JP2010125855A - Automatic transporting vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve the problem wherein a conventional transporting vehicle cannot travel in a lateral direction at 90° while facing in a straight advancing or reversing direction though usual straight advancing and reversing, obliquely straight advancing, right and left turning are available. <P>SOLUTION: The vehicle includes a frame 1, a plurality of handle rings 2 attached to the frame 1 to circularly rotate, a plurality of handle motors 3 circularly rotating and driving the handle rings 2 respectively, a plurality of driving wheels 4 circularly rotating together with the handle rings 2, a wheel motor 5 driving each driving wheel 4, an auxiliary wheel 6, and a sensor 7. The plurality of driving wheels 4 are linearly provided on the frame 1, and the plurality of auxiliary wheels 6 are linearly provided in a direction orthogonal to the line on which the plurality of driving wheels 4 are provided, thus traveling with an instruction signal sensed by the sensor 7. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an automatic conveyance vehicle that is used in an automobile manufacturing factory or the like and automatically conveys tools, members, parts, and the like related to manufacturing.

  A transport vehicle that automatically transports the necessary tools, components, parts, etc. for each production line in an automobile manufacturing factory, etc., automatically detects a running signal emitted from a magnetic tape or the like provided along the running line with a sensor. Run.

  A conventional transport vehicle has a frame on which a platform for carrying parts and the like is mounted like a general automobile, has two wheels on the left and right as wheels and two wheels on the left and right as rear wheels, and the front wheels as drive wheels. Or it was the structure which turned to the left and right by a straight drive and each steering wheel as a rear wheel.

  Like a conventional carrier vehicle, a frame on which a table is placed, a wheel having two wheels on the left and right as a front wheel, two wheels on the left and right as a rear wheel, and a driving wheel as a front wheel or a rear wheel, Although normal straight reverse, right turn, and left turn were possible, it was impossible to travel 90 degrees in the horizontal direction and oblique straight reverse in the straight or reverse direction.

  Therefore, the design of the traveling line of the transport vehicle is limited in a traveling path of a narrow factory or the like, and there is a problem that it is difficult to design a more preferable traveling line.

In order to solve the above problems, a frame on which a table for carrying parts and the like can be placed, a plurality of handle rings attached to the frame and capable of circular rotation, and a plurality of handle motors for driving the respective handle rings to rotate A plurality of drive wheels attached to the handle ring and rotating together with the handle ring, a wheel motor for driving each drive wheel, an auxiliary wheel, and a sensor,
A plurality of drive wheels are provided in a straight line on the frame, and a plurality of auxiliary wheels are provided in a straight line in a direction perpendicular to a straight line on which a plurality of drive wheels are provided.
The present invention proposes an automatic guided vehicle that travels according to an instruction signal sensed by a sensor.

In addition, a rectangular frame in plan view on which a table for carrying parts and the like can be placed, a handle ring that is attached in the longitudinal direction of the frame and that can be rotated in a circle, and a plurality of handles that drive each handle ring to rotate in a circle A motor, a plurality of drive wheels that are attached to the handle ring and rotate together with the handle ring, a wheel motor that drives each drive wheel, an auxiliary wheel, and a sensor;
A plurality of drive wheels are provided in a straight line in the longitudinal direction of the frame, and a plurality of auxiliary wheels are provided in a straight line that is in the middle of the frame in the longitudinal direction and perpendicular to a straight line in which a plurality of drive wheels are provided.
The present invention proposes an automatic guided vehicle that travels according to an instruction signal sensed by a sensor.

  Furthermore, the automatic conveyance vehicle described in the 0006 column or the 0007 column in which the number of drive wheels and handle links is two is proposed.

  According to the present invention, in a state in which the frame is in a straight traveling or reverse traveling direction, it is possible to travel in a direction 90 degrees laterally from the previous traveling direction and a diagonally straight backward traveling.

  Further, according to the invention of claim 3, circular traveling is performed by causing the directions of the drive wheels provided in a straight line in the traveling direction of the frame to travel in an oblique direction (direction of the letter C) different from the traveling direction. It became possible to make it.

