JP2008238959A - Unmanned conveying vehicle body - Google Patents

Unmanned conveying vehicle body Download PDF

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JP2008238959A
JP2008238959A JP2007081918A JP2007081918A JP2008238959A JP 2008238959 A JP2008238959 A JP 2008238959A JP 2007081918 A JP2007081918 A JP 2007081918A JP 2007081918 A JP2007081918 A JP 2007081918A JP 2008238959 A JP2008238959 A JP 2008238959A
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vehicle body
wheels
drive
wheel
automatic guided
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JP5229442B2 (en
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Koji Tanaka
浩二 田中
Takashi Kudo
貴司 工藤
Teruo Suzuki
輝雄 鈴木
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Isuzu Motors Ltd
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Isuzu Motors Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To allow an unmanned conveying vehicle body having a suspension function to consistently travel without generating any oscillation. <P>SOLUTION: In the unmanned conveying vehicle body 1 having wheels on a vehicle body bottom part while driving wheels 15 are provided on the right and left sides of a substantially center in the longitudinal direction out the wheels, the driving wheels 15 are pivotably attached to drive units 10 in a vertically movable manner so as to be brought into contact with the road surface at a predetermined pressure by a pressing member (a coil spring 16), and the drive units 10 are attached to the vehicle body bottom part opposite to the longitudinal direction in the right-to-left direction. When performing the travel control by controlling the right and left driving wheels, oscillations or the like are prevented to enable the consistent travel. Further, synchronization of the oscillations in the right-to-left direction can be avoided, and any occurrence of problems such as the lane deviation can be avoided. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

この発明は、搬送路に設けた誘導帯をセンサで検知しつつ無人で自動的に移動する無人搬送車体に関するものである。   The present invention relates to an unmanned transport vehicle body that automatically moves unattended while detecting a guide band provided on a transport path with a sensor.

一般の製造現場において、部品などの搬送に無人搬送台車を活用することによって作業効率を高める方法が提案されている。一般的に軌道追従型無人搬送車体は、個々に制御可能な駆動輪２基を有する駆動ユニットと前後左右の自在輪２個／固定輪２個で構成され、駆動ユニットを無人搬送車の走行方向前部（自在輪間）に配置し、軌道に対し進行方向を修正しながら走行する。また、該無人搬送台車では、カーブや屈曲路の走行や反転などを小スペースで行うことを可能にしたり、上記のように誘導帯に対する車体のずれを修正したりするために、車体底部の中央左右に設けた駆動輪の一方を停止したり、左右で回転方向を逆転したり、回転速度を左右で変えたりするなどして車体のターンや修正移動を可能にして移動性を高めている。また、無人搬送車体が移動する路面は、必ずしも平坦ではなく、傾斜があったり、凹凸を有したりする。このような路面を無人搬送台車で移動すると、揺れなどが生じて安定した走行ができないという問題がある。このため、車輪を路面側に付勢するサスペンション機構を設けて台車の安定性を高める工夫がなされている（特許文献１、２参照）。
特開平９−２８６３３７号公報 特開平１１−２４７４９号公報 In general manufacturing sites, a method has been proposed in which work efficiency is improved by utilizing an automated guided vehicle for conveying parts and the like. Generally, a track-following automatic guided vehicle body is composed of a drive unit having two individually controllable drive wheels and two front / rear / right / left free wheels / two fixed wheels. It is placed at the front (between the free wheels) and travels while correcting the traveling direction with respect to the track. In addition, in the automatic guided vehicle, it is possible to perform traveling or reversing on a curve or a curved road in a small space, or to correct the displacement of the vehicle body with respect to the induction band as described above, Mobility is improved by stopping one of the drive wheels provided on the left and right, reversing the direction of rotation on the left and right, and changing the rotation speed on the left and right to enable turn and corrective movement of the vehicle body. In addition, the road surface on which the unmanned transport vehicle body moves is not necessarily flat, and is inclined or uneven. When such a road surface is moved by an automatic guided vehicle, there is a problem that a stable traveling cannot be performed due to shaking. For this reason, the suspension mechanism which urges | biases a wheel to the road surface side is provided, and the device which raises the stability of a trolley | bogie is made | formed (refer patent document 1, 2).
JP-A-9-286337 JP-A-11-24749

しかし、上記のように左右の駆動輪で独立した制御を行ってターンを行ったり、誘導帯に沿った修正移動を行うと、サスペンション機構によって左右の駆動輪に挙動の異なる付勢力が作用して、車体が揺動するなどして却って走行安定性が損なわれてしまうという問題がある。   However, if the left and right drive wheels are independently controlled as described above to make a turn or perform a corrective movement along the guide band, the suspension mechanism will apply different biasing forces to the left and right drive wheels. However, there is a problem that the running stability is impaired due to the swinging of the vehicle body.

