JP2002039786A - Travel distance measuring device for automatic guided vehicle - Google Patents
Travel distance measuring device for automatic guided vehicleInfo
- Publication number
- JP2002039786A JP2002039786A JP2000227296A JP2000227296A JP2002039786A JP 2002039786 A JP2002039786 A JP 2002039786A JP 2000227296 A JP2000227296 A JP 2000227296A JP 2000227296 A JP2000227296 A JP 2000227296A JP 2002039786 A JP2002039786 A JP 2002039786A
- Authority
- JP
- Japan
- Prior art keywords
- wheel
- steering
- measuring
- motor
- steering shaft
- 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.)
- Granted
Links
- 238000005259 measurement Methods 0.000 claims abstract description 41
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 7
- 230000032683 aging Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 102100022005 B-lymphocyte antigen CD20 Human genes 0.000 description 1
- 101000897405 Homo sapiens B-lymphocyte antigen CD20 Proteins 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Landscapes
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Power Steering Mechanism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Measurement Of Distances Traversed On The Ground (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、無人搬送車の誘導
制御のために使用する搬送台車（以下台車とする）の走
行移動距離を計測する走行距離計測装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a travel distance measuring device for measuring the travel distance of a transport vehicle (hereinafter referred to as a vehicle) used for guidance control of an automatic guided vehicle.
【０００２】[0002]
【従来の技術】近年、自動倉庫等、諸用途に無人搬送車
が使用されている。無人搬送車を制御する上において、
台車の走行移動距離を正確に計測することが、最も重要
なファクターとなっている。2. Description of the Related Art In recent years, automatic guided vehicles have been used for various purposes such as automatic warehouses. In controlling the automatic guided vehicle,
Accurately measuring the traveling distance of the bogie is the most important factor.
【０００３】特に、電磁誘導や磁気誘導などのガイド式
誘導に比べて、台車の姿勢角度と走行距離情報によっ
て、常に現在位置を把握しながら、自律走行を行なうジ
ャイロ誘導のようにガイドレス式の誘導では、精度の高
い走行移動距離を計測することが要求される。[0003] In particular, as compared with guide-type guidance such as electromagnetic induction and magnetic guidance, a guide-less type such as a gyro-guide that performs autonomous traveling while always grasping the current position based on the posture angle of the bogie and traveling distance information. In guidance, it is required to measure a traveling distance with high accuracy.
【０００４】従来、台車の走行移動距離を計測する方法
としては、 １）サーボ制御である走行モータにエンコーダを取付
け、モータの回転数をカウントし、走行距離に換算する
方法。 ２）台車を支持する車輪の車軸にエンコーダを取付け、
車輪の回転数をカウントし、走行距離に換算する方法等
がある。Conventionally, methods for measuring the travel distance of a bogie include: 1) a method in which an encoder is attached to a travel motor which is servo-controlled, the number of rotations of the motor is counted, and the travel distance is converted. 2) Attach the encoder to the axle of the wheel supporting the bogie,
There is a method of counting the number of rotations of wheels and converting the number into a running distance.
【０００５】しかし、これ等の方法では、荷重を受ける
車輪の回転数から走行距離を換算するものであるから、
荷重の変化による車輪、つまり、タイヤの変形による差
が出て、計測値に誤差が生じる。また、経年変化による
タイヤの摩耗が大きく、これによる誤差も生じると云う
不都合があった。However, in these methods, the traveling distance is converted from the number of rotations of the wheel receiving the load.
A difference occurs due to deformation of the wheel, that is, the tire due to the change in load, and an error occurs in the measured value. In addition, there is a disadvantage that tire wear due to aging changes is large, and errors occur due to this.
【０００６】このため、荷重を受ける車輪の変形による
影響を無くすため、図６に示すごとく、台車フレーム１
に、操舵輪２および従動輪３（多くの場合キャスター輪
が使用される）とは別に、計測用の車輪４を設け、該計
測輪４にエンコーダを取付け、計測輪４の回転数をカウ
ントし、走行距離に換算する方法もあった。Therefore, in order to eliminate the influence of the deformation of the wheel receiving the load, as shown in FIG.
In addition to the steering wheel 2 and the driven wheel 3 (in most cases, caster wheels are used), a measurement wheel 4 is provided, an encoder is attached to the measurement wheel 4, and the number of rotations of the measurement wheel 4 is counted. , There was also a method of converting to mileage.
【０００７】この図６に示す方法の場合、計測輪４が台
車フレーム１に固定されているときは、台車が旋回する
とき（図６のＡ）、斜行するとき（図６のＢ）、横行す
るとき（図６のＣ）にスラスト力が働き、計測輪４の回
転が不安定になり、正確な計測値を得ることができなか
ったし、そもそも斜行や横行には追従できず、破損する
こともしばしばであった。In the case of the method shown in FIG. 6, when the measuring wheel 4 is fixed to the bogie frame 1, when the bogie turns (FIG. 6A), when the oblique traveling (B in FIG. 6), When the vehicle traverses (C in FIG. 6), the thrust force acts, the rotation of the measuring wheel 4 becomes unstable, and it is not possible to obtain an accurate measurement value. It was often damaged.
