JP2015113049A - Unmanned carrier - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an unmanned carrier capable of stably performing transportation even when carrying a gravity matter and capable reducing an obstacle accompanied by turning resistance.SOLUTION: First running devices 3 having driving wheels rotated by power transmitted from a driving motor 9 are disposed on a right and left pair on the longitudinal direction center of a carrier body 2, and the respective first running devices 3 are provided with two wheels 8, 8 of the right and left pair as the driving wheels. That is, the driving wheel of the first running devices 3 is constituted with a double wheel. Further, a power which rotates the driving wheel is transmitted by distributing a power transmitted from the driving motor 9 by means of a differential gear device.

Description

  The present invention relates to an automatic guided vehicle, and more particularly to an automatic guided vehicle that can stably travel even when a heavy object is transported and can reduce obstacles caused by turning resistance.

  2. Description of the Related Art Conventionally, automatic guided vehicles that are steered by a left-right rotation difference are known. For example, the following Patent Document 1 includes a pair of left and right drive wheels that can rotate forward and backward independently from each other at the center of the body frame, and casters (driven wheels) that can pivot at the front and rear corners of the body frame. An automated guided vehicle is described.

  According to this automatic guided vehicle, it is possible to perform straight traveling, curved traveling, spin turn, etc. by controlling the rotation direction and rotation speed of the left and right drive wheels, and it can self-travel on the floor of factories and warehouses. Thus, the article can be conveyed to a predetermined position.

JP 2007-308095 A

  However, the automatic guided vehicle described in Patent Document 1 has a structure in which driving wheels receive most of the vehicle weight and load. Therefore, when a heavy object (for example, 20 to 30 tons) is to be transported, it is necessary to increase the load resistance of the driving wheel. For this purpose, the wheel diameter is increased or the wheel width is increased. There was a need.

  However, when the wheel diameter is increased, the vehicle height and the loading position of the transported object are also increased, so that the center of gravity is increased. was there. Further, when the wheel width is widened, the resistance at the time of turning increases, and accordingly, there are problems that various troubles such as generation of sound, reduction of wheel life and damage to the floor surface occur.

  The present invention has been made to solve the above-described problems, and provides an automatic guided vehicle that can stably travel even when a heavy object is transported and can reduce obstacles caused by turning resistance. With the goal.

Means for Solving the Problems and Effects of the Invention

  According to the automatic guided vehicle of the first aspect, the following effects are obtained. A pair of left and right first travel devices having drive wheels that rotate with power transmitted from a drive source are provided in the width direction of the vehicle body, and each of the pair of first travel devices has two wheels as a pair of left and right wheels as drive wheels. Is provided. In other words, the drive wheels of the first traveling device are constituted by twin wheels. Therefore, the load resistance of the drive wheels can be increased without increasing the wheel diameter, compared to the case where the drive wheels of the traveling device are configured with a single wheel (single wheel). Therefore, stable travel can be achieved even when a gravity object is transported. That is, since it is not necessary to increase the wheel diameter, the vehicle height, the loading position, and the center of gravity do not increase. For this reason, the possibility of falling is low even during the transportation of heavy objects, and stable traveling can be achieved even when a gravitational object is conveyed. Further, the power of the drive wheels (two wheels) is transmitted by distributing the power transmitted from the drive source by the differential device. Therefore, compared with the case where the wheel width is simply increased, the resistance during turning can be reduced. Therefore, it is possible to prevent the occurrence of troubles accompanying the increase in turning resistance, for example, the generation of sound, the reduction in wheel life, and the damage to the floor surface. Furthermore, since the power is transmitted to the drive wheels (two wheels) using a differential device, it is less expensive than the case of adopting a configuration in which power is individually transmitted to the drive wheels (two wheels). It is compact and easy to manufacture. As described above, according to the automatic guided vehicle according to the first aspect, even when the gravity object is transported, there is an effect that it is possible to stably travel and to reduce the obstacle caused by the turning resistance.

  According to the automatic guided vehicle of the second aspect, in addition to the effect achieved by the automatic guided vehicle of the first aspect, the following effect is achieved. That is, a pair of left and right first traveling devices are provided at the center in the longitudinal direction of the vehicle body, and a pair of left and right traveling devices are provided on both sides of the first traveling device in the longitudinal direction of the vehicle body. Therefore, both when turning while moving forward and when turning while moving backward, there is an effect that it is possible to stably travel and reduce obstacles caused by turning resistance.

