JP2004070488A - Self-propelled vehicle for trackless conveyance - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve the operability and safety of manual operation of a self-propelled vehicle for trackless conveyance by its console panel for manual operation. <P>SOLUTION: The self-running vehicle for trackless conveyance is equipped with steering wheels 2 and 3 which are driven for steering and also equipped with the console panel for manual operation connected to a travel controller, i.e. a remote controller 5, which is selectively connected to at least the front end side or rear end side of the vehicle. When forward moving is instructed through the remote controller 5, the vehicle is driven to travel in a direction wherein the end side to which the remote controller 5 is connected is the rear side. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a trackless transfer self-propelled vehicle including a manual operation panel connected to a travel controller.
[0002]
[Prior art]
The manual operation panel in this type of trackless transporting self-propelled vehicle is generally used in an emergency when automatic operation cannot be performed or during maintenance and inspection work. There is also known a non-tracked transfer self-propelled vehicle of the type described above, but a manually driven type trackless transfer self-propelled vehicle which always operates by manually operating the manual driving operation panel.
[0003]
In any case, the manual operation panel in this type of vehicle is provided at one of the front and rear ends of the vehicle, generally at the rear end side. The operator who operates the vehicle walks behind the vehicle as the vehicle travels. On the other hand, this type of trackless transporting self-propelled vehicle is generally capable of traveling backward, and the traveling vehicle is traveling backward using the manual driving operation panel to a destination location. You may want to move it.
[0004]
When the above situation occurs, the operator who operates the manual driving operation panel must walk as he steps backward while paying attention to his feet, because the vehicle advances toward himself. It is very difficult to work safely.
[0005]
[Means for Solving the Problems]
SUMMARY OF THE INVENTION An object of the present invention is to provide a self-propelled vehicle for trackless transport that can solve the above-described conventional problems, and the means are indicated by reference numerals in embodiments described later. In a self-propelled self-propelled vehicle provided with a steering wheel 2, 3 to be steered and driven and connected to a travel controller 13, that is, a self-propelled vehicle with a remote controller 5, Is configured to be selectively connectable to a front end side and a rear end side of the vehicle, and the forward operation of the remote control 5 causes the vehicle to move rearward with the end side to which the remote control 5 is connected. It is configured to be driven to travel.
[0006]
When the self-propelled vehicle for trackless transfer is capable of traversing, the remote controller 5 is configured to be connectable to a vehicle side opposite to the traversing direction of the vehicle. When the remote controller 5 is connected to the remote controller 5, the vehicle can be configured to be traversed by a forward operation of the remote controller 5 in a direction in which the side of the vehicle to which the remote controller 5 is connected is rearward. .
[0007]
The self-propelled vehicle for trackless transport has steering / drive wheels 2 and 3 on both front and rear ends, respectively. In addition to the normal traveling mode, both front and rear steering / drive wheels 2 and 3 are provided. Is selectable, a traversing traveling mode in which the vehicle is turned right and left and a skew traveling mode in which both front and rear steering / drive wheels 2 and 3 are steered in parallel in the same direction. The vehicle can be selectively connected to four front, rear, left, and right locations, and each of the traveling mode selection functions (travel mode selection buttons 9a to 9c) for normal, traversing, and skewing, and four directions of front, rear, left, and right directions. Function (running instruction buttons 10a to 10d) is provided, and when the direction of front, rear, left and right is specified by the remote controller 5 in a state in which the traverse or skew traveling mode is selected, the vehicle is connected to the remote controller 5. Vehicle end It can be configured to traverse or skew to the left or right when viewed from the side.
[0008]
As the remote controller 5, various types such as a wireless remote controller type can be used. For example, a plug 6 that can be selectively connected to sockets S1 to S4 provided at a plurality of locations on the vehicle side is used. It is preferable to use a wired remote control type having the cable 8 provided in the above.
[0009]
BEST MODE FOR CARRYING OUT THE INVENTION
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A preferred embodiment of the present invention will be described below with reference to the accompanying drawings. In FIG. 1, reference numeral 1 denotes a self-propelled vehicle main body, which is located at a position near both front and rear ends on a longitudinal center line 1a thereof. Driving wheels 2 and 3 are provided, and freely rotating wheels 4a and 4b are provided at substantially the center in the front-rear direction and on both left and right sides. Steering / driving wheels 2 and 3 are traveling motors M1 and M2 for forward and reverse rotation driving, and steering motors for forward and reverse steering driving of the wheels 2 and 3 around a vertical axis. M3 and M4 are provided side by side.
