JP2018198472A - Driving device - Google Patents

Abstract

To provide a driving device equipped with a driving part and a motion part that can stop the motion part when an obstacle or the like hits it irrespective of a failure of a sensor, a failure of software, a failure in detecting the obstacle or the like, and improve a degree of freedom for layout design of a movable part that functions as a trigger for stopping the motion part.SOLUTION: A driving device (1) includes a driving part (13) for generating power, a motion part (11) that moves by the power of the driving part, an electric path (L0) through which the power for driving the driving part is transmitted, a movable part (22) provided at least at a part of a periphery of the motion part, and opening/closing parts (21a and 21b) that can open and close the electric path, and cut off the electric path by mechanically interlocking with the movable part when the movable part is pressed.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a drive device including a drive unit that generates power and a moving unit that is moved by the power of the drive unit.

  2. Description of the Related Art Conventionally, there are automatic guided vehicles (AGVs), industrial robots, and the like as drive devices including a drive unit and a motion unit. As for the automatic guided vehicle, the whole apparatus is a moving part, and it drive | works with the motive power of the electric motor which is a drive part. The industrial robot performs a predetermined operation by moving an arm or the like that is a moving part by the power of an electric motor that is a driving part.

  In such a drive device, a collision avoidance function is generally provided so that the moving part does not unexpectedly collide with a person or an object (hereinafter referred to as “obstacle” or the like). The collision avoidance function generally detects, for example, an obstacle using a sensor and controls the control unit to stop the motion unit or perform a collision avoidance operation based on the detection result. For example, Patent Document 1 discloses a technique in which a crane controller controls a crane to stop based on object detection by a sensor in an apparatus for loading and unloading articles using a crane.

  On the other hand, in Patent Document 2, as a technique related to the present invention, when an obstacle or the like accidentally hits the apparatus without using the control of the sensor and the control unit, before the damage is caused. Discloses a self-propelled vehicle having a stop function at the time of a collision that quickly stops traveling. This self-propelled vehicle includes a movable part provided in a surrounding range and a power cut-off mechanism that cuts off transmission of power from the motor to the drive wheels in conjunction with the displacement of the movable part. According to this configuration, when the movable part is displaced in contact with an obstacle or the like, the power cut-off mechanism mechanically cuts off the power to the driving wheel in conjunction with the displacement, and the self-propelled vehicle is stopped. The

JP 2009-215031 A Japanese Patent Laying-Open No. 2015-179494

  In a configuration in which the control unit performs collision avoidance control based on the detection result of the sensor, the collision avoidance function may not operate normally when a defect occurs in the sensor or software in the control unit. There is a problem that there is.

  Moreover, it is difficult to detect obstacles and the like with a probability of 100% with the current technology. For this reason, in the technique of avoiding a collision based on the detection of an obstacle or the like, there is a problem that the collision avoidance function may not operate normally due to a detection failure. Therefore, the present inventors have reviewed the design philosophy of detecting obstacles and avoiding collisions, and to some extent allow obstacles to accidentally hit the device. By stopping the system, the design philosophy of avoiding harm to obstacles was reached. The technique of Patent Document 2 is in accordance with this design concept, and when an obstacle or the like hits the movable part, the transmission of power is mechanically interrupted in conjunction with the displacement of the movable part, The moving part can be quickly stopped. Thereby, it is possible to prevent the obstacles from being harmed even when the obstacles accidentally hit the movable part regardless of sensor troubles, software troubles or detection failures.

  However, the technique of Patent Document 2 has a problem that the power cut-off mechanism has a restriction in arrangement, for example, the power cut-off mechanism cannot be arranged at a position away from the power transmission path of the drive wheel. Further, since the power cut-off mechanism is operated by the displacement of the movable part, there is a restriction on the arrangement relationship between the movable part and the power cut-off mechanism, and there is a problem that the degree of freedom in designing the layout of the movable part is lowered. In the technique of Patent Document 2, since the movable part plays a role of a trigger for stopping the moving part, it is preferable that the degree of freedom in layout design is high so that the movable part can be arranged in a desired manner.