本発明は、上記事情を背景としてなされたものであり、左右の駆動輪の制御に際しても、揺動などが生じにくく、傾斜や凹凸などを有する路面においても安定した走行が可能な無人搬送車体を提供することを目的とする。   The present invention has been made against the background of the above circumstances. An unmanned transport vehicle body that is less likely to swing during control of the left and right drive wheels and that can stably travel even on a road surface having an inclination or unevenness. The purpose is to provide.

すなわち、本発明の無人搬送車体のうち、請求項１記載の発明は、車体底部に車輪が設けられ、前記車輪のうち前後方向略中央の左右に駆動輪が設けられた無人搬送車体において、前記駆動輪は、押圧部材により所定圧で路面に接地されるように、駆動ユニットに上下動可能に枢着されており、前記駆動ユニットは、左右で、前後方向に反対の向きで前記車体底部に取付けられていることを特徴とする。   That is, among the automatic guided vehicles according to the present invention, the invention according to claim 1 is the automatic guided vehicle in which wheels are provided at the bottom of the vehicle body, and driving wheels are provided at the left and right of the center in the front-rear direction. The drive wheel is pivotally attached to the drive unit so as to be able to move up and down so that it is grounded to the road surface with a predetermined pressure by a pressing member, and the drive unit is mounted on the bottom of the vehicle body in the opposite direction in the front-rear direction. It is characterized by being installed.

請求項２記載の無人搬送車体の発明は、請求項１記載の発明において、前記駆動ユニットが、同一形状であることを特徴とする。   The invention of an automatic guided vehicle according to claim 2 is the invention according to claim 1, wherein the drive units have the same shape.

請求項３記載の無人搬送車体の発明は、請求項１または２に記載の発明において、前記駆動輪は、枢着位置から前後方向にオフセットして位置していることを特徴とする。   According to a third aspect of the present invention, there is provided an automatic guided vehicle according to the first or second aspect, wherein the driving wheel is offset from the pivot position in the front-rear direction.

すなわち、本発明によれば、左右の駆動輪が前後方向に反対の方向で車体に取り付けられているため、例えば、誘導帯に沿った修正をするために、一方の駆動輪を停止させたり減速させたりすることによって一方の側にブレーキ力が作用する。この駆動制御によって、無人搬送車体はブレーキがかかった側に斜行するように移動する。この斜行によって、誘導帯の反対側で外れると、ブレーキが掛かっていた側の駆動輪を通常に戻し、逆側の駆動輪にブレーキが掛かるようにして走行方向を徐々に修正する。この状況を左右繰返しながら収束して誘導帯中央に戻ることができる。   That is, according to the present invention, since the left and right drive wheels are attached to the vehicle body in the opposite direction to the front-rear direction, for example, one of the drive wheels is stopped or decelerated in order to make a correction along the induction band. By doing so, the braking force acts on one side. By this drive control, the unmanned transport vehicle body moves obliquely to the braked side. When the skew is disengaged on the opposite side of the guide band, the driving wheel on which the brake is applied is returned to normal, and the traveling direction is gradually corrected so that the opposite driving wheel is braked. The situation can be converged and returned to the center of the induction band while repeating this situation on the left and right.

