JP2005280423A - Traveling truck - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To detect a movement of a bumper even when the bumper comes into collision with an obstacle in a position where an angle with respect to the left and right center line of rectilinear traveling of a traveling truck body becomes relatively wide. <P>SOLUTION: The traveling truck is equipped with a bumper 3 provided to the front of a traveling truck body 1 supported by wheels so as to be movable in a lateral direction, arms 5, 5 rotating by the movement of the bumper 3, and sensors 6, 6 actuated by rotation of the arms 5, 5 to detect the rotation of the arms 5, 5. Lengths from both ends of the arms 5, 5 to a pivotal point O are made different. The shorter length side is engaged with the bumper 3. The longer length side can be engaged with the sensors 6, 6. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a traveling carriage capable of changing a traveling direction by a collision with an obstacle.

  For example, Patent Documents 1 and 2 describe unmanned traveling carts that can change the traveling direction. The traveling cart of Patent Document 1 detects a bumper that is provided on a front surface of a traveling cart body supported by wheels and that can freely move in the lateral direction, and is attached to the surface of the bumper to contact an obstacle. And a plurality of tape switches. The traveling cart of Patent Document 2 includes four bumpers that are provided so as to freely move in the lateral direction around a traveling cart body supported by wheels, and four sensors that detect the movement of each bumper. .

FIG. 6 is a schematic view showing another configuration of a conventional traveling carriage. This traveling carriage is pivotally supported at two circumferential positions of the bumper 101 and a semicircular bumper 101 that is freely movable forward and backward at the front part of the traveling carriage body 100 supported by wheels. Is provided with two support rods 102, 102 that freely support the traveling cart body 100 to move back and forth, and a touch sensor or an optical sensor (not shown) that detects the movement of each support rod 102, 102. .
JP-A-10-166968 JP 2002-96733 A

  However, in Patent Document 1, since the tape sensor directly hits an obstacle, the tape sensor is easily damaged, and the movement of the bumper is detected only at the location where the tape sensor is attached. There was a problem that the number of pasted parts was relatively large. Moreover, in patent document 2, since a bumper and a sensor are required for four directions, there existed a problem that a structure was complicated and the whole traveling trolley became large.

  Further, in the traveling carriage shown in FIG. 6, the problems of Patent Documents 1 and 2 can be solved. However, since the movement detection angles θ and θ of the bumper 101 are relatively small with respect to the left and right center line X of straight traveling, there is a problem that the direction changeability is poor.

  The present invention has been made in view of such circumstances, and a main object of the present invention is to provide a traveling carriage main body by providing a detection means having a rotating body that rotates by movement of the bumper and a sensor that operates by rotation of the rotating body. An object of the present invention is to provide a traveling vehicle that can detect the movement of the bumper even when the bumper collides with an obstacle at a position where the angle with respect to the center line of the straight traveling is relatively large.

  Another object of the present invention is to provide a traveling carriage that can simplify the structure of the bumper movement detector by using a rotating body composed of arms.

  Another purpose is to change the length from both ends of the arm to the pivot point, engage the shorter with the bumper, and engage the longer with the sensor. An object of the present invention is to provide a traveling vehicle capable of detecting the movement of the bumper even more accurately even when the bumper collides with an obstacle at a position where the distance becomes relatively large.

  Another object is to use a rotating body as an arm pivotally supported on the main body of the traveling carriage, and to connect one end of the arm to the bumper so that they can move relative to each other. An object of the present invention is to provide a traveling vehicle that can detect the movement of the bumper even more accurately even when the bumper collides with an obstacle at a position where the angle with respect to the left and right center line of the traveling is relatively large.

  A traveling vehicle according to a first aspect of the present invention is a traveling vehicle comprising a bumper provided in front of a traveling vehicle body supported by wheels so as to be able to move in a lateral direction, and detection means for detecting the movement of the bumper. The detecting means includes a rotating body that rotates by the movement of the bumper, and a sensor that operates by the rotation of the rotating body to detect the rotation of the rotating body.

  In the first aspect of the invention, the bumper collides with the obstacle and moves relative to the traveling carriage main body, so that the rotating body rotates and the sensor operates. Even when the bumper collides with an obstacle at a position where the angle is relatively large, it is possible to detect the movement of the bumper and improve the direction changeability.

  In the traveling cart according to the second invention, the rotating body is an arm pivotally supported on one of the traveling cart body and the bumper.

  In the second invention, since the rotating body can be supported by the pivot shaft, the structure of the bumper movement detector can be simplified.

