
ャビンの一端は一方の駆動台車と垂直方向に回動自在に
枢着し、前記キャビンの他端は他方の駆動台車との間で
それぞれに少なくとも垂直方向に回動自在に枢着した前
記支持フレームで連結され、各駆動台車の相対速度を変
化させてキャビンの水平姿勢を維持するようにしたこと
を特徴とする軌条走行車両の姿勢制御機構。1. A rail traveling vehicle that runs along a rail laid on a slope, wherein the rail traveling vehicle is used to carry two independently driven driving vehicles and a person or cargo. And a support frame for connecting the cabin and one of the driving bogies. One end of the cabin is pivotally attached to one driving bogie so as to be rotatable in a vertical direction, and the other end of the cabin Are connected to the other driving bogie by the support frames pivotally connected to each other at least vertically so that the relative speed of each driving bogie is changed to maintain the horizontal posture of the cabin. An attitude control mechanism for a rail traveling vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP35635599A JP4311593B2 (en) | 1999-11-11 | 1999-11-11 | Posture control mechanism for rail travel vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP35635599A JP4311593B2 (en) | 1999-11-11 | 1999-11-11 | Posture control mechanism for rail travel vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2001138904A true JP2001138904A (en) | 2001-05-22 |
| JP4311593B2 JP4311593B2 (en) | 2009-08-12 |
Family
ID=18448622
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP35635599A Expired - Fee Related JP4311593B2 (en) | 1999-11-11 | 1999-11-11 | Posture control mechanism for rail travel vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP4311593B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6241774B1 (en) * | 2017-04-12 | 2017-12-06 | 田中 正弘 | Track and track running system |
-
1999
- 1999-11-11 JP JP35635599A patent/JP4311593B2/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6241774B1 (en) * | 2017-04-12 | 2017-12-06 | 田中 正弘 | Track and track running system |
| JP2018176975A (en) * | 2017-04-12 | 2018-11-15 | 田中 正弘 | Track and track travelling system |
Also Published As
| Publication number | Publication date |
|---|---|
| JP4311593B2 (en) | 2009-08-12 |
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