JPH0151388B2 - - Google Patents

Description

【発明の詳細な説明】 本発明は立体式自動倉庫等に用いられる荷物運
搬用の走行台車の駆動装置、詳しくは台車の走行
等を油圧により駆動する装置に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a drive device for a traveling trolley for transporting cargo used in a multi-level automated warehouse, and more particularly to a device for hydraulically driving the traveling of the trolley.

前記用途に用いられる走行台車は、パレツト等
に載せた荷物を受け入れる昇降可能な荷物支持台
を備え、レール上を走行して所定の場所に到着後
支持台を降下させて荷物を棚に置き、次いでその
場所から離脱し別の荷物の運搬に向うという動作
を繰返し行う。この場合、従来の台車の走行及び
荷物支持台の昇降操作は電動力を用いすべて機械
的手段を介して駆動されている。 The traveling trolley used for the above purpose is equipped with a cargo support platform that can be raised and lowered to receive cargo placed on pallets, etc., and travels on rails, and after arriving at a predetermined location, lowers the support platform and places the cargo on a shelf. The robot then leaves the location and moves to transport another load, which is repeated. In this case, conventional running of the trolley and lifting and lowering of the cargo support platform are all driven by mechanical means using electric power.

従来の機械式駆動装置の一例を添付の第１図乃
至第３図について説明するに、走行台車ａは４個
の駆動輪ｂ及び４個の従動輪b′を備え、駆動輪ｂ
の軸に取付けたチエーン・スプロケツトｅ，ｆを
減速機ｇに取付けたチエーン・スプロケツトｈで
駆動する。減速機ｇはブレーキ付モータｉに取付
けたチエーン・スプロケツトｋと減速機ｇの入力
側に取付けたチエーン・スプロケツトｌにより駆
動する。走行台車ａには荷物支持台ｍを備え、駆
動輪の軸を取囲む中空軸ｃ，ｄに取付けた偏心カ
ムｎを回転させることにより荷物支持台ｍに取付
けた回転ローラｐを介して荷物支持台ｍを仮想線
にて示す高いレベルｙまで持上げ、その状態で走
行し、所定位置に到着後荷物支持台ｍを降下させ
て荷物を棚（図示せず）に移した後荷物支持台ｍ
を降下させたままその場所を離脱し次の目的場所
に向い走行する。偏心カムｎの駆動はギヤードモ
ータｒに取付けたチエーン・スプロケツトｓによ
り、中空軸ｃ，ｄに取付けたチエーン・スプロケ
ツトｔ，ｕを回転させ、偏心カムｎを所定量だけ
回転させる。走行用のチエーン・スプロケツト
ｅ，ｔ，ｈにはテークアツプ・チエーン用スプロ
ケツトｕが設けられチエーンのゆるみを防止す
る。また昇降用チエーン・スプロケツトｓ，ｔ，
ｕにも同様にテークアツプ・チエーン用スプロケ
ツトｑが設けられ、チエーンのゆるみを防止す
る。また走行台車ａには制御盤ｗが設けられてい
る。 An example of a conventional mechanical drive device will be described with reference to the attached FIGS.
The chain sprockets e and f attached to the shaft of are driven by the chain sprocket h attached to the reducer g. The reducer g is driven by a chain sprocket k attached to a motor i with a brake and a chain sprocket l attached to the input side of the reducer g. The traveling trolley a is equipped with a load support stand m, and the load is supported via rotating rollers p attached to the load support stand m by rotating eccentric cams n attached to hollow shafts c and d surrounding the axes of the drive wheels. The platform m is lifted up to a high level y shown by the imaginary line, travels in that state, and after arriving at a predetermined position, the cargo support platform m is lowered and the cargo is transferred to a shelf (not shown), and then the cargo support platform m
Leave the location while descending and drive toward the next destination. To drive the eccentric cam n, a chain sprocket s attached to a geared motor r rotates chain sprockets t and u attached to hollow shafts c and d, thereby rotating the eccentric cam n by a predetermined amount. A take-up chain sprocket u is provided on the running chain sprockets e, t, and h to prevent the chain from loosening. Also, the lifting chain sprocket s, t,
A take-up chain sprocket q is similarly provided at u to prevent the chain from loosening. Further, the traveling truck a is provided with a control panel w.