この際に、駆動輪が左右で同じように取り付けられていると、ブレーキが作用した側に、駆動輪付近を支点にして車体を上昇または下降させる応力が発生する。さらに修正移動によって誘導帯の反対側で逆の駆動輪にブレーキを作用させると車体をさらに上昇または下降させる力が働き、無人搬送車体を大きく揺動させて挙動を不安定にし、最悪な場合には振れ幅が同調して車線逸脱が発生する。これに対し、本発明では、左右の駆動輪が逆方向となっているので、一方の側でブレーキ力によって例えば車体を上昇させる力が働くと、他方の側では、上昇力は働かず、逆にブレーキ力によって車体を下降させる力が働く。すなわち、本発明では、駆動輪の左右で発生する応力が同調することはなく、左右で揺動の同調が回避され、早期に修正・収束されることで無人搬送車体の揺動を防止することができる。   At this time, if the drive wheels are mounted in the same manner on the left and right, a stress that raises or lowers the vehicle body with the vicinity of the drive wheels as a fulcrum is generated on the side where the brake is applied. In addition, if a brake is applied to the opposite drive wheel on the opposite side of the induction band by corrective movement, a force that further raises or lowers the vehicle works, causing the unmanned transport vehicle body to swing greatly, destabilizing the behavior, and in the worst case Lane departure occurs in synchronism with the runout width. On the other hand, in the present invention, since the left and right drive wheels are in opposite directions, if a force that raises the vehicle body, for example, by a braking force is applied on one side, the ascending force does not work on the other side. The force that lowers the vehicle body by the braking force works. That is, in the present invention, the stress generated on the left and right sides of the drive wheels is not synchronized, and the synchronization of the swing on the left and right is avoided, and the unmanned transport vehicle body is prevented from swinging by being corrected and converged early. Can do.

なお、左右の駆動ユニットでは、駆動輪が駆動ユニットに上下動可能に枢着されているが、この枢着は駆動輪の上下動を可能にする回転軸を介して行われる。また、駆動輪を路面に所定圧で接地させる押圧部材としては、駆動輪を路面側に付勢できるものであればよく、例えばシリンダやバネを用いた構成などを採用することができる。前記所定圧は、シリンダの圧力やバネの係数の調整によって設定することができる。なお、本発明としては、この接地圧力が特定のものに限定されるものではない。   In the left and right drive units, the drive wheels are pivotally attached to the drive unit so as to be movable up and down. This pivot attachment is performed via a rotating shaft that allows the drive wheels to move up and down. The pressing member for grounding the driving wheel to the road surface with a predetermined pressure may be any member that can bias the driving wheel toward the road surface. For example, a configuration using a cylinder or a spring can be employed. The predetermined pressure can be set by adjusting a cylinder pressure or a spring coefficient. In the present invention, the ground pressure is not limited to a specific one.

なお、上記枢着によって、通常は、駆動輪が枢着位置からオフセットされて位置する。したがって、この場合、駆動輪を左右に位置させると、駆動ユニットは、左右において、前後方向に位置がずれて取り付けられることになる。
また、上記駆動ユニットは、左右で同一構造のものを用いれば、左右で別々の構造のものを用意する必要がなく、コスト低減効果がある。 It should be noted that the drive wheels are usually located offset from the pivot position by the pivot. Therefore, in this case, when the drive wheels are positioned on the left and right, the drive units are attached with their positions shifted in the front-rear direction on the left and right.
Moreover, if the said drive unit uses the thing of the same structure on right and left, it is not necessary to prepare the thing of a separate structure on right and left, and there exists a cost reduction effect.

すなわち、本発明の無人搬送車体によれば、車体底部に車輪が設けられ、前記車輪のうち前後方向略中央の左右に駆動輪が設けられた無人搬送車体において、前記駆動輪は、押圧部材により所定圧で路面に接地されるように駆動ユニットに上下動可能に枢着されており、前記駆動ユニットは、左右で、前後方向に反対の向きで前記車体底部に取付けられているので、左右の駆動輪を制御して走行制御をする際に、揺動などが防止され、安定した走行が可能になる。   That is, according to the automatic guided vehicle of the present invention, in the automatic guided vehicle in which wheels are provided at the bottom of the vehicle body, and driving wheels are provided on the left and right of the center in the front-rear direction, the driving wheels are It is pivotally attached to the drive unit so as to be grounded to the road surface at a predetermined pressure, and the drive unit is attached to the bottom of the vehicle body in the opposite direction in the front-rear direction on the left and right. When running control is performed by controlling the drive wheels, swinging and the like are prevented, and stable running is possible.