  It is an object of the present invention to provide a driving device having a driving unit and a moving unit, based on the fact that an obstacle or the like has collided irrespective of a sensor failure, a software failure, or an obstacle detection failure. It is to be able to stop the part. In addition, the degree of freedom in designing the layout of the movable part that functions as a trigger for stopping the moving part is improved.

The present invention
A drive unit for generating power;
A moving part that is driven by the power of the drive part;
An electric circuit through which electric power for driving the driving unit is sent;
A movable part provided in at least a part of the periphery of the moving part;
An opening / closing part capable of opening and closing the electric circuit and cutting the electric circuit mechanically interlocking with the movable part when the movable part is pressed;
It is a drive device provided with.

  According to the present invention, it is possible to stop the moving part based on the fact that an obstacle or the like has collided, regardless of a sensor failure, a software failure, or an obstacle detection failure. In addition, the degree of freedom in designing the layout of the movable part that functions as a trigger for stopping the moving part can be improved.

It is a block diagram which shows the principal part of the self-propelled vehicle which concerns on 1st Embodiment of this invention. It is explanatory drawing which shows a state when a movable part is pushed. It is a perspective view which shows a movable part and an electric circuit block. It is a figure which shows a detailed example of a reverse movement suppression mechanism. It is a block diagram which shows the principal part of the self-propelled vehicle which concerns on 2nd Embodiment of this invention. It is a block diagram which shows the principal part of the self-propelled vehicle which concerns on 3rd Embodiment of this invention. It is explanatory drawing which shows the opening / closing operation | movement of the opening / closing switch provided in the electrical circuit block of 3rd Embodiment, (A) shows a closed state, (B) shows an open state. It is a block diagram which shows the principal part of the self-propelled vehicle which concerns on 4th Embodiment of this invention. It is a figure which shows the modification of a reverse movement prevention mechanism. It is a figure which shows the 1st modification (A) and 2nd modification (B) of the electric circuit block which is an opening / closing part of an electric circuit.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

(First embodiment)
FIG. 1 is a configuration diagram showing a main part of a self-propelled vehicle according to a first embodiment of the present invention. FIG. 2 is an explanatory diagram showing a state when the movable part is pushed. FIG. 3 is a perspective view showing a movable part and an electric circuit block. 1 and 2 show the self-propelled vehicle 1 as viewed from the vertical direction.

  The self-propelled vehicle 1 according to the first embodiment is an automatic guided vehicle (AGV) that self-propels and conveys an object. As shown in FIG. 1, the self-propelled vehicle 1 includes a main body frame 11, drive wheels 12, a motor 13, a brake 14, an electromagnetic switch 15, a battery 16, and a collision stop mechanism 20. Although omitted in FIG. 1, the self-propelled vehicle 1 has a plurality of wheels that support the main body frame 11 so as to be able to travel. The self-propelled vehicle 1 may further include a steering unit that changes the traveling direction, and a control unit that controls the steering unit, the motor 13, and the brake 14. The self-propelled vehicle 1 corresponds to an example of a drive device according to the present invention. Of the above-described components, the motor 13 corresponds to an example of a drive unit according to the present invention, the brake 14 corresponds to an example of a brake unit according to the present invention, and the main body frame 11 corresponds to an exercise unit according to the present invention. It corresponds to an example.

  The motor 13 is, for example, a DC motor, and power is transmitted from the battery 16 via the electric circuit L0 to generate power, and the drive wheel 12 is rotationally driven. The motor 13 stops generating power when the supply of power is cut off.

