JPH0810408B2 - Travel control system for transportation trains - Google Patents
Travel control system for transportation trainsInfo
- Publication number
- JPH0810408B2 JPH0810408B2 JP63219911A JP21991188A JPH0810408B2 JP H0810408 B2 JPH0810408 B2 JP H0810408B2 JP 63219911 A JP63219911 A JP 63219911A JP 21991188 A JP21991188 A JP 21991188A JP H0810408 B2 JPH0810408 B2 JP H0810408B2
- Authority
- JP
- Japan
- Prior art keywords
- train
- stop
- detected
- stopped
- detector
- 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.)
- Expired - Fee Related
Links
- 238000001514 detection method Methods 0.000 claims description 32
- 230000002265 prevention Effects 0.000 description 4
- 238000013459 approach Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
【発明の詳細な説明】 (産業上の利用分野) 本発明は、走行経路に沿って自走する搬送用電車の走
行制御システムに関するものである。Description: TECHNICAL FIELD The present invention relates to a traveling control system for a transportation train that travels along a traveling route.
(従来の技術及び発明が解決しようとする課題) この種の搬送用電車は、走行経路中に設定された各ス
テーションや分岐合流経路部の手前等で選択的に停止さ
せるための走行制御が行われるが、同時に、先行停止電
車に対する追突防止のための自動停止制御も必要であ
る。従来は、前記電車を停止位置で選択的に停止させた
り、停止した電車を発進させたりするための制御手段と
追突防止のための制御手段とが各別に設けられており、
部品点数が多くなり、コスト高になる欠点があった。(Problems to be Solved by the Related Art and Invention) This type of transportation train has a traveling control for selectively stopping before each station or branch / merging route set in the traveling route. However, at the same time, automatic stop control is also necessary to prevent a rear-end collision with a preceding stop train. Conventionally, a control means for selectively stopping the train at a stop position or for starting the stopped train and a control means for preventing a rear-end collision are separately provided,
There is a drawback that the number of parts increases and the cost increases.
(課題を解決するための手段) 本発明は上記のような従来の問題点を解決するため
に、走行経路に沿って自走する搬送用電車の前端側に一
つの停止用検出器を設け、当該電車の後端側には、後続
電車の前記停止用検出器によって検出される追突防止用
被検出板を設け、前記電車の停止位置には、前記停止用
検出器によって検出される作用位置と検出されない非作
用位置とに切換可能な停止用被検出板を配設し、前記停
止用検出器の検出動作により電車が停止するように構成
した搬送用電車の走行制御システムを提案するものであ
る。(Means for Solving the Problems) In order to solve the above-mentioned conventional problems, the present invention provides one stop detector on the front end side of a transportation train that is self-propelled along a traveling route, The rear end side of the train is provided with a collision-prevention detected plate that is detected by the stop detector of the succeeding train, and the stop position of the train has an action position detected by the stop detector. A traveling control system for a transport train is provided in which a stop target plate that can be switched to a non-acting position that is not detected is disposed and the train is stopped by the detection operation of the stop detector. .
(発明の作用) 停止位置に向かって走行して来る電車を当該停止位置
で停止させるときは、当該停止位置にある停止用被検出
板を作用位置に切り換えておく。然して前記電車の停止
用検出器が前記停止用被検出板を検出することにより、
当該電車は自動的にこの停止位置で停止することにな
る。若し、この停止位置で電車を停止させる必要がない
場合は、電車の停止用検出器が前記停止用被検出板を検
出することが出来ないように、前記停止用被検出板を非
作用位置で待機させておけば良い。(Operation of the Invention) When the train running toward the stop position is stopped at the stop position, the stop detection target plate at the stop position is switched to the operation position. However, by detecting the stop detection plate of the train stop detector,
The train will automatically stop at this stop position. If it is not necessary to stop the train at this stop position, the stop detection plate cannot be detected by the train stop detector so that the stop detection plate cannot be detected. You just have to wait.
