JP2010285008A - Truck and tracked conveying vehicle system - Google Patents

Truck and tracked conveying vehicle system Download PDF

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JP2010285008A
JP2010285008A JP2009138687A JP2009138687A JP2010285008A JP 2010285008 A JP2010285008 A JP 2010285008A JP 2009138687 A JP2009138687 A JP 2009138687A JP 2009138687 A JP2009138687 A JP 2009138687A JP 2010285008 A JP2010285008 A JP 2010285008A
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movable
rail
carriage
electric wire
fixed
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JP4941510B2 (en
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Naoya Takagi
直哉 高木
Koichi Uno
幸一 宇野
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Murata Machinery Ltd
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Murata Machinery Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To improve the degree of freedom of routing electric wires arranged on a truck which transports a conveying vehicle out of tracks. <P>SOLUTION: The truck 105 is provided on a tracked conveying vehicle system having fixed rails 101 fixed on a floor surface and a conveying vehicle 102 that carries objects to be carried. The truck includes a movable track 104 that can be connected to the fixed track 101 and is capable of carrying the conveying vehicle 102 arranged on the movable track 104 together with the movable track 104. The truck also includes a movable electric wire 112 arranged on the truck 105 and a movable holding tool 114, which is arranged protrusively from the track 105 exceeding the ends of the movable track 104 to hold the movable electric wire 112 up to the position exceeding the movable track 104. The movable holding tool 114 has joints 118, which make the movable holding tool 114 bendable, in the range not exceeding the ends of the movable track 104. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

本願発明は、搬送車を運搬することのできる台車、及び、搬送車を運搬することのできる台車を備える有軌道搬送車システムに関し、特に、特定の軌条上に停止する搬送車を前記台車で運搬することのできる台車、及び、有軌道搬送車システムに関する。   The present invention relates to a carriage capable of carrying a carriage and a tracked carriage system including a carriage capable of carrying the carriage, and in particular, carrying a carriage stopped on a specific rail with the carriage. The present invention relates to a dolly that can be used and a tracked vehicle system.

従来、工場などの床面に軌条を設け、前記軌条の上で走行する搬送車に荷物を搬送させる有軌道搬送車システムがある。このような有軌道搬送車システムでは、軌道上を複数個の搬送車が走行し、荷物を任意の場所に自動的に送り届けるシステムとなっている。   2. Description of the Related Art Conventionally, there is a tracked transport vehicle system in which a rail is provided on a floor surface of a factory or the like, and a load is transported to a transport vehicle that runs on the rail. In such a tracked transport vehicle system, a plurality of transport vehicles travel on the track, and a package is automatically delivered to an arbitrary place.

これらの搬送車は、無人の状態で自動的に走行しているため、搬送車と外部のコンピュータとは常に通信が行われている。従来は、複数の基地局を設置し、搬送車とそれに最も近い基地局とが通信するような無線通信方式が採用されていた。しかし、前記通信方式では通信可能な情報量に限界があるため、昨今では軌条全体に沿ってアンテナ線（信号線）を配設し、搬送車と近距離で無線通信を行うことで、通信品質を向上させ、大量の情報が通信できる通信方式が採用されるに至っている。   Since these transport vehicles are automatically running in an unattended state, communication is always performed between the transport vehicles and an external computer. Conventionally, a wireless communication system has been adopted in which a plurality of base stations are installed, and a carrier vehicle communicates with the nearest base station. However, since there is a limit to the amount of information that can be communicated with the above communication method, the communication quality is improved by arranging an antenna line (signal line) along the entire rail and performing wireless communication with a carrier at a short distance. And a communication method capable of communicating a large amount of information has been adopted.

一方、前記搬送車に不具合が生じた場合や、定期的なメンテナンスの時期に達した場合、搬送車をメンテナンスする必要が生じる。しかし、前記軌道上でメンテナンスをすると他の搬送車の邪魔になり、荷物の搬送などの操業に支障を来すため、メンテナンスが必要な搬送車だけを前記軌道上から退避させたうえで、通常の操業を行いつつメンテナンスの必要な搬送車のみメンテナンスすることが望ましい。   On the other hand, when a defect occurs in the transport vehicle or when a regular maintenance time is reached, the transport vehicle needs to be maintained. However, if maintenance is performed on the track, it interferes with other transport vehicles and interferes with operations such as transporting goods.Therefore, only the transport vehicles that require maintenance are withdrawn from the track. It is desirable to maintain only the transport vehicle requiring maintenance while performing the operation.

そこで、床面に固定されている固定軌条の途中に台車に取り付けられた可動式の可動軌条を連結し、メンテナンスが必要な搬送車を台車の上に配置して可動軌条ごと当該搬送車を台車で引き出すことで、搬送車を操業のための軌道から退避させる方法が提案されている（例えば特許文献１）。そして、操業用の軌道とは別に設けられたメンテナンス用の軌条まで搬送車を運搬してメンテナンス用の軌条に載せ替えた後、空の台車を可動軌条ごと元の場所に戻して固定軌条と連結することで、他の搬送車にあまり影響を与えずに操業を続行させるとともに、搬送車のメンテナンスを行うことができるものとなっている。   Therefore, a movable movable rail attached to the carriage is connected in the middle of the fixed rail fixed to the floor surface, and a carriage that requires maintenance is placed on the carriage, and the carriage is moved along with the movable rail. A method for retracting the transport vehicle from the track for operation has been proposed (for example, Patent Document 1). Then, after transporting the transport vehicle to the maintenance rail provided separately from the operation rail and replacing it with the maintenance rail, the empty carriage is returned to the original location together with the movable rail and connected to the fixed rail. Thus, the operation can be continued without significantly affecting other transport vehicles, and the transport vehicle can be maintained.