[0010]
The self-propelled vehicle body 1 is provided with remote control connection sockets S1 to S4 at a total of four locations, two locations at the front and rear ends and two locations at the left and right sides. One manually operated operation panel (hereinafter, abbreviated as a remote controller) 5 is prepared. The remote controller 5 is a wired remote controller in which a plug 6 detachable from the remote control connection sockets S1 to S4 and a remote controller main body 7 are connected with a cord 8 as shown in FIG. , Three types of traveling mode selection buttons 9a to 9c of "normal", "traverse" and "skew", and four types of traveling instruction buttons 10a to 10d of "forward", "reverse", "left" and "right". Is provided.
[0011]
As shown in FIG. 1, the remote control connection socket attached to the rear end of the vehicle body 1 is S1, and the remote control connection socket attached to the front end of the vehicle body 1 is S1. S2, the remote control connection socket attached to the right end of the self-propelled vehicle body 1 is S3, and the remote control connection socket attached to the left end of the self-propelled vehicle body 1 is S4. F1 is the direction in which the vehicle travels with the part in front, F2 is the direction in which the vehicle travels with the rear end of the vehicle 1 in front, and F3 is the direction in which the vehicle travels (traverses) with the left end of the vehicle 1 in the front. The direction in which the vehicle travels (traverses) with the right end of the vehicle body 1 in front is F4.
[0012]
As shown in FIG. 2, a traveling control device 11 is mounted on the self-propelled vehicle body 1. The travel control device 11 also functions when the self-propelled vehicle body 1 is automatically driven along a set traveling route. However, when the self-propelled vehicle body 1 is manually driven using the remote control 5, Describing only the related functions, it includes a traveling direction switching unit 12, a traveling controller 13, and controllers 14a to 14d for each of the motors M1 to M4.
The configuration and operation of the travel control device 11 will be described in detail. The travel direction switching unit 12 is connected to sockets S1 to S4 to which the remote control 5 is connected via a plug 6, and travel instruction buttons 10a to 10 Four kinds of travel direction commands of "forward", "reverse", "leftward" and "rightward" input through one of the sockets S1 to S4 by the selection operation of 10d according to the used sockets S1 to S4 When the self-propelled vehicle body 1 is viewed from the side with the socket to which the remote control 5 is connected, the side with the socket to which the remote control 5 is connected is referred to as “rear”. The front, rear, left, and right directions are assigned to the self-propelled vehicle body 1 so that the traveling direction is converted as follows according to the assigned directions.
Socket S1 "forward" → F1 command, "reverse" → F2 command "left" → F3 command, "right" → F4 command Socket S2 ... "forward" → F2 command, "reverse" → F1 command " “Left” → F4 command, “Right” → F3 command socket S3 ... “Forward” → F3 command, “Reverse” → F4 command “Left” → F2 command, “Right” → F1 command socket S4 ... “Forward” → F4 command, “Reverse” → F3 command “Left” → F1 command, “Right” → F2 command
It is transmitted after passing through one of the sockets S1 to S4 by the driving direction commands F1 to F4 from the driving direction switching unit 12 and the operation of the driving mode selection buttons 9a to 9c of the remote controller 5. The three types of travel mode commands of “normal”, “traverse”, and “skew” are input to the travel controller 13, and the travel controller 13 causes the self-propelled vehicle body 1 to move in the designated direction in the designated travel mode. In order to make the vehicle travel, the traveling motors M1 and M2 and the steering motors M3 and M4 are controlled via the respective motor controllers 14a to 14d.
[0015]
The following describes three types of traveling modes: “normal”, “traverse”, and “skew”. In the “normal” traveling mode, both forward and backward steering / drive wheels 2, 3 rotate forward or reverse. In the case of right and left steering, as shown in FIG. 3A, the steering / drive combined wheel 2 on the front end side is steered and driven in the left and right steering direction side (for example, clockwise) and the rear end side. The steering / drive combined wheel 3 is steered in a direction opposite to the left-right steering direction (for example, counterclockwise). When the "traversing" traveling mode is selected, as shown in FIG. 3B, both the front and rear steering / drive wheels 2 and 3 are both turned 90 degrees to be in a left-right lateral state. In the "skew" travel mode, forward and backward travel is performed in the same manner as in the "normal" travel mode. However, in the case of left-right steering, as shown in FIG. 3C, both front and rear steering / drive wheels 2 are used. , 3 are steered in synchronization with the left and right steering directions.
