JP4423554B2 - Goods transport vehicle - Google Patents

Description

  The present invention provides a traveling wheel body that is rotationally driven by a driving means and travels along a traveling rail, and the traveling wheel body that is in contact with the traveling rail so that upward movement is restricted with respect to the traveling rail. The present invention relates to an article transport vehicle that is provided with a restricting wheel body that restricts ascent from the rail and is configured to freely travel on the travel rail.

  Such an article transporting vehicle is configured to rotate the traveling wheel body by driving means to cause the article transporting vehicle to travel along the traveling rail along the traveling rail to convey the article, and by acceleration or deceleration of the article transporting vehicle. If the traveling wheel body rises from the traveling rail, the gripping force of the traveling wheel body decreases and slipping occurs. Conventionally, in order to restrict the floating of the traveling wheel body, the traveling wheel body is moved upward with respect to the traveling rail. In order to regulate the movement of the traveling wheel body, a regulation wheel body that contacts the lower surface and regulates the floating of the traveling wheel body from the upper surface of the traveling rail is provided in a fixed state, and the traveling wheel body and the regulation wheel body are predetermined in the vertical direction. (See, for example, Patent Document 1).

Japanese Utility Model Publication No. 3-127695

However, in the above-described conventional configuration, since the traveling wheel body and the restriction wheel body are provided at a predetermined interval in the vertical direction, the flying of the traveling wheel body cannot be sufficiently restricted by the restriction wheel body. In addition, the gripping force of the traveling wheel body is reduced, and slip is likely to occur.
For example, in the case where a pair of front and rear traveling wheels are provided on the article transport vehicle, when the article transport vehicle is tilted forward or backward due to inertial force or the like during acceleration or deceleration, the axial weight of one traveling wheel body is increased. Because the axle load of the other traveling wheel body is smaller and the gripping force of the traveling wheel body having the smaller wheel weight is reduced, slipping is likely to occur and the torque cannot be sufficiently extracted. Since the load is borne by the torque of the driving means for rotationally driving the body, the driving means is increased in size.
In addition, when the traveling wheel body is provided on one side of the article transporting vehicle and the other side is provided with a rotatable rolling wheel body, the acceleration of the article transporting vehicle traveling in the direction in which the traveling wheel body is provided or If the article transport vehicle is tilted due to the deceleration of the article transport vehicle traveling in the direction opposite to the direction in which the traveling wheel body is provided, the axle load of the traveling wheel body decreases, the grip force decreases, and slip occurs. Since it tends to occur, the acceleration / deceleration must be kept low.
By the way, since the thickness of the running rail is not uniform due to manufacturing errors and wear, if the restricted wheel is provided in a fixed state, there will be a gap between the restricted wheel and the running rail. Cannot be fully regulated.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an article transport vehicle in which a traveling wheel body is unlikely to slip.

In order to achieve this object, a first characteristic configuration of the article transport vehicle according to the present invention includes a traveling wheel body that is rotationally driven by a driving unit and travels along the traveling rail, and upwards with respect to the traveling rail. In the article transport vehicle, which is provided so as to be able to travel on the traveling rail, provided with a regulating wheel body that contacts the surface of the traveling wheel body so that the movement of the traveling wheel body is restrained from rising from the traveling rail. ,
The restriction wheel is provided in contact with the traveling rail with a contact pressure by the elastic force of an elastic body , and the elastic body is constituted by an annular elastic member attached to an outer peripheral portion of the restriction wheel. A pair of left and right restriction wheels are provided in contact with the right side portion and the left side portion of the travel rail, and the travel rails of the restriction wheel body for each of the pair of left and right restriction wheel bodies. There is an adjustment means for adjusting the contact pressure with respect to the transformer .