この場合、可動式の軌条に沿って配設されているアンテナ線と、固定軌条に沿って配設されているアンテナ線とは、所定の間隔を隔てて配設されており、これらのアンテナ線が形成する隙間は、固定軌条と可動軌条との連結部の位置に対応している。したがって、メンテナンスなどのために台車を移動させる際、台車に配設されるアンテナ線が軌条に干渉することなく台車を移動させることができるものとなっている。   In this case, the antenna wires arranged along the movable rail and the antenna wires arranged along the fixed rail are arranged at a predetermined interval, and these antenna wires are arranged. The gap formed by corresponds to the position of the connecting portion between the fixed rail and the movable rail. Therefore, when the carriage is moved for maintenance or the like, the carriage can be moved without the antenna wire arranged on the carriage interfering with the rail.

特開２００２−１２７８９７号公報JP 2002-1227897 A

ところが、台車は、人力で動かせる程度の小型、かつ、軽量である方が望ましい。特に、固定軌条と連結して軌道を形成するため、軌道において搬送車１０２を低い位置で走行させるためには、台車の高さはできる限り低くすることが要求される。   However, it is desirable that the carriage is small and light enough to be moved by human power. In particular, since a track is formed by connecting with a fixed rail, in order to run the transport vehicle 102 at a low position on the track, the height of the carriage is required to be as low as possible.

一方、台車は、重量のある搬送車を可動軌条と共に移動させる必要があるため、台車の基礎となる構造体は大型となりがちである。したがって、台車に配設されるアンテナ線などの電線は、非常に狭い範囲で取り回すことが要求される。   On the other hand, since a cart needs to move a heavy transporter vehicle along with a movable rail, the structure that forms the basis of the cart tends to be large. Therefore, electric wires such as antenna wires arranged on the carriage are required to be routed in a very narrow range.

このような状況では、電線に無理な負担がかかって電線が構造的に破損したり、アンテナ線として機能する電線の取り回し状態によっては、搬送車との通信不良などが発生する可能性がある。   In such a situation, there is a possibility that an excessive load is applied to the electric wire and the electric wire is structurally damaged, or a communication failure with the carrier vehicle may occur depending on the handling state of the electric wire functioning as the antenna wire.

本願発明は、上記問題点に鑑みなされたものであり、台車の基本的な大きさを変更することなく、電線の取り回しの自由度を向上させることのできる台車、及び、当該台車を備える有軌道搬送車システムの提供を目的とする。   The present invention has been made in view of the above-described problems, and a carriage capable of improving the degree of freedom in handling the electric wire without changing the basic size of the carriage, and a track provided with the carriage. The purpose is to provide a transport vehicle system.

上記目的を達成するために、本願発明にかかる台車は、床面に固定される固定軌条と、前記固定軌条に沿って走行し搬送対象物を搬送する搬送車とを有する有軌道搬送車システムに備えられ、前記固定軌条と連結可能な可動軌条を備え、前記可動軌条上に配置される前記搬送車を前記可動軌条と共に運搬することのできる台車であって、当該台車に配設され当該台車と共に移動する電線と、前記可動軌条の先端を越えて当該台車から突出状に配置され、前記可動軌条を越える位置にまで前記電線を保持する可動保持具とを備え、前記可動保持具は、前記可動軌条の先端を超えない範囲に、当該可動保持具を屈曲可能とする関節部を備えることを特徴とする。   In order to achieve the above object, a cart according to the present invention is a tracked transport vehicle system having a fixed rail fixed to a floor surface and a transport vehicle that travels along the fixed rail and transports a transport object. A carriage provided with a movable rail that is connectable to the fixed rail, and capable of transporting the transport vehicle disposed on the movable rail together with the movable rail, and disposed on the carriage together with the carriage A movable electric wire, and a movable holder that protrudes from the carriage beyond the tip of the movable rail and holds the electric wire to a position beyond the movable rail, and the movable holder is movable It is characterized by including a joint part that allows the movable holder to bend in a range not exceeding the tip of the rail.

これによれば、台車の本体から離れた位置まで電線が配設されるため、電線の取り回しの自由度を向上させることができる。さらに、電線を保持する可動保持具が関節部で折れ曲がるため、台車を移動させて固定軌条と可動軌条とを分離したり連結したりする場合も、可動保持具や電線と固定軌条とが干渉しないように、可動保持具とともに電線を回避させることが可能となる。   According to this, since an electric wire is arrange | positioned to the position away from the main body of a trolley | bogie, the freedom degree of the handling of an electric wire can be improved. Furthermore, since the movable holder that holds the electric wire is bent at the joint, the movable holder, the electric wire, and the fixed rail do not interfere even when the carriage is moved to separate or connect the fixed rail and the movable rail. Thus, it becomes possible to avoid an electric wire with a movable holder.

また、前記電線は、水平方向に並んだ複数の導線を備え、前記搬送車と無線通信を行うためのアンテナ線であり、前記可動保持具は、前記アンテナ線を当該可動保持具の上部で保持する上端保持部と、前記アンテナ線を当該可動保持具の先端において下方に向かって湾曲するように保持する先端保持部とを備えることが好ましい。   The electric wire includes a plurality of conductive wires arranged in a horizontal direction, and is an antenna wire for performing wireless communication with the transport vehicle. The movable holder holds the antenna wire on an upper portion of the movable holder. It is preferable to include an upper end holding part that holds the antenna wire so as to bend downward at the tip of the movable holding tool.