【０００８】また、台車の走行にスムーズに追従させる
ため、上記の計測輪４をキャスター輪とするものもあっ
たが、キャスター輪は支持軸と車軸との間に取付け幅を
有しているので、キャスター輪が向きを変えることによ
るキャスター輪の移動があり、走行移動距離を正確に計
測できないと云う問題点があった。In order to smoothly follow the movement of the bogie, there is a type in which the above-mentioned measuring wheel 4 is a caster wheel. However, since the caster wheel has a mounting width between the support shaft and the axle, In addition, there is a problem that the caster wheel moves due to the change of direction of the caster wheel, and the traveling distance cannot be measured accurately.
【０００９】[0009]
【発明が解決しようとする課題】本発明は、計測輪を荷
重が掛からないように台車フレームに支持し、かつ、操
舵輪の操舵に同期して、操舵輪の操舵角と同じ角度に操
舵されるようにし、精度の高い計測をなし得る無人搬送
車における走行距離計測装置を得ることを目的とする。According to the present invention, a measuring wheel is supported on a bogie frame so that a load is not applied, and the measuring wheel is steered to the same angle as the steering angle of the steered wheel in synchronization with the steering of the steered wheel. It is an object of the present invention to obtain a traveling distance measuring device for an automatic guided vehicle capable of performing highly accurate measurement.
【００１０】[0010]
【課題を解決するための手段】台車フレームに、ステア
リングモータを設置し、台車フレームに回転自在に支持
した操舵軸により操舵輪を平面内において回動可能に支
持し、該操舵輪の操舵軸を、前記ステアリングモータの
モータ軸に回転伝達機構を介して連結すると共に、台車
フレームに回転自在に支持した計測輪用操舵軸により計
測輪を平面内において回動可能に支持し、該計測輪用操
舵軸を、ステアリングモータのモータ軸に回転連動機構
を介して連結し、操舵輪の操舵に同期して計測輪を、操
舵輪の操舵角と同角度に操舵させるようにし、かつ、計
測輪に計測輪用エンコーダを取付け、計測輪の回転数を
カウントして走行距離を計測するようにした。A steering motor is installed on a bogie frame, and a steering wheel rotatably supported on the bogie frame rotatably supports a steered wheel in a plane. A measuring wheel is rotatably supported in a plane by a measuring wheel steering shaft rotatably supported on a bogie frame, while being connected to a motor shaft of the steering motor via a rotation transmitting mechanism. The shaft is connected to the motor shaft of the steering motor via a rotation interlocking mechanism, so that the measuring wheel is steered to the same angle as the steering angle of the steered wheel in synchronization with the steering of the steered wheel, and the measurement is performed on the measuring wheel. A wheel encoder was attached, and the running distance was measured by counting the number of revolutions of the measuring wheel.
【００１１】また、台車フレームに、ステアリングモー
タを設置し、台車フレームに回転自在に支持した操舵軸
により操舵輪を平面内において回動可能に支持し、該操
舵輪の操舵軸を、前記ステアリングモータのモータ軸に
回転伝達機構を介して連結すると共に、台車フレームに
回転自在に支持した計測輪用操舵軸により計測輪を平面
内において回動可能に支持し、該計測輪用操舵軸を、操
舵輪の操舵軸に回転連動機構を介して連結し、操舵輪の
操舵に同期して計測輪を、操舵輪の操舵角と同角度に操
舵させるようにし、かつ、計測輪に計測輪用エンコーダ
を取付け、計測輪の回転数をカウントして走行距離を計
測するようにした。Further, a steering motor is installed on the bogie frame, and the steered wheels are rotatably supported in a plane by a steering shaft rotatably supported by the bogie frame. The measuring wheel is rotatably supported in a plane by a measuring wheel steering shaft rotatably supported on a bogie frame, and the measuring wheel steering shaft is connected to the motor shaft of the motor wheel via a rotation transmission mechanism. The measurement wheel is connected to the steering shaft of the wheel via a rotation interlocking mechanism, and the measurement wheel is steered to the same angle as the steering angle of the steering wheel in synchronization with the steering of the steering wheel, and the measurement wheel encoder is attached to the measurement wheel. Attachment, count the number of revolutions of the measuring wheel, and measure the running distance.