以下に、本発明の一実施形態を図１〜図３に基づいて説明する。
無人搬送車体１は、車台２の底部の前後左右に、自在輪３…３が設けられている。該自在輪３は、縦方向の取り付け軸（図示しない）によって車台２に回転可能に取り付けられており、該取り付け軸に固定された水平軸に車輪が回転可能に取り付けられている。なお、本発明としては、これら自在輪が必須とされるものではなく、固定輪によって構成されるものでもよく、自在輪と固定輪とが混在したものであってもよい。 Below, one Embodiment of this invention is described based on FIGS. 1-3.
The automatic guided vehicle body 1 is provided with free wheels 3... 3 on the front, rear, left and right of the bottom of the chassis 2. The universal wheel 3 is rotatably attached to the chassis 2 by a vertical attachment shaft (not shown), and the wheel is rotatably attached to a horizontal shaft fixed to the attachment shaft. In the present invention, these free wheels are not indispensable, and may be constituted by fixed wheels, or may be a mixture of free wheels and fixed wheels.

さらに前後の自在輪３、３との間には、それぞれ左右で前後方向に逆向きにした駆動ユニット１０、１０が台車組付け用プレート１０ａ、１０ａを介して車台２に取り付けられている。該駆動ユニット１０には、縦に配置した車輪取付板１１の基端が枢軸１２によって上下に回転可能に枢着されており、該車輪取付板１１の先端側に駆動輪１５が回転可能に取り付けられている。左右の駆動輪１５、１５は、車台２の前後方向略中央に位置するように左右の駆動ユニット１０が配置されている。   Further, between the front and rear universal wheels 3, 3, drive units 10, 10 reversed in the front-rear direction on the left and right are attached to the chassis 2 via carriage assembly plates 10 a, 10 a. A base end of a wheel mounting plate 11 disposed vertically is pivotally mounted on the drive unit 10 by a pivot 12 so that a drive wheel 15 is rotatably mounted on the distal end side of the wheel mounting plate 11. It has been. The left and right drive wheels 15, 15 are arranged with the left and right drive units 10 so as to be positioned approximately at the center in the front-rear direction of the chassis 2.

上記車輪取付板１１には、駆動モータ１３が取り付けられており、該駆動モータ１３の駆動力がスプロケットやベルトなどによって駆動輪１５に伝達されて駆動輪１５が回転駆動される。なお、左右の駆動ユニット１０、１０における駆動モータ１３、１３は、それぞれ独立して回転制御が可能になっている。また、車輪取付板１１の先端側には、台車組付け用プレート１０ａとの間に、コイルやシリンダなど（図ではコイルスプリング１６）の押圧部材を用いたサスペンション機構が設けられて、駆動輪１５を路面側に所定圧で接地させるように構成されている。なお、図中１８は、車輪取付板１１に設けられたストッパであり、車輪取付板１１の上方移動が過度になるのを規制する。   A driving motor 13 is attached to the wheel mounting plate 11, and the driving force of the driving motor 13 is transmitted to the driving wheel 15 by a sprocket, a belt or the like, and the driving wheel 15 is rotationally driven. The drive motors 13 and 13 in the left and right drive units 10 and 10 can be controlled independently of each other. In addition, a suspension mechanism using a pressing member such as a coil or a cylinder (coil spring 16 in the figure) is provided between the front end of the wheel mounting plate 11 and the carriage assembly plate 10a. Is grounded at a predetermined pressure on the road surface side. In the figure, 18 is a stopper provided on the wheel mounting plate 11 and restricts the upward movement of the wheel mounting plate 11 from being excessive.

車台２の前方端には、路面に配された誘導帯を検知するための少なくとも二つのセンサからなる左右センサ１９が設けられている。左右センサ１９の検知結果は、制御部２０に出力されており、さらに制御部２０では、駆動ユニット１０、１０における駆動モータ１３、１３をそれぞれ独立して制御可能となっている。制御部２０は、例えばＣＰＵとこれを動作させるプログラムとを主として構成することができ、その他に、プログラムを格納したＲＯＭ、ワークエリアを確保するＲＡＭ、制御タイミングを計るタイマなどを備えることができる。   At the front end of the chassis 2, a left / right sensor 19 including at least two sensors for detecting a guide band arranged on the road surface is provided. The detection result of the left and right sensor 19 is output to the control unit 20, and the control unit 20 can control the drive motors 13 and 13 in the drive units 10 and 10 independently of each other. For example, the control unit 20 can mainly include a CPU and a program for operating the CPU, and can further include a ROM that stores the program, a RAM that secures a work area, a timer that measures control timing, and the like.