これにより、アンテナ線を上下方向に湾曲させて、すなわち、アンテナ線を垂直面内で緩やかに曲げた状態で保持することができるため、固定軌条に対応して配設されたアンテナ線と可動軌条に対応して配設されたアンテナ線とのつなぎ目対応部分を走行する搬送車に対しても安定した状態で通信することが可能となる。特に、アンテナ線が指向性を有する場合、本効果が顕著に表れる。   As a result, the antenna wire can be bent in the vertical direction, that is, the antenna wire can be held in a gently bent state in a vertical plane. It is possible to communicate in a stable state even with a transport vehicle that travels at a joint corresponding portion with an antenna line arranged corresponding to the above. In particular, when the antenna wire has directivity, this effect appears remarkably.

また、前記関節部は、前記可動保持具の当該関節部よりも先の部分である先端部を跳ね上げる方向に屈曲することが好ましい。   Moreover, it is preferable that the said joint part bends in the direction which jumps up the front-end | tip part which is a part ahead of the said joint part of the said movable holding tool.

これにより、台車上方の空間を有効に利用して、固定軌条などと干渉しない位置に電線と可動保持具とを退避させることが可能となる。特に、可動保持具が保持する電線が扁平な断面を備えたアンテナ線である場合、アンテナ線の肉厚の薄い方向が上下方向に向いて配置されるため、可動保持具を屈曲させる場合も、肉厚の薄い方向にアンテナ線が曲げられるため、アンテナ線に対する構造的な負担が少ない状態でアンテナ線を折り曲げることが可能となり、アンテナ線の寿命を向上させることが可能となる。   Thereby, it becomes possible to retract the electric wire and the movable holder to a position that does not interfere with the fixed rail or the like by effectively using the space above the carriage. In particular, when the electric wire held by the movable holder is an antenna wire having a flat cross section, since the thin direction of the antenna wire is oriented in the vertical direction, even when the movable holder is bent, Since the antenna wire is bent in the direction where the thickness is thin, the antenna wire can be bent with a small structural burden on the antenna wire, and the life of the antenna wire can be improved.

また、上記目的を達成するために、本願発明に係る有軌道搬送車システムは、床面に固定される固定軌条と、前記固定軌条に沿って走行し搬送対象物を搬送する搬送車と、前記固定軌条と連結可能な可動軌条と、前記可動軌条上に配置される前記搬送車を前記可動軌条と共に運搬することのできる台車と、当該台車から外方に向かって伸びる電線と、前記可動軌条に沿い、前記可動軌条の先端を越えて突出状に配置され、前記電線を保持する可動保持具とを備え、前記可動保持具は、前記可動軌条の先端を超えない範囲に、当該可動保持具を屈曲可能とする関節部を備えることを特徴とする。   In order to achieve the above object, the tracked vehicle system according to the present invention includes a fixed rail fixed to a floor surface, a transport vehicle that travels along the fixed rail and transports a transport object, A movable rail that can be connected to a fixed rail, a cart that can transport the transporting vehicle disposed on the movable rail together with the movable rail, an electric wire that extends outward from the cart, and the movable rail. And a movable holding tool that holds the electric wire, and is disposed so as to protrude beyond the distal end of the movable rail, and the movable holding tool is disposed within a range not exceeding the distal end of the movable rail. It is characterized by comprising a joint that can be bent.

これによれば、台車の本体から離れた位置まで電線が配設されるため、電線の取り回しの自由度を向上させることができる。さらに、電線を保持する可動保持具が関節部で折れ曲がるため、台車を移動させて固定軌条と可動軌条とを分離したり連結したりする場合も、可動保持具や電線と固定軌条とが干渉しないように、可動保持具と共に電線を回避させることが可能となる。   According to this, since an electric wire is arrange | positioned to the position away from the main body of a trolley | bogie, the freedom degree of the handling of an electric wire can be improved. Furthermore, since the movable holder that holds the electric wire is bent at the joint, the movable holder, the electric wire, and the fixed rail do not interfere even when the carriage is moved to separate or connect the fixed rail and the movable rail. Thus, it becomes possible to avoid an electric wire with a movable holder.

さらに、前記可動保持具の当該関節部よりも先の部分である先端部が、可動軌条の先端よりも突出する所定の状態であることを検出するセンサと、前記センサの検出状態に基づき前記搬送車の移動を規制する規制手段を備えることが好ましい。   Further, a sensor that detects that a tip part that is a part ahead of the joint part of the movable holder is in a predetermined state protruding from the tip of the movable rail, and the conveyance based on a detection state of the sensor It is preferable to provide a regulation means for regulating the movement of the vehicle.

これにより、軌道を走行する搬送車と可動保持具とが干渉する事故を未然に防止することができ、操業に不具合が発生することを回避することが可能となる。   As a result, it is possible to prevent an accident in which the transport vehicle traveling on the track interferes with the movable holder, and it is possible to avoid a problem in operation.

本願発明によれば、台車の基本的なサイズを変更することなく台車に配設される電線の取り回しの自由度を向上させることが可能となり、かつ、搬送車をメンテナンスする場合などにおいて、台車を安全に移動させることが可能となる。   According to the present invention, it is possible to improve the degree of freedom of the operation of the electric wires arranged on the carriage without changing the basic size of the carriage, and in the case of maintenance of the transport vehicle, It can be moved safely.

有軌道搬送車システムのメンテナンス部分を示す平面図である。It is a top view which shows the maintenance part of a tracked vehicle system. 固定軌条上の搬送車を模式的に示す斜視図である。It is a perspective view which shows typically the conveyance vehicle on a fixed rail. 操業状態の台車近傍を軌道側から模式的に示す斜視図である。It is a perspective view which shows typically the trolley | bogie vicinity of an operation state from a track side. 台車を一部切り欠いて示す正面図であり、同図（ａ）は、操業状態における可動保持具を示し、同図（ｂ）は可動保持具の先端部を跳ね上げた状態を示している。It is the front view which cuts off a trolley | bogie partially, The figure (a) shows the movable holder in the operating state, The figure (b) has shown the state which flipped up the front-end | tip part of the movable holder. . （ａ）は、可動電線（固定電線）の断面を示す正面図、（ｂ）は可動電線（固定電線）の湾曲させた部分を示す側面図である。なお、説明のため、同図（ａ）と同図（ｂ）とのスケールは異なっている。(A) is a front view which shows the cross section of a movable electric wire (fixed electric wire), (b) is a side view which shows the curved part of the movable electric wire (fixed electric wire). For the sake of explanation, the scales of FIG. 10 (a) and FIG. メンテナンス状態の台車近傍を軌道側から模式的に示す斜視図である。It is a perspective view which shows typically the trolley | bogie vicinity of a maintenance state from the track side.