前述の通り、従来使用してきた台車の減速機構
は減速比が一定であるため台車の移動速度はもつ
ぱら電動機の増減速特性に左右され、増減速時の
加速度の調整は大まかであり、例えば破損し易い
製品、または荷崩れし易い品物等の運搬に使用す
ると、増減速時または停止時積載された製品また
は品物等に働く慣性の作用により製品または品物
等に衝撃が加わり、それ等を破損または荷崩れさ
せる等の欠点がある。また走行動作と昇降動作は
それぞれ独立に設けた電動機により減速機を介し
て駆動するため走行台車が大形になる。更に走行
台車の最低速度は減速機の減速比によつて定まる
ので小形の減速機で充分遅い速度を得ることが困
難であり、台車の停止位置の正確さの点で改良を
要する問題点が残されている。 As mentioned above, the speed reduction mechanism of conventional trolleys has a constant reduction ratio, so the moving speed of the trolley depends solely on the acceleration/deceleration characteristics of the electric motor, and the acceleration during acceleration/deceleration is roughly adjusted. When used for transporting products that are easy to move or collapse, the impact may be applied to the loaded products or items due to the effect of inertia acting on the loaded products or items when speeding up, decelerating, or stopping, resulting in damage or damage to the items. There are drawbacks such as causing cargo to collapse. Further, since the traveling operation and the lifting operation are each driven by independently provided electric motors via a reduction gear, the traveling truck becomes large. Furthermore, since the minimum speed of the traveling bogie is determined by the reduction ratio of the reducer, it is difficult to obtain a sufficiently low speed with a small reducer, and there remains a problem that requires improvement in terms of accuracy in the stopping position of the bogie. has been done.

本発明は前述の種々の欠点を解消することを目
的としてなしたもので、本発明による走行台車の
駆動装置は昇降可能な荷物支持台を有する前後進
可能な走行台車において、前記荷物支持台を昇降
させる油圧シリンダと、前記走行台車を走行させ
る油圧モータと、前記の油圧シリンダと油圧モー
タを駆動する油圧源を備えると共に、油圧モータ
の発停及び前後進操作を制御する制御用切換弁を
油圧モータの圧油供給ラインに設け、また油圧モ
ータの増速時の加速度及び減速時の逆加速度を制
御する流量調整弁を油圧モータの排油ラインに設
けて前記弁の開閉速度を制御可能に構成し、更に
走行台車停止の際所望の低速度走行を可能にする
ため前記流量調整弁を通る流量を調整可能に構成
したことを特徴とするものである。 The present invention has been made for the purpose of eliminating the various drawbacks mentioned above, and a driving device for a traveling trolley according to the present invention is a traveling trolley that can move forward and backward and has a luggage support platform that can be raised and lowered. It is equipped with a hydraulic cylinder for raising and lowering, a hydraulic motor for driving the traveling trolley, and a hydraulic source for driving the hydraulic cylinder and the hydraulic motor, and a control switching valve for controlling starting/stopping and forward/backward movement of the hydraulic motor. A flow regulating valve is provided in the pressure oil supply line of the motor and also controls the acceleration when increasing the speed of the hydraulic motor and the reverse acceleration when decelerating the hydraulic motor, and is provided in the oil drain line of the hydraulic motor so that the opening/closing speed of the valve can be controlled. Furthermore, the present invention is characterized in that the flow rate passing through the flow rate adjustment valve can be adjusted in order to enable the desired low-speed travel when the traveling bogie is stopped.

以下本発明の走行台車の駆動装置の実施例につ
き添付の図面にもとづいて説明する。 DESCRIPTION OF THE PREFERRED EMBODIMENTS Examples of the driving device for a traveling trolley according to the present invention will be described below with reference to the accompanying drawings.