  The traveling carriage according to a third aspect is characterized in that the arms have different lengths from both ends to the pivot point, the shorter one is engaged with the bumper, and the longer one is engageable with the sensor.

  In the third aspect of the invention, even when the movement amount of the bumper is relatively small, the operation amount of the longer arm is large, so the bumper is obstructed at a position where the angle with respect to the left and right center line of the straight traveling is relatively large. Even when the vehicle collides with the vehicle, the movement of the bumper can be detected more accurately, and the direction change can be improved.

  A traveling vehicle according to a fourth aspect of the invention is characterized in that the rotating body is an arm pivotally supported by the traveling vehicle body, and one end of the arm is connected to the bumper so as to be relatively movable.

  In the fourth invention, since the bumper can be supported on the traveling carriage body by the arm, the support structure of the bumper can be simplified, and the angle with respect to the left and right center line of the straight traveling is relatively large. Even when the bumper collides with an obstacle, the movement of the bumper can be detected more accurately, and the direction change can be improved.

  According to the first aspect of the invention, it is possible to detect the movement of the bumper even when the bumper collides with an obstacle at a position where the angle with respect to the left and right center line of the straight traveling of the traveling carriage main body is relatively large, and the direction is changed. Can improve sex.

  According to the second invention, since the rotating body can be supported by the pivot shaft and the pivot hole, the structure can be simplified.

  According to the third invention, it is possible to detect the movement of the bumper more accurately even when the bumper collides with an obstacle at a position where the angle with respect to the left and right center line of the straight traveling is relatively large, Improves conversion.

  According to the fourth invention, the support structure of the bumper can be simplified, and even when the bumper collides with an obstacle at a position where the angle with respect to the center line of the straight traveling is relatively large, the movement of the bumper is further increased. It can be detected accurately, and the direction change can be improved.

  Hereinafter, the present invention will be described in detail with reference to the drawings illustrating embodiments thereof. FIG. 1 is a cross-sectional plan view showing a configuration of a traveling carriage according to the present invention, a part of which is omitted, and FIG. 2 is an enlarged explanatory view showing a configuration of an arm.

  The traveling carriage can be moved in the front-rear and lateral directions by a traveling carriage body 1 that is freely supported forward by a plurality of wheels, and two support rods 2 and 2 in front of the traveling carriage body 1. A supported bumper 3, an elastic body 4 that compresses the bumper 3 in a direction away from the traveling carriage main body 1, and an arm 5 that is pivotally supported by the traveling carriage main body 1 and rotates (swings) by the movement of the bumper 3. 5, sensors 6 and 6 that are actuated by the rotation of the arms 5 and 5 to detect the rotation of the arms 5 and 5, and spring bodies 7 that elastically press the arms 5 and 5 away from the sensors 6 and 6. 7. The arms 5 and 5 constitute a rotating body that rotates around the pivot point by the movement of the bumper 3, and the rotating bodies (arms 5 and 5) and the sensors 6 and 6 constitute a detecting means. .

  The traveling cart body 1 is formed in a substantially circular shape in plan view, and a bearing portion 11 that supports the support rods 2 and 2 slidably back and forth at positions separated from each other at the front of the traveling cart body 1. 11 is provided. The bumper 3 is formed in a semicircular shape so as to face and separate from the front half of the traveling carriage main body 1. Further, the bumper 3 has a peripheral wall 3a and a top wall connected to the upper edge of the peripheral wall 3a, and arcuate engagement convex portions 31, 31 project from the inner surfaces of both ends of the peripheral wall 3a in the circumferential direction. In addition, fitting holes are provided at two positions on the top wall, and support rods 2 and 2 are pivotally supported by the fitting holes.

  The support rods 2 and 2 are arranged in parallel to the straight traveling direction at positions equidistant to the left and right with respect to the left and right center line X of the straight traveling, and are freely fitted in the bearing portions 11 and 11 so as to freely move back and forth. The pivot shafts 21 and 21 that are supported and extend upward at one end are integrally provided, and the pivot shafts 21 and 21 are rotatably fitted in the fitting holes. . In addition, coil springs as elastic bodies 4 and 4 for elastically pressing the bumper 3 forward are provided around the support rods 2 and 2, and the bumper 3 is elastically supported. Further, the bearing portions 11 and 11 are attached to the traveling carriage main body 1 so as to be movable in the lateral direction with a small amount of movement, whereby the bumper 3 supported by the bearing portions 11 and 11 via the support rods 2 and 2 is laterally moved. Is also movable.

