JPH06144215A - Unmanned carriage - Google Patents
Unmanned carriageInfo
- Publication number
- JPH06144215A JPH06144215A JP4292768A JP29276892A JPH06144215A JP H06144215 A JPH06144215 A JP H06144215A JP 4292768 A JP4292768 A JP 4292768A JP 29276892 A JP29276892 A JP 29276892A JP H06144215 A JPH06144215 A JP H06144215A
- Authority
- JP
- Japan
- Prior art keywords
- wheels
- wheel
- turning
- guided vehicle
- rear wheels
- 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.)
- Pending
Links
- 230000003247 decreasing effect Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 1
Landscapes
- Platform Screen Doors And Railroad Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は無人搬送車に関し、走行
時の回転半径が小さくなるようにしたものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automated guided vehicle, which is adapted to reduce the radius of gyration during traveling.
【０００２】[0002]
【従来の技術】無人搬送車は、床面に配設した誘導路に
誘導されながら走行するように構成される。無人搬送車
には走行時の回転半径を小さくするために車輪を３つ具
えた三輪形の無人搬送車がある。従来の三輪形の無人搬
送車の構成を図３に示す。図中、１は本体、２は駆動輪
としての前輪、３は後輪である。前輪２と後輪３とのホ
ィールベース長をＬ、後輪３のトレッド幅をＷとする
と、右後輪３を回転中心として回転するときの回転半径
Ｒは、 Ｒ＝√｛Ｌ2＋（Ｗ／２）2｝ ………（１） となる。2. Description of the Related Art An automated guided vehicle is constructed so as to be guided by a guideway arranged on a floor. As an automated guided vehicle, there is a three-wheel automated guided vehicle equipped with three wheels in order to reduce the turning radius during traveling. FIG. 3 shows the configuration of a conventional three-wheel automatic guided vehicle. In the figure, 1 is a main body, 2 is a front wheel as a drive wheel, and 3 is a rear wheel. Assuming that the wheel base length of the front wheel 2 and the rear wheel 3 is L and the tread width of the rear wheel 3 is W, the turning radius R when the right rear wheel 3 rotates about the rotation center is R = √ {L 2 + ( W / 2) 2 } ……… (1).
【０００３】[0003]
【発明が解決しようとする課題】ところが、ホィールベ
ース長Ｌを長くすると無人搬送車の回転半径が大きくな
り、一方、ホィールベース長Ｌを小さくすると無人搬送
車の回転半径は小さくなるが無人搬送車の前後方向での
安定性が悪くなる。However, if the wheel base length L is increased, the turning radius of the automatic guided vehicle is increased. On the other hand, if the wheel base length L is decreased, the rotational radius of the automatic guided vehicle is decreased, but the automated guided vehicle is decreased. Stability in the front-back direction will deteriorate.
【０００４】そこで本発明は、斯かる課題を解決した無
人搬送車を提供することを目的とする。Therefore, an object of the present invention is to provide an automatic guided vehicle that solves the above problems.
【０００５】[0005]
【課題を解決するための手段】斯かる目的を達成するた
めの本発明の構成は、本体の後部の左右に一対の後輪を
設ける一方、前部の中央に単一の前輪を設けた無人搬送
車において、一対の後輪のトレッド幅よりも前輪と後輪
とのホィールベース長を小さく設定し、後輪の後方と前
輪の前方とにキャスタを設けたことを特徴とする。The structure of the present invention for achieving such an object is an unmanned vehicle in which a pair of rear wheels are provided on the left and right of the rear portion of the main body, while a single front wheel is provided at the center of the front portion. In the carrier vehicle, the wheel base lengths of the front wheels and the rear wheels are set to be smaller than the tread width of the pair of rear wheels, and casters are provided behind the rear wheels and in front of the front wheels.
【０００６】[0006]
【作用】無人搬送車の後輪どうしのトレッド幅よりも前
輪と後輪とのホィールベース長を小さくしたので、無人
搬送車が回転する際の回転半径が従来に比べて著しく小
さい。一方、前輪と後輪とのホィールベース長が小さい
と無人搬送車の前後方向で不安定になるが、本体の前後
に設けたキャスタがこの点を補っているので、安定性に
ついて問題は生じない。Since the wheel base lengths of the front wheels and the rear wheels are made smaller than the tread width between the rear wheels of the automatic guided vehicle, the radius of gyration when the automatic guided vehicle is rotated is remarkably smaller than the conventional one. On the other hand, if the wheel base length of the front wheels and the rear wheels is small, it becomes unstable in the front-back direction of the automated guided vehicle, but since the casters installed in the front and rear of the main body compensate for this point, there is no problem in stability. .