That is, the regulation wheel is brought into contact with the traveling rail with contact pressure by the elastic force of the elastic body, so that the traveling wheel is pressed against the traveling rail by the reaction of the elastic force of the elastic body, and the traveling rail of the traveling wheel body As a result, the rising of the traveling wheel body can be sufficiently restricted, the decrease in the gripping force of the traveling wheel body is suppressed, and slipping is less likely to occur. It will be difficult.
For example, when a pair of front and rear traveling wheels are provided on the article transport vehicle, the article transport vehicle is tilted forward or backward due to inertial force during acceleration or deceleration, and the axial weight of one traveling wheel body is increased. Even if the axle weight of the other traveling wheel body is small and the gripping force of the traveling wheel body having the small wheel weight is suppressed, the slip of the other traveling wheel body is suppressed, and the torque can be pulled out sufficiently. Since the torque borne by the driving means for rotationally driving the ring body can be reduced, the size of the driving means can be reduced.
In addition, when the traveling wheel body is provided on one side of the article transporting vehicle and the other side is provided with a rotatable rolling wheel body, the acceleration of the article transporting vehicle traveling in the direction in which the traveling wheel body is provided or Although the article transport vehicle is tilted by the deceleration of the article transport vehicle traveling in the direction opposite to the direction in which the traveling wheel body is provided, the grip force is reduced due to the reduced axle load of the traveling wheel body. Since it is suppressed and slip is less likely to occur, the acceleration / deceleration can be increased.
Therefore, it has become possible to provide an article transport vehicle that can prevent the traveling wheel body from slipping and can travel well.
In addition, an annular elastic member as an elastic body is attached to the outer peripheral portion of the regulating wheel body, and the contact pressure with respect to the traveling rail can be transformed by adjusting the traveling wheel body with respect to the traveling rail. The structure can be simplified as compared with a structure in which a traveling wheel body is provided via a spring and the spring is extended and contracted to adjust the contact pressure of the restricted wheel body against the traveling rail.
Furthermore, the traveling wheel body often travels in the left and right center portion on the upper surface of the traveling rail, but a pair of right and left regulating wheels are provided so as to be in contact with the right portion of the traveling rail and the left portion of the traveling rail. Thus, the restriction wheel can be applied to the traveling rail so that the contact pressure is not biased in the left-right direction.

The second characteristic configuration of the present invention, in the first characterizing feature, the adjusting means is in point Ru adjusting means der boost type.

  That is, when the traveling wheel body is likely to rise from the traveling rail, the contact pressure is increased to prevent slippage due to the rising, and when the traveling wheel body is difficult to float from the traveling rail, the contact pressure is decreased to convey the article. Since the contact pressure of the regulated wheel body against the running rail can be adjusted by the adjustment means according to the situation, such as reducing the vehicle's driving load, it is easy to use and the adjustment means is configured as a booster type. As a result, a small operating force is required to adjust the contact pressure, and the voltage can be easily adjusted.

  According to a third characteristic configuration of the present invention, in the second characteristic configuration, the boosting type adjusting means includes an operation member that is supported on the traveling carriage so as to be rotatable around a rotation axis in the left-right direction, and a pair of front and rear And a support member that is rotatably supported by the operation member so as to be swingable in an eccentric state with respect to the rotation axis of the operation member. .

  In other words, the support member is externally supported by the operation member so as to be swingable in an eccentric state with respect to the rotation axis of the operation member, and the boosting type adjusting means is configured using an eccentric cam. Compared with the one that constitutes the boosting type adjusting means using, a large force can be easily obtained with a small mechanism, and the adjusting means can be made compact.

According to a fourth feature configuration of the present invention, in any one of the first to third feature configurations, the traveling wheel body is configured to travel on an upper surface of the traveling rail, and the regulating wheel body is configured as described above. The driving wheel is configured to be in contact with the lower surface of the traveling rail to restrict the floating of the traveling wheel body from the traveling rail, and the driving means includes a pair of left and right traveling motors that rotationally drive the traveling wheel body. It is in the point.

Hereinafter, an embodiment will be described with reference to the drawings in the case of a stacker crane as an example of an article transport vehicle according to the present invention.
As shown in FIG. 1, the stacker crane A is configured so as to be able to travel on a single traveling rail 2 installed on the floor along a work path formed between storage shelves. A pair of front and rear support columns 5 that guide and support the elevating platform 4 so as to be movable up and down are erected on the traveling vehicle 3 that travels along the front and rear ends of the traveling path. They are connected by an upper frame 7 that is guided by a guide rail 6 installed above. The stacker crane A is configured to automatically travel along the work path and transfer articles to and from the storage shelf, and the stacker crane A and the storage shelf constitute an automatic warehouse. .

The lifting platform 4 is supported by being suspended by lifting and lowering wires 13 connected to both front and rear ends, and two articles transfer devices 14 are mounted on the lifting platform 4 in the traveling direction of the traveling carriage 3. It is arranged in parallel in a certain front-rear direction, and the article transfer device 14 is configured to transfer articles between the storage shelves.
The lifting wire 13 has one end connected to the lifting platform 4, an intermediate portion wound around a driven sheave 15 provided on the upper frame 7, and the other end supported on one of the pair of front and rear columns 5. The take-up drum 17 is connected. Therefore, the lifting / lowering table 4 is driven up and down by feeding and winding operation of the lifting / lowering wire 13 by rotating the winding drum 17 forward and backward by the lifting / lowering electric motor M2.