次に、上記無人搬送車体の走行動作について説明する。
上記無人搬送車体１が走行する搬送路面には、図３に示すように、磁気テープからなる誘導帯３０が設けられており、無人搬送車体１は、該誘導帯３０の磁気を検知する前記左右センサ１９の検知結果に基づいて該誘導帯３０に沿って移動する。なお、誘導帯３０は、上記磁気テープの他に、誘導電波や、光学検知などを利用したもので構成することができ、搬送路面以外に配置する構成とすることもできる。左右センサ１９は、該誘導帯の磁気や電波、光反射などに応じて、左右センサ１９が左右において、該誘導帯に沿っているか、逸脱しているかを検知できるものであればよい。すなわち、誘導帯やこれを検知するセンサの構成は、本発明としては特に限定されるものではなく、誘導帯とセンサの組み合わせによって、誘導帯を検知しつつ無人搬送車体を該誘導帯に沿って移動できるものであればよい。 Next, the traveling operation of the automatic guided vehicle will be described.
As shown in FIG. 3, guide belts 30 made of magnetic tape are provided on the transport road surface on which the unmanned transport vehicle body 1 travels, and the unmanned transport vehicle body 1 detects the magnetism of the guide belt 30. It moves along the guide band 30 based on the detection result of the sensor 19. In addition to the magnetic tape described above, the guide band 30 can be configured using a guided radio wave, optical detection, or the like, and can be configured to be disposed on a surface other than the conveyance path surface. The left / right sensor 19 may be any sensor as long as it can detect whether the left / right sensor 19 is along or deviates from the left and right according to the magnetism, radio wave, light reflection, etc. of the guide band. That is, the configuration of the induction band and the sensor for detecting the induction band is not particularly limited as the present invention, and the automatic guided vehicle body is moved along the induction band while detecting the induction band by a combination of the induction band and the sensor. Anything that can be moved is acceptable.

なお、無人搬送車体１は、誘導帯３０に沿って移動する際に、左右センサ１９で誘導帯３０を検知しつつ移動し、左右センサ１９で誘導帯３０の左右いずれかの側に外れたことが検知される際には、制御部２０は、左右いずれかの駆動モータ１３を制御して、駆動輪１５の回転数を制御することで無人搬送車体１の移動方向を修正して誘導帯３０に沿った移動を可能にする。この際に、該駆動輪１５はコイルスプリング１６で路面側に所定圧で接地されているが、路面に凹凸などがある場合には、コイルスプリング１６が伸縮することで駆動輪１５が車輪取付板１１を介して枢軸１２により上下に回転移動して路面の凹凸を吸収し、車台２の安定走行を確保する。   In addition, when the automatic guided vehicle body 1 moves along the guide band 30, the left and right sensor 19 moves while detecting the guide band 30, and the left and right sensor 19 moves to the left or right side of the guide band 30. Is detected, the control unit 20 controls the drive motor 13 on either the left or right side to control the rotational speed of the drive wheels 15 to correct the moving direction of the unmanned transport vehicle body 1 and thereby guide the band 30. Allows movement along. At this time, the drive wheel 15 is grounded to the road surface side by a coil spring 16 at a predetermined pressure. However, if the road surface is uneven, the coil spring 16 expands and contracts to cause the drive wheel 15 to move to the wheel mounting plate. 11, the shaft 12 is rotated up and down by the pivot 12 to absorb road surface irregularities and ensure stable running of the chassis 2.