第１の実施例を第４図乃至第７図に示す。走行
台車１は４個の駆動車輪２と４個の従動車輪３を
備え、チエーン・スプロケツト４を介して油圧モ
ータ５に取付けたチエーン・スプロケツト６によ
つて駆動車輪２を駆動して走行する。また走行台
車１は荷物支持台７を備え、走行台車１の底面に
ピン８を介して水平、或いは台車の高さｉより上
面に突出しないよう略水平に傾斜して取付けた１
本の油圧シリンダ９を伸縮させ、駆動輪を取付け
た軸を覆う中空軸１０に取付けたピン１１を枢軸
としてローラ１２，１３を上下し、更にコネクチ
ングロツド１４を介してピン１５とピン１６によ
り連結された中空軸１７に油圧シリンダ９の伸縮
運動をローラ１８，１９の上下運動として伝え
る。即ち２本の中空軸１０，１７に取付けた各軸
２個ずつの合計４個のローラ１２，１３，１８，
１９により荷物支持台７を持ち上げ、高いベルハ
に荷物４２を持ち上げたままで走行し、所定位置
に到達後低いレベルチに下降し、荷物４２を棚兼
用レールの上面リに置き解放する。 A first embodiment is shown in FIGS. 4 to 7. The traveling truck 1 has four driving wheels 2 and four driven wheels 3, and travels by driving the driving wheels 2 by a chain sprocket 6 attached to a hydraulic motor 5 via a chain sprocket 4. Further, the traveling trolley 1 is equipped with a cargo support stand 7, which is attached to the bottom surface of the traveling trolley 1 through pins 8 horizontally, or approximately horizontally with an inclination so as not to protrude above the height i of the trolley.
The hydraulic cylinder 9 is expanded and contracted, and the rollers 12 and 13 are moved up and down using the pin 11 attached to the hollow shaft 10 that covers the shaft on which the drive wheel is attached as a pivot. The telescopic movement of the hydraulic cylinder 9 is transmitted to the connected hollow shaft 17 as the vertical movement of rollers 18 and 19. That is, a total of four rollers 12, 13, 18, two on each shaft, attached to two hollow shafts 10, 17,
19 lifts the load support stand 7, travels with the load 42 lifted on a high level, and after reaching a predetermined position descends to a lower level, places the load 42 on the upper surface of the rail that also serves as a shelf, and releases it.

油圧系統は、１個の電動機２０によりカツプリ
ング２１を介して駆動される油圧ポンプ２２によ
り構成される単一の油圧源２３と、前記油圧源２
３より圧油の供給を受けて走行台車１を駆動する
正逆両方向に回転可能の油圧モータ５と、荷物支
持台７を昇降させる油圧シリンダ９と、各種の制
御弁類、即ち前記モータ５の発停及び正逆の回転
方向を制御する制御用切換弁２４、前記モータ５
の増減速時の加速度（速度の増加率）及び逆加速
度（速度の減少率）を制御する流量調整弁２５と
制御用ピストン２６より成る第１の流量調整弁２
７、前記第１の流量調整弁の弁の開閉速度を制御
する増減速切換弁２８、前記油圧シリンダ９の伸
縮を制御する昇降用切換弁２９と、第７図に示す
油圧系統図に従つて前記の各機器類を連絡する、
圧油供給ライン３０、排油ライン３１、油圧タン
ク３２、リリーフ弁３３等を含む配管装置とによ
り構成される。 The hydraulic system includes a single hydraulic power source 23 constituted by a hydraulic pump 22 driven by one electric motor 20 via a coupling 21, and the hydraulic power source 2.
3, a hydraulic motor 5 rotatable in both forward and reverse directions drives the traveling cart 1 by receiving pressurized oil from the hydraulic cylinder 9, a hydraulic cylinder 9 that raises and lowers the cargo support platform 7, and various control valves, that is, the motor 5. A control switching valve 24 for controlling start/stop and forward/reverse rotation direction, and the motor 5
A first flow regulating valve 2 consisting of a flow regulating valve 25 and a control piston 26 that control acceleration (rate of increase in speed) and reverse acceleration (rate of decrease in speed) during increase/deceleration of the
7. An increase/decrease switching valve 28 that controls the opening/closing speed of the first flow rate regulating valve, an elevation switching valve 29 that controls the expansion and contraction of the hydraulic cylinder 9, and a hydraulic system according to the hydraulic system diagram shown in FIG. Contact each of the above equipment,
It is composed of a piping device including a pressure oil supply line 30, an oil drain line 31, a hydraulic tank 32, a relief valve 33, and the like.