[0016]
According to the above configuration, when the remote controller 5 is connected to the socket S1 at the rear end of the self-propelled vehicle main body 1 as shown by the solid line in FIG. → F2 command, “Left” → F3 command, “Right” → F4 command. If “Normal” driving mode is selected by the driving mode selection buttons 9a to 9c, operate the “Forward” button 10a. Then, while pushing the "forward" button 10a so that the side of the socket S1 to which the remote control 5 is connected is located on the rear side, that is, in the F1 direction, both the front and rear steering / drive wheels 2 are pressed. , 3 are normally driven. Then, when the "leftward" button 10c is pressed while traveling in the F1 direction, while the "leftward" button 10c is pressed, the self-propelled vehicle main body 1 is on the left side when viewed from the side where the socket S1 is located, that is, In order to steer in the direction F3, the steering / drive combined wheel 2 on the front side (F1 side) in the traveling direction is steered and driven in the direction F3, and the steering / drive on the rear side (F2 side) in the traveling direction. As a result of the dual-purpose wheel 3 being steered in the F4 direction, the self-propelled vehicle body 1 traveling in the F1 direction is steered to the left (F3 direction) in the traveling direction. Therefore, when the "forward" button 10d is pressed while the "forward" button 10a is being pressed, the self-propelled vehicle body 1 traveling in the F1 direction is steered rightward in the traveling direction (F4 direction), and "forward". It is apparent that pressing the "reverse" button 10b instead of the "button 10a" causes the self-propelled vehicle body 1 to travel in the F2 direction.
[0017]
As shown by a virtual line in FIG. 1, when the remote controller 5 is connected to the socket S2 at the front end of the self-propelled vehicle body 1, as described above, the "forward" → F2 command, the "reverse" → F1 command, and the "left" When the "normal" traveling mode is selected by the traveling mode selection buttons 9a to 9c, when the "forward" button 10a is operated, the remote controller 5 is connected. Both the front and rear steering / driving wheels 2 and 3 are reversed while the "forward" button 10a is pressed so that one side of the socket S2 is moved backward, that is, in the direction of F2. Driven. When the "Left" button 10c is pressed while traveling in the F2 direction, while the "Left" button 10c is pressed, the self-propelled vehicle body 1 is on the left side when viewed from the side where the socket S2 is located, that is, The steering / drive combined wheel 3 on the front side (F2 side) in the traveling direction is steered and driven in the F4 direction side so as to be steered in the F4 direction, and the steering / drive on the rear side (F1 side) in the traveling direction. As a result of the dual-purpose wheel 2 being steered toward the F3 direction, the self-propelled vehicle body 1 traveling in the F2 direction is steered to the left (F4 direction) in the traveling direction. Therefore, when the "forward" button 10d is pressed while the "forward" button 10a is pressed, the self-propelled vehicle body 1 traveling in the F2 direction is steered to the right (F3 direction) in the traveling direction, and "forward". Obviously, if the "reverse" button 10b is pressed instead of the "button 10a", the self-propelled vehicle body 1 will travel in the F1 direction.
[0018]
Of course, in the state where the remote controller 5 is connected to the socket S1 or S2, when the "traverse" traveling mode is selected by the traveling mode selection buttons 9a to 9c, when the "leftward" button 10c is pressed, the socket S1 connected to the remote controller 5 is pressed. Alternatively, when the self-propelled vehicle main body 1 is traversed to the left as viewed from the side of S2 and the "Right Forward" button 10d is pressed, the self-propelled vehicle main body to the right is viewed from the side of the socket S1 or S2 to which the remote controller 5 is connected. 1 can be traversed. When the remote control 5 is connected to the socket S1 or S2 and the "diagonal" traveling mode is selected by the traveling mode selection buttons 9a to 9c, the "forward" button 10a is pushed to move the self-propelled vehicle body 1 in the F1 direction or When the "Left" button 10c is pressed while the vehicle is traveling in the F2 direction, the self-propelled vehicle body 1 travels obliquely parallel to the front left as viewed from the side of the socket S1 or S2 to which the remote controller 5 is connected, When the "Right" button 10d is pressed, the self-propelled vehicle main body 1 can be obliquely parallel-traveled to the front right as viewed from the socket S1 or S2 to which the remote controller 5 is connected.
[0019]
As is apparent from the above description, even when the remote controller 5 is connected to the sockets S3 and S4 on the left and right sides of the vehicle body 1, when the "forward" button 10a of the remote controller 5 is operated, the remote controller 5 is connected. The "leftward" button 10c of the remote controller 5 is used to drive the vehicle in the direction in which the side of the socket S3 or S4 is located rearward, that is, in the direction F3 or F4, and to steer to the left with respect to the running direction F3 or F4. It is clear that the user can press the "rightward" button 10d of the remote controller 5 to steer to the right. However, in this case, as in the case of the steering control when the forward direction is the F1 direction or the F2 direction, both the steering / driving wheels 2 and 3 cannot be steered in opposite directions. For example, of the steering / driving wheels 2 and 3, the steering / driving wheels 2 or 3 inside the steering direction are released from driving and can be freely rotated, and the steering / driving wheels 3 outside the steering direction are turned off. Alternatively, it is necessary to control so that the steering operation is performed in the steering direction while driving only 2.