  The brake 14 is a non-excitation operation type electromagnetic brake, for example, and applies a braking force to the drive shaft of the motor 13 by the action of a spring, for example, when the supply of power is cut off. On the other hand, when electric power is supplied, the brake 14 releases the action of the spring by energizing the coil, for example, and releases the braking force applied to the drive shaft of the motor 13.

  The drive wheels 12 are driven by the power of the motor 13 to run the main body frame 11 that is a moving part. The self-propelled vehicle 1 may be provided with a plurality of drive wheels 12.

  The electromagnetic switch 15 is switched between running and stopped, sends the power of the battery 16 to the motor 13 and the brake 14 during running, and cuts off the power of the battery 16 when stopped. The electromagnetic switch 15 is, for example, an a-contact relay switch that energizes the coil and closes the contact when a power button (not shown) is turned on. The power button is switched by, for example, a human operation.

  As shown in FIG. 1, the collision stop mechanism 20 is provided on at least a part of the periphery of the main body frame 11 (for example, the front side facing the traveling direction). The collision stopping mechanism 20 includes an electric circuit block 21, a plurality of movable parts 22, a plurality of slide parts 23, a plurality of urging parts 24, and a plurality of reverse movement suppressing mechanisms 25. Among these, the electric circuit block 21 corresponds to an example of an opening / closing part according to the present invention, and the slide part 23 corresponds to an example of a buffer part according to the present invention. The electric circuit block 21 is a conductor that transmits electric power of the motor 13 and the brake 14 as will be described later. On the other hand, the movable part 22, the slide part 23, and the fixing members 26 and 27 are made of an insulator, and prevent current from flowing from the electric circuit block 21 through a path other than the intended purpose.

  The electric circuit block 21 constitutes one section of an electric circuit L0 that sends the electric power of the battery 16 to the motor 13 and the brake 14. The electric circuit block 21 has a plurality of fixed blocks 21a that are conductors and a plurality of movable blocks 21b that are conductors, and the fixed blocks 21a and the movable blocks 21b are alternately arranged in a separable manner. . For example, the fixed block 21 a is fixed to the main body frame 11 via a fixing member 27, while the movable block 21 b is supported by the main body frame 11 via a slide portion 23 so as to be slidable. As shown in FIG. 1, between the both ends of the circuit block 21 can be energized while the plurality of fixed blocks 21 a and the plurality of movable blocks 21 b are in contact with each other. On the other hand, when one of the movable blocks 21b slides away from the adjacent fixed block 21a as shown in FIG. 2, the electric circuit between both ends of the electric circuit block 21 is opened, and the current cannot be supplied. The electric circuit block 21 does not necessarily have to be a conductor, and the electric circuit block 21 has an inner portion so that the fixed block 21a and the movable block 21b are in contact with each other so that the electric circuit block 21 penetrates from one end to the other end. A structure in which a conductor is provided may be employed.

  As shown in FIG. 3, each of the fixed block 21a and the movable block 21b has a three-dimensional shape having a width in the vertical direction and a cross section cut in the horizontal direction being substantially trapezoidal. When viewed from the vertical direction, the fixed block 21 a is arranged so that the upper side of the trapezoid faces the main body frame 11, and the movable block 21 b is arranged so that the lower side of the trapezoid faces the main body frame 11. The shorter of the upper and lower sides of the trapezoid is called the upper side. The sliding portion 23 that slidably supports the movable block 21b is provided with an urging portion 24, and the urging portion 24 applies an outward force in the self-propelled vehicle 1 to the movable block 21b via the sliding portion 23. With such a configuration, in a state in which the movable block 21b is in contact with the fixed block 21a, a force pressing each other on the adjacent side surfaces of the movable block 21b and the fixed block 21a works, and a good electrical connection between the two is ensured. Is done. The side surfaces in contact with each other are portions corresponding to the hypotenuse of the trapezoidal shape of the cross section. On the other hand, when a force directed to the main body frame 11 is applied to the movable block 21b, the movable block 21b can be separated from the fixed block 21a without a large resistance to cut the electric circuit L0.