【０００７】[0007]
【実施例】以下、本発明を図面に示す実施例に基づいて
詳細に説明する。なお、本実施例は従来の無人搬送車の
一部を改良したものなので、従来と同一部分には同一符
号を付して説明を省略し、異なる部分のみを説明する。DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in detail with reference to the embodiments shown in the drawings. Since the present embodiment is an improvement of a part of the conventional automated guided vehicle, the same parts as those of the conventional art are denoted by the same reference numerals, and the description thereof will be omitted. Only different parts will be described.
【０００８】本発明による無人搬送車の構成を、図１に
示す。本実施例では、本体１の大きさが従来と同一でか
つ後輪３のトレッド幅Ｗも従来と同一の寸法に設定され
ている。そして、ホィールベース長Ｌのみが従来りも小
さくしかもトレッド幅Ｗより小さく設定されている。こ
のようにホィールベース長Ｌを小さくしていることから
無人搬送車の前後方向での安定性が悪くなるが、この欠
点を解消するために前輪２よりも前方の中央と後輪３よ
りも後方の中央とに夫々キャスタ４，５が設けられてい
る。The construction of an automated guided vehicle according to the present invention is shown in FIG. In this embodiment, the size of the main body 1 is the same as the conventional one, and the tread width W of the rear wheel 3 is also set to the same size as the conventional one. Further, only the wheel base length L is set smaller than the conventional one and smaller than the tread width W. Since the wheel base length L is reduced in this way, the stability of the automatic guided vehicle in the front-rear direction is deteriorated. However, in order to eliminate this drawback, the front of the front wheel 2 and the rear of the rear wheel 3 are centered. Casters 4 and 5 are provided in the center of and respectively.
【０００９】次に、斯かる無人搬送車の作用を説明す
る。従来の無人搬送車と本発明による無人搬送車とを比
較するためにトレッド幅Ｗを同一寸法とし、従来の無人
搬送車のホィールベース長をＬ＝２Ｗの大きさにする一
方、本発明による無人搬送車のホィールベース長をＬ＝
０．５Ｗとすると、図４，図２に示すように右後輪３を
中心として無人搬送車が回転したときの回転半径Ｒ1，
Ｒ2は、以下のようになる。Next, the operation of such an automated guided vehicle will be described. In order to compare the conventional automated guided vehicle with the automated guided vehicle according to the present invention, the tread width W is set to the same size, and the wheel base length of the conventional automated guided vehicle is set to L = 2W, while the unmanned automated guided vehicle according to the invention is used. The wheel base length of the carrier is L =
If it is 0.5 W, as shown in FIGS. 4 and 2, the turning radius R 1 when the automatic guided vehicle rotates about the right rear wheel 3 as a center,
R 2 is as follows.
【００１０】即ち、前記の式（１）にＬ＝２Ｗを代入す
ると、 Ｒ1＝２．０６Ｗ ………（２） となり、Ｌ＝０．５Ｗを代入すると、 Ｒ2＝０．７１Ｗ ………（３） となる。That is, when L = 2W is substituted into the above equation (1), R 1 = 2.06W (2), and when L = 0.5W is substituted, R 2 = 0.71W. … (3)
【００１１】（２）と（３）とを比較すると、Ｒ1≒３
Ｒ2になり、回転半径は従来の約１／３に小さくなる。Comparing (2) and (3), R 1 ≈3
It becomes R 2 , and the radius of gyration is reduced to about 1/3 that of the conventional one.