図３（ａ）には右側に徐々に湾曲する誘導帯３０が示されている。この誘導帯３０を無人搬送車体１が進行すると、片側（図示左側）が誘導帯３０から外れることが左右センサ１９によって検知される。この検知結果は制御部２０に送信され、制御部２０では、誘導帯３０から外れた側と反対側（図示右側）の駆動ユニット１０における駆動モータ１３を制御して回転数を低下させる。すると、右側の駆動輪１５の回転が低下して無人搬送車体１の進路方向は、右側に斜行するように進行する。この際に、右側の駆動輪１５にブレーキが掛かった状態になる。右側の駆動ユニット１０では、図１に示すように、枢軸１３の前方に駆動輪１５が位置しているため、ブレーキが掛かった駆動輪１５に対し、枢軸１３を介して車台２の後方側が上方に浮かぶ応力が掛かる。一方、左側の駆動輪１５では、枢軸の後方に位置しているため、上記のような上方に浮かぶ応力は作用せず、逆に車台２が沈み込む応力が発生するので、左右で、揺動の同調が回避され、早期に修正・収束されて車台２の挙動を安定にする。   FIG. 3A shows an induction band 30 that gradually curves to the right. When the automatic guided vehicle body 1 travels through the guide band 30, it is detected by the left / right sensor 19 that one side (the left side in the figure) is detached from the guide band 30. The detection result is transmitted to the control unit 20, and the control unit 20 controls the drive motor 13 in the drive unit 10 on the opposite side (right side in the drawing) from the side away from the induction band 30 to reduce the rotation speed. Then, the rotation of the right drive wheel 15 decreases, and the direction of the unmanned transport vehicle body 1 advances so as to be skewed to the right. At this time, the right drive wheel 15 is braked. In the right drive unit 10, as shown in FIG. 1, since the drive wheel 15 is located in front of the pivot 13, the rear side of the chassis 2 is located above the braked drive wheel 15 via the pivot 13. The stress that floats is applied. On the other hand, since the left driving wheel 15 is located behind the pivot, the above-described stress that floats upward does not act, and conversely, the stress that sinks the chassis 2 is generated. Is avoided, and is corrected and converged early to stabilize the behavior of the chassis 2.

また、上記斜行が進むと、誘導帯３０に対し右側が外れる状態になるため、右側の駆動モータ１３を制御して回転数を上昇させる。すると、右側の駆動輪１５の回転が上昇して無人搬送車体１の進路方向を左側に修正する。この際に、右側の駆動輪１５が加速された状態になるため、右側の駆動ユニット１０では、加速される駆動輪１５に対し、枢軸１３を介して車台２の後方側が下方側に沈む応力が加わる。一方、左側の駆動輪１５では、相対的にブレーキが掛かる状態になり、上方に浮かぶ応力が掛かる。これにより左右で、揺動の同調が回避され、早期に修正・収束されて車台２の挙動を安定にする。
上記動作を繰り返すことで湾曲した誘導帯３０においても無人搬送車体１は誘導帯３０に沿って移動する。そして、上記動作においては、左右で逆向きとした駆動ユニット１０、１０によって、車台２の揺動が効果的に防止される。 Further, as the skew proceeds, the right side of the guide band 30 is disengaged, and the right drive motor 13 is controlled to increase the rotational speed. Then, the rotation of the right drive wheel 15 rises to correct the course direction of the automatic guided vehicle body 1 to the left side. At this time, since the right driving wheel 15 is in an accelerated state, in the right driving unit 10, the stress that the rear side of the chassis 2 sinks downward with respect to the accelerated driving wheel 15 via the pivot 13. Join. On the other hand, the left driving wheel 15 is relatively braked and is subjected to a stress that floats upward. As a result, on both the left and right sides, the oscillation synchronization is avoided, and the behavior of the chassis 2 is stabilized by correcting and converging at an early stage.
The automatic guided vehicle body 1 moves along the guide band 30 even in the curved guide band 30 by repeating the above operation. And in the said operation | movement, the rocking | fluctuation of the chassis 2 is prevented effectively by the drive units 10 and 10 made into the right-and-left reverse direction.

また、図３（ｂ）に示すように、逆方向に進路変更する場合は、一方の駆動輪１５（図では左側）を停止させ、右側の駆動輪１５のみを回転させる。すると、無人搬送車体１は、左側に１８０度で旋回する。この際に、左側の駆動輪１５にブレーキがかかるため、駆動輪１５の前側にある枢軸１２を介して車台２には下降する応力が作用する。一方、右側の駆動輪１５では、ブレーキ作用は殆ど影響しないため、左右能応力が同調して揺れを増大させることはない。逆に、後方にある枢軸を介して車台２には上昇する応力が作用することにより、左右で左右で、揺動の同調が回避され、早期に修正・収束されて車台の揺動を小さなものとする。   Further, as shown in FIG. 3B, when the course is changed in the reverse direction, one drive wheel 15 (left side in the figure) is stopped and only the right drive wheel 15 is rotated. Then, the automatic guided vehicle body 1 turns 180 degrees to the left. At this time, since the brake is applied to the left drive wheel 15, a downward stress acts on the chassis 2 through the pivot 12 on the front side of the drive wheel 15. On the other hand, in the right drive wheel 15, since the braking action hardly affects, the right / left stress does not increase in synchronization with the right / left ability stress. On the other hand, ascending stress acts on the chassis 2 via the pivot on the rear side, the left and right and left and right are prevented from being synchronized, and corrected and converged at an early stage to reduce the oscillation of the chassis. And