  The plurality of movable parts 22 are members that are displaced relative to the main body frame 11 by abutting against an obstacle or the like when the obstacle or the like approaches the self-propelled vehicle 1. The plurality of movable parts 22 are arranged along the longitudinal direction of the electric circuit block 21, and are arranged outside the electric circuit block 21 in the self-propelled vehicle 1. The plurality of movable portions 22 are not particularly limited, but are, for example, plate-like members that are long along the longitudinal direction of the electric circuit block 21, and each of the movable blocks 21b is disposed at a distance from the plurality of movable blocks 21b via the fixed member 26. It is fixed to. In other words, the corresponding one movable portion 22 and one movable block 21b are integrated via the fixed member 26. A gap between a pair of adjacent movable parts 22 is designed to be small so as not to pass an assumed obstacle or the like. A cushioning material may be provided on the side of the movable portion 22 that abuts against an obstacle or the like.

  The slide part 23 is a mechanism that supports the movable part 22 and the movable block 21b so as to be slidable in a direction approaching or separating from the main body frame 11. The slide part 23 is attached to the main body frame 11. As the slide part 23, for example, a linear guide or a scissors-type link mechanism can be adopted. The linear guide has an effect of realizing a smooth displacement of the movable block 21b. Further, the scissors-type link mechanism has an effect of realizing a large stroke of the movable block 21b even if the arrangement space of the link mechanism is small. In addition, as the slide portion 23, a rotation / linear motion conversion mechanism such as a rack and pinion mechanism or a ball screw nut mechanism may be applied. When the rotation / linear motion conversion mechanism is applied, the rotation motion of the ratchet mechanism 25R (see FIG. 4) to be described later may be derived from the rotation motion converted from the linear motion of the movable block 21b.

  The slide part 23 exerts a small resistance force on the movable part 22 when an obstacle or the like contacts the movable part 22 and the movable part 22 is displaced. This resistance force can provide a buffering action between the movable portion 22 and the obstacle. That is, in the range of the stroke in which the movable part 22 can be displaced by the slide part 23, the slide part 23 functions as a buffer part, and a small resistance force can be applied regardless of the size or weight of the self-propelled vehicle 1. The buffering action added to 22 is obtained.

  The urging portion 24 is, for example, a leaf spring or a spring, and acts on the slide portion 23 to urge the movable block 21 b in a direction away from the main body frame 11. For example, when the slide portion 23 is a scissors-type link mechanism, the biasing portion 24 is attached so as to open an adjacent link, thereby biasing the movable block 21b in the above-described direction. be able to.

  FIG. 4 is a diagram illustrating a detailed example of the reverse movement suppression mechanism.

  The reverse movement suppression mechanism 25 is a mechanism that prevents the movable block 21b from returning to its original position after an obstacle or the like contacts the movable portion 22 and the movable block 21b is displaced in the direction approaching the main body frame 11. . As shown in FIG. 4, the reverse movement suppressing mechanism 25 includes a ratchet mechanism 25R having a gear 25g and a pawl 25c, two two-stage pulleys 28a and 28b, two wires w1 and w2, a belt b1, a pulley p1, and a wire. Fixed portions 29a and 29b are provided. The ratchet mechanism 25R and the two-stage pulleys 28a and 28b are attached to the main body frame 11 or the main body frame 11 via fixing brackets, and the wire fixing portions 29a and 29b are attached to the movable block 21b. The wire fixing portions 29a and 29b are made of an insulator.