【００１２】このほか、無人搬送車の回転する状態を示
した図４，図２を比較するとわかるように、右後輪３を
中心として回転する場合に、本発明による無人搬送車で
は後輪３が本体１の前後方向での中央寄りに位置するこ
とから、本体１の中央近傍を中心として回転が行われる
ことになる。従って、回転する位置での動作領域が従来
に比べて大幅に減少し、狭いスペースでも回転が可能に
なる。また、床面に設けた誘導路を検出しながら走行す
ることから、従来では前進と後退とでは無人搬送車の軌
跡が大きく異なっていたが、本発明による無人搬送車で
は前進，後退の際の無人搬送車の軌跡がほとんど同じに
なる。In addition, as can be seen by comparing FIGS. 4 and 2 showing the rotating state of the automated guided vehicle, when the automated guided vehicle according to the present invention rotates about the rear rear wheel 3, the rear wheels 3 are rotated. Is located closer to the center of the body 1 in the front-rear direction, so that rotation is performed around the center of the body 1. Therefore, the operating region at the rotating position is greatly reduced as compared with the conventional one, and it becomes possible to rotate even in a narrow space. Further, since the vehicle travels while detecting the taxiway provided on the floor surface, conventionally, the trajectories of the automatic guided vehicle were largely different between forward and backward, but in the automatic guided vehicle according to the present invention, the trajectory during forward and backward movements is large. The trajectory of the automated guided vehicle is almost the same.
【００１３】一方、本体１の前後にはキャスタ４，５が
設けられているので、前輪２，後輪３が本体１の前後方
向での中央に寄っていても安定性が悪くなるようなこと
はない。On the other hand, since the casters 4 and 5 are provided in front of and behind the main body 1, the stability is deteriorated even if the front wheels 2 and the rear wheels 3 are near the center of the main body 1 in the front-rear direction. There is no.
【００１４】[0014]
【発明の効果】以上の説明からわかるように、本発明に
よる無人搬送車によれば前輪と後輪とのホィールベース
長をトレッド幅よりも小さくしたことから、無人搬送車
の回転半径を従来よりも小さくすることができ、狭い場
所での回転が容易に行える。また、前輪，後輪が本体の
中央寄りに集まって前進と後退との無人搬送車の軌跡が
ほとんど同じになることから、この点からも狭いスペー
スでの無人搬送車の回転が円滑に行える。一方、前輪の
前方と後輪の後方とにキャスタを設けたので、ホィール
ベース長を小さくしたことによる不安定な点は解消され
る。As can be seen from the above description, according to the automatic guided vehicle of the present invention, the wheel base lengths of the front wheels and the rear wheels are made smaller than the tread width. Can be made smaller and can be easily rotated in a narrow space. Further, since the front wheels and the rear wheels are gathered near the center of the main body and the trajectories of the forward and backward guided vehicles are almost the same, the unmanned guided vehicle can smoothly rotate in a narrow space from this point as well. On the other hand, since the casters are provided in front of the front wheels and behind the rear wheels, the instability caused by reducing the wheel base length is eliminated.
【図１】本発明による無人搬送車に係り、図１（ａ）は
平面図、図１（ｂ）は正面図。FIG. 1 relates to an automated guided vehicle according to the present invention, FIG. 1 (a) is a plan view, and FIG. 1 (b) is a front view.
【図２】本発明に係る無人搬送車の作用説明図。FIG. 2 is an operation explanatory view of the automatic guided vehicle according to the present invention.
【図３】従来の無人搬送車に係り、図３（ａ）は平面
図、図３（ｂ）は正面図。FIG. 3 relates to a conventional automated guided vehicle, FIG. 3 (a) is a plan view, and FIG. 3 (b) is a front view.
【図４】従来の無人搬送車に係る無人搬送車の作用説明
図。FIG. 4 is an operation explanatory view of an automatic guided vehicle according to a conventional automatic guided vehicle.