次に、本願発明の実施の形態である有軌道搬送車システムについて、図面を参照しつつ説明する。   Next, a tracked vehicle system that is an embodiment of the present invention will be described with reference to the drawings.

図１は、有軌道搬送車システムのメンテナンス部分を示す平面図である。
同図に示すように、有軌道搬送車システム１００は、工場内に保管される搬送対象物である荷物２０１を受け取り、所定の搬出箇所まで荷物２０１を搬送するシステムである。また、有軌道搬送車システム１００は、所定の搬入箇所から荷物２０１を受け取り、保管すべきラック近傍まで荷物を搬送するシステムである。有軌道搬送車システム１００は、固定軌条１０１と、搬送車１０２と、可動軌条１０４と、台車１０５と、固定電線１１１と、固定保持具１３１とを備えている。 FIG. 1 is a plan view showing a maintenance part of the tracked vehicle system.
As shown in the figure, the tracked vehicle system 100 is a system that receives a load 201 that is a transfer object stored in a factory and transfers the load 201 to a predetermined unloading location. The tracked vehicle system 100 is a system that receives the luggage 201 from a predetermined carry-in location and conveys the luggage to the vicinity of the rack to be stored. The tracked transport vehicle system 100 includes a fixed rail 101, a transport vehicle 102, a movable rail 104, a carriage 105, a fixed electric wire 111, and a fixed holder 131.

固定軌条１０１は、搬送車１０２が走行する軌道を形成するレールであり、工場等の床面に２本のレールが平行に固定されるものである。   The fixed rail 101 is a rail that forms a track on which the transport vehicle 102 travels, and two rails are fixed in parallel to a floor surface of a factory or the like.

固定電線１１１は、固定軌条１０１に沿って配設される電線である。本実施の形態の場合、固定電線１１１は、搬送車１０２と無線通信を行うためのアンテナ線である。   The fixed electric wire 111 is an electric wire arranged along the fixed rail 101. In the case of the present embodiment, the fixed electric wire 111 is an antenna wire for performing wireless communication with the transport vehicle 102.

固定保持具１３１は、固定電線１１１を固定軌条１０１に沿って配設するための装備であり、工場等の床面に固定されるものである。   The fixed holder 131 is equipment for disposing the fixed electric wire 111 along the fixed rail 101, and is fixed to a floor surface of a factory or the like.

図２は、固定軌条上の搬送車を模式的に示す斜視図である。
同図に示すように、搬送車１０２は、固定軌条１０１上に載置され固定軌条１０１に沿って走行する台車であり、搬送車１０２の上面に荷物が載置される載置部を備え、載置部に載置される荷物を搬送することのできる台車である。搬送車１０２は、荷物を移載することのできる移載装置１２１と、固定軌条１０１に沿って配設された電力供給用の電線から電力の供給を受ける電力供給ユニット１２２と、固定軌条１０１上を走行するための駆動力を発生させるモータなどの駆動源１２３と、他の搬送車１０２と接触した場合に、衝撃力を緩和するとともに、当該接触を検知して駆動源１２３を強制的に停止することのできるバンパユニット１２４と、搬送車１０２相互間で情報の授受を行ったり、制御システムとの間で情報の授受を行ったりするための受発光ユニット１２５とを備える自走式の台車である。また、搬送車１０２の下部には、固定電線１１１（可動電線１１２も含む）と通信を行うための通信ユニット１１３が取り付けられている。 FIG. 2 is a perspective view schematically showing a transport vehicle on a fixed rail.
As shown in the figure, the transport vehicle 102 is a carriage that is mounted on the fixed rail 101 and travels along the fixed rail 101, and includes a mounting portion on which the load is mounted on the upper surface of the transport vehicle 102. It is a cart capable of transporting a load placed on the placement unit. The transport vehicle 102 includes a transfer device 121 that can transfer a load, a power supply unit 122 that receives power supply from a power supply wire arranged along the fixed rail 101, and a fixed rail 101. When a drive source 123 such as a motor that generates a drive force for traveling on the vehicle and another transport vehicle 102 is contacted, the impact force is reduced and the contact is detected to forcibly stop the drive source 123. A self-propelled carriage that includes a bumper unit 124 that can perform transmission and reception and a light emitting / receiving unit 125 that exchanges information with the transport vehicle 102 and exchanges information with the control system. is there. A communication unit 113 for communicating with the fixed electric wire 111 (including the movable electric wire 112) is attached to the lower portion of the transport vehicle 102.

図３は、固定軌条と可動軌条とが連結された状態の台車近傍を軌道側から模式的に示す斜視図である。   FIG. 3 is a perspective view schematically showing the vicinity of the carriage in a state where the fixed rail and the movable rail are connected from the track side.

