JPS60248475A - Traversable unmanned car - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Field of Application) The present invention relates to an unmanned vehicle that automatically runs in response to commands from a control unit.

(Prior art)
In an unmanned vehicle that can move laterally without changing its direction,
Separately from the motor for travel, a motor for rotating the drive width is provided, and by operating this rotation motor, the direction of the unmanned vehicle can be changed.

In this way, in conventional unmanned vehicles, a turning motor was installed separately from the drive motor for driving, so
In addition, in order to perform automatic travel when an unmanned vehicle is traveling sideways, a traversing control mode is required in addition to the steady traveling control mode. Therefore, compared to the structure of an unmanned vehicle that only runs steadily, the structure is more complex and the cost is higher.

(Purpose of the Invention) In view of the above, the present invention is an unmanned vehicle that uses only a drive motor for driving the vehicle body to enable the vehicle to move horizontally without changing the direction of the vehicle body, and has a simpler structure than the conventional one. The purpose is to provide the following information.

(Structure of the Invention) In order to achieve the above object, the structure of the present invention is as follows. That is, a vehicle body is horizontally supported by an appropriate number of idler support parts that have idlers at the bottom, and a turntable that is disposed below the vehicle body, is rotatable with respect to the vehicle body, and is equipped with drive wheels for running. and an unmanned vehicle that is self-propelled according to commands from a control unit, wherein the turntable rotates 90 degrees when the vehicle body and the turntable are in a steady running state and with respect to a small body in a steady running state. means for fixing and unfixing the turntable relative to the vehicle body when the turntable is fixed to the vehicle body, and means for driving the drive wheels to rotate the turntable relative to the vehicle body when the turntable is not fixed to the vehicle body, etc. When the turntable rotates, the vehicle body and the turntable are fixed by the fixing means. After fixing the idler to the idler support part using the idler fixing means to stop the movement of the vehicle body, release the fixation of the turntable from the vehicle body and reversely rotate the drive wheel. Then, at this position, the turntable is fixed to the vehicle body by the fixing means.Then, when the swing wheel is released from the idler support, the vehicle body can move horizontally.

(Example) Next, the present invention will be described based on an example shown in the drawings.

In FIGS. 1 and 2, an unmanned vehicle 1 has a rectangular vehicle body 2 on which objects are mounted, and a circular turntable 3 having a pair of drive wheels 7.7Δ is attached to the lower part of the vehicle body 2. It is being taken. A pair of upper and lower bearings 4.4 are fitted into holes 2b formed in the central boss portion 2a of the lower surface of the vehicle body 2, and these bearings 4.4 are fitted with the turntable 3. Since a shaft 3a formed to protrude upward is fitted in the center of the upper part of the turntable 3, the turntable 3 is rotatable relative to the car body 2. A pair of 5.5A batteries, which are the power source for the unmanned vehicle 1, are attached to the vehicle body 2, and a control unit 6 and an OA are attached to one side of the vehicle body 2, respectively. A pair of drive wheels 7.7A are provided on the lower surface of the turn desol 3, symmetrically with respect to a line C passing through the center O of the axis 3a, and closer to the outer periphery.
．． 7A are driven by a drive motor 9.9A via respective reduction gears 8.8A. Rule l-
The detector 10, IOA, is for detecting the floor surface F and the guide wire R (see Fig. 4) arranged on the JR, and is located near the center line C in opposite directions from the outer periphery of the turntable 3. Mark detector 11.1
1A is for detecting a position mark (not shown) placed on the floor F, so a route detector 10.1A is used, respectively.
It was placed opposite 10A.

The stopper pin 13 is attached to the turntable 3 via a guide portion 12 so as to be movable up and down, and
4 with respect to the center line C of the turntable 3 as shown in the figure.
It is taken at the angle of 5 degrees. This stopper pin 13 is attached to the motor 'zr, +
, Ri-1-1 is given an order.

The hooks 15.15A are pivoted on the lower surface of the vehicle 1 and the tree 2 on the side opposite to the -C control section 6.6Δ by means of pins 16.16Δ. Each of the hooks 15 and 15A has a recess 17.17A inside thereof, into which the stopper pin 13 is fitted. The hook 15 is rotatable clockwise by a spring 18 attached to the vehicle body 2, and the hook 15A is rotatable counterclockwise by a spring 18A attached to the vehicle body 2. Cage, both hooks 15.
15A is a stopper 22 and 22A attached to the vehicle body 2
When the stopper pin 13 is fitted into the recess 17 of the hook 15, the center line C1 of the vehicle body 2 and the center line C of the turntable 3 are aligned, and the unmanned vehicle 1 is positioned at a predetermined position. is in a steady running state, and when the stopper pin 13 is fitted into the recess 17A of the hook 15A, the center line C1 of the vehicle body 2 and the center lQc of the turntable 3 are exactly 9 degrees apart, and the vehicle is unmanned. 1'+;L
[Kirigyo 11] Be in a capable state. 7. Attach one each of the support parts 19 to the front and rear of the vehicle body 2, and the right corner of 'ls7.
A heavy wheel 20 having a vertical axis 20a is attached to the lower end of each wheel support portion 19 (=J4).
Since the vertical shaft 20a of the heavy wheel 20 is rotatable relative to the idler wheel support section 19, its direction can be changed freely. The heavy wheel support part 19 has an electromagnetic brake 21 on the upper part of the idler wheel 20, and this electromagnetic brake 121
is excited by the control unit 6 (6Δ), @ of the idler wheel 20
The notebook 20a is fixed to the idler support portion 19.