(A) is a right view of the automatic guided vehicle of 1st Embodiment, (b) is a left view of the automatic guided vehicle of 1st Embodiment. It is a bottom view of the automatic guided vehicle of a 1st embodiment. It is a top view of the automatic guided vehicle of a 1st embodiment. It is a front view of the automatic guided vehicle of a 1st embodiment. It is a rear view of the automatic guided vehicle of a 1st embodiment. (A) is a side view of the first traveling device. (B) is a side view of the second and third traveling devices. It is sectional drawing of a 1st traveling apparatus. It is a bottom face of the automatic guided vehicle of the automatic guided vehicle of 2nd Embodiment. (A) is a front view of the automatic guided vehicle of 2nd Embodiment. (B) is a rear view of the automatic guided vehicle of the second embodiment. (A) is a right view of the automatic guided vehicle of 3rd Embodiment, (b) is a left view of the automatic guided vehicle of 3rd Embodiment. (A) is a bottom view of the automatic guided vehicle of 3rd Embodiment, (b) is a top view of the automatic guided vehicle of 3rd Embodiment. (A) is a front view of the automatic guided vehicle of 3rd Embodiment, (b) is a rear view of the automatic guided vehicle of 3rd Embodiment.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. FIG. 1A is a right side view of the automatic guided vehicle 1 according to the first embodiment of the present invention, and FIG. 1B is a left side view of the automatic guided vehicle 1. FIG. 2 is a bottom view of the automatic guided vehicle 1. FIG. 3 is a plan view of the automatic guided vehicle 1. FIG. 4 is a front view of the automatic guided vehicle 1. FIG. 5 is a rear view of the automatic guided vehicle 1. FIG. 6A is a side view of the first traveling device 3. FIG. 6B is a side view of the second traveling device 4.

  The automatic guided vehicle 1 can stably travel even when conveying a gravitational object of 20 to 30 tons, and can reduce obstacles caused by turning resistance. The automatic guided vehicle 1 is mainly composed of a vehicle body 2 and first to third travel devices 3 to 5 provided below the vehicle body 2. A vehicle that can be self-propelled by the third traveling devices 3 to 5.

  The vehicle body 2 is formed in a hollow box shape, and a conveyed product is placed on the upper surface 2a thereof. In addition to various control devices such as a power control device (not shown), a battery and the like are mounted inside the vehicle body.

  The first traveling device 3 is provided in a pair of left and right at the longitudinal center of the vehicle body 2. As shown in FIG. 2 or FIG. 6 (a), each first traveling device 3 is provided with a pivotable axle case 7 in a housing 6 that is pivotably attached to the lower surface of the vehicle body 2, Wheels 8 are pivotally supported on the left and right sides of the axle case 7, and a drive motor 9 is provided on one side in the front-rear direction between the two wheels 8, 8, and a brake device 10 is provided on the other side.

  The housing 6 is provided on the lower surface of the vehicle body 2. A support member 6 a that supports the axle case 7 in a swingable manner is formed below the housing 6. The support member 6a is cylindrical and attached so that its axis is horizontal.

  Here, the internal structure of the axle case 7 will be described with reference to FIG. FIG. 7 is a cross-sectional view of the first traveling device 3. In FIG. 7, the support 6a of the housing 6 and the drive motor 9 are not shown.

  The axle case 7 includes an axle cylinder 7a that pivotally supports the wheels 8 and 8 at both ends, and a brake cylinder 7b that is mounted horizontally at a central portion of the axle cylinder 7a perpendicular to the axis of the wheels 8 and 8. Has been. 2 and 6, the drive motor 9 is mounted horizontally so as to face the brake cylinder 7b and to be orthogonal to the axes of the wheels 8 and 8.

  A differential gear device 12 is mounted in the axle cylinder 7a. The output of the drive motor 9 is transmitted from the small bevel gear 9a of the drive motor 9 to the shafts 8a and 8a of both wheels 8 and 8 through the large bevel gear 12a and the differential assembly 12b of the differential gear device 12. And it transmits to both the wheels 8 and 8 via the reduction gears 8b and 8b.

  The brake cylinder 7b is inserted into the support member 6a of the housing 6 and serves as a swing shaft of the axle case 7. A brake device 10 is mounted in the brake cylinder 7b. The brake device 10 brakes the rotation of the brake shaft 10b having the small bevel gear 10a meshing with the large bevel gear 12a of the differential gear device 12 by the electromagnetic brake 10c. The brake bracket 10d has a larger diameter than the brake cylinder 7b, and prevents the brake cylinder 7b inserted into the support member 6a of the rotary housing 6 from coming off.

  Again, returning to FIGS. The second traveling device 4 is provided in a pair of left and right on one side of the first traveling device 3 sandwiched in the longitudinal direction of the vehicle body 2. Each second traveling device 4 has one wheel 13 as a driven wheel that rotates in accordance with the driving of the first traveling device 3.