次に走行台車１の作動を説明するに、停止中の
台車を前進方向（矢印イ）に発進させ加速するに
は、先ず制御用切換弁２４に設けたソレノイド
Sol.２を、次いで増減速切換弁２８のソレノイド
Sol.１を励磁するとモータ５は正転をはじめ、次
いで制御用ピストン２６は矢印ニの方向に移動
し、第１の調整弁２７、具体的には弁２５の弁開
度が増加して油圧モータ５の回転速度が上昇し、
走行台車１は発進し加速された後定速走行に入
る。前進（モータ正転）定速走行中の減速は増減
速切換弁２８のソレノイドSol.１の励磁を解くと
ピストン２６が矢印ホの方向に動き第１の流量調
整弁２７の弁開度が減少し、油圧モータ５の回転
速度が低下し走行台車１は減速に入る。 Next, to explain the operation of the traveling bogie 1, in order to start and accelerate the stopped bogie in the forward direction (arrow A), first, the solenoid installed in the control switching valve 24 is
Sol.2, then the solenoid of the increase/decelerate switching valve 28.
When Sol. 1 is energized, the motor 5 starts to rotate normally, and then the control piston 26 moves in the direction of arrow D, and the opening degree of the first regulating valve 27, specifically the valve 25, increases to increase the oil pressure. The rotational speed of the motor 5 increases,
The traveling trolley 1 starts, is accelerated, and then starts running at a constant speed. For deceleration during forward (motor forward rotation) constant speed running, when the solenoid Sol. However, the rotational speed of the hydraulic motor 5 decreases, and the traveling trolley 1 begins to decelerate.

加速度及び逆加速度の調整は増減速切換弁２８
に組込んだ第２の流量調整弁３４の開度を変化さ
せてピストン２６の移動速度を変化させると、第
１の流量調整弁２７の弁開閉速度が変化すること
により達成される。即ち、加速度の大きさを減少
させる場合には増減速切換弁２８に組込んだ第２
の流量調整弁３４の流量を減少させると、その時
点において或る速度で移動中の制御用ピストン２
６のピストンの移動速度が減少するので、第１の
流量調整弁２７の弁２５の開閉速度が減少し、油
圧モータ５の加速度が弱められる。 Acceleration and reverse acceleration are adjusted using the acceleration/deceleration switching valve 28.
When the moving speed of the piston 26 is changed by changing the opening degree of the second flow rate regulating valve 34 incorporated in the first flow rate regulating valve 27, this is achieved by changing the valve opening/closing speed of the first flow rate regulating valve 27. That is, when reducing the magnitude of acceleration, the second
When the flow rate of the flow rate adjustment valve 34 is decreased, the control piston 2, which is moving at a certain speed at that time,
Since the moving speed of the piston 6 is reduced, the opening/closing speed of the valve 25 of the first flow rate regulating valve 27 is reduced, and the acceleration of the hydraulic motor 5 is weakened.

前進（モータ正転）中の走行台車１を停止する
には、いつたん減速後制御用切換弁２４のソレノ
イドSol.２の励磁を解くと、切換弁２４は中立位
置を保ち、圧油の供給が断たれて油圧モータ５は
停止し、従つて走行台車１も停止する。 To stop the traveling bogie 1 that is moving forward (motor rotation forward), once the solenoid Sol. is cut off, the hydraulic motor 5 stops, and therefore the traveling carriage 1 also stops.

停止位置の精度の調整は第１の流量調整弁２７
の弁２５の流量を少流量に制限することにより達
成される。 The accuracy of the stop position is adjusted by the first flow rate adjustment valve 27.
This is achieved by limiting the flow rate of the valve 25 to a small flow rate.