停止した電車を発進させるときは、前記停止用被検出
板を作用位置から非作用位置に切り換える。この結果、
電車の停止用検出器が検出状態から非検出状態に切り換
わり、停止指令が消去されるので、当該電車は自動的に
発進する。When the stopped train is started, the stop detection target plate is switched from the operating position to the non-operating position. As a result,
Since the train stop detector switches from the detection state to the non-detection state and the stop command is erased, the train automatically starts.
走行する電車が同一走行経路中で停止している別の電
車に一定距離以内に接近すると、当該先行停止電車の後
端側の追突防止用被検出板を後続電車の停止用検出器が
検出することになり、停止位置で停止用被検出板を検出
したときと同様に当該電車が自動停止し、先行停止電車
に対する追突が免れる。先行停止電車が発進してその追
突防止用被検出板が後続停止電車の停止用検出器から外
れると、後続停止電車の停止用検出器が非検出状態に切
り換わるので、後続停止電車も追従発進することにな
る。When a train that is traveling approaches another train that is stopped on the same travel route within a certain distance, the stop detector of the succeeding train detects the rear collision side detection target plate on the rear end side of the preceding stopped train. As a result, the train is automatically stopped in the same manner as when the stop detection plate is detected at the stop position, and the rear-end collision with the preceding stopped train is avoided. When the preceding stopped train starts and the detected plate for preventing rear-end collision comes off the stopping detector of the succeeding stopped train, the stopping detector of the succeeding stopped train switches to the non-detection state. Will be done.
(実施例) 以下に本発明の一実施例を添付の例示図に基づいて説
明する。(Example) Hereinafter, one example of the present invention will be described with reference to the accompanying drawings.
第1図に於いて、1はガイドレール2に沿って自走す
る搬送用電車であって、前端側に停止用検出器としての
近接スイッチ3を備えている。この電車1の走行経路中
に設定されたステーション4には、停止用被検出板5が
ロータリーソレノイド等のアクチュエータ6により作用
位置Aと非作用位置Bとに切換可能に設けられている。In FIG. 1, reference numeral 1 is a transportation train that runs along a guide rail 2 and has a proximity switch 3 as a stop detector on the front end side. A stop detection target plate 5 is provided at a station 4 set in the traveling route of the train 1 so as to be switched between an operating position A and a non-operating position B by an actuator 6 such as a rotary solenoid.
前記搬送用電車1は、第2図及び第3図に示すよう
に、駆動車輪7、振れ止め用ローラー8、前記駆動車輪
7を駆動するモーター9、及び集電ユニット10を備えた
駆動トロリー11と、従動車輪12、及び振れ止め用ローラ
ー13を備えた従動トロリー14と、両トロリー11,14を連
結する連結部材15と、この連結部材15に吊り下げられた
被搬送物支持台16とから構成され、前記ガイドレール2
はI形断面のモノレールタイプのものであって、一側面
に給電レール17が架設されている。As shown in FIGS. 2 and 3, the transport train 1 includes a drive trolley 11 including drive wheels 7, a steady rest roller 8, a motor 9 for driving the drive wheels 7, and a current collecting unit 10. From the driven wheel 12 and the driven trolley 14 having the steady rest roller 13, the connecting member 15 connecting the two trolleys 11 and 14, and the transported object support base 16 suspended from the connecting member 15. Configured, the guide rail 2
Is a monorail type with an I-shaped cross section, and a power feeding rail 17 is installed on one side surface.
前記両トロリー11,14は、前記連結部材15の前後両端
に取り付けられた軸受部材15a,15bに垂直支軸18(第4
図参照)の周りで回転可能に連結されているが、両軸受
部材15a,15bには、両トロリー11,14よりも前方及び後方
に突出するように、支持部材19a,19bを介してバンパー2
0a,20bが取り付けられている。このバンパー20a,20b
は、両トロリー11,14に取り付けても良い。The two trolleys 11 and 14 are attached to the front and rear ends of the connecting member 15 by bearing members 15a and 15b, respectively, and a vertical support shaft 18 (fourth
(See the figure), but the two bearing members 15a, 15b are connected to the bumper 2 via support members 19a, 19b so as to project forward and rearward of both trolleys 11, 14.