同図に示すように、台車１０５は、可動軌条１０４上に配置される搬送車１０２を可動軌条１０４と共に運搬することのできる台車であり、可動保持具１１４と、可動電線１１２と、可動軌条１０４と、把持部１０７とを備えている。台車１０５は、固定軌条１０１に対し交差方向に伸びる運搬軌条１４１の上を走行することができるものとなっている。台車１０５は、可動軌条１０４を軌道から引き出し、搬送車１０２をメンテナンスするためのメンテナンスレール１４２と可動軌条１０４とを連結することができる位置まで可動軌条１０４を移動させることができるものとなっている。したがって、台車１０５は、可動軌条１０４の上に載置した搬送車１０２を、軌道とメンテナンスレール１４２との間で運搬することが可能となる。   As shown in the figure, the carriage 105 is a carriage that can transport the conveyance vehicle 102 disposed on the movable rail 104 together with the movable rail 104, and includes a movable holder 114, a movable electric wire 112, and a movable rail 104. And a gripping portion 107. The carriage 105 can travel on the transport rail 141 extending in the crossing direction with respect to the fixed rail 101. The carriage 105 can move the movable rail 104 to a position where the movable rail 104 can be connected to the maintenance rail 142 for maintaining the transport vehicle 102 by pulling the movable rail 104 from the track. . Therefore, the carriage 105 can transport the transport vehicle 102 placed on the movable rail 104 between the track and the maintenance rail 142.

可動軌条１０４は、固定軌条１０１と連結可能な軌条であり、固定軌条１０１と連結状態にある場合は、固定軌条１０１と共に搬送車１０２が走行する軌道を形成するものである。また、可動軌条１０４は、台車１０５に固定状態で取り付けられており、台車１０５が固定軌条１０１と交差する方向に移動した場合、固定軌条１０１との連結が解除され、台車１０５と共に移動するものである。   The movable rail 104 is a rail that can be connected to the fixed rail 101. When the movable rail 104 is connected to the fixed rail 101, the movable rail 104 forms a track along which the transport vehicle 102 travels together with the fixed rail 101. The movable rail 104 is fixedly attached to the carriage 105. When the carriage 105 moves in a direction intersecting the fixed rail 101, the movable rail 104 is disconnected from the fixed rail 101 and moves together with the carriage 105. is there.

把持部１０７は、人間が掴みやすい太さの丸棒状の部材であり、台車１０５を人力で移動させる際に用いられる。   The grip portion 107 is a round bar-shaped member that is easily gripped by humans, and is used when the carriage 105 is moved manually.

図４は、台車を一部切り欠いて示す正面図であり、同図（ａ）は、可動保持具が操業状態における台車を示し、同図（ｂ）は可動保持具の先端部が跳ね上げられた台車を示している。   FIG. 4 is a front view showing the cart with a part cut away. FIG. 4A shows the cart when the movable holder is in operation, and FIG. 4B shows the tip of the movable holder flipped up. Is shown.

同図に示すように可動保持具１１４は、可動軌条１０４を長さ方向（同図中左右方向）に越えて台車１０５から突出状に配置される装備であり、可動軌条１０４の先端を越える位置にまで可動電線１１２が配設されるように可動電線１１２を保持することができる装備である。本実施の形態の場合、可動保持具１１４は、可動電線１１２としてのアンテナ線を可動保持具１１４の上部で保持する上端保持部１１６と、可動電線１１２を可動保持具１１４の先端において下方に向かって湾曲するように保持する先端保持部１１７とを備えている。また、可動保持具１１４は、可動保持具を屈曲させるための関節部１１８を備えている。本実施の形態の場合、関節部１１８は、可動保持具１１４の本体部１１５に対し関節部１１８よりも先の部分である先端部１２０を跳ね上げる方向（同図（ｂ）中の矢印方向）に屈曲することができるものとなっている。   As shown in the figure, the movable holder 114 is a device that is disposed so as to protrude from the carriage 105 across the movable rail 104 in the length direction (left-right direction in the same figure), and is located beyond the tip of the movable rail 104. It is an equipment which can hold movable electric wire 112 so that movable electric wire 112 may be arranged. In the case of the present embodiment, the movable holding tool 114 includes an upper end holding part 116 that holds an antenna wire as the movable electric wire 112 at the upper part of the movable holding tool 114, and the movable electric wire 112 facing downward at the distal end of the movable holding tool 114. And a tip holding portion 117 that holds the head so as to be bent. In addition, the movable holder 114 includes a joint portion 118 for bending the movable holder. In the case of the present embodiment, the joint portion 118 flips up the tip portion 120 that is a portion ahead of the joint portion 118 with respect to the main body portion 115 of the movable holder 114 (the arrow direction in FIG. 5B). It is possible to bend.

また、台車１０５は、先端部１２０が、可動軌条１０４の先端よりも突出する所定の状態であることを検出するセンサ１３２を備えている。このセンサ１３２は、先端部１２０が搬送車１０２の軌道上の運行に影響を及ぼさない位置（本実施の形態では、同図（ａ）の状態）にある場合にのみ稼働する。なお、有軌道搬送車システム１００は、センサ１３２の検出状態に基づき搬送車１０２の移動を規制する規制手段（図示せず）を備えている。本実施の形態の場合、規制手段は、センサ１３２が稼働している場合のみ搬送車１０２に移動用の電力を供給するように制御する機能を備えている。   Further, the carriage 105 includes a sensor 132 that detects that the tip 120 is in a predetermined state protruding from the tip of the movable rail 104. This sensor 132 operates only when the front end 120 is in a position that does not affect the operation of the transport vehicle 102 on the track (in this embodiment, the state shown in FIG. 5A). The tracked transport vehicle system 100 includes a regulation unit (not shown) that regulates the movement of the transport vehicle 102 based on the detection state of the sensor 132. In the case of the present embodiment, the restricting means has a function of controlling to supply power for movement to the transport vehicle 102 only when the sensor 132 is operating.