次に停止中の台車１を後進（矢印ロ方向）させ
る作動を説明するに、停止中のモータ５を起動す
るには先ず制御用切換弁２４のソレノイドSol.３
を、次いで増減速切換弁２８のソレノイドSol.１
を励磁すると油圧モータ５を逆転させる方向に圧
油が供給され、一方ピストン２６は矢印ニの方向
に動き第１の流量調整弁２７の弁２５が開き、走
行台車１は後進方向に発進して加速され、その後
定速走行に入る。後進（モータ逆転）定速走行中
に減速するためには、増減速切換弁２８のソレノ
イドSol.１の励磁を解くと、ピストン２６はホ方
向に動き第１の流量調整弁２７の弁２５の開度は
減少し、走行台車１は減速に入る。走行台車を停
止するにはいつたん減速した上で、制御用切換弁
２４のソレノイドSol.３の励磁を解くと、油圧モ
ータ５は停止し、従つて走行台車１もまた停止す
る。 Next, to explain the operation of moving the stopped truck 1 backward (in the direction of arrow B), in order to start the stopped motor 5, first, the solenoid Sol.
Then, the solenoid Sol.1 of the acceleration/deceleration switching valve 28
When energized, pressure oil is supplied in the direction of reversing the hydraulic motor 5, while the piston 26 moves in the direction of arrow D, opens the valve 25 of the first flow rate regulating valve 27, and the traveling truck 1 starts in the reverse direction. The vehicle is accelerated and then starts running at a constant speed. In order to decelerate during constant speed running in reverse (motor reversal), when the solenoid Sol. The opening degree decreases, and the traveling trolley 1 begins to decelerate. To stop the traveling truck, first decelerate and then release the excitation of the solenoid Sol. 3 of the control switching valve 24, the hydraulic motor 5 will stop, and therefore the traveling truck 1 will also stop.

なお非常時の対策として停電時等に入力により
走行台車１を移動させる場合は、ストツプ弁３５
を全開することにより、油圧モータ５は解放さ
れ、走行台車１は前後進共移動可能になる。また
圧油供給ライン３０にはリリーフ弁３３を備え、
過大な油圧による関連機器の過負荷を防止する。 As an emergency measure, if you want to move the traveling trolley 1 by input during a power outage, etc., please use the stop valve 35.
By fully opening the hydraulic motor 5, the hydraulic motor 5 is released and the traveling trolley 1 can move both forward and backward. Further, the pressure oil supply line 30 is equipped with a relief valve 33,
Prevent overload of related equipment due to excessive hydraulic pressure.

最後に荷物支持台７の昇降時の作動を説明する
に、昇降用切換弁２９のソレノイドSol.４を励磁
することにより、シリンダ９の軸が矢印ヘ方向に
伸び出し荷物支持台７は上昇し、また昇降用切換
弁２９のソレノイドSol.５を励磁することによ
り、シリンダ９の軸は矢印ト方向に縮み荷物支持
台７は下降する。 Finally, to explain the operation when lifting and lowering the cargo support platform 7, by energizing the solenoid Sol. Also, by energizing the solenoid Sol. 5 of the elevation switching valve 29, the axis of the cylinder 9 is contracted in the direction of arrow T, and the cargo support platform 7 is lowered.

走行台車１には、図示してないが走行制御用リ
ミツトスイツチ及び昇降制御用リミツトスイツチ
が設けられ、前述の電気的な制御を行うための制
御盤３６が設けられる。走行台車１への給電は制
御盤３６の下面に取付けた給電ケーブル（図示せ
ず）を通して行う。 The traveling trolley 1 is provided with a traveling control limit switch and a lifting control limit switch (not shown), and a control panel 36 for performing the above-mentioned electrical control. Power is supplied to the traveling vehicle 1 through a power supply cable (not shown) attached to the lower surface of the control panel 36.

なお荷物支持台７は昇降動作時に前後左右に揺
れ動くのを防止するため、ローラ１２，１３，１
８，１９にフランジ（肩）４１を備えて左右のフ
レを抑止し、前後方向の動きは落し込み式のスト
ツパ３７を設けて防止する。 In addition, to prevent the load support platform 7 from swinging back and forth and left and right during lifting and lowering operations, rollers 12, 13, and 1 are used.
Flanges (shoulders) 41 are provided at 8 and 19 to suppress left and right deflection, and a drop-in stopper 37 is provided to prevent longitudinal movement.

