JPS61229680A - Driving control system for traveling truck - Google Patents

Abstract

PURPOSE:To prevent driving wheels from racing, by making an auxiliary wheel at the front side of a running direction separable from a floor surface or the like all the time at the specified clearance, in case of a traveling truck which installs auxiliary wheels, for assisting a traveling attitude, in each leg jutting out in front and in the rear of the running direction. CONSTITUTION:Each driving wheels 3 is installed at both sides of a truck body 2, while each two of legs 4 are projected in front and in the rear of a running direction, and each auxiliary wheel 5 is installed in a tip end of each of these legs 4. Each leg 4 is rotated and moved in vertical directions by shifting devices 7a and 7b of a motor and the like. In a traveling truck 1 aforesaid, distance detectors 8a and 8b, which detect a distance of clearances with projections on a floor surface F or a projection on this floor surface F, are installed in a tip end of each of these legs 4, while a tilt detector 9 is installed in an upper position of the center of gravity O of the body 2. And, each output of these detectors 8a, 8b and 9 is inputted into a command operation processor 10, whereby these shifting devices 7a and 7b are controlled so as to cause the auxiliary wheel 5 at the front side to be floated with a minute clearance to the floor surface F.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a running control system for a running bogie that is equipped with auxiliary wheels for assisting the running posture on legs extending forward and backward in the running direction.

<Conventional technology> For example, handling of hazardous materials such as radioactive substances, explosives, and harmful substances, work under adverse conditions such as under radiation, in hazardous gas, underwater, in space, under high voltage, and even in disasters. In emergency relief work, a traveling cart as shown in FIG. 6 is used as a traveling robot.

The running bogie 1 shown in FIG. 6 has two driving wheels 3, one on each side on the left and right sides of the main body 2 of the running bogie 1, and four wheels protruding from each other, two at the front and rear of the running direction of the running bogie l. leg 4
and four auxiliary wheels 5 provided at the tips of each leg 4.
It is equipped with the following. By controlling the rotational speed and rotation direction of the left and right drive wheels 3, this traveling bogie 1 can freely perform running control such as forward movement, backward movement, and direction change. 5 floats off the floor surface F, and the auxiliary wheels 5 on the rear side in the running direction roll on the floor surface F, thereby being supported and maintained by the legs 4.

Here, depending on how the auxiliary wheels 5 are set, the following problems may occur. That is, the main body 2 is supported with the three auxiliary wheels 5 in contact with the floor surface F and the two drive wheels 3 floating above the floor surface F, and the above-mentioned traveling control becomes impossible, or each of the auxiliary wheels 5 Since the gap between the main body 2 and the floor F is too large, the center of gravity of the main body 2 is tilted greatly with respect to the vertical direction, and the traveling bogie l
may fall down. In order to prevent such a problem, it is effective to fix the four auxiliary wheels 5 in a floating state with a small gap with respect to the floor surface F.

<Problems to be Solved by the Invention> If the auxiliary wheels 5 are set as described above, when the floor surface F is a relatively smooth plane, the traveling control of the traveling bogie L can be performed without causing the above-mentioned problems. It can be performed. However, if the floor surface F is uneven due to the presence of protrusions or the like, or if the floor surface F becomes a slope SF from the middle as shown in FIG. A situation has arisen in which the drive wheel 3 is lifted off the floor surface F by running onto a slope or a slope, and travel control becomes impossible.

The present invention has been made in view of the above-mentioned conventional circumstances, and an object of the present invention is to provide a traveling control system for a traveling bogie that autonomously controls the position of the auxiliary wheels with respect to the floor surface.

Means for Solving the Problems> The running control system for a running bogie of the present invention includes a plurality of drive wheels provided on the main body of the running bogie, and wheels protruding from the main body at the front and back of the running direction of the running bogie. A traveling trolley comprising a plurality of legs and auxiliary wheels provided at the tips of the legs and assisting the running posture of the traveling trolley when the driving wheel rotates and the traveling trolley travels on a floor surface. , a distance detector that detects the distance between each of the auxiliary wheels and the floor surface, a tilt detector that detects the tilt of the center of gravity of the main body with respect to the vertical direction, and the distance detector and the tilt detector, respectively. The vehicle is characterized by comprising a moving means that moves the legs based on a signal input from the vehicle to always create a minute gap between the auxiliary wheels on the front side in the traveling direction of the traveling trolley and the floor surface. do.

<Operation> The front leg in the running direction is moved based on the signals from the tilt detector and distance detector, and a small gap is always created between the auxiliary wheels installed on the waist legs and the floor, and the undulations are avoided. To realize reliable running control by maintaining the proper running attitude of a running bogie even on a rough floor surface.

<Example> An example of the present invention will be described below with reference to the drawings. In the following description, the same reference numerals are given to parts that are the same as those in the prior art.

As shown in FIG. 1, which schematically shows the structure of the traveling trolley according to this embodiment, each leg 4 attached to the main body 2 has a leg 4 attached to it.
A moving means 7a such as a motor capable of vertically rotating and moving the
, 7b are provided, and by operating these moving means 7a, 7b, the auxiliary wheel 5 provided at the tip of the leg 4 moves toward and away from the floor surface F.