図５（ａ）は、可動電線（固定電線）の断面を示す正面図、図５（ｂ）は可動電線（固定電線）の湾曲させた部分を示す側面図である。なお、説明のため、同図（ａ）と同図（ｂ）とのスケールは異なっている。   Fig.5 (a) is a front view which shows the cross section of a movable electric wire (fixed electric wire), FIG.5 (b) is a side view which shows the curved part of the movable electric wire (fixed electric wire). For the sake of explanation, the scales of FIG. 10 (a) and FIG.

同図（ａ）に示すように、本実施の形態で説明する可動電線１１２（固定電線１１１も同様）は、断面が扁平した線であり、内部に平行な２本の金属線（導線）が挿通される電線である。当該可動電線１１２は、搬送車１０２と無線によって情報を通信するための電線であり同図（ａ）、（ｂ）に矢印で示す方向に指向性を備えている。   As shown in FIG. 2A, the movable electric wire 112 (same for the fixed electric wire 111) described in the present embodiment is a wire having a flat cross section, and two metal wires (conductive wires) parallel to the inside are provided. It is an electric wire to be inserted. The movable electric wire 112 is an electric wire for wirelessly communicating information with the transport vehicle 102 and has directivity in the direction indicated by the arrows in FIGS.

次に、搬送車１０２をメンテナンス等するために台車を移動させる際の挙動について説明する。   Next, the behavior when the carriage is moved for maintenance of the transport vehicle 102 will be described.

まず、通常の操業状態（図３に示す状態）においては、固定軌条１０１と可動軌条１０４とが連結状態となる位置に台車１０５が配置されている。この状態で台車１０５は、先端部１２０がおろされた状態（図４（ａ）に示す状態）となっている。この場合、固定軌条１０１と可動軌条１０４とは一つの軌条となって軌道を形成し、搬送車１０２が自在に走行可能となっている。   First, in a normal operation state (the state shown in FIG. 3), the carriage 105 is disposed at a position where the fixed rail 101 and the movable rail 104 are connected. In this state, the carriage 105 is in a state where the tip 120 is lowered (the state shown in FIG. 4A). In this case, the fixed rail 101 and the movable rail 104 form one track to form a track, and the transport vehicle 102 can freely travel.

この状態において、可動保持具１１４と固定保持具１３１とは一直線上に配置された状態となり、固定電線１１１と可動電線１１２とも一直線上に配設されることとなる。この状態では、センサ１３２は稼働しており、規制手段は、走行用の電力を搬送車１０２に給電して、規制を解除するように有軌道搬送車システムを制御する。   In this state, the movable holder 114 and the fixed holder 131 are arranged in a straight line, and the fixed electric wire 111 and the movable electric wire 112 are also arranged in a straight line. In this state, the sensor 132 is in operation, and the regulating means supplies the traveling power to the carriage 102 and controls the tracked carriage system so as to release the regulation.

ここで、固定電線１１１と可動電線１１２との隙間において、可動電線１１２は、図４（ａ）に示すように上方から下方に向かって湾曲するように可動保持具１１４によって保持されている。これは、可動軌条１０４の先端よりも突出する可動保持具１１４の先端部１２０で可動電線１１２を保持するため、全体形状として薄い形状としなければならない台車１０５において、可動電線１１２を湾曲させて取り回すスペースを確保することができるためである。   Here, in the gap between the fixed electric wire 111 and the movable electric wire 112, the movable electric wire 112 is held by the movable holding tool 114 so as to bend downward from above as shown in FIG. This is because the movable wire 112 is bent in the carriage 105 which must be thin as an overall shape in order to hold the movable wire 112 by the distal end portion 120 of the movable holder 114 protruding from the distal end of the movable rail 104. This is because a space for turning can be secured.

また、当該湾曲部分で示す可動電線１１２の指向性は、図５（ｂ）に示すように垂直面内に放射状に広がる。一方、固定電線１１１も同様に湾曲しており、指向性も同様の広がりとなる。したがって、固定電線１１１と可動電線１１２との隙間においても、通信状態を強く確保することができる指向方向が常に搬送車１０２に向くことになり、通信状態が悪化することなく搬送車１０２と無線通信を行うことが可能となる。   Further, the directivity of the movable electric wire 112 indicated by the curved portion spreads radially in the vertical plane as shown in FIG. On the other hand, the fixed electric wire 111 is similarly bent, and the directivity is similarly expanded. Therefore, even in the gap between the fixed electric wire 111 and the movable electric wire 112, the directivity direction that can ensure a strong communication state is always directed to the carrier 102, and the carrier 102 communicates wirelessly without deteriorating the communication state. Can be performed.

次に、搬送車１０２をメンテナンスする際は、図４（ｂ）に示すように可動保持具１１４の先端部１２０を跳ね上げる。この状態では、センサ１３２は稼働を停止するため、規制手段は、走行用の電力を搬送車１０２に給電することを停止するように制御する。これにより、台車１０５がメンテナンスレール１４２側にある場合（図６参照）などに搬送車１０２が走行し、搬送車１０２が固定軌条１０１から脱輪するなどの事故を回避することが可能となる。また、先端部１２０を跳ね上げることで、可動保持具１１４と固定軌条１０１とが干渉することを回避でき、台車１０５を移動させることにより可動保持具１１４や固定軌条１０１が欠損することもなくなる。   Next, when maintaining the transport vehicle 102, the tip 120 of the movable holder 114 is flipped up as shown in FIG. In this state, since the sensor 132 stops operating, the restricting means controls to stop supplying the traveling power to the transport vehicle 102. As a result, it is possible to avoid an accident such as when the carriage 102 travels when the carriage 105 is on the maintenance rail 142 side (see FIG. 6) and the carriage 102 comes off the fixed rail 101. In addition, it is possible to avoid the interference between the movable holder 114 and the fixed rail 101 by jumping up the tip portion 120, and the movable holder 114 and the fixed rail 101 are not lost by moving the carriage 105.