次に第２の実施例を第８図乃至第１１図に示
す。この実施例は比較的重量の重い荷物（約２乃
至３トン）、または長尺物の荷物を運搬するため
の荷物支持台を有する走行台車の昇降用駆動装置
に係わるもので、台車を走行させるため装置の部
分は各従動輪３を駆動するためのスプロケツト・
チエーン３８を各駆動輪及び各従動輪の車軸に備
える他は第１の実施例と同様である。図中同一の
部品は同一符号をもつて示す。 Next, a second embodiment is shown in FIGS. 8 to 11. This embodiment relates to a drive device for lifting and lowering a traveling trolley having a load support platform for transporting relatively heavy loads (approximately 2 to 3 tons) or long objects. The device part includes a sprocket for driving each driven wheel 3.
This embodiment is the same as the first embodiment except that a chain 38 is provided on the axle of each driving wheel and each driven wheel. Identical parts in the figures are designated by the same reference numerals.

以下昇降装置だけについて説明する。 Only the lifting device will be explained below.

荷物支持台７は走行台車１の４隅に垂直に配置
された４本の油圧シリンダ９，９′，９″，９に
よつて支えられ、前記４本の油圧シリンダを油圧
により伸縮し上下させることにより、上昇時、荷
物支持台７をハの位置に持上げ、下降時はチの位
置に下ろす。上昇時、荷物支持台７と棚兼用レー
ル上面リとの距離ｚと下降時の荷物支持台７の上
面と棚兼用レール上面リとの距輪ｚは略等しく、
距離の合計は約40mmとする。走行台車の走行速度
変動時、または荷物支持台昇降操作時、４本の油
圧シリンダ９，９′，９″，９に加わる水平荷重
を緩和するため、走行台車１と荷物支持台７の間
に１個または複数個の落し込み式ストツパー３７
を設ける。ストツパー３７の嵌合状態が簡単に目
視できるよう荷物支持台７に穴４０を明けてもよ
い。油圧系統図は第１１図に示すごとく第１の実
施例における１個の油圧シリンダの代りに４個の
油圧シリンダ９，９′，９″，９を接続してお
り、これ以外は第１の実施例と同じである。荷物
支持台７の昇降時の作動を説明するに、昇降用切
換弁２９のソレノイドSol.４を励磁することによ
り油圧シリンダ９，９′，９″，９の各軸が矢印
ヘの方向へ伸び出し、荷物支持台７を持上げ、ま
た昇降用切換弁２９のソレノイドSol.５を励磁す
ることにより、シリンダ９，９′，９″，９の各
軸は矢印トの方向に縮み、荷物支持台７は下降す
る。走行台車走行時の作動については第１の実施
例の場合と同様ゆえ説明を省略する。 The load support platform 7 is supported by four hydraulic cylinders 9, 9', 9'', and 9 arranged vertically at the four corners of the traveling trolley 1, and the four hydraulic cylinders are expanded and contracted by hydraulic pressure to move it up and down. By doing this, the load support platform 7 is lifted to the position C when ascending, and lowered to the position C when descending. The distance ring z between the top surface of 7 and the top surface of the rail that also serves as a shelf is approximately equal,
The total distance should be approximately 40mm. In order to reduce the horizontal load applied to the four hydraulic cylinders 9, 9', 9'', and 9 when the traveling speed of the traveling truck changes or when the load support platform is raised and lowered, a One or more drop-in stoppers 37
will be established. A hole 40 may be formed in the load support base 7 so that the fitted state of the stopper 37 can be easily checked visually. As shown in Fig. 11, the hydraulic system diagram shows that four hydraulic cylinders 9, 9', 9'', and 9 are connected instead of the one hydraulic cylinder in the first embodiment; This is the same as in the embodiment. To explain the operation when the cargo support platform 7 is raised and lowered, each axis of the hydraulic cylinders 9, 9', 9'', and 9 is activated by energizing the solenoid Sol. starts to extend in the direction of the arrow, lifts the cargo support platform 7, and energizes the solenoid Sol. The load support platform 7 is lowered in the direction shown in FIG.

なお本発明は前述の実施例にのみ限定されるも
のではなく、本発明の要旨を逸脱しない範囲内で
種々の変更を行い得ることは勿論である。 Note that the present invention is not limited to the above-described embodiments, and it goes without saying that various changes can be made without departing from the gist of the present invention.