  As a result, the turning speed is more effective than the conventional transport vehicle and the traveling directions are diversified, so that the degree of freedom in designing the traveling line is increased.

  FIG. 1 is a plan explanatory view, FIG. 2 is a front view explanatory view, and a plane explanatory view showing a difference in the direction of a drive wheel and an auxiliary wheel with respect to the direction of a frame, for an automatic guided vehicle which is the best embodiment of the present invention. This will be described with reference to FIGS.

  An automated guided vehicle according to an embodiment of the present invention includes a frame 1 having a rectangular shape in plan view on which a table for carrying parts and the like can be placed, and a handle ring 2 that is attached in the longitudinal direction of the frame 1 and that can be rotated circularly. , Two handle motors 3 for circularly driving each handle ring 2, two drive wheels 4 attached to the handle ring 2 and rotating together with the handle ring 2, and wheel motors for driving the respective drive wheels 4 5, an auxiliary wheel 6, and a sensor 7, and the vehicle travels according to a travel instruction signal sensed by the sensor 7. Further, as another embodiment, even when three or more drive wheels 4 and handle rings 2 are provided, the drive wheels 4 run in a circular direction by running the drive wheels in an oblique direction (direction C) different from the travel direction. The traveling according to the present invention other than the above is possible.

  The frame 1 has a substantially flat upper surface, and a plurality of inner frames (not shown) are provided vertically and horizontally on an outer frame that is rectangular in plan view, and a handle ring 2 is attached to the frame 1 of the inner frame so as to be capable of circular rotation. The handle motor 3 is fixedly attached. In the automatic guided vehicle of this embodiment, the longitudinal direction of the rectangular frame 1 in plan view is set as the forward traveling direction or the backward traveling direction.

  The handle ring 2 is attached to the lower surface side of the frame 1 and is driven to rotate circularly by a handle motor 3. This circular rotation can be reversed. Two handle rings 2 are provided in a straight line at the center in the width direction of the frame 1, which is rectangular in plan view, and before and after the running direction, and the mounting bracket 40 of the drive wheel 4 is fixedly provided below.

  Two drive wheels 4 are provided in a straight line before and after the longitudinal direction (forward or reverse travel direction) of the frame 1 that is rectangular in plan view, and the central portion of the frame 1 in the width direction (perpendicular to the longitudinal direction) Is provided. The two drive wheels 4 are respectively fixed to the handle ring 2 by mounting brackets 40 and are driven by the wheel motor 5.

  A plurality of auxiliary wheels 6 are provided in the width direction (perpendicular to the traveling direction) of the frame 1 which is rectangular in plan view, and in this embodiment, two auxiliary wheels 6 are provided in a straight line shape, and the center of the frame 1 in the traveling direction is provided. The part is attached to the lower surface of the frame 1 by a mounting bracket 60 so as to be rotatable.

  In this embodiment, the sensor 7 is provided on the lower surface of the central portion of the frame 1 in the longitudinal direction and the width direction. The sensor 7 senses a traveling instruction signal emitted from a line such as a magnetic tape provided in the factory, and drives and stops the handling motor 3 and the wheel motor 5.

  Next, the operation of the automatic guided vehicle according to the embodiment of the present invention will be described. The automatic transport vehicle of the present invention travels with the sensor 7 detecting a travel instruction signal emitted from a magnetic tape as a travel line, with the longitudinal direction of the frame 1 having a rectangular shape in plan view being the forward and reverse direction. As another embodiment, it is possible to travel by sensing an arbitrary instruction signal other than the traveling line made of magnetic tape.

  FIGS. 1 and 3 show the case where the automated guided vehicle travels forward and backward, and the directions of the two drive wheels 4 are each in the longitudinal direction of the frame 1. The two auxiliary wheels 6 are in the same direction as the drive wheels 4 as the drive wheels 4 travel.

  FIG. 4 shows a case where the automated guided vehicle travels diagonally straight to the right, and the directions of the two drive wheels 4 are directed diagonally to the right with respect to the longitudinal direction of the frame 1. The auxiliary wheel 6 is inclined to the same right as the driving wheel 4 as the driving wheel 4 travels.