In addition, in this embodiment, the stopper pin 13 was attached to the turntable 3, and the hook 15.15△ was attached to the vehicle body 2. .Take 15△ to turn table 3.''
You may also make it possible to do so.

In the above configuration, when the unmanned vehicle 1 covers normal travel, the stopper pin 13 is inserted into the recessed part of the hook 15 as described above.
5a, the turntable 3 is fixed to the vehicle body 2. As shown in FIG. 4, this unmanned vehicle 1
A route detector 10 that detects R, when C is stationary running (straight ahead) via IOA, routes 1 to R intersect with each other.
- When changing course at R1 and moving sideways, each electromagnetic brake 21 is excited based on the information from the position detector 11 or 11A (4 heavy wheels 20
are fixed to the heavy wheel support section 19, respectively. Then, the pin actuating motor 14 operates to move the stopper pin 13 downward, so that the stopper pin 13 is disengaged from the hook 15 and the Kuhn i-pull 31 is disengaged from the vehicle body 2. Port 1, - Pair of drive motors 9.9A
are rotated in mutually opposite directions by a command from the control unit 6.6A, thereby causing the driving wheels 7.7A to rotate in mutually opposite directions.

- At this time, each heavy wheel 20 is fixed to its heavy wheel support part 19, so it cannot move freely, and the vehicle body 2 is fixed to the floor F, and the turntable 3
only turns. Then, while the turntable 3 is turning, the pin operation motor 14 is activated again to raise the stopper pin 13, so when the turntable 3 has turned 9o+p, the collar pin 13 is connected to the hook 15 and 90.
The hook 15A is engaged with the hook 15A at different positions. At the same time, the rotation of the drive motor 9.9Δ is increased by 1 according to a command from the control section 6.6A. For this reason, the turntable 3 is
It is fixed at a position rotated 90 degrees with respect to the Suddenly,
When the electromagnetic brakes 21 are de-energized, the vehicle body 2 becomes movable, and the unmanned vehicle 1 moves sideways as the drive motors 9.9A rotate in the same direction. At this point, the route detector 10.10△ and the mark detector 11.11A are installed in pairs at the front and rear of the turntable 3, so the turntable 3 turns 90 degrees and then returns to normal running. Similarly, it is possible to move forward and backward along the guide line R1. Further, no separate device is required for forward or reverse movement.

(Effects of the Invention) As described above, this invention changes the direction of the drive wheels by performing a spin turn by reversely rotating a pair of driving motors attached to a turn drive. Therefore, when trying to change the direction of an unmanned vehicle, another drive source is required. Does it run the same way when going sideways or straight?1 In control mode, you can move forward even when going sideways.1

[Brief explanation of the drawing]

The figures show one embodiment of the present invention, in which Fig. 1 is a side view of the unmanned vehicle, Fig. 2 is a bottom view of Fig. 1, Fig. 3 is an explanatory diagram of the function of the hook, and Fig. 4 is the same as Fig. 1. FIG. 1...Unmanned vehicle 2...Vehicle body 3...Turntable 6.6△...Control unit 7.7
A... Drive wheel 9.9A... Drive motor 13...
Stopper pin 15.15A... Hook 19... Heavy wheel support part 20... Idle wheel 21... Electromagnetic brake Applicant: Shinko Electric Co., Ltd. Representative Patent attorney: Hidehiko Okada No. 1! ! ! l Second direction Figure 3 C/5A 4th prefecture

Claims (1)

[Claims] A vehicle body supported horizontally by an appropriate number of suspension supports having a suspension at the bottom, a turntable disposed below the vehicle body, rotatable with respect to the vehicle body, and equipped with drive wheels for running. and when the car body and the turntable are in a constant 1θ running state and when the turntable is rotated 90 degrees with respect to the car body in a steady running state. means for fixing and unfixing the turntable to the vehicle body, means for driving a drive wheel to rotate the turntable relative to the vehicle body when the turntable is not fixed to the vehicle body, and a means for rotating the turntable relative to the vehicle body; ] and means for fixing the five wheels to the idler support when the turntable rotates.
An unmanned vehicle that can roam freely.