本発明の走行台車の駆動装置は前述の構成を有
するので下記の顕著な効果を奏し得る。 Since the traveling bogie drive device of the present invention has the above-described configuration, it can achieve the following remarkable effects.

(i) 走行用に減速機を設け走行用モータにて駆動
し、昇降用にギヤードモータを使用した従来の
走行台車を油圧化することにより、速度の加減
が容易になり、しかも加速度、逆加速度の大き
さを自由に制御できるので破損し易い製品また
は荷崩れし易い品物等を安全に運搬することが
できる。また低速度運転が可能となるので走行
台車の停止位置の精度を高めることができる。(i) By installing a reduction gear for traveling and driving it with a traveling motor, and using a geared motor for lifting and lowering, the conventional traveling trolley is made hydraulic, making it easier to adjust the speed and reduce acceleration and reverse acceleration. Since the size of the container can be freely controlled, products that are easily damaged or items that are likely to collapse can be safely transported. Furthermore, since low-speed operation is possible, the accuracy of the stop position of the traveling carriage can be improved.

(ii) 前項に述べた理由により、１台の電動機によ
り走行、昇降動作を行うことが可能となり、台
車が小形化される。(ii) For the reasons stated in the previous section, it becomes possible to run and move up and down with a single electric motor, making the trolley more compact.

(iii) 非常時、停電時等に人力により走行台車を移
動させる場合はストツプ弁を全開することによ
り容易に行うことができる。(iii) In times of emergency, power outage, etc., moving the traveling trolley by hand can be easily done by fully opening the stop valve.

(iv) 荷物支持台の昇降操作は油圧シリンダにより
行い、荷物の重量、形状寸法に応じ油圧シリン
ダの数及び配置を適宜選定することにより、荷
物に適合した幅と長さの荷物支持台を容易に設
計することができる。更に走行台車の高さｉを
薄くでき荷物４２の高さを大きく取れる。(iv) Lifting and lowering of the cargo support platform is performed by hydraulic cylinders, and by appropriately selecting the number and arrangement of hydraulic cylinders according to the weight and shape of the cargo, it is easy to create a cargo support platform with the width and length that suits the cargo. can be designed. Furthermore, the height i of the traveling cart can be made thinner, and the height of the cargo 42 can be increased.

(v) 圧力供給ラインにリリーフ弁を設置すること
により、駆動部或いは荷物支持台に過大な荷重
がかかるおそれがなく装置の安全が保証され
る。(v) By installing a relief valve in the pressure supply line, there is no risk of excessive load being applied to the drive unit or load support, and the safety of the equipment is guaranteed.

【図面の簡単な説明】[Brief explanation of drawings]

第１図は従来の走行台車の平面図、第２図は第
１図における−方向からの荷物支持台の昇降
操作部分の切断側面図、第３図は第１図における
−方向からの走行操作部分の切断側面図、第
４図は本発明の第１の実施例を示す走行台車の駆
動装置の平面図、第５図は第４図における−
方向からの車軸の構造を示す切断正面図、第６図
は第４図における−方向からの荷物支持台の
駆動装置の切断側面図、第７図は第４図における
駆動装置の油圧系統図、第８図は本発明の第２の
実施例を示す走行台車の駆動装置の平面図、第９
図は第８図における−方向からの切断側面
図、第１０図は第８図における−方向からの
荷物支持台の駆動装置の切断正面図、第１１図は
第８図における駆動装置の油圧系統図、である。 図中１は走行台車、５は油圧モータ、７は荷物
支持台、９，９′，９″，９は油圧シリンダ、２
３は油圧源、２４は制御用切換弁、２７は第１の
流量調整弁、２９は昇降用切換弁、３０は圧油供
給ライン、３１は排油ライン、３４は第２の流量
調整弁である。 Fig. 1 is a plan view of a conventional traveling trolley, Fig. 2 is a cutaway side view of the lifting/lowering operation portion of the load support platform viewed from the - direction in Fig. 1, and Fig. 3 is a traveling operation from the - direction in Fig. 1. FIG. 4 is a plan view of a driving device for a traveling bogie showing the first embodiment of the present invention, and FIG.
FIG. 6 is a cutaway front view showing the structure of the axle in the direction shown in FIG. 4, FIG. 6 is a cutaway side view of the drive device of the load support platform seen from the − direction in FIG. 4, and FIG. 7 is a hydraulic system diagram of the drive device in FIG. 4. FIG. 8 is a plan view of a driving device for a traveling truck showing a second embodiment of the present invention; FIG.
The figure is a cutaway side view taken from the − direction in FIG. 8, FIG. 10 is a cutaway front view of the drive device of the cargo support platform taken from the − direction in FIG. 8, and FIG. 11 is the hydraulic system of the drive device in FIG. 8. Figure. In the figure, 1 is a traveling trolley, 5 is a hydraulic motor, 7 is a load support platform, 9, 9', 9'', 9 are hydraulic cylinders, 2
3 is a hydraulic power source, 24 is a control switching valve, 27 is a first flow rate adjustment valve, 29 is a lift switching valve, 30 is a pressure oil supply line, 31 is an oil drain line, and 34 is a second flow rate adjustment valve. be.