  FIG. 5 shows a case where the automated guided vehicle travels straight in the left-right lateral direction (the width direction of the frame 1), and the directions of the two drive wheels 4 are perpendicular to the longitudinal direction of the frame 1, respectively. ing. The auxiliary wheels 6 are directed in the same perpendicular direction as the drive wheels 4 as the drive wheels 4 travel.

  FIG. 6 shows a case in which the automated guided vehicle travels relatively large circles, and the directions of the two drive wheels 4 are each directed in an oblique direction (Ha-shaped direction) opposite to the longitudinal direction of the frame 1. Thus, the vehicle travels in a circle having the directions of the two drive wheels 4 on the circumference. The auxiliary wheel 6 faces in the direction according to the circular travel of the drive wheel 4 as the drive wheel 4 travels in a circle.

  And since the automatic conveyance vehicle of this invention can rotate the handle ring 2 in the same place and can make the drive wheel 4 face in any direction, it runs suddenly in the right angle direction while making the frame 1 the same direction. You can change the direction. Further, as shown in FIG. 6, the front and rear drive wheels 4 are directed in different directions, so that circular or arcuate travel can be achieved. Therefore, the running line could be made more effective and the practicality improved.

  The present invention is used as an automatic transport vehicle for automatically transporting tools, members, parts and the like in an automobile manufacturing factory or the like.

Plane explanatory drawing of the automatic conveyance vehicle which is embodiment of this invention Front explanatory view of an automatic guided vehicle according to an embodiment of the present invention It is a plane explanatory view of the automatic conveyance vehicle which is an embodiment of this invention, and is a figure showing directions of a drive wheel and an auxiliary wheel when traveling forward or backward along the direction of the frame It is a top explanatory view of the automatic conveyance vehicle which is also an embodiment of the present invention, and shows the direction of the drive wheel and auxiliary wheel when traveling forward or backward in the diagonally right direction from the direction of the frame. It is a top explanatory view of the automatic conveyance vehicle which is also an embodiment of the present invention, and shows the directions of the drive wheels and auxiliary wheels when traveling forward or backward in the direction of 90 degrees laterally from the direction of the frame. Similarly, it is a plane explanatory view of an automatic guided vehicle according to an embodiment of the present invention, and when traveling in a circle with the directions of drive wheels provided in a plurality of straight lines in the traveling direction of the frame being in different oblique directions with respect to the traveling direction Of the direction of the drive wheels and auxiliary wheels

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Frame 2 Handle ring 3 Handle motor 4 Drive wheel 40 Drive wheel fixture 5 Drive motor 6 Auxiliary wheel 60 Auxiliary wheel fixture 7 Sensor

Claims (3)

A frame on which a table for carrying parts and the like can be placed, a plurality of handle rings attached to the frame and capable of rotating in a circle, a plurality of handle motors for driving each handle ring to rotate, and a handle ring attached to the handle ring And a plurality of driving wheels that rotate in a circle, a wheel motor that drives each driving wheel, an auxiliary wheel, and a sensor,
A plurality of drive wheels are provided in a straight line on the frame, and a plurality of auxiliary wheels are provided in a straight line in a direction perpendicular to a straight line on which a plurality of drive wheels are provided.
An automated guided vehicle that travels according to an instruction signal sensed by a sensor. A rectangular frame in plan view on which a table for carrying parts and the like can be placed, a handle ring that is attached in the longitudinal direction of the frame and that can be rotated in each circle, and a plurality of handle motors that drive the respective handle rings to rotate A plurality of drive wheels attached to the handle ring and rotating together with the handle ring, a wheel motor for driving each drive wheel, an auxiliary wheel, and a sensor,
A plurality of drive wheels are provided in a straight line in the longitudinal direction of the frame, and a plurality of auxiliary wheels are provided in a straight line that is in the middle of the frame in the longitudinal direction and perpendicular to a straight line in which a plurality of drive wheels are provided.
An automated guided vehicle that travels according to an instruction signal sensed by a sensor.   The automatic guided vehicle according to claim 1 or 2, wherein the number of drive wheels and handle links is two.

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