  The ratchet mechanism 25R is a mechanism that allows rotation in one direction of the gear 25g (counterclockwise rotation in FIG. 4) and suppresses rotation in the reverse direction of the gear 25g (clockwise rotation in FIG. 4). On the two-stage pulley 28a, the wire w1 is wound on the first stage, and the belt b1 is hung on the second stage. The wire w1 is passed from the wire fixing portion 29a to the two-stage pulley 28a via the pulley p1 attached to the fixing member 27. One end of the wire w1 is fixed to the two-stage pulley 28a, and the other end of the wire w1 is fixed to the wire fixing portion 29a. The other two-stage pulley 28b is wound with the wire w2 at the first stage and the belt b1 at the second stage, and is concentrically connected to the gear 25g of the ratchet mechanism 25R. The wire w2 is passed from the two-stage pulley 28b to the wire fixing portion 29b. One end of the wire w2 is fixed to the two-stage pulley 28b, and the other end of the wire w2 is fixed to the wire fixing portion 29b. Here, the wire fixing portion 29a is disposed at a position closer to the main body frame 11 than the pulley p1.

  With such a configuration of the reverse movement suppression mechanism 25, when the movable block 21b is displaced toward the main body frame 11, the wire w1 is pulled out from the two-stage pulley 28a, and the two-stage pulley 28a rotates (for example, rotates counterclockwise). To do. The rotational motion of the two-stage pulley 28a is transmitted through the belt b1, and the other two-stage pulley 28b and the gear 25g of the ratchet mechanism 25R are rotated. The ratchet mechanism 25R allows the rotation of the gear 25g in this direction. By rotating the two-stage pulley 28b, the wire w2 is wound around the two-stage pulley 28b, and the wire w2 is not greatly loosened between the wire fixing portion 29b and the two-stage pulley 28b.

  On the other hand, when a return force is applied to the movable block 21b after the movable block 21b is displaced toward the main body frame 11, a pulling force is applied to the wire w2 and a rotational force (for example, clockwise direction) is applied to the two-stage pulley 28b. ). However, since the ratchet mechanism 25R suppresses the rotation in this direction, the two-stage pulley 28b does not rotate, and the return of the movable block 21b to the original position can be suppressed. Even when the displacement of the movable block 21b is suppressed in this way, for example, an attendant manually operates the unlocking pawl 25c of the ratchet mechanism 25R to release the movable block 21b to the original position. Can be returned.

<Description of operation>
Next, the operation of the self-propelled vehicle 1 will be described.

  In the initial state, the self-propelled vehicle 1 is arranged such that all the movable blocks 21b are aligned with the fixed block 21a. In the initial state, the movable block 21b is pressed against the fixed block 21a by the urging force of the urging portion 24 (the state shown in FIG. 1), and both ends of the electric circuit block 21 are brought into conduction.

  When the electromagnetic switch 15 is turned on to drive the self-propelled vehicle 1, the electric circuit L0 between the battery 16 and the motor 13 and the brake 14 is closed, and electric power is supplied from the battery 16 to the motor 13 and the brake 14. Supplied. Electric power is supplied to the motor 13 and the brake 14 via the electric circuit block 21. When electric power is supplied, braking of the brake 14 is released, the motor 13 is driven, and the self-propelled vehicle 1 travels.

  When an obstacle or the like comes into contact with the movable portion 22 while the self-propelled vehicle 1 is traveling, the movable portion 22 and the movable block 21b integrated therewith are pushed as shown in FIG. Displace toward. At this time, if the displacement of the slide portion 23 is within the stroke, only a small resistance is applied to the movable block 21b and the movable portion 22 from the slide portion 23. No harm will be done.

  When the movable block 21b is displaced, the electric circuit L0 of the electric circuit block 21 is opened and the supply of electric power to the motor 13 and the brake 14 is cut off. As a result, the supply of power from the motor 13 to the drive wheels 12 is stopped, the braking of the brake 14 is activated, and the self-propelled vehicle 1 stops without harming the obstacles.