【００１２】さらに、計測輪を計測輪用操舵軸に対して
上下動可能に支持し、該計測輪用操舵軸にバネ受け板を
固定し、バネ受け板と計測輪を支持する支持枠との間に
バネを挿設して計測輪を走行面に圧着させるようにした
こと。および、計測輪用操舵軸を、計測輪を支持する支
持枠に固定し、回転連動機構に対して上下動可能に支持
し、該計測輪用操舵軸を貫通させ、台車フレームの底面
に接面するバネ受け板を設け、該バネ受け板と計測輪を
支持する支持枠との間にバネを挿設して計測輪を走行面
に圧着させるようにしたことも特徴とする。Further, the measuring wheel is supported so as to be able to move up and down with respect to the steering wheel for the measuring wheel, a spring receiving plate is fixed to the steering shaft for the measuring wheel, and the supporting frame supporting the spring receiving plate and the measuring wheel is supported. A spring was inserted between them to press the measuring wheel against the running surface. Also, the measurement wheel steering shaft is fixed to a support frame that supports the measurement wheel, and is supported so as to be vertically movable with respect to the rotation interlocking mechanism. The measurement wheel steering shaft is penetrated, and the bottom surface of the bogie frame is in contact with the bottom surface of the bogie frame. A spring receiving plate is provided, and a spring is inserted between the spring receiving plate and a support frame that supports the measuring wheel, so that the measuring wheel is pressed against the running surface.
【００１３】[0013]
【発明の実施の形態】以下図に沿って、本発明の実施の
形態について説明する。図１は本発明による走行距離計
測装置の概略を示す要部平面図、図２は同断面図であ
る。図において、５は台車フレームである。６は台車フ
レーム５上に設置されたステアリングモータであって、
該ステアリングモータ６のモータ軸には歯車７とホィー
ル８が固定されている。DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a plan view of an essential part showing an outline of a traveling distance measuring device according to the present invention, and FIG. In the figure, reference numeral 5 denotes a bogie frame. 6 is a steering motor installed on the bogie frame 5,
A gear 7 and a wheel 8 are fixed to a motor shaft of the steering motor 6.
【００１４】９は操舵輪、１０は操舵輪９を支持する枠
体であって、該支持枠１０は、台車フレーム５に回転自
在に支持された操舵軸１１に固定されている。したがっ
て、操舵輪９は、操舵軸１１の回転により、平面内にお
いて回動可能である。１２は操舵軸１１に固定された歯
車であり、前記歯車７とアイドラーを介して噛合してい
る。Reference numeral 9 denotes a steering wheel, and reference numeral 10 denotes a frame for supporting the steering wheel 9. The support frame 10 is fixed to a steering shaft 11 rotatably supported by the bogie frame 5. Therefore, the steered wheels 9 can rotate in a plane by the rotation of the steering shaft 11. A gear 12 is fixed to the steering shaft 11 and meshes with the gear 7 via an idler.
【００１５】この実施例において走行モータは、操舵輪
９内に保持されたホィールインモータ１３が使用されて
おり、操舵輪９はホィールインモータ１３を介して支持
枠１０に支持されている。In this embodiment, a wheel-in motor 13 held in the steered wheels 9 is used as the traveling motor, and the steered wheels 9 are supported by the support frame 10 via the wheel-in motor 13.
【００１６】１４は計測輪、１５は計測輪１４を支持す
る枠体であって、該計測輪用支持枠１５は、台車フレー
ム５に回転自在に支持された計測輪１４の操舵軸１６に
スプライン嵌合している。したがって、計測輪１４は、
計測輪用操舵軸１６の回転により、平面内において回動
可能であり、また、計測輪用操舵軸１６に対して上下動
自在に支持されている。この支持方法について以下に説
明する。Reference numeral 14 denotes a measuring wheel, and reference numeral 15 denotes a frame supporting the measuring wheel 14. The supporting frame 15 for the measuring wheel is splined on a steering shaft 16 of the measuring wheel 14 rotatably supported by the bogie frame 5. Mated. Therefore, the measuring wheel 14
The measurement wheel steering shaft 16 is rotatable in a plane by rotation thereof, and is supported to be vertically movable with respect to the measurement wheel steering shaft 16. This support method will be described below.
【００１７】計測輪用操舵軸１６には、上部にホィール
１７が固定され、中間部にバネ受け板１８が固定されて
いる。１９はバネ受け板１８と計測輪用支持枠１５との
間に挿設されたバネである。したがって、計測輪用支持
枠１５に支持される計測輪１４は、バネ１９によって走
行面に押し当てられる。A wheel 17 is fixed to the upper portion of the measuring wheel steering shaft 16, and a spring receiving plate 18 is fixed to an intermediate portion. Reference numeral 19 denotes a spring inserted between the spring receiving plate 18 and the support frame 15 for measuring wheels. Therefore, the measurement wheel 14 supported by the measurement wheel support frame 15 is pressed against the running surface by the spring 19.