１…本体 ２…前輪 ３…後輪 ４，５…キャスタ Ｗ…トレッド幅 Ｌ…ホィールベース長 1 ... Main body 2 ... Front wheel 3 ... Rear wheel 4,5 ... Caster W ... Tread width L ... Wheel base length
Claims (1)
一方、前部の中央に単一の前輪を設けた無人搬送車にお
いて、 一対の後輪のトレッド幅よりも前輪と後輪とのホィール
ベース長を小さく設定し、後輪の後方と前輪の前方とに
キャスタを設けたことを特徴とする無人搬送車。1. An automated guided vehicle in which a pair of rear wheels are provided on the left and right of the rear portion of the main body, and a single front wheel is provided in the center of the front portion, the front wheel and the rear wheel being wider than the tread width of the pair of rear wheels. The unmanned guided vehicle is characterized in that the wheel base length is set to be small, and casters are provided behind the rear wheels and in front of the front wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4292768A JPH06144215A (en) | 1992-10-30 | 1992-10-30 | Unmanned carriage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4292768A JPH06144215A (en) | 1992-10-30 | 1992-10-30 | Unmanned carriage |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH06144215A true JPH06144215A (en) | 1994-05-24 |
Family
ID=17786094
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4292768A Pending JPH06144215A (en) | 1992-10-30 | 1992-10-30 | Unmanned carriage |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH06144215A (en) |
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009500741A (en) * | 2005-07-08 | 2009-01-08 | アクティエボラゲット エレクトロラックス | Robot cleaning device |
| US9811089B2 (en) | 2013-12-19 | 2017-11-07 | Aktiebolaget Electrolux | Robotic cleaning device with perimeter recording function |
| US9939529B2 (en) | 2012-08-27 | 2018-04-10 | Aktiebolaget Electrolux | Robot positioning system |
| US9946263B2 (en) | 2013-12-19 | 2018-04-17 | Aktiebolaget Electrolux | Prioritizing cleaning areas |
| US10045675B2 (en) | 2013-12-19 | 2018-08-14 | Aktiebolaget Electrolux | Robotic vacuum cleaner with side brush moving in spiral pattern |
| US10149589B2 (en) | 2013-12-19 | 2018-12-11 | Aktiebolaget Electrolux | Sensing climb of obstacle of a robotic cleaning device |
| US10209080B2 (en) | 2013-12-19 | 2019-02-19 | Aktiebolaget Electrolux | Robotic cleaning device |
| US10219665B2 (en) | 2013-04-15 | 2019-03-05 | Aktiebolaget Electrolux | Robotic vacuum cleaner with protruding sidebrush |
| US10231591B2 (en) | 2013-12-20 | 2019-03-19 | Aktiebolaget Electrolux | Dust container |
| US10433697B2 (en) | 2013-12-19 | 2019-10-08 | Aktiebolaget Electrolux | Adaptive speed control of rotating side brush |
| US10448794B2 (en) | 2013-04-15 | 2019-10-22 | Aktiebolaget Electrolux | Robotic vacuum cleaner |
| US10499778B2 (en) | 2014-09-08 | 2019-12-10 | Aktiebolaget Electrolux | Robotic vacuum cleaner |
| US10518416B2 (en) | 2014-07-10 | 2019-12-31 | Aktiebolaget Electrolux | Method for detecting a measurement error in a robotic cleaning device |
| US10534367B2 (en) | 2014-12-16 | 2020-01-14 | Aktiebolaget Electrolux | Experience-based roadmap for a robotic cleaning device |
| US10617271B2 (en) | 2013-12-19 | 2020-04-14 | Aktiebolaget Electrolux | Robotic cleaning device and method for landmark recognition |
| US10678251B2 (en) | 2014-12-16 | 2020-06-09 | Aktiebolaget Electrolux | Cleaning method for a robotic cleaning device |
| US10729297B2 (en) | 2014-09-08 | 2020-08-04 | Aktiebolaget Electrolux | Robotic vacuum cleaner |
| US10877484B2 (en) | 2014-12-10 | 2020-12-29 | Aktiebolaget Electrolux | Using laser sensor for floor type detection |
| US10874271B2 (en) | 2014-12-12 | 2020-12-29 | Aktiebolaget Electrolux | Side brush and robotic cleaner |
| US10874274B2 (en) | 2015-09-03 | 2020-12-29 | Aktiebolaget Electrolux | System of robotic cleaning devices |
| US11099554B2 (en) | 2015-04-17 | 2021-08-24 | Aktiebolaget Electrolux | Robotic cleaning device and a method of controlling the robotic cleaning device |