0a and 20b are attached. This bumper 20a, 20b
May be attached to both trolleys 11 and 14.
第2図及び第4図に示すように、前部のバンパー支持
部材19aには、前方に延出するブラケット21が取り付け
られ、このブラケット21の先端に前記停止用近接スイッ
チ3が下向きに取り付けられている。後部のバンパー支
持部材19bには、後方に延出する追突防止用被検出板22
が取り付けられ、前後の搬送用電車1が一定距離以内に
接近したとき、当該被検出板22の後端部の上側に後続電
車の前記近接スイッチ3が対向して、当該近接スイッチ
3が被検出板22を検出する。As shown in FIGS. 2 and 4, a bracket 21 extending forward is attached to the front bumper supporting member 19a, and the stop proximity switch 3 is attached downward to the tip of the bracket 21. ing. The rear bumper support member 19b has a rear collision-preventing detection target plate 22 extending rearward.
When the front and rear transportation trains 1 are attached within a certain distance, the proximity switch 3 of the succeeding train faces the upper side of the rear end of the plate 22 to be detected, and the proximity switch 3 is detected. The plate 22 is detected.
尚、前記停止用被検出板5と追突防止用被検出板22と
は同一レベルにあって、前記停止用被検出板5やその位
置切換用アクチュエータ6が走行する電車1と接触しな
いように、前記近接スイッチ3の位置が電車1の中心線
より左右片側にずらされている。又、第3図に示すよう
に前記被検出板5の位置切換用アクチュエータ6は、ブ
ラケット23を介してガイドレール2に支持されている。
24はガイドレール2を吊り下げるブラケットである。The stop detection plate 5 and the rear-end collision detection detection plate 22 are at the same level so that the stop detection plate 5 and the position switching actuator 6 do not come into contact with the train 1. The position of the proximity switch 3 is shifted to the left or right from the center line of the train 1. Further, as shown in FIG. 3, the position switching actuator 6 of the plate 5 to be detected is supported by the guide rail 2 via a bracket 23.
24 is a bracket for suspending the guide rail 2.
次に上記実施例の作用を説明すると、給電レール17か
ら集電ユニット10を経由して供給される電力によってモ
ーター9が稼動し、駆動車輪7が回転駆動されて搬送用
電車1がガイドレール2に沿って走行する。この電車1
がステーション4に到達すると、第1図実線及び第4図
仮想線で示すように作用位置Aにある停止用被検出板5
の上側に停止用近接スイッチ3が重なったとき、当該近
接スイッチ3が前記停止用被検出板5を検出する。この
近接スイッチ3の検出動作によりモーター9の電源回路
が開成され、当該モーター9への給電が断たれて駆動車
輪7が停止し、搬送用電車1がステーション4に於いて
停止する。Next, the operation of the above embodiment will be described. The motor 9 is operated by the electric power supplied from the power feeding rail 17 via the current collecting unit 10, the driving wheels 7 are rotationally driven, and the electric train 1 is guided by the guide rail 2. Drive along. This train 1
When the station 4 arrives at the station 4, the detection plate for stop 5 at the working position A as shown by the solid line in FIG.
When the stop proximity switch 3 overlaps the upper side of the, the proximity switch 3 detects the stop detection target plate 5. By the detection operation of the proximity switch 3, the power supply circuit of the motor 9 is opened, the power supply to the motor 9 is cut off, the drive wheels 7 are stopped, and the transportation train 1 is stopped at the station 4.
ステーション4で停止した電車1を発進させるとき
は、作用位置Aにある停止用被検出板5をアクチュエー
タ6により第1図仮想線及び第4図実線で示す非作用位
置Bに切り換える。この結果、近接スイッチ3が非検出
状態に切り換わり、再びモーター9の電源回路が閉成さ
れ、当該モーター9への給電が再開されて駆動車輪7が
回転駆動され、当該電車1がステーション4から発進す
る。When the train 1 stopped at the station 4 is started, the stop detection target plate 5 at the working position A is switched to the non-working position B shown by the phantom line in FIG. 1 and the solid line in FIG. 4 by the actuator 6. As a result, the proximity switch 3 is switched to the non-detection state, the power circuit of the motor 9 is closed again, the power supply to the motor 9 is restarted, the driving wheels 7 are rotationally driven, and the train 1 is moved from the station 4 to the station 4. Take off.