  The traveling carriage 3 includes a pair of front and rear traveling drive units 11 that travel along the traveling rail 2 and a connecting frame 12 that couples the pair of front and rear traveling drive units 11. And the said support | pillar 5 is standingly arranged on the driving | running | working drive unit 11 located in the front-back end location of the driving | running | working direction in the driving | running | working cart 3. Further, the connecting frame 12 is constituted by a pair of left and right frame members positioned on the lateral sides of the traveling rail 2.

Next, the traveling drive unit 11 will be described.
As shown in FIGS. 2 to 4, the traveling drive unit 11 includes a driving means 10 and a guide wheel body 20 that is driven to rotate by the driving means 10 and travels along the traveling rail 2 and is integrally assembled to the support frame 25. The travel drive unit 11 includes, in addition to the drive means 10, the travel wheel 9 and the support frame 25, a unit cover 19 that covers the drive means 10, and a lateral direction with respect to the travel rail 2. The guide wheel body 20 that guides the stacker crane A along the traveling rail 2 so that the movement is regulated, and the traveling wheel 2 that contacts the traveling rail 2 so that the upward movement is regulated. A regulating wheel body 21 that regulates the rising of the ring body 9 from the running rail 2, and a booster type adjusting means 24 that moves the regulating wheel body 21 up and down to adjust the contact pressure of the regulating wheel body 21 to the running rail 2; Prepared To have.
An annular traveling tire portion 9 a as an elastic body made of urethane rubber as an elastic member is attached to the outer peripheral portion of the traveling wheel body 9, and an elastic member is disposed on the outer peripheral portion of the regulating wheel body 21. A restricting tire portion 21a is attached as an annular elastic body made of a urethane rubber.

  That is, the traveling wheel body 9 is driven to rotate by the driving means 10 and travels on the upper surface of the traveling rail 2 in which the cross-sectional shape when viewed in the front-rear direction is T-shaped, to the side surface of the traveling rail 2 of the guide wheel body 20. The stacker crane A is configured to travel on the traveling rail 2 along the traveling rail 2 by restricting the lateral movement of the traveling rail 2 by the contact. Then, the rising of the traveling wheel 9 from the traveling rail 2 is restricted by the contact of the restricted wheel 21 with the lower surface of the traveling rail 2, and the flying of the traveling wheel 9 due to acceleration or deceleration of the stacker crane A is restricted. In this way, the traveling wheel body 9 is prevented from slipping.

  The upper portion of the support frame 25 is connected by a flange and a bolt and nut provided at the lower end portion of the support column 5, and the support column 25 is positioned so that the lower end of the support column 5 is positioned above the upper end of the traveling wheel body 9 and the upper end of the driving means 10. 5 is supported. In addition, the frame member is connected to the end portion of the support frame 25 on the side where the lifting platform 4 is located via a connecting member, whereby the pair of front and rear support frames 25 are connected to the connecting frame 12. Connected. The support frame 25 is provided with an extended guide rail 22 for raising and lowering the guide roller of the elevator 4 in a state of being connected to a ridge portion for raising and lowering the guide roller of the elevator 4.

One traveling wheel body 9 is provided on the support frame 25 of the travel drive unit 11 so as to be rotatable around the axis in the left-right direction, and the driving means 10 is fixed to each of the right side portion and the left side portion of the support frame 25. A pair of left and right traveling motors M1 are provided in the state, and one traveling wheel body 9 is rotationally driven by the pair of left and right traveling motors M1. Although not shown, the drive means 10 is provided with a speed reduction mechanism and a brake mechanism in addition to the traveling motor M1.
A pair of left and right guide wheel bodies 20 are provided on the travel drive unit 11 so as to contact and guide the left and right side surfaces of the travel rail 2, and the pair of guide wheel bodies 20 are connected to the support frame 25. The supported guide support 23 is supported so as to be rotatable about the longitudinal axis.

The regulation wheel 21 is provided in each of the travel drive units 11 in contact with the travel rail 2 with contact pressure by the elastic force of the regulation tire portion 21a, and the regulation wheel 21 travels with contact pressure. By contacting the lower surface of the rail 2, the floating of the traveling wheel 9 from the traveling rail 2 is restricted. The restricting wheel body 21 is supported by each of the travel drive units 11 so as to be movable up and down, and the restricting tire portion 21a is elastically deformed by being moved up and down by the adjusting means 24, whereby the traveling wheel of the restricting wheel body 21 is operated. 2 is configured such that the contact pressure to 2 is regulated.
As shown in FIG. 3, the restricted wheel bodies 21 are provided in a pair of left and right on the traveling drive unit 11 and are provided in contact with the right side portion of the traveling rail 2 and the left side portion of the traveling rail 2. A pair of front and rear are provided in the drive unit 11 and are provided in a state of being positioned on the front side and the rear side of the traveling wheel body 9.