Claims (1)

【特許請求の範囲】 １ 昇降可能な荷物支持台を有する前後進可能な
走行台車において、前記荷物支持台を昇降させる
油圧シリンダと、前記走行台車を走行させる油圧
モータと、前記の油圧シリンダと油圧モータを駆
動する油圧源を備えると共に、油圧モータの発停
及び前後進操作を制御する制御用切換弁を油圧モ
ータの圧油供給ラインに設け、また油圧モータの
増速時の加速度及び減速時の逆加速度を制御する
流量調整弁を油圧モータの排油ラインに設けて前
記弁の開閉速度を制御可能に構成し、更に走行台
車停止の際所望の低速度走行を可能にするため前
記流量調整弁を通る流量を調整可能に構成したこ
とを特徴とする走行台車の駆動装置。 ２ 前記の流量調整弁の弁開閉速度が別の流量調
整弁の弁開度の調整により制御可能に構成したこ
とを特徴とする特許請求の範囲第１項記載の走行
台車の駆動装置。 ３ 荷物支持台の底面に略水平に１個の油圧シリ
ンダを取付け、リンク機構を介して前記荷物支持
台を昇降させるよう構成したことを特徴とする特
許請求の範囲第１項、または第２項記載の走行台
車の駆動装置。 ４ 荷物支持台の底面の４隅に、底面に垂直に４
個の油圧シリンダを取付け、前記荷物支持台を昇
降させるよう構成したことを特徴とする特許請求
の範囲第１項、または第２項記載の走行台車の駆
動装置。[Scope of Claims] 1. A traveling truck that can move forward and backward and has a load support platform that can be raised and lowered, comprising: a hydraulic cylinder that raises and lowers the load support platform; a hydraulic motor that drives the travel truck; In addition to being equipped with a hydraulic source for driving the motor, a control switching valve for controlling starting/stopping and forward/backward movement of the hydraulic motor is installed in the pressure oil supply line of the hydraulic motor, and also controls the acceleration during speed increase and deceleration of the hydraulic motor. A flow rate regulating valve for controlling reverse acceleration is provided in the oil drain line of the hydraulic motor so that the opening/closing speed of the valve can be controlled, and the flow rate regulating valve is configured to control the opening/closing speed of the valve. A driving device for a traveling bogie, characterized in that the flow rate passing through can be adjusted. 2. The driving device for a traveling bogie according to claim 1, wherein the valve opening/closing speed of the flow rate regulating valve is configured to be controllable by adjusting the valve opening degree of another flow rate regulating valve. 3. Claim 1 or 2, characterized in that one hydraulic cylinder is installed substantially horizontally on the bottom surface of the cargo support platform, and the cargo support platform is raised and lowered via a link mechanism. A drive device for the traveling trolley described. 4 At the four corners of the bottom of the cargo support stand, place four squares perpendicular to the bottom.
3. The drive device for a traveling trolley according to claim 1 or 2, characterized in that said hydraulic cylinder is attached to raise and lower said load support platform.