又、ステーション4で電車1を停止させないでそのま
ま走行通過させたいときは、当該電車1が到着する前に
前記停止用被検出板5をアクチュエータ6により非作用
位置Bに切り換えておき、電車1の停止用近接スイッチ
3が停止用被検出板5を検出出来ないようにしておけば
良い。Further, when it is desired to pass the train 1 without stopping the train 1 at the station 4, the stop detection target plate 5 is switched to the non-acting position B by the actuator 6 before the train 1 arrives. It suffices if the stop proximity switch 3 cannot detect the stop target plate 5.
故障で停止している電車1やストレージラインに於い
て停止している電車1に対し、後続の電車1が一定距離
以内に接近すると、後続電車1の停止用近接スイッチ3
が先行停止電車1の追突防止用被検出板22の上側に重な
る位置に達したとき、当該近接スイッチ3が追突防止用
被検出板22を検出するので、ステーション4に於いて近
接スイッチ3が停止用被検出板5を検出したときと同様
に、後続電車1は自動停止せしめられる。先行停止電車
1が発進して、その追突防止用被検出板22が後続停止電
車1の停止用近接スイッチ3の下側位置から前方へ外れ
ると、当該後続停止電車1の近接スイッチ3が非検出状
態となるので、停止用被検出板5を作用位置Aから非作
用位置Bに切り換えたときと同様に、後続停止電車1の
停止が自動的に解除され、先行電車1に追従するように
発進する。When the following train 1 approaches within a certain distance to the train 1 stopped due to a failure or the train 1 stopped in the storage line, the proximity switch 3 for stopping the following train 1
When the vehicle reaches a position overlapping the upper side of the collision-prevention detection target plate 22 of the preceding stop train 1, the proximity switch 3 detects the rear-end collision prevention detection plate 22, so that the proximity switch 3 stops at the station 4. The succeeding train 1 is automatically stopped in the same manner as when the detection target plate 5 is detected. When the preceding stopped train 1 starts and the rear collision prevention detection target plate 22 moves forward from the lower position of the stopping proximity switch 3 of the succeeding stopped train 1, the proximity switch 3 of the succeeding stopped train 1 does not detect. Since the state is brought into the state, the stop of the trailing stop train 1 is automatically released and the vehicle is started to follow the preceding train 1 as in the case where the stop detection target plate 5 is switched from the operating position A to the non-operating position B. To do.
尚、停止用検出器として近接スイッチ3を使用した
が、投光器と受光器とのセットから成る遮蔽形光電スイ
ッチや反射形光電スイッチ等、他の検出器を利用するこ
とも出来る。又、停止用被検出板5を回転式アクチュエ
ータ6で回転させることにより作用位置Aと非作用位置
Bとに切り換えたように構成したが、直線的に出退移動
させて位置を切り換えることも出来る。Although the proximity switch 3 is used as the stop detector, other detectors such as a shield type photoelectric switch and a reflection type photoelectric switch which are composed of a projector and a light receiver can be used. Further, although the stop target plate 5 is rotated by the rotary actuator 6 to switch between the operating position A and the non-operating position B, the position can be switched by linearly moving back and forth. .