  The arms 5 and 5 are pivotally supported by the pivot shafts 8 and 8 so as to be rotatable in the lateral direction at positions near the engaging projections 31 and 31 of the bumper 3. The arms 5 and 5 have different lengths H1 and H2 from both ends to the pivot point O, the shorter one ends 5a and 5a are engaged with the engaging protrusions 31 and 31, and the longer other end 5b and 5b can engage with the movable parts of the sensors 6 and 6, and the rotation distance L1 of the other end parts 5b and 5b is longer than the rotation distance L2 of the one end parts 5a and 5a. Further, both ends of the arms 5 and 5 are curved surfaces that are curved in a semicircular shape.

  The spring bodies 7, 7 for elastically pressing the arms 5, 5 are locked at one end to spring hooks 12, 12 projecting from the traveling carriage main body 1, and the other end to the other ends 5 b, 5 b of the arm 5. It consists of a tension spring that is locked, and elastically presses the other end 5b, 5b away from the sensors 6,6. The spring bodies 7, 7 may be substantially L-shaped torsion springs having a winding part in the middle. The torsion spring has a winding portion fitted on the pivot shafts 8 and 8, one end abutting against a spring receiving portion projecting from the traveling carriage main body 1, and the other end being the other end of the arms 5 and 5. By abutting against a spring receiving portion protruding from the portion, the arms 5 and 5 are attached so as to be separated from the sensors 6 and 6 and close to the bumper 3.

  The sensors 6 and 6 are composed of limit switches, proximity switches, and the like, and are attached to the front portion of the traveling carriage main body 1.

  FIG. 3 is a cross-sectional plan view of the main part in a state where the movement of the bumper is detected. The traveling cart configured as described above is used as a self-propelled traveling cart for, for example, a cleaning robot and a transport vehicle. In order to perform operations such as cleaning, the wheels are rotated by a drive source such as an electric motor mounted on the traveling cart body 1 and the traveling cart body 1 travels forward, and the bumper 3 collides with an obstacle during this traveling. The bumper 3 moves to the traveling carriage main body 1 side, and for example, one engagement convex portion 31 of the bumper 3 presses the one end portion 5 a of the one arm 5. By this pressing, one arm 5 rotates counterclockwise in FIG. 3, the other end 5b of the arm 5 comes into contact with the movable part of the sensor 6, and the sensor 6 is activated. The detection result by the sensor 6 is input to a control unit using a microprocessor, the wheel drive electric motor is controlled by a control command signal output from the control unit, one of the left and right wheels is decelerated or stopped, and the vehicle travels. The traveling direction of the cart is changed. In this case, one arm 5 has a shorter one end portion 5a engaged with the engaging convex portion 31, and the longer other end portion 5b can be engaged with the movable portion of the sensor 6, and the movement of the bumper 3 is small. Since the rotation distance L1 of the other end 5b of the arm 5 is increased by the amount, when the bumper 3 collides with an obstacle at a position where the angle with respect to the center line X of the straight traveling is relatively large The movement of the bumper 3 can be accurately detected. In other words, in the configuration in which the bumper 3 is supported by the two support rods 2 so as to be freely movable in the lateral direction (front-rear direction), in the region where the angle with respect to the center line X of the straight traveling is large, Compared with the case where the angle with respect to the left and right center line X is small, the amount of movement of the bumper 3 is reduced, and it becomes difficult to detect the movement of the bumper 3, but the arm 5 is pivotally supported and pivoted from both ends. Since the lengths up to O are different, it is possible to detect that the bumper 3 has collided with an obstacle even in an area where the amount of movement of the bumper 3 is small, and direction changeability can be improved.

  When the pressing force applied to the bumper 3 is reduced by changing the direction of the traveling carriage, the bumper 3 moves back due to the elastic restoring force of the elastic body 4, and one arm 5 rotates back due to the elastic restoring force of the spring body 7.

  FIG. 4 is a plan view of a main part showing another embodiment of the traveling carriage. In this traveling carriage, the support rods 2 and 2 are eliminated, and the bumper 3 is supported on the traveling carriage body 1 by an arm 5 as a rotating body. The bumper 3 is provided with oval connecting ring portions 32 and 32 in place of the engaging convex portions 31 and 31, and the central portion is pivotally supported by the traveling carriage main body 1 by the pivot shafts 8 and 8, and the arm 5. The connecting shafts 51, 51 extending in a direction intersecting with the rotation direction of the arm 5 are projected from one end of the arm 5, and the connecting shafts 51, 51 can be moved relative to the connecting ring portions 32, 32. The arms 5 and 5 support the bumper 3 so as to be movable in the front-rear and lateral directions. The connecting ring portions 32 and 32 are oval so that the relative movement amount between the bumper 3 and the arms 5 and 5 can be absorbed. Further, the arms 5 and 5 have a length H1 from the connecting shafts 51 and 51 to the pivot point O shorter than a length H2 from the other end to the pivot point O.