【００１８】２０は、計測輪用支持枠１５の端部に取付
けられた計測輪用エンコーダであり、計測輪１４の回転
数をカウントし、走行距離に換算する。２１は、台車フ
レーム５に回転自在に取付けられたホィールであって、
ステアリングモータ６のモータ軸に取付けられたホィー
ル８との間にタイミングベルト２２が巻回されている。Reference numeral 20 denotes a measuring wheel encoder attached to the end of the measuring wheel support frame 15, which counts the number of revolutions of the measuring wheel 14 and converts it into a travel distance. 21 is a wheel rotatably mounted on the carriage frame 5,
A timing belt 22 is wound around a wheel 8 attached to the motor shaft of the steering motor 6.
【００１９】２３はホィール２１と同軸にして、台車フ
レーム５に回転自在に取付けられたホィールであって、
前記計測輪用操舵軸１６に固定されたホィール１７との
間にタイミングベルト２４が巻回されている。したがっ
て、ステアリングモータ６によって回転されるホィール
８の回転は、ホィール２１、２３とタイミングベルト２
２、２４によってホィール１７に伝えられ、計測輪用操
舵軸１６はステアリングモータ６のモータ軸と同方向に
回転される。Reference numeral 23 denotes a wheel which is coaxial with the wheel 21 and is rotatably mounted on the bogie frame 5.
A timing belt 24 is wound around a wheel 17 fixed to the measurement wheel steering shaft 16. Therefore, the rotation of the wheel 8 rotated by the steering motor 6 is controlled by the wheels 21 and 23 and the timing belt 2.
The steering wheel 16 for measuring wheels is rotated in the same direction as the motor shaft of the steering motor 6 by being transmitted to the wheel 17 by 2 and 24.
【００２０】ステアリングモータ６のモータ軸と操舵輪
９の操舵軸１１との回転連動機構として、歯車機構を使
用したが、これに限らずホィールとタイミングベルトに
よる構成等、他の構成とすることができる。また、ステ
アリングモータ６のモータ軸と計測輪用操舵軸１６との
回転連動機構として、ホィールとタイミングベルトによ
るものとしたが、これに限らず、歯車機構やラックとピ
ニオンによる構成等も使用し得る。Although a gear mechanism is used as a rotation interlocking mechanism between the motor shaft of the steering motor 6 and the steering shaft 11 of the steered wheels 9, other configurations such as a configuration using wheels and timing belts may be used. it can. Further, the rotation interlocking mechanism between the motor shaft of the steering motor 6 and the steering wheel 16 for the measurement wheels is based on a wheel and a timing belt. However, the present invention is not limited to this, and a configuration using a gear mechanism, a rack and a pinion, or the like may be used. .
【００２１】また、ステアリングモータ６のモータ軸を
台車フレーム５の底辺部まで延在して支持し、該モータ
軸の底辺部近くに歯車を取付け、該歯車に噛合う歯車を
設けて、該歯車機構により計測輪用操舵軸１６を回転す
るようにしてもよい。Further, the motor shaft of the steering motor 6 is extended to and supported by the bottom of the bogie frame 5, a gear is mounted near the bottom of the motor shaft, and a gear meshing with the gear is provided. The measurement wheel steering shaft 16 may be rotated by a mechanism.
【００２２】さらに、計測輪１４の支持機構について
も、計測輪用操舵軸１６を計測輪用支持枠１５に固定
し、計測輪用操舵軸１６とホィール１７とをスプライン
嵌合させる構成とすることもできる。この場合、バネ受
け板１８は台車フレーム５の底面に固定し、また、軸穴
を設けて計測輪用操舵軸１６を貫通させるようにする。Further, the support mechanism for the measuring wheel 14 is also configured such that the measuring wheel steering shaft 16 is fixed to the measuring wheel support frame 15 and the measuring wheel steering shaft 16 and the wheel 17 are spline-fitted. Can also. In this case, the spring receiving plate 18 is fixed to the bottom surface of the bogie frame 5, and a shaft hole is provided so that the measuring wheel steering shaft 16 can pass therethrough.
【００２３】次に、本発明の他の実施の形態について説
明する。図３は本発明の他の実施の形態による走行距離
計測装置の概略を示す要部の平面図であり、図４は同断
面図である。なお、前述した図１、図２に示した実施の
形態と異なる部分について説明し、同一部分については
同じ符号を付し、詳細な説明は省略する。Next, another embodiment of the present invention will be described. FIG. 3 is a plan view of a main part schematically showing a traveling distance measuring device according to another embodiment of the present invention, and FIG. 4 is a sectional view of the same. Note that portions different from the above-described embodiment shown in FIGS. 1 and 2 will be described, and the same portions will be denoted by the same reference numerals and detailed description thereof will be omitted.