[0020]
When the “traverse” traveling mode is selected with the remote controller 5 connected to the sockets S3 and S4 on the left and right sides of the vehicle 1, the “leftward” button 10c or the “rightward” button 10d is pressed. The operation allows the self-propelled vehicle body 1 to travel in parallel (traverse) in the left or right direction as viewed from the side to which the remote controller 5 is connected, that is, in the F2 direction or the F1 direction. Is selected, in the forward traveling state or the reverse traveling state, the push operation of the "leftward" button 10c or the "rightward" button 10d causes any one of the front and rear left or right as viewed from the side to which the remote control 5 is connected. The self-propelled vehicle main body 1 can be made to run obliquely parallel to any one of the front and rear right sides.
[0021]
The "traverse" traveling mode is enabled only when the remote controller 5 is connected to the sockets S1 or S2 at the front and rear ends of the vehicle 1 so that the vehicle 1 travels in parallel in the F3 or F4 direction. It is also possible to perform only traversing. Similarly, the “skew” traveling mode can be enabled only when the remote controller 5 is connected to the sockets S1 or S2 at both front and rear ends of the vehicle 1. Of course, the "traverse" traveling mode and the "skew" traveling mode shown in the above embodiment are not essential to the present invention. Accordingly, a self-propelled vehicle that cannot be traversed or skewed, for example, one center or two left and right steered wheels are disposed at one of the front and rear ends of the main body 1, and the other of the front and rear ends is provided at the other end. The vehicle may be a self-propelled vehicle in which one or two left and right driving wheels for driving are arranged, and free-wheeling wheels are combined as necessary.
[0022]
In the above-described embodiment, in the "normal" traveling mode when traveling in the F1 direction or the F2 direction, when steering in the left-right direction, two steering / drives located before and after the traveling direction are used. Of the dual-purpose wheels 2 and 3, it can be controlled so that only the front wheel in the traveling direction is steered. At this time, the wheels 2 or 3 on the rear side in the traveling direction may be controlled so as to be free without driving.
[0023]
Although the wired remote controller 5 is illustrated as the manual operation panel, the invention is not limited to this. For example, a receiver is provided in place of the sockets S1 to S4, and a radio wave which can be transmitted to the receiver only in a certain range in front of each receiver and directed to the receiver. , A wireless type remote control including a transmitter using infrared rays, ultrasonic waves, etc., or an operation panel mounting portion capable of detachably mounting a manual operation panel itself in place of the sockets S1 to S4. When a manual operation panel is selectively mounted on the plurality of operation panel mounting portions, the manual operation panel and the travel controller may be connected. Of course, in the present invention, if there is no problem in terms of cost, a manual operation panel is attached to each of a plurality of required locations of the self-propelled vehicle body, and the plurality of manual operation panels are attached to each of the manual operation panels. This also includes a case where only one of them can be used by a start switch or the like provided on the panel.
[0024]
【The invention's effect】
The present invention can be implemented and used as described above, and according to the self-propelled vehicle for trackless transfer of the present invention, when the vehicle is manually driven by a manual driving operation panel, When the traveling direction of the vehicle at the start of the manual driving is the original forward direction, the operation panel for manual driving is connected to the rear end side of the vehicle in the same manner as a conventional self-propelled vehicle for this type of trackless transport, When the traveling direction of the vehicle at the start of the manual driving is the original backward direction, the operation panel for manual driving is connected to the front end side of the vehicle to be used, so that the driving direction on the operation panel for manual driving is related. The front, rear, left, and right displays correspond to the front, rear, left, and right directions as viewed from the operator operating the manual operation panel.
[0025]
Therefore, even when the traveling direction of the vehicle at the start of the manual driving is the original reverse direction, the operation panel for the manual driving is connected to the front end side of the vehicle to be used. The operator who operates the operation panel can follow and follow the running vehicle, and, as in the past, must walk backward while paying attention to his feet so that the vehicle can move toward itself. You don't have to. Further, when the vehicle is driven backward in a state where the manual driving operation panel is connected to the rear end side of the vehicle as in the related art, the left and right with respect to the reverse direction are viewed from the operator (frontward) operating the manual driving operation panel. It is necessary to think right and left upside down at the time of steering operation on the operation panel for manual operation, and considerable skill is required to perform quick steering operation without error. Although necessary, the present invention does not cause such a disadvantage. Therefore, safe and reliable manual operation can be easily performed.