  The spring bodies 7 and 7 for elastically pressing the arms 5 and 5 are provided between a spring receiving portion protruding from the traveling carriage main body 1 and the other end portions of the arms 5 and 5, and the other end portions are connected to the sensors 6 and 6. The pressure is applied in the direction of separating, and the bumper 3 is pressed through the arms 5 and 5 in the direction of separating from the traveling carriage main body 1. Further, the traveling carriage main body 1 is provided with stoppers 9, 9 that restrict the rotation of the arms 5, 5 by the spring bodies 7, 7.

  FIG. 5 is a plan view of the main part in a state where the movement of the bumper is detected. In this embodiment, the arms 5 and 5 support the bumper 3 so as to freely move in the lateral direction, and the spring bodies 7 and 7 press the bumper 3 away from the traveling carriage body 1. . When the bumper 3 collides with an obstacle during traveling and the bumper 3 moves to the traveling carriage body 1 side, the movement of the bumper 3 is transmitted from one connecting ring portion 32 and the connecting shaft 51 to one arm 5, for example. The arm 5 rotates counterclockwise in FIG. 6, the other end of the arm 5 contacts the movable part of the sensor 6, and the sensor 6 operates.

  When the pressing force applied to the bumper 3 is reduced by changing the direction of the traveling carriage, one arm 5 returns and rotates due to the elastic restoring force of the spring body 7, and the bumper 3 returns and moves in conjunction with the rotation of the arm 5.

  In the other embodiments described above, the support rods 2 and 2 are eliminated, and the arms 5 and 5 support the bumper 3. However, the support rods 2 and 2 support the bumper 3 as shown in FIG. In the supported configuration, one end of the arms 5 and 5 may be connected to the bumper 3 so as to be relatively movable.

  In the embodiment described above, the arm is used as the pivoted rotating body. However, for example, a disk may be used, and the shape is not particularly limited. When the pivoted rotating body is a disc, for example, one of two circumferential positions of the disc pivotally supported by the pivot shaft 8 is one end, the other is the other end, and the one end is The engaging projection 31 is engaged as shown in FIG. 1, or the connecting ring portion 32 is connected so as to be relatively movable as shown in FIG.

  In the embodiment described above, the bumper 3 can be moved in the lateral direction mechanically. However, the present invention is not limited to this, and the configuration of the bumper 3 may be a flexible thin plate or the like. The present invention also includes a case in which a part of the bumper 3 moves in the lateral direction when the bumper bends when it collides with an object.

  In the embodiment described above, the arms 5 and 5 are pivotally supported on the traveling carriage body 1, but the arms 5 and 5 may be pivotally supported on the bumper 3. In this case, for example, the bumper 3 includes two support pieces extending inward from the peripheral wall 3a, and the arms 5 and 5 are pivotally supported by the respective support pieces, and the support pieces are the elastic bodies 4 and 4 and the sensor 6 respectively. , 6, and the traveling carriage main body 1 includes engagement protrusions 31, 31.

It is the cross-sectional top view which abbreviate | omitted one part which shows the structure of the traveling vehicle which concerns on this invention. It is an expansion explanatory view showing the composition of an arm. It is a cross-sectional top view of the principal part of the state which detected the movement of the bumper. It is a top view of the important section showing other embodiments of a running cart. It is a top view of the principal part of the state which detected the movement of the bumper. It is the schematic which shows the other structure of the conventional traveling vehicle.

Explanation of symbols

1 Main body of traveling carriage 3 Bumper 5 Arm (rotating body, detection means)
6 Sensor (detection means)
O pivot point

Claims (4)

  In the traveling carriage including a bumper provided in front of a traveling carriage main body supported by wheels and capable of lateral movement, and a detection means for detecting the movement of the bumper, the detection means is a movement of the bumper. And a sensor that detects the rotation of the rotating body by being operated by the rotation of the rotating body.   The traveling carriage according to claim 1, wherein the rotating body is an arm pivotally supported on one of the traveling carriage main body and the bumper.   The traveling cart according to claim 2, wherein the arm has different lengths from both ends to a pivot point, the shorter one is engaged with the bumper, and the longer one is engageable with the sensor.   The traveling cart according to claim 1, wherein the rotating body is an arm pivotally supported by the traveling cart body, and one end portion of the arm is connected to the bumper so as to be relatively movable.

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