  Here, the stroke of the slide part 23 is demonstrated. There is a time lag from when the obstacle 22 contacts the movable part 22 until the self-propelled vehicle 1 stops. Therefore, the traveling of the self-propelled vehicle 1 is continued during the time lag, and the distance between the obstacle and the body frame 11 is reduced. The distance X between the obstacle and the body frame 11 when the self-propelled vehicle 1 stops can be calculated based on the speed of the self-propelled vehicle 1 and the size of the time lag. Alternatively, when the speed of the self-propelled vehicle 1 is variable, the minimum distance X1 between the obstacle and the body frame 11 when the self-propelled vehicle 1 stops is equal to the maximum speed of the self-propelled vehicle 1 It can be calculated based on the size of the time lag. In this embodiment, the stroke in which the movable part 22 and the movable block 21b can be slid by the slide part 23 is set longer than the distance X or the minimum distance X1. By such a setting of the stroke of the slide portion 23, the self-propelled vehicle 1 does not receive a large impact from the self-propelled vehicle 1 until it stops after contacting the obstacle or the like. It is possible to avoid harming things.

  When the obstacle or the like retreats after the self-propelled vehicle 1 stops, there is nothing to push the movable portion 22, and the force in the direction to return the movable block 21 b to the original position is applied by the urging of the urging portion 24. However, since the movable block 21b is prevented from returning to the original position by the reverse movement suppression mechanism 25, the movable block 21b maintains a state of being separated from the fixed block 21a, and the self-propelled vehicle 1 is automatically reactivated. It is prevented that the running starts.

  After the self-propelled vehicle 1 is stopped, once the surrounding situation in which the vehicle can run is confirmed again, the clerk performs an operation of manually releasing the locking of the ratchet mechanism 25R, for example, and the movable portion 22 and the movable block 21b Can be returned to the initial position. Thereby, self-propelled vehicle 1 can be made to run again.

  As described above, according to the self-propelled vehicle 1 of the present embodiment, the electric circuit of the electric circuit block 21 is mechanically opened when the movable portion 22 is displaced in contact with an obstacle or the like. Is stopped. In a conventional drive device in which the control unit controls collision avoidance by detecting an obstacle, etc., the collision avoidance function may not operate normally due to a sensor malfunction, software malfunction, or obstacle detection failure. Occurs. However, according to the self-propelled vehicle 1 of the present embodiment, since the electric circuit L0 is opened mechanically in conjunction with the displacement of the movable portion 22, the failure is not affected by a sensor malfunction or software malfunction. The self-propelled vehicle 1 can be surely stopped when an object or the like hits the movable part 22 by mistake. That is, even if an obstacle or the like collides with the self-propelled vehicle 1, the self-propelled vehicle 1 can be stopped without the obstacle or the like receiving a large impact force. Furthermore, according to the self-propelled vehicle 1 of the present embodiment, the braking action of the brake 14 works when the electric circuit L0 is opened and the supply of power is cut off, so that the self-propelled vehicle 1 is stopped more quickly. be able to.

  Furthermore, according to the self-propelled vehicle 1 of the present embodiment, since the movable portion 22 and the movable block 21b of the electric circuit block 21 are integrated, the movable block 21b is reliably displaced by the displacement of the movable portion 22. The electric circuit L0 can be cut.

  Moreover, according to the self-propelled vehicle 1 of the present embodiment, the self-propelled vehicle 1 is stopped by cutting the electric circuit L0 based on the displacement of the movable portion 22. Compared with a mechanical mechanism, the electric path L0 is less subject to arrangement restrictions and can be extended to various parts of the self-propelled vehicle 1. Therefore, the movable part 22 and the electric circuit block 21 can be provided at various locations in the self-propelled vehicle 1 in various directions. That is, according to the self-propelled vehicle 1 of the present embodiment, the degree of freedom in designing the layout of the movable portion 22 that functions as a trigger for stopping the self-propelled vehicle 1 when an obstacle or the like hits is improved. Therefore, at the time of designing the self-propelled vehicle 1, the movable part 22 can be provided at various positions where an obstacle or the like may collide, and the number of the movable parts 22