[0026]
According to the second aspect of the present invention, when the self-propelled vehicle is a traversable trackless transfer vehicle, and the user wants to traverse the vehicle in the left-right lateral direction at the start of the manual operation, the manual driving operation is performed. By using the panel connected to the side of the vehicle opposite to the direction in which it wants to traverse, the operator operating the manual driving operation panel can safely follow the traversing vehicle while walking manually. In addition to being able to drive, the worker must walk (traverse) so as to secure a space for the worker to walk between obstacles and the vehicle because the worker must walk sideways. There is no inconvenience of having to do it.
[0027]
According to the third aspect of the present invention, in addition to the normal traveling mode, the front / rear steering / drive wheels are in the same direction as the transverse traveling mode in which both front / rear steering / drive wheels face right and left. Even in a trackless transporting self-propelled vehicle that can select a skew traveling mode that is steered in parallel, a manual driving operation panel is provided at the vehicle end or side opposite to the vehicle traveling direction at the start of manual driving. By connecting and using, even in a state where the traversing or skew traveling mode is selected, the front-back and left-right directions viewed from the operator operating the manual driving operation panel, and the traversing or The running direction of the skew matches, and safe, reliable and accurate manual operation can be easily performed.
[0028]
Further, according to the configuration described in claim 4, the present invention can be implemented at low cost.
[Brief description of the drawings]
FIG. 1 is a schematic plan view showing an embodiment of the present invention.
FIG. 2 is a block diagram showing a control system of the embodiment.
3A is a schematic plan view illustrating a normal traveling mode, FIG. 3B is a schematic plan view illustrating a traversing traveling mode, and FIG. 3C is a schematic plan view illustrating a skewing traveling mode.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Self-propelled vehicle main body 2, 3 Steering / drive combined wheel 4a, 4b Swivel freewheel 5 Manual operation operation panel (remote control)
6 Plug 7 Remote control body 8 Codes 9a to 9c Running mode selection buttons 10a to 10d Running instruction button 11 Running control device 12 Running direction switching unit 13 Running controllers 14a to 14d Each motor controller F1 With the front end of the self-propelled vehicle body in front Advancing direction F2 Advancing direction with the rear end of the self-propelled vehicle body forward F3 A direction of traveling (traversing) with the left end of the self-propelled vehicle body forward F4 Proceeding with the right end of the self-propelled vehicle body (Traversing) direction M1, M2 Running motor M3, M4 Steering motor S1 to S4 Remote control connection socket

Claims (4)

In a self-propelled vehicle for trackless transport including a steering wheel to be steered and driven, and a manual driving operation panel connected to a travel controller, the manual driving operation panel includes a front end side of the vehicle. The vehicle is configured to be selectively connectable to a rear end side, and the vehicle travels in a direction in which an end side to which the manual driving operation panel is connected is rearward by a forward operation on the manual driving operation panel. A trackless transfer self-propelled vehicle configured to be driven. A traversable trackless transporting self-propelled vehicle, wherein the manual driving operation panel is configured to be connectable to a vehicle side opposite to the traversing direction side of the vehicle. When the operation panel is connected to the vehicle, the vehicle is traversed by the forward operation of the manual operation panel so that the side of the vehicle to which the manual operation panel is connected is rearward. The self-propelled vehicle for trackless transport according to claim 1, which is configured. The self-propelled vehicle for trackless conveyance has steering / drive wheels on both front and rear ends, and in addition to the normal traveling mode, a traverse traveling mode in which both front and rear steering / drive wheels face right and left. An oblique traveling mode in which both front and rear steering / drive wheels are steered in parallel in the same direction can be selected, and the manual driving operation panel is selectively provided at four front, rear, left and right sides of the vehicle. Connectable and provided with a normal, traversing, and skew traveling mode selection function and a forward, backward, left, and right traveling direction instructing function of four directions. 2. The vehicle according to claim 1, wherein the vehicle is configured to traverse or skew to the left or right as viewed from an end or a side of the vehicle to which the operation panel for manual driving is connected, according to the traveling direction instruction. Self-propelled vehicle for trackless transport. The manual operation panel according to any one of claims 1 to 3, further comprising a cable having a plug at an end that can be selectively connected to sockets provided at a plurality of locations on the vehicle side. A self-propelled vehicle for trackless transport as described.

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