The tip of each leg 4 has a floor surface F and a protrusion E to be described later.
A distance detector 8a detects the distance between.

8b is provided. The distance detectors 8a, 8b may be contact type sensors having contact pieces, or may be non-contact types such as optical sensors or visual sensors, and may be any of various known types. Sensors can be used. In addition, with respect to the traveling trolley that travels in the left-right direction in the figure, the moving means and distance detector located on the right side in the figure are 7a and 8a.
, moving means and distance detector located on the left side 7b, 8b
Expressed as

A tilt detector 9 is provided above the center of gravity 0 of the main body 2, and this tilt detector 9 detects the tilt α of the center of gravity 0 with respect to the vertical direction.
can be detected.

It should be noted that various known sensors can be used for the tilt detector 9 as well as for the distance detectors 8a and 8b.

The distance detectors 8a, 8b and the inclination detector 9 constantly output detection signals while the traveling trolley is in operation, and these detection signals are input to the command processing unit IO built in the main body 2 (
(See Figure 2). This command arithmetic processing unit IO determines whether it is a means of transportation based on the distance information to the floor F input from the distance detectors 8a and 8b and the tilt information of the center of gravity 0 input from the tilt detector 9. a.? b is activated, and the legs 4 are moved so that the auxiliary wheel 5 on the front side in the traveling direction of the traveling trolley floats with a small gap with respect to the floor surface F, while the legs 4 are moved so that the auxiliary wheel 5 on the rear side in the traveling direction comes into contact with the floor surface F. Move it down to L.

Next, the operation of the traveling trolley having the configuration shown in "-" will be explained.

When driving on a smooth horizontal floor F as shown in Figure 3, or when approaching a sloped floor SF from this floor F, or when driving on a sloped floor SF as shown in Figures 4 and 5. When traveling up and down on the SF surface, perform the following three operations at the same time,
Tilt the main body 2 so that the intersection point P of the vertical line from the center of gravity 0 with the floor is located on the rear side in the running direction from the point of contact A of the training wheels 3 with the floor, and move the training wheels 5 on the front side in the running direction to the floor. The auxiliary wheels 5 on the rear side in the running direction are brought into contact with the floor by a small predetermined distance so as to maintain the running posture. That is, (1) the moving means 7a, 7b are operated to tilt the main body 2 rearward in the running direction so that the tilt α detected by the tilt detector 9 becomes a predetermined amount. (2) Operate the moving means 7a or 7b on the rear side in the running direction so that the distance between the auxiliary wheel 5 and the floor surface detected by the distance detector 8a or 8b on the rear side in the running direction becomes zero. (2) Operate the moving means 7b or 7a on the front side in the running direction so that the distance between the auxiliary wheel 5 and the floor surface detected by the distance detector 8b or 8a on the front side in the running direction becomes a predetermined distance.

Furthermore, even if there is a protrusion E on the floor as shown in FIGS. 4 and 5, the distance detector 8a or 8b on the front side in the running direction detects the protrusion E and the front side in the running direction Since the auxiliary wheel 5 is separated above the protrusion E, the auxiliary wheel 5 on the front side in the running direction does not ride on the protrusion E and the drive wheel 3 is lifted off the floor, and the drive wheel 3 is able to move easily. Control is always guaranteed.

<Effects of the Invention> According to the present invention, since the auxiliary wheels on the front side in the traveling direction are always separated from the floor, protrusions, etc. by a predetermined gap, the driving wheels float off the floor and travel control becomes impossible. This can be reliably prevented, and since the auxiliary wheels do not float off the floor more than necessary, the posture of the traveling carriage can be reliably assisted when changing direction or the like.

[Brief explanation of the drawing]

Figures 1 to 5 relate to an embodiment of the present invention, in which Figure 1 is a schematic configuration diagram of a traveling truck, Figure 2 is a block diagram showing a control circuit, and Figures 3 to 5 are operation diagrams. FIG. 6 is a schematic configuration diagram of a conventional traveling trolley, and FIG. 7 is a conceptual diagram explaining its operation. In the drawing, 2 is the main body, 3 is the driving wheel, 4 is the leg, 5 is the auxiliary wheel, 7a, ? b is a moving means, 8a and 8b are distance detectors, 9 is a tilt detector, and F and SF are floor surfaces.

Claims (1)

[Claims] A plurality of drive wheels provided on the main body of the traveling trolley, a plurality of legs projecting from the main body in the front and rear directions of the traveling direction of the traveling trolley, and a plurality of legs each provided at the tips of the legs and rotating the driving wheels. A distance detector for detecting a distance between each of the auxiliary wheels and the floor surface, in the traveling vehicle comprising auxiliary wheels that assist the traveling posture of the traveling vehicle when the traveling vehicle travels on a floor surface. a tilt detector that detects the tilt of the center of gravity of the main body with respect to the vertical direction; and a tilt detector that moves the legs based on signals input from each of the distance detector and the tilt detector to move the legs to the front side in the traveling direction of the traveling trolley. A traveling control system for a traveling trolley, comprising: a moving means that always creates a minute gap between the auxiliary wheels and the floor surface.