【００２４】１６′は計測輪用操舵軸であって、台車フ
レーム５に同フレームを貫通して、回転自在に支持され
ている。２６は計測輪用操舵軸１６′の上端部に固定さ
れたリンクであり、２７は操舵輪の操舵軸１１の上端部
に固定されたリンクであって、両リンク２６と２７は連
結ロッド２８で連結されている。Numeral 16 'denotes a measuring wheel steering shaft, which is rotatably supported by the bogie frame 5 through the frame. 26 is a link fixed to the upper end of the measuring wheel steering shaft 16 ', 27 is a link fixed to the upper end of the steering shaft 11 of the steered wheels, and both links 26 and 27 are connecting rods 28. Are linked.
【００２５】したがって、操舵輪の操舵軸１１が回転す
れば、リンク２７、連結ロッド２８、リンク２６を介し
て計測輪用操舵軸１６′も操舵軸１１と同じ角度だけ回
転される。つまり、この例では、計測輪用操舵軸１６′
を操舵輪の操舵軸１１に回転連結機構を介して連結した
構成となっている。Therefore, when the steering shaft 11 of the steered wheels rotates, the measuring wheel steering shaft 16 ′ is also rotated by the same angle as the steering shaft 11 via the link 27, the connecting rod 28, and the link 26. In other words, in this example, the measuring wheel steering shaft 16 '
Is connected to the steering shaft 11 of the steered wheels via a rotary connection mechanism.
【００２６】なお、回転連結機構として、リンク２６、
２７に代えて夫々ホィールを取り付け、両ホィール間に
タイミングベルトを巻回する構成としても同効である。
また、この実施の形態の例においても、リンク２６を台
車フレーム５に支持し、計測輪用操舵軸１６′をリンク
２６にスプライン嵌合させ、計測輪用支持枠１５を計測
輪用操舵軸１６′に固定する構成とすることもできる。
上述した回転連結機構以外の構成については、ステアリ
ングモータ６の取り付け位置が変わるだけで、図１、図
２に示した例と同一である。The link 26 is used as a rotary connecting mechanism.
The same effect can be obtained by mounting a wheel instead of 27 and winding a timing belt between both wheels.
Also in this embodiment, the link 26 is supported by the bogie frame 5, the measurement wheel steering shaft 16 'is spline-fitted to the link 26, and the measurement wheel support frame 15 is connected to the measurement wheel steering shaft 16 ′.
The configuration other than the above-described rotary connection mechanism is the same as the example shown in FIGS. 1 and 2 except that the mounting position of the steering motor 6 is changed.
【００２７】本発明の構成は以上の通りであって、次に
その作用について説明する。まず、走行モータ１３を駆
動することによって、操舵輪９を回転させ、台車を走行
する。この台車の走行により、計測輪１４も走行回転す
るので、その回転数がエンコーダ２０によってカウント
され、走行距離が計測される。The configuration of the present invention is as described above, and the operation thereof will be described below. First, by driving the traveling motor 13, the steered wheels 9 are rotated to travel on the bogie. Since the measurement wheel 14 also rotates by traveling of the cart, the number of revolutions is counted by the encoder 20 and the traveling distance is measured.
【００２８】操舵するときは、ステアリングモータ６を
回転すると、歯車７、１２が回転する。これによって、
操舵軸１１がステアリングモータ６のモータ軸と同方向
に回転され、支持枠１０を回転して、操舵輪９を操舵す
る。For steering, when the steering motor 6 is rotated, the gears 7 and 12 rotate. by this,
The steering shaft 11 is rotated in the same direction as the motor shaft of the steering motor 6, rotates the support frame 10, and steers the steered wheels 9.
【００２９】このとき、図１、図２の例では計測輪用操
舵軸１６は、ホィール８、２１、２３、１７とタイミン
グベルト２２、２４によって、ステアリングモータ６の
モータ軸と同方向に回転される。また、図３、図４の例
では計測輪用操舵軸１６′は、リンク２７、連結ロッド
２８、リンク２６によって、操舵軸１１と同方向に回転
される。At this time, in the examples shown in FIGS. 1 and 2, the measuring wheel steering shaft 16 is rotated in the same direction as the motor shaft of the steering motor 6 by the wheels 8, 21, 23, 17 and the timing belts 22, 24. You. In the examples of FIGS. 3 and 4, the measurement wheel steering shaft 16 ′ is rotated in the same direction as the steering shaft 11 by the link 27, the connecting rod 28, and the link 26.
【００３０】つまり、何れの場合も計測輪１４は、操舵
輪９の操舵と同期して同方向に、同角度操舵される。図
５にこの状態を示している。（Ａ）はカーブ走行時、
（Ｂ）は斜行時、（Ｃ）は横行時である。もちろん、計
測輪１４の操舵角が操舵輪９の操舵角と一致するように
ホィール径、リンク長さが設定されている。なお、２５
は従動輪であって、キャスター輪が使用されている。That is, in any case, the measuring wheel 14 is steered in the same direction and at the same angle in synchronization with the steering of the steered wheel 9. FIG. 5 shows this state. (A) is when driving on a curve,
(B) shows a skew, and (C) shows a traverse. Of course, the wheel diameter and the link length are set so that the steering angle of the measurement wheel 14 matches the steering angle of the steering wheel 9. Note that 25
Is a driven wheel, and a caster wheel is used.