(発明の効果) 以上の如く本発明によれば、搬送用電車側に設けた一
つの停止用検出器の検出動作により、追突防止のための
停止制御とステーション等停止位置での停止制御とを行
わせることが出来、しかもステーション等停止位置に設
けられた一つの停止用被検出板の位置をアクチュエータ
で切り換えるだけで、走行して来る電車を停止させた
り、停止した電車を発進させたり、或いは電車を停止位
置で停止させないでそのまま走行通過させたりすること
が出来る。換言すれば、追突防止制御を含めて必要な停
止発進制御を、部品点数の少ない非常に簡単な手段によ
り確実に行わせることが出来るに至ったのである。(Effect of the Invention) As described above, according to the present invention, stop control for preventing a rear-end collision and stop control at a stop position such as a station are performed by the detection operation of one stop detector provided on the transportation train side. It can be performed, and by simply switching the position of one stop detection plate provided at the stop position such as a station with an actuator, stop the train that is running, start the stopped train, or You can pass the train as it is without stopping it at the stop position. In other words, the necessary stop and start control including the rear-end collision prevention control can be reliably performed by a very simple means with a small number of parts.
第1図は全体の構成を説明する概略平面図、第2図は具
体構造を示す側面図、第3図は同縦断正面図、第4図は
同横断平面図である。 1……搬送用電車、2……ガイドレール、3……停止用
近接スイッチ(停止用検出器)、4……ステーション、
5……停止用被検出板、6……アクチュエータ、7……
駆動車輪、9……モーター、10……集電ユニット、11…
…駆動トロリー、14……従動トロリー、17……給電レー
ル、20a,20b……バンパー、22……追突防止用被検出
板。FIG. 1 is a schematic plan view for explaining the overall structure, FIG. 2 is a side view showing a specific structure, FIG. 3 is a vertical sectional front view thereof, and FIG. 4 is a transverse plan view thereof. 1 ... Transport train, 2 ... guide rail, 3 ... stop proximity switch (stop detector), 4 ... station,
5 ... Stopped detection plate, 6 ... Actuator, 7 ...
Drive wheels, 9 ... motor, 10 ... collector, 11 ...
… Drive trolley, 14 …… Driven trolley, 17 …… Feed rail, 20a, 20b …… Bumper, 22 …… Detected plate for collision prevention.
Claims (1)
端側に一つの停止用検出器を設け、当該電車の後端側に
は、後続電車の前記停止用検出器によって検出される追
突防止用被検出板を設け、前記電車の停止位置には、前
記停止用検出器によって検出される作用位置と検出され
ない非作用位置とに切換可能な停止用被検出板を配設
し、前記停止用検出器の検出動作により電車が停止する
ように構成した搬送用電車の走行制御システム。1. A stop detector is provided on the front end side of a carrier train that travels along a traveling route, and is detected by the stop detector of a succeeding train on the rear end side of the train. A rear collision preventing detected plate is provided, and at the stop position of the train, a stop detected plate is provided which is switchable between an operating position detected by the stopping detector and a non-operating position not detected by the stopping detector. A traveling control system for a transportation train configured so that the train is stopped by the detection operation of a stop detector.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP63219911A JPH0810408B2 (en) | 1988-09-01 | 1988-09-01 | Travel control system for transportation trains |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP63219911A JPH0810408B2 (en) | 1988-09-01 | 1988-09-01 | Travel control system for transportation trains |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH0268260A JPH0268260A (en) | 1990-03-07 |
JPH0810408B2 true JPH0810408B2 (en) | 1996-01-31 |
Family
ID=16742952
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP63219911A Expired - Fee Related JPH0810408B2 (en) | 1988-09-01 | 1988-09-01 | Travel control system for transportation trains |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH0810408B2 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2000008534A1 (en) * | 1998-08-05 | 2000-02-17 | Daifuku Co., Ltd. | Controller for running of transport electric car |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2012150588A (en) * | 2011-01-18 | 2012-08-09 | Murata Mach Ltd | Rail-guided truck system |
-
1988
- 1988-09-01 JP JP63219911A patent/JPH0810408B2/en not_active Expired - Fee Related
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2000008534A1 (en) * | 1998-08-05 | 2000-02-17 | Daifuku Co., Ltd. | Controller for running of transport electric car |
Also Published As
Publication number | Publication date |
---|---|
JPH0268260A (en) | 1990-03-07 |
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LAPS | Cancellation because of no payment of annual fees |