次に、搬送車１０２が載置された台車１０５をメンテナンスレール１４２と可動軌条１０４とが連結するまで引き出す（図６参照）。台車１０５を引き出すには、把持部１０７を把持して引き出せばよい。   Next, the carriage 105 on which the transport vehicle 102 is placed is pulled out until the maintenance rail 142 and the movable rail 104 are connected (see FIG. 6). In order to pull out the cart 105, the gripping portion 107 may be gripped and pulled out.

次に、メンテナンスに供される搬送車１０２は、メンテナンスレール１４２上に移載され、空になった台車１０５は、再び固定軌条１０１と可動軌条１０４とが連結される位置に移動し、可動保持具１１４の先端部１２０をおろし、センサ１３２を稼働させる。この状態では、全ての軌道が開通しているため、再び操業可能となる。   Next, the transport vehicle 102 to be subjected to maintenance is transferred onto the maintenance rail 142, and the trolley 105 that has been emptied again moves to a position where the fixed rail 101 and the movable rail 104 are connected, and is held movable. The tip 120 of the tool 114 is lowered and the sensor 132 is operated. In this state, since all the tracks are open, operation is possible again.

以上のような構成を採用すれば、搬送車１０２を低い位置で走行させることが可能となり、操業の安定性や安全性を確保することが可能となる。一方、搬送車１０２を軌道から移動させるための台車１０５は、台車１０５が有する固定軌条１０１の先端よりも突出した部分でアンテナ線などの可動電線１１２を湾曲させるなどの取り回しを行うことができるため、台車１０５の全体的な厚みを薄く維持しながら可動電線１１２の配設の自由度を向上させることが可能となる。しかも、可動電線１１２を可動軌条１０４の先端を越えて保持する可動保持具１１４が関節部１１８で折り曲げることができるため、台車１０５を移動させる際に固定軌条１０１と干渉することを回避できる。   If the configuration as described above is adopted, the transport vehicle 102 can be driven at a low position, and the stability and safety of operation can be ensured. On the other hand, the carriage 105 for moving the transport vehicle 102 from the track can be routed such as bending the movable electric wire 112 such as an antenna line at a portion protruding from the tip of the fixed rail 101 of the carriage 105. In addition, it is possible to improve the degree of freedom in disposing the movable wire 112 while maintaining the overall thickness of the carriage 105 thin. In addition, since the movable holder 114 that holds the movable electric wire 112 beyond the tip of the movable rail 104 can be bent at the joint 118, it is possible to avoid interference with the fixed rail 101 when the carriage 105 is moved.

特に、可動電線１１２が指向性を備えたアンテナ線であった場合、指向方向を常に搬送車１０２に向かうように可動電線１１２を取り回すことで、高い通信性能を確保することができる。また、可動電線１１２の肉厚の薄い方向に可動電線１１２を湾曲させることができ、かつ、可動保持具１１４の先端部１２０を跳ね上げる方向も可動電線１１２の肉厚の薄い方向であるため、可動電線１１２に無理な負担をかけることなく、可動電線１１２の寿命を向上させることが可能となる。   In particular, when the movable electric wire 112 is an antenna wire having directivity, high communication performance can be ensured by routing the movable electric wire 112 so that the directivity direction is always directed toward the transport vehicle 102. In addition, the movable wire 112 can be bent in the direction in which the movable wire 112 is thin, and the direction in which the tip 120 of the movable holder 114 is flipped up is also the direction in which the movable wire 112 is thin. The life of the movable electric wire 112 can be improved without imposing an unreasonable burden on the movable electric wire 112.

なお、可動保持具１１４は複数の関節部１１８を備えても良く、その関節部１１８の少なくとも一つが可動軌条１０４の先端よりも内側にあれば、本願発明の技術的範囲に含まれる。また、可動保持具１１４の折れ曲がる方向は、垂直面ばかりでなく、水平面など任意の面で折れ曲がっても良く、自在継ぎ手により任意の方向に折れ曲がるものでも良い。   The movable holder 114 may include a plurality of joints 118, and at least one of the joints 118 is included in the technical scope of the present invention as long as at least one of the joints 118 is inside the tip of the movable rail 104. Further, the bending direction of the movable holder 114 may be not only a vertical surface but also an arbitrary surface such as a horizontal surface, or may be bent in an arbitrary direction by a universal joint.

また、可動保持具１１４は、台車１０５の幅方向の両方向に突出するばかりでなく、片方向に突出するものでも良い。   In addition, the movable holder 114 may project not only in both directions in the width direction of the carriage 105 but also in one direction.

本願発明は、物流倉庫や製造工場等に設置される有軌道搬送車システムなどに利用可能である。   The present invention can be used for a tracked vehicle system installed in a distribution warehouse, a manufacturing factory, or the like.

１００ 有軌道搬送車システム
１０１ 固定軌条
１０２ 搬送車
１０４ 可動軌条
１０５ 台車
１０７ 把持部
１１１ 固定電線
１１２ 可動電線
１１３ 通信ユニット
１１４ 可動保持具
１１５ 本体部
１１６ 上端保持部
１１７ 先端保持部
１１８ 関節部
１２０ 先端部
１２１ 移載装置
１２２ 電力供給ユニット
１２３ 駆動源
１２４ バンパユニット
１２５ 受発光ユニット
１３１ 固定保持具
１３２ センサ
１４１ 運搬軌条
１４２ メンテナンスレール
２０１ 荷物 DESCRIPTION OF SYMBOLS 100 Tracked vehicle transport system 101 Fixed rail 102 Transport vehicle 104 Movable rail 105 Carriage 107 Grasping part 111 Fixed electric wire 112 Movable electric wire 113 Communication unit 114 Movable holder 115 Main body part 116 Upper end holding part 117 Tip holding part 118 Joint part 120 Tip part 121 Transfer Device 122 Power Supply Unit 123 Drive Source 124 Bumper Unit 125 Light Emitting / Receiving Unit 131 Fixed Holder 132 Sensor 141 Transport Rail 142 Maintenance Rail 201 Luggage