【００３１】上述のごとく、計測輪１４は操舵輪９の操
舵と同期して、同角度に操舵されるし、台車荷重を受け
ないので、荷重の変動や台車の操舵によって変形するこ
とはなく、また、スラスト力も受けない。さらに、バネ
１９によって走行面に軽く圧着されているので、空回り
することもない。As described above, the measuring wheel 14 is steered at the same angle in synchronization with the steering of the steered wheels 9 and does not receive the bogie load. Therefore, the measuring wheel 14 is not deformed by the load variation or the steering of the bogie. Also, it does not receive thrust force. Further, since the spring 19 is lightly pressed on the running surface, the idle running does not occur.
【００３２】したがって、計測輪用エンコーダ２０は、
台車の走行距離を正確に検出することになる。しかも、
計測輪１４は台車の荷重やスラスト力を受けないので、
経年変化による摩耗も少なく、長期にわたって正確な走
行距離計測が可能である。Therefore, the measuring wheel encoder 20 is
The traveling distance of the cart will be accurately detected. Moreover,
Since the measuring wheel 14 does not receive the load of the bogie or the thrust force,
There is little wear due to aging and accurate running distance measurement is possible over a long period of time.
【００３３】なお、図５（Ａ）のカーブ走行時のごと
く、操舵輪９の前輪と後輪が同角度でない場合は、操舵
輪９の操舵軸１１の走行半径の中心と、計測輪１４の計
測輪用操舵軸１６の走行半径の中心とが一致しないの
で、理論上計測輪１４に、スラスト力が作用するが、こ
れは極めて微小なスラスト力であり、車輪が変形する等
の影響を与えるようなスラスト力ではなく、問題ではな
い。When the front wheel and the rear wheel of the steered wheel 9 are not at the same angle as in the curve running of FIG. 5A, the center of the running radius of the steering shaft 11 of the steered wheel 9 and the center of the measuring wheel 14 are measured. Since the center of the traveling radius of the measuring wheel steering shaft 16 does not coincide with the center, the thrust force acts on the measuring wheel 14 theoretically, but this is an extremely small thrust force, which affects the deformation of the wheel and the like. It doesn't matter, not the thrust like that.
【００３４】[0034]
【発明の効果】本発明は、台車の走行距離を計測する計
測輪を、操舵輪の操舵に同期して、操舵輪の操舵角と同
じ角度に操舵するようにし、また、台車の荷重が掛から
ないように台車フレームに支持するようにした。According to the present invention, the measuring wheels for measuring the traveling distance of the bogie are steered to the same angle as the steering angle of the steered wheels in synchronization with the steering of the steered wheels, and the load of the bogie is reduced. It was supported by the bogie frame so as not to be.
【００３５】このような構成としたので、計測輪は変形
したり、スラスト力を受けることもなく、スムーズな走
行回転が得られ、台車の走行移動距離を、極めて精度高
く計測し得るようになった。また、経年変化による摩耗
も少なく、長期にわたって正確な走行距離計測が可能と
なり、無人搬送車の誘導制御の信頼性が高まった。With such a configuration, the measuring wheel is not deformed and does not receive a thrust force, a smooth running rotation is obtained, and the running distance of the bogie can be measured with extremely high accuracy. Was. In addition, there is little wear due to aging, and it is possible to measure the traveling distance accurately over a long period of time, and the reliability of guidance control of the automatic guided vehicle has been improved.
【図１】本発明による走行距離計測装置の部分平面図。FIG. 1 is a partial plan view of a traveling distance measuring device according to the present invention.
【図２】同上断面図。FIG. 2 is a sectional view of the same.
【図３】他の実施の形態による走行距離計測装置の部分
平面図。FIG. 3 is a partial plan view of a traveling distance measuring device according to another embodiment.
【図４】同上断面図。FIG. 4 is a sectional view of the same.
【図５】本発明の装置による操舵の状態を説明する概略
図。FIG. 5 is a schematic diagram illustrating a state of steering by the device of the present invention.
【図６】従来の装置による操舵の状態を説明する概略
図。FIG. 6 is a schematic diagram illustrating a state of steering by a conventional device.