Each of the adjusting means 24 is connected to and supported by left and right lateral sides of the support frame 25 in the travel drive unit 11 and is provided in a pair of left and right. It is supported so as to be rotatable around the direction axis. That is, the adjusting means 24 supports a pair of front and rear restricting wheel bodies 21, and the pair of front and rear restricting wheel bodies 21 are supported by the adjusting means 24, and a pair of left and right is provided. Two restricting ring bodies 21 are provided.
The pair of front and rear restricting wheel bodies 21 supported by the right adjusting means 24 are provided in contact with the right side portion of the traveling rail 2, and the pair of front and rear restricting wheel bodies 21 supported by the left adjusting means 24 are , Provided in contact with the left side portion of the traveling rail 2.

  The adjustment means 24 will be described. As shown in FIGS. 5 to 7, the adjustment means 24 is rotated about a horizontal axis by a base holder 26 fixedly supported on the side surface of the support frame 25. An operation member 27 that is freely supported and a pair of front and rear restricting wheel bodies 21 are rotatably supported via bearings, and can be swung freely in an eccentric state with respect to the rotation axis of the operation member 27. And a support member 28 that is externally supported, and is configured as a boost type by an eccentric cam mechanism. The adjusting means 24 is also provided with a lock mechanism 29 that can be switched between a fixed state in which the rotation of the operation member 27 is fixed and a fixed release state in which the rotation is released.

  As shown in FIG. 9, the eccentric cam mechanism of the support member 28 is configured so that the swing axis Y is parallel to the rotation axis X of the operation member 27 and is eccentric to the rotation axis X. The shaft portion 28a is externally supported by the operation member 27. When the operation member 27 is rotated around the rotation axis X, the shaft portion 28a is pivoted by its own weight and contact with the traveling rail 2. The support member 28 moves relative to the rotational axis X while maintaining the posture, and the support member 28 moves up and down with respect to the traveling drive unit 11. As the support member 28 moves up and down in this way, the two restricting wheel bodies 21 supported by the support member 28 also move up and down with respect to the traveling drive unit 11, and the restricting tire portion 21 a is the lower surface of the traveling rail 2. The contact pressure with respect to the lower surface of the traveling rail 2 of the restricted wheel 21 is subjected to transformation adjustment.

As shown in FIG. 8, a plurality of engaged portions 27 a that are engaged with the engaging portions 31 of the lock mechanism 29 are formed on the outer peripheral portion of the operation member 27, and the engaged portions 27 a are 10 °. The pitch is formed over 180 °, and a total of 19 engaged portions 27a are formed.
The engaging portion 31 of the lock mechanism 29 is configured to be detachable with respect to each of the engaged portions 27a. The lock mechanism 29 engages the engaging portion 31 with one of the engaged portions 27a. When combined, the operation member 27 is configured to be in a fixed state in which the rotation is fixed, and when the engaging portion 31 is detached from the engaged portion 27a, the rotation of the operation member 27 is released from being fixed. Yes.

  The lock mechanism 29 will be described. As shown in FIG. 8, the lock mechanism 29 swings around the axis parallel to the rotation axis X and the swing axis Y on the side surface of the base holder 26. A swing member 32 that is freely supported, an adjustment member 33 that is slidably inserted into a hole formed in the free end of the swing member 32 and swings integrally with the swing member 32, and an adjustment. A swing restricting member 34 that restricts the swing of the member 33 and a slide restricting member 35 that restricts the sliding movement of the adjusting member 33 relative to the swing member 32 are provided.

Further, the engaging member 31 is provided on one end side of the adjusting member 33, and the engaging member 31 is formed in a shape protruding toward the operation member 27 positioned below. It is comprised so that it may engage with the said to-be-engaged part 27a located in a top part.
The rocking restriction member 34 is fastened and fixed to the upper surface of the base holder 26 by bolts 36 so as to protrude from the upper surface of the base holder 26, and the portion protruding to the side of the rocking restriction member 34 is the adjustment member 33. And the swinging of the adjusting member 33 is restricted. Therefore, by swinging and fixing the swing regulating member 34 to the upper surface of the base holder 26 with the bolt 36, the swing of the adjustment member 33 can be regulated so that the engaging portion 31 does not separate from the engaged portion 27a. It is possible to loosen or remove the bolt 36 so that the swing restricting member 34 can be lifted from the base holder 26 by a predetermined amount so that the engagement portion 31 can swing to the extent that it can be detached from the engaged portion 27a. ing.