  Specifically, as shown in FIG. 6B, the second traveling device 4 is a swing that is swingably attached to a bracket 15 that hangs down from a turntable 14 that can turn 360 degrees on the lower surface of the vehicle body 2. A wheel 13 is rotatably attached via an arm 16. That is, the wheel 13 of the second traveling device 4 rotates according to the rotation of the wheel 8 of the first traveling device 3 and turns as the first traveling device 3 turns.

  As shown in FIGS. 1 to 5, the third traveling device 5 is provided with a pair of left and right on the other side of the first traveling device 3 sandwiched in the longitudinal direction of the vehicle body 2. Each third traveling device 5 has one wheel 17 as a driven wheel that rotates in accordance with the driving of the first traveling device 3. In addition, since the 3rd traveling apparatus 5 is comprised similarly to the 2nd traveling apparatus 4 shown in FIG.6 (b), the description is abbreviate | omitted.

  As described above, the automatic guided vehicle 1 has the wheels 8 and 8 that are driving wheels formed of two wheels. Therefore, the load resistance of the drive wheels can be increased without increasing the wheel diameter, compared to the case where the drive wheels of the traveling device are configured with a single wheel (single wheel). Therefore, even when a 20 ton to 30 ton class gravity object is transported, stable traveling can be achieved. That is, since it is not necessary to increase the wheel diameter, the vehicle height, the loading position, and the center of gravity do not increase. For this reason, the possibility of falling is low even during the transportation of heavy objects, and stable traveling can be achieved even when a gravitational object is conveyed.

  Further, the power transmitted from the drive motor 9 is distributed and transmitted by the differential gear unit 12 as the power of the wheels 8 and 8 as drive wheels. Therefore, compared with the case where the wheel width is simply increased, the resistance during turning can be reduced. Therefore, it is possible to prevent the occurrence of troubles accompanying the increase in turning resistance, for example, the generation of sound, the reduction in wheel life, and the damage to the floor surface. Furthermore, since the power is transmitted to the wheels 8 and 8 using the differential gear device 12, it is cheaper and more compact than the case where a configuration for individually transmitting the power to the wheels 8 and 8 is adopted. And easy to manufacture. As described above, according to the automatic guided vehicle 1, even when a gravity object is transported, it is possible to stably travel, and it is possible to reduce an obstacle caused by turning resistance.

  Next, the automatic guided vehicle 100 of 2nd Embodiment is demonstrated with reference to FIG. FIG. 8 is a bottom view of the automatic guided vehicle 100. FIG. 9A is a front view of the automatic guided vehicle 100, and FIG. 9B is a rear view of the automatic guided vehicle 100. The right side view of the automatic guided vehicle 100 is a right side view of the automatic guided vehicle 1 shown in FIG. 1A, and the left side view of the automatic guided vehicle 100 is the automatic guided vehicle 1 shown in FIG. Since the left side view and the plan view of the automatic guided vehicle 100 are illustrated in the same manner as the plan view of the automatic guided vehicle 1 illustrated in FIG. 3, the illustration thereof is omitted. Moreover, about the structure similar to the automatic guided vehicle 1, the same code | symbol is attached | subjected and the description is abbreviate | omitted.

  In the automatic guided vehicle 1 of the first embodiment described above, the first traveling device 3 is provided in a pair of left and right at the center in the longitudinal direction of the vehicle body 2, and the second traveling device 4 connects the first traveling device 3 to the longitudinal direction of the vehicle body 2. A pair of left and right are provided on one side sandwiched in the direction, and a pair of left and right third traveling devices 5 are provided on the other side of the first traveling device 3 sandwiched in the longitudinal direction of the vehicle body 2.

  On the other hand, the automatic guided vehicle 100 of the second embodiment is the same as the automatic guided vehicle 1 in that the first traveling device 3 is provided in a pair of left and right at the center in the longitudinal direction of the vehicle body 2. The arrangement position and the number of the second traveling device 4 and the third traveling device 5 are different. That is, in the automatic guided vehicle 100 of the second embodiment, one second traveling device 4 is provided on one side of the first traveling device 3 in the longitudinal direction of the vehicle body 2 and in the center in the width direction. Three traveling devices 5 are provided on the other side of the first traveling device 3 in the longitudinal direction of the vehicle body 2 and in the center in the width direction.