また、図３（ｃ）に示すように、逆方向に転回する場合（図では反時計回り）は、右側の駆動輪１５は正転させ、左側の駆動輪１６は逆転させる。すると、無人搬送車体１は、その場で１８０度回転して向きを変える。この場合も、上記と同様に左右の駆動ユニット１０、１０によって車台２に作用する応力によって、左右で揺動の同調が回避され、早期に修正・収束されて、車台２の揺動が極力小さくなる。   Further, as shown in FIG. 3C, when rotating in the reverse direction (counterclockwise in the figure), the right driving wheel 15 is rotated forward and the left driving wheel 16 is rotated reverse. Then, the automatic guided vehicle body 1 rotates by 180 degrees on the spot and changes its direction. In this case as well, the left and right drive units 10 and 10 are applied to the chassis 2 by the stress acting on the chassis 2 so that the synchronization of the oscillations on the left and right is avoided, corrected and converged early, and the oscillation of the chassis 2 is minimized. Become.

以上、本発明について、上記実施形態に基づいて説明を行ったが、本発明は上記実施形態の内容に限定をされるものではなく、本発明の範囲を逸脱しない範囲で適宜の変更が可能である。   As mentioned above, although this invention was demonstrated based on the said embodiment, this invention is not limited to the content of the said embodiment, A suitable change is possible in the range which does not deviate from the scope of the present invention. is there.

本発明の一実施形態における無人搬送車体の底面側斜視図である。It is a bottom side perspective view of the automatic guided vehicle body in one embodiment of the present invention. 同じく、駆動ユニットを示す拡大図である。Similarly, it is an enlarged view showing a drive unit. 同じく、無人搬送車体の走行状態を示す概略図である。Similarly, it is the schematic which shows the driving state of an automatic guided vehicle body.

符号の説明Explanation of symbols

１ 無人搬送車体
２ 車台
３ 自在輪
１０ 駆動ユニット
１１ 車輪取付板
１２ 枢軸
１３ 駆動モータ
１５ 駆動輪
１６ コイルスプリング DESCRIPTION OF SYMBOLS 1 Automatic guided vehicle body 2 Chassis 3 Universal wheel 10 Drive unit 11 Wheel mounting plate 12 Axis 13 Drive motor 15 Drive wheel 16 Coil spring

Claims (3)

車体底部に車輪が設けられ、前記車輪のうち前後方向略中央の左右に駆動輪が設けられた無人搬送車体において、
前記駆動輪は、押圧部材により所定圧で路面に接地されるように駆動ユニットに上下動可能に枢着されており、前記駆動ユニットは、左右で、前後方向に反対の向きで前記車体底部に取付けられていることを特徴とする無人搬送車体。 In the unmanned transport vehicle body provided with wheels on the bottom of the vehicle body and provided with driving wheels on the left and right of the center in the front-rear direction,
The drive wheel is pivotally attached to the drive unit so that it can be grounded to the road surface with a predetermined pressure by a pressing member, and the drive unit is mounted on the bottom of the vehicle body in the opposite direction in the front-rear direction on the left and right. An unmanned transport vehicle body that is mounted. 前記駆動ユニットが、同一形状であることを特徴とする請求項１記載の無人搬送車体。   2. The automatic guided vehicle according to claim 1, wherein the drive units have the same shape. 前記駆動輪は、枢着位置から前後方向にオフセットして位置していることを特徴とする請求項１または２に記載の無人搬送車体。   The automatic guided vehicle according to claim 1 or 2, wherein the drive wheels are offset from the pivot position in the front-rear direction.
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