When the engaged portion 27a positioned at the top of the operation member 27 is displaced with respect to the engagement portion 31 due to the operation amount of the operation member 27 and the engagement portion 31 does not engage with the engaged portion 27a well. The adjusting member 33 is slidably moved so as to be adjusted to a position where the adjusting member 33 is engaged with the engaged portion 27a shifted in position.
The slide restricting member 35 is configured by screwing two nuts to screw portions formed on the adjusting member 33 so as to be positioned on both sides of the swinging member. The sliding movement of the adjusting member 33 is regulated by holding the moving member 32, and the adjusting member 33 can be slid by separating the two nuts.

Therefore, when the adjusting means 24 adjusts the contact pressure of the restricted wheel 21 with respect to the running rail 2, the bolt 36 is loosened or removed to lift the swing restricting member 34, and the engaging portion 31 is moved to the engaged portion. The rocker is swung to the extent that it disengages from 27a. Then, the operation member 27 is appropriately rotated to adjust the contact pressure of the restricted wheel 21 to the traveling rail 2 to a desired pressure. Thereafter, when the engaging portion 31 does not engage with the engaged portion 27a due to the operation amount of the operating member 27, the adjusting member 33 is slid to engage the position of the engaging portion 31 with the engaged portion 27a. The engaging portion 31 is engaged with the engaged portion 27a, and the swing restricting member 34 is fastened and fixed by the bolt 36.
[Another embodiment]

(1) In the above-described embodiment, the boosting type adjusting means 24 is configured as a boosting type adjusting means using an eccentric cam, but the boosting type adjusting means 24 using a link or the like other than the eccentric cam. May be configured.

( 2 ) In the above embodiment, the booster type adjusting means 24 is provided with the eccentric cam mechanism, but may be provided with a link mechanism, or the booster mechanism may not be provided.

( 3 ) In the above embodiment, four regulating wheel bodies 21 are provided in each of the traveling drive units 11, but only two pairs of left and right may be provided in each of the traveling drive units 11. The regulating wheel body 21 may be provided in the connecting frame 12 instead of the traveling drive unit 11 and may be the traveling carriage 3 .

( 4 ) In the above embodiment, the article transport vehicle is the stacker crane A. However, the article transport vehicle may be a cargo handling cart as an article transfer location, or another article transport vehicle.

Side view of stacker crane Side sectional view of the drive unit Front sectional view of the drive unit Top view of traveling drive unit Side view of adjusting means Plan view of adjusting means Front view of adjusting means Diagram showing locking mechanism The figure which shows the eccentric cam mechanism of an adjustment means

Explanation of symbols

2 traveling rail 3 traveling carriage 9 traveling wheel body 10 driving means 21 regulating wheel body 21a elastic body 24 adjusting means 27 operating member 28 supporting member

Claims (4)

A traveling wheel body that is driven to rotate by a driving means and travels along the traveling rail, and that the traveling wheel body is lifted from the traveling rail by contact with the traveling rail so that upward movement is restricted. An article transport vehicle provided with a regulating wheel body that regulates the vehicle, and configured to be able to travel on the traveling rail,
The regulating wheel is provided in contact with the traveling rail with contact pressure by the elastic force of an elastic body ;
The elastic body is composed of an annular elastic member attached to the outer periphery of the regulating wheel,
A pair of left and right restriction wheels are provided in contact with the right and left portions of the traveling rail;
An article transport vehicle provided with an adjusting means for transforming a contact pressure of the restriction wheel with respect to the travel rail for each of the pair of right and left restriction wheels . It said adjusting means booster type adjustment means der Ru claim 1 the article transport vehicle according to.   The boost type adjusting means rotatably supports an operation member that is rotatably supported around a rotation axis in the left-right direction on the traveling carriage, and a pair of front and rear restricting wheels, and the rotation of the operation member. The article transport vehicle according to claim 2, further comprising a support member that is externally supported by the operation member so as to be swingable in an eccentric state with respect to the shaft center. The traveling wheel body is configured to travel on the upper surface of the traveling rail,
The regulating wheel is configured to contact the lower surface of the running rail and regulate the flying of the running wheel from the running rail;
The article transport vehicle according to any one of claims 1 to 3, wherein the driving means includes a pair of left and right traveling motors that rotationally drive the traveling wheel body .

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