１ 台車フレーム ２ 操舵輪 ３ 従動輪 ４ 計測輪 ５ 台車フレーム ６ ステアリン
グモータ ７ 歯車 ８ ホイール ９ 操舵輪 １０ 支持枠 １１ 操舵軸 １２ 歯車 １３ 走行モータ １４ 計測輪 １５ 計測輪用支持枠 １６ 計測輪用
操舵軸 １７ ホィール １８ バネ受け
板 １９ バネ ２０ 計測輪用
エンコーダ ２１ ホィール ２２ タイミン
グベルト ２３ ホィール ２４ タイミン
グベルト ２５ 従動輪 ２６ 回動リン
ク ２７ 回動リンク ２８ 連結ロッ
ドReference Signs List 1 bogie frame 2 steering wheel 3 driven wheel 4 measuring wheel 5 bogie frame 6 steering motor 7 gear 8 wheel 9 steering wheel 10 support frame 11 steering shaft 12 gear 13 traveling motor 14 measuring wheel 15 supporting frame for measuring wheel 16 steering for measuring wheel Shaft 17 Wheel 18 Spring receiving plate 19 Spring 20 Encoder for measuring wheel 21 Wheel 22 Timing belt 23 Wheel 24 Timing belt 25 Follower wheel 26 Rotating link 27 Rotating link 28 Connecting rod
───────────────────────────────────────────────────── フロントページの続き (72)発明者 加賀 景行 愛知県大府市大東町二丁目75番地 住友ナ コ マテリアル ハンドリング株式会社内 Ｆターム(参考） 2F024 AA01 AB07 3D033 CA02 CA27 3D034 AA03 BB07 BB09 BC01 BC04 BC05 BD03 BD06 CB03 CB09 CC09 CC14 CC17 CD03 CD20 CE02 CE03 CE04 CE05 5H301 BB05 GG12 ────────────────────────────────────────────────── ─── Continuing from the front page (72) Inventor Kageyuki Kaga 2-75 Otocho, Obu City, Aichi Prefecture F-term (reference) 2F024 AA01 AB07 3D033 CA02 CA27 3D034 AA03 BB07 BB09 BC01 BC04 BC05 BD03 BD06 CB03 CB09 CC09 CC14 CC17 CD03 CD20 CE02 CE03 CE04 CE05 5H301 BB05 GG12
Claims (4)
置し、台車フレームに回転自在に支持した操舵軸により
操舵輪を平面内において回動可能に支持し、該操舵輪の
操舵軸を、前記ステアリングモータのモータ軸に回転伝
達機構を介して連結すると共に、台車フレームに回転自
在に支持した計測輪用操舵軸により計測輪を平面内にお
いて回動可能に支持し、該計測輪用操舵軸を、ステアリ
ングモータのモータ軸に回転連動機構を介して連結し、
操舵輪の操舵に同期して計測輪を、操舵輪の操舵角と同
角度に操舵させるようにし、かつ、計測輪に計測輪用エ
ンコーダを取付け、計測輪の回転数をカウントして走行
移動距離を計測するようにしたことを特徴とする無人搬
送車における走行距離計測装置。A steering motor is installed on a bogie frame, and a steering shaft rotatably supported on the bogie frame rotatably supports a steered wheel in a plane. The steering shaft of the steered wheel is connected to the steering motor. The measurement wheel is rotatably supported in a plane by a measurement wheel steering shaft rotatably supported on the bogie frame, and the measurement wheel steering shaft is connected to the motor shaft of the vehicle through a rotation transmission mechanism. Connected to the motor shaft of the motor via a rotation interlocking mechanism,
The measuring wheel is steered to the same angle as the steering angle of the steered wheel in synchronization with the steering of the steered wheel, and an encoder for the measuring wheel is attached to the measured wheel, and the number of revolutions of the measured wheel is counted to travel the traveling distance. A traveling distance measuring device for an automatic guided vehicle, wherein the traveling distance is measured.
置し、台車フレームに回転自在に支持した操舵軸により
操舵輪を平面内において回動可能に支持し、該操舵輪の
操舵軸を、前記ステアリングモータのモータ軸に回転伝
達機構を介して連結すると共に、台車フレームに回転自
在に支持した計測輪用操舵軸により計測輪を平面内にお
いて回動可能に支持し、該計測輪用操舵軸を、操舵輪の
操舵軸に回転連動機構を介して連結し、操舵輪の操舵に
同期して計測輪を、操舵輪の操舵角と同角度に操舵させ
るようにし、かつ、計測輪に計測輪用エンコーダを取付
け、計測輪の回転数をカウントして走行移動距離を計測
するようにしたことを特徴とする無人搬送車における走
行距離計測装置。2. A steering motor is mounted on a bogie frame. Steering wheels are rotatably supported in a plane by a steering shaft rotatably supported by the bogie frame. The steering shaft of the steering wheel is connected to the steering motor. The measuring wheel is rotatably supported in a plane by a measuring wheel steering shaft rotatably supported on a bogie frame, and the measuring wheel steering shaft is connected to the motor shaft of the motor wheel via a rotation transmission mechanism. The measurement wheel is connected to the steering shaft of the wheel via a rotation interlocking mechanism, and the measurement wheel is steered to the same angle as the steering angle of the steering wheel in synchronization with the steering of the steering wheel, and the measurement wheel encoder is attached to the measurement wheel. A travel distance measuring device for an automatic guided vehicle, wherein the travel distance is measured by counting the number of rotations of a mounting wheel and a measuring wheel.