  Also in the automatic guided vehicle 100 of the second embodiment, like the automatic guided vehicle 1 of the first embodiment, the wheels 8 and 8 that are driving wheels are constituted by two wheels, and the power of the wheels 8 and 8 that are driving wheels is as follows. The power transmitted from the drive motor 9 is distributed and transmitted by the differential gear unit 12 (see FIG. 7). Therefore, as with the automatic guided vehicle 1, the automatic guided vehicle 100 can travel more stably than a conventional automatic guided vehicle that does not have such a configuration, and can reduce obstacles caused by turning resistance. Further, the automatic guided vehicle 100 can naturally reduce the manufacturing cost because the second and third traveling devices 4 and 5 are less than the automatic guided vehicle 1.

  Next, with reference to FIGS. 10-12, the automatic guided vehicle 200 of 3rd Embodiment is demonstrated. FIG. 10A is a right side view of the automatic guided vehicle 200 in the third embodiment, and FIG. 10B is a left side view of the automatic guided vehicle 200. FIG. 11A is a bottom view of the automatic guided vehicle 200, and FIG. 11B is a plan view of the automatic guided vehicle 200. FIG. 12A is a front view of the automatic guided vehicle 200, and FIG. 12B is a rear view of the automatic guided vehicle 200. In addition, about the structure similar to the automatic guided vehicle 1, the same code | symbol is attached | subjected and the description is abbreviate | omitted.

  In the automatic guided vehicle 200 of the third embodiment, as shown in FIG. 10A and FIG. 11A, the first traveling device 3 is provided on the left side of the center in the longitudinal direction of the vehicle body 2. The three traveling devices 5 are provided on the right side of the longitudinal center of the vehicle body 2 and in the center of the width direction.

  Also in the automatic guided vehicle 200 of the third embodiment, like the automatic guided vehicles 1 and 100 of the second and third embodiments, the wheels 8 and 8 that are driving wheels are constituted by double wheels, and the wheels 8 and The power transmitted from the drive motor 9 is distributed and transmitted by the differential gear unit 12 (see FIG. 7). Therefore, the automatic guided vehicle 100 can travel more stably than a conventional automatic guided vehicle that does not have such a configuration, and can reduce the obstacles caused by the turning resistance. Further, the automatic guided vehicle 200 can be reduced in overall length and reduced in manufacturing cost because the second traveling device 4 is not provided, compared to the automatic guided vehicles 1 and 100.

  As described above, the present invention has been described based on the present embodiment, but the present invention is not limited to the above-described embodiment, and various modifications can be easily made without departing from the spirit of the present invention. It can be guessed.

  Although the said 1st-3rd embodiment demonstrated the case where the wheel 13 of the 2nd traveling apparatus 4 and the wheel 17 of the 3rd traveling apparatus 5 were comprised as a single wheel, it is not limited to this. The wheel 13 of the second traveling device 4 and the wheel 17 of the third traveling device 5 may be configured with two wheels. In such a case, the load resistance of the automatic guided vehicle 1 can be improved.

  Moreover, although the said 1st-3rd embodiment demonstrated the case where the 1st traveling apparatus 3 was provided in right-and-left pair, it is not limited to this. For example, a pair or more may be provided in the longitudinal direction of the vehicle body 2, or the first traveling device 3 may be provided in the longitudinal center of the vehicle body 2, and a total of an odd number of first traveling devices 3 may be provided. You may do it.

  Further, the arrangement positions and the number of the second and third traveling devices 4 and 5 are not limited to the patterns described in the first to third embodiments. For example, in the first embodiment, the second and third traveling devices 4 and 5 may be further provided between the second and third traveling devices 4 and 5 (the center in the width direction of the vehicle body 2). In the second embodiment, either one of the second and third traveling devices 4 and 5 may be provided as a pair of left and right. In the third embodiment, the third traveling device 5 may be provided as a pair of left and right. Also good.

1,100,200 Automated guided vehicle 2 Car body 3 First traveling device 4 Second traveling device 5 Third traveling device (second traveling device)
8 Wheel of the first traveling device 9 Drive motor (drive source)
12 Differential gear device (differential device)
13 Wheel of second traveling device 17 Wheel of third traveling device (wheel of second traveling device)

Claims (2)

In automated guided vehicles,
A first traveling device having a pair of right and left in the width direction of the vehicle body and having driving wheels that rotate by power transmitted from a driving source;
A second traveling device having driven wheels that are provided on one or both sides of the first traveling device in the longitudinal direction of the vehicle body and that rotate following the driving of the first traveling device;
Each of the pair of first traveling devices includes:
Two wheels provided as a pair of left and right drive wheels;
The automatic guided vehicle includes: a differential that is connected to the drive source and distributes power transmitted from the drive source to the two wheels. The first traveling device is provided in a pair of left and right at the longitudinal center of the vehicle body,
2. The automatic guided vehicle according to claim 1, wherein the second traveling device is provided in a pair of left and right on both sides of the first traveling device in a longitudinal direction of the vehicle body.

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