Claims (5)

床面に固定される固定軌条と、前記固定軌条に沿って走行し搬送対象物を搬送する搬送車とを有する有軌道搬送車システムに備えられ、前記固定軌条と連結可能な可動軌条とを備え、前記可動軌条上に配置される前記搬送車を前記可動軌条と共に運搬することのできる台車であって、
当該台車に配設され当該台車と共に移動する電線と、
前記可動軌条の先端を越えて当該台車から突出状に配置され、前記可動軌条を越える位置にまで前記電線を保持する可動保持具とを備え、
前記可動保持具は、前記可動軌条の先端を超えない範囲に、当該可動保持具を屈曲可能とする関節部を備える
台車。 Provided in a tracked vehicle system having a fixed rail fixed to a floor surface and a transport vehicle that travels along the fixed rail and transports an object to be transported, and includes a movable rail that can be coupled to the fixed rail. A carriage capable of transporting the transporting vehicle disposed on the movable rail together with the movable rail,
An electric wire disposed on the carriage and moving with the carriage;
A movable holder that is disposed so as to protrude from the carriage beyond the tip of the movable rail, and holds the electric wire up to a position beyond the movable rail;
The movable holding tool is a cart provided with a joint portion that allows the movable holding tool to be bent within a range not exceeding the tip of the movable rail. 前記電線は、水平方向に並んだ複数の導線を備え、前記搬送車と無線通信を行うためのアンテナ線であり、
前記可動保持具は、
前記アンテナ線を当該可動保持具の上部で保持する上端保持部と、
前記アンテナ線を当該可動保持具の先端において下方に向かって湾曲するように保持する先端保持部とを備える
請求項１に記載の台車。 The electric wire includes a plurality of conductive wires arranged in a horizontal direction, and is an antenna wire for performing wireless communication with the carrier vehicle,
The movable holder is
An upper end holding part for holding the antenna wire at the upper part of the movable holder;
The carriage according to claim 1, further comprising a tip holding portion that holds the antenna wire so as to bend downward at the tip of the movable holder. 前記関節部は、前記可動保持具の当該関節部よりも先の部分である先端部を跳ね上げる方向に屈曲する請求項１、または、請求項２に記載の台車。   The cart according to claim 1 or 2, wherein the joint portion bends in a direction in which a tip portion that is a portion ahead of the joint portion of the movable holder is flipped up. 床面に固定される固定軌条と、
前記固定軌条に沿って走行し搬送対象物を搬送する搬送車と、
前記固定軌条と連結可能な可動軌条と、
前記可動軌条上に配置される前記搬送車を前記可動軌条と共に運搬することのできる台車と、
当該台車から外方に向かって伸びる電線と、
前記可動軌条に沿い、前記可動軌条の先端を越えて突出状に配置され、前記電線を保持する可動保持具とを備え、
前記可動保持具は、前記可動軌条の先端を超えない範囲に、当該可動保持具を屈曲可能とする関節部を備える有軌道搬送車システム。 A fixed rail fixed to the floor,
A transport vehicle that travels along the fixed rail and transports a transport object; and
A movable rail connectable to the fixed rail;
A carriage capable of transporting the transporting vehicle disposed on the movable rail together with the movable rail;
An electric wire extending outward from the cart,
A movable holder that is disposed along the movable rail so as to protrude beyond the tip of the movable rail and holds the electric wire,
The movable carrier system is a tracked transport vehicle system including a joint portion that allows the movable holder to bend in a range not exceeding the tip of the movable rail. さらに、
前記可動保持具の当該関節部よりも先の部分である先端部が、可動軌条の先端よりも突出する所定の状態であることを検出するセンサと、
前記センサの検出状態に基づき前記搬送車の移動を規制する規制手段を備える
請求項４に記載の有軌道搬送車システム。 further,
A sensor for detecting that a tip portion which is a portion ahead of the joint portion of the movable holder is in a predetermined state protruding from the tip of the movable rail;
The tracked vehicle system according to claim 4, further comprising a regulation unit that regulates movement of the transport vehicle based on a detection state of the sensor.
JP2009138687A 2009-06-09 2009-06-09 Dolly, tracked vehicle system Active JP4941510B2 (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0692430A (en) * 1992-09-14 1994-04-05 Daifuku Co Ltd Carrier equipment using self-traveling truck
JP2002127897A (en) * 2000-10-25 2002-05-09 Murata Mach Ltd Carrier car system
JP2009165224A (en) * 2007-12-28 2009-07-23 Murata Mach Ltd Tracked carriage system
JP2009196480A (en) * 2008-02-21 2009-09-03 Murata Mach Ltd Track carriage system
JP2009241758A (en) * 2008-03-31 2009-10-22 Murata Mach Ltd Transport carrier and railway type conveyance system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0692430A (en) * 1992-09-14 1994-04-05 Daifuku Co Ltd Carrier equipment using self-traveling truck
JP2002127897A (en) * 2000-10-25 2002-05-09 Murata Mach Ltd Carrier car system
JP2009165224A (en) * 2007-12-28 2009-07-23 Murata Mach Ltd Tracked carriage system
JP2009196480A (en) * 2008-02-21 2009-09-03 Murata Mach Ltd Track carriage system
JP2009241758A (en) * 2008-03-31 2009-10-22 Murata Mach Ltd Transport carrier and railway type conveyance system

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