能に支持し、計測輪用操舵軸にバネ受け板を固定し、バ
ネ受け板と計測輪を支持する支持枠との間にバネを挿設
して計測輪を走行面に圧着させるようにしたことを特徴
とする請求項１または請求項２記載の無人搬送車におけ
る走行距離計測装置。3. A measurement wheel is supported so as to be vertically movable with respect to a measurement wheel steering shaft, a spring receiving plate is fixed to the measurement wheel steering shaft, and a support frame supporting the measurement wheel is supported by the spring receiving plate. 3. The travel distance measuring device for an automatic guided vehicle according to claim 1, wherein a spring is inserted into the traveling wheel to press the measurement wheel against the traveling surface.
枠に固定し、回転連動機構に対して上下動可能に支持
し、該計測輪用操舵軸を貫通させ、台車フレームの底面
に接面するバネ受け板を設け、該バネ受け板と計測輪を
支持する支持枠との間にバネを挿設して計測輪を走行面
に圧着させるようにしたことを特徴とする請求項１また
は請求項２記載の無人搬送車における走行距離計測装
置。4. The measuring wheel steering shaft is fixed to a support frame that supports the measuring wheel, and is supported so as to be able to move up and down with respect to a rotation interlocking mechanism. A spring receiving plate is provided in contact with the supporting plate, and a spring is inserted between the spring receiving plate and a support frame supporting the measuring wheel to press the measuring wheel against the running surface. The travel distance measuring device for an automatic guided vehicle according to claim 1 or 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000227296A JP3853578B2 (en) | 2000-07-27 | 2000-07-27 | Travel distance measuring device for automated guided vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000227296A JP3853578B2 (en) | 2000-07-27 | 2000-07-27 | Travel distance measuring device for automated guided vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2002039786A true JP2002039786A (en) | 2002-02-06 |
| JP3853578B2 JP3853578B2 (en) | 2006-12-06 |
Family
ID=18720771
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2000227296A Expired - Fee Related JP3853578B2 (en) | 2000-07-27 | 2000-07-27 | Travel distance measuring device for automated guided vehicles |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3853578B2 (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100668788B1 (en) | 2006-05-22 | 2007-01-12 | (주)프리비아 | Position recognition apparatus for mobile robot |
| CN104890727A (en) * | 2015-06-14 | 2015-09-09 | 曹昂 | 360-degree omni-directional steering trolley |
| CN107328341A (en) * | 2017-06-30 | 2017-11-07 | 中山市翔实机械设备有限公司 | A kind of riding type measuring wheel |
| CN108502802A (en) * | 2018-04-10 | 2018-09-07 | 卢恺凯 | A kind of small transporting vehicle for transporting large chemical equipment |
| DE112020006658T5 (en) | 2020-01-31 | 2022-12-01 | Panasonic Intellectual Property Management Co., Ltd. | Carrier, carrier control method, program, part placement system and work system |
| DE112020004858T5 (en) | 2019-10-10 | 2022-12-22 | Panasonic Intellectual Property Management Co., Ltd. | Transport device, transport method and parts assembly system |
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2000
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100668788B1 (en) | 2006-05-22 | 2007-01-12 | (주)프리비아 | Position recognition apparatus for mobile robot |
| CN104890727A (en) * | 2015-06-14 | 2015-09-09 | 曹昂 | 360-degree omni-directional steering trolley |
| CN107328341A (en) * | 2017-06-30 | 2017-11-07 | 中山市翔实机械设备有限公司 | A kind of riding type measuring wheel |
| CN107328341B (en) * | 2017-06-30 | 2020-11-17 | 潍坊诺源达电子材料有限公司 | Riding type distance measuring wheel |
| CN108502802A (en) * | 2018-04-10 | 2018-09-07 | 卢恺凯 | A kind of small transporting vehicle for transporting large chemical equipment |
| DE112020004858T5 (en) | 2019-10-10 | 2022-12-22 | Panasonic Intellectual Property Management Co., Ltd. | Transport device, transport method and parts assembly system |
| DE112020006658T5 (en) | 2020-01-31 | 2022-12-01 | Panasonic Intellectual Property Management Co., Ltd. | Carrier, carrier control method, program, part placement system and work system |
| US11981198B2 (en) | 2020-11-27 | 2024-05-14 | Panasonic Intellectual Property Management Co., Ltd. | Mover, carrier, parts mounting system, and shaft coupling for movers |
| CN118066967A (en) * | 2024-04-19 | 2024-05-24 | 河南正勋建筑工程有限公司 | Road and bridge construction measuring device |
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| Publication number | Publication date |
|---|---|
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