| US11122953B2 (en) | 2016-05-11 | 2021-09-21 | Aktiebolaget Electrolux | Robotic cleaning device |
| US11169533B2 (en) | 2016-03-15 | 2021-11-09 | Aktiebolaget Electrolux | Robotic cleaning device and a method at the robotic cleaning device of performing cliff detection |
| US11474533B2 (en) | 2017-06-02 | 2022-10-18 | Aktiebolaget Electrolux | Method of detecting a difference in level of a surface in front of a robotic cleaning device |
| US11921517B2 (en) | 2017-09-26 | 2024-03-05 | Aktiebolaget Electrolux | Controlling movement of a robotic cleaning device |
-
1992
- 1992-10-30 JP JP4292768A patent/JPH06144215A/en active Pending
Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009500741A (en) * | 2005-07-08 | 2009-01-08 | アクティエボラゲット エレクトロラックス | Robot cleaning device |
| US9939529B2 (en) | 2012-08-27 | 2018-04-10 | Aktiebolaget Electrolux | Robot positioning system |
| US10219665B2 (en) | 2013-04-15 | 2019-03-05 | Aktiebolaget Electrolux | Robotic vacuum cleaner with protruding sidebrush |
| US10448794B2 (en) | 2013-04-15 | 2019-10-22 | Aktiebolaget Electrolux | Robotic vacuum cleaner |
| US9811089B2 (en) | 2013-12-19 | 2017-11-07 | Aktiebolaget Electrolux | Robotic cleaning device with perimeter recording function |
| US9946263B2 (en) | 2013-12-19 | 2018-04-17 | Aktiebolaget Electrolux | Prioritizing cleaning areas |
| US10045675B2 (en) | 2013-12-19 | 2018-08-14 | Aktiebolaget Electrolux | Robotic vacuum cleaner with side brush moving in spiral pattern |
| US10149589B2 (en) | 2013-12-19 | 2018-12-11 | Aktiebolaget Electrolux | Sensing climb of obstacle of a robotic cleaning device |
| US10209080B2 (en) | 2013-12-19 | 2019-02-19 | Aktiebolaget Electrolux | Robotic cleaning device |
| US10433697B2 (en) | 2013-12-19 | 2019-10-08 | Aktiebolaget Electrolux | Adaptive speed control of rotating side brush |
| US10617271B2 (en) | 2013-12-19 | 2020-04-14 | Aktiebolaget Electrolux | Robotic cleaning device and method for landmark recognition |
| US10231591B2 (en) | 2013-12-20 | 2019-03-19 | Aktiebolaget Electrolux | Dust container |
| US10518416B2 (en) | 2014-07-10 | 2019-12-31 | Aktiebolaget Electrolux | Method for detecting a measurement error in a robotic cleaning device |
| US10499778B2 (en) | 2014-09-08 | 2019-12-10 | Aktiebolaget Electrolux | Robotic vacuum cleaner |
| US10729297B2 (en) | 2014-09-08 | 2020-08-04 | Aktiebolaget Electrolux | Robotic vacuum cleaner |
| US10877484B2 (en) | 2014-12-10 | 2020-12-29 | Aktiebolaget Electrolux | Using laser sensor for floor type detection |
| US10874271B2 (en) | 2014-12-12 | 2020-12-29 | Aktiebolaget Electrolux | Side brush and robotic cleaner |
| US10678251B2 (en) | 2014-12-16 | 2020-06-09 | Aktiebolaget Electrolux | Cleaning method for a robotic cleaning device |
| US10534367B2 (en) | 2014-12-16 | 2020-01-14 | Aktiebolaget Electrolux | Experience-based roadmap for a robotic cleaning device |
| US11099554B2 (en) | 2015-04-17 | 2021-08-24 | Aktiebolaget Electrolux | Robotic cleaning device and a method of controlling the robotic cleaning device |
| US10874274B2 (en) | 2015-09-03 | 2020-12-29 | Aktiebolaget Electrolux | System of robotic cleaning devices |
| US11712142B2 (en) | 2015-09-03 | 2023-08-01 | Aktiebolaget Electrolux | System of robotic cleaning devices |
| US11169533B2 (en) | 2016-03-15 | 2021-11-09 | Aktiebolaget Electrolux | Robotic cleaning device and a method at the robotic cleaning device of performing cliff detection |
| US11122953B2 (en) | 2016-05-11 | 2021-09-21 | Aktiebolaget Electrolux | Robotic cleaning device |
| US11474533B2 (en) | 2017-06-02 | 2022-10-18 | Aktiebolaget Electrolux | Method of detecting a difference in level of a surface in front of a robotic cleaning device |
| US11921517B2 (en) | 2017-09-26 | 2024-03-05 | Aktiebolaget Electrolux | Controlling movement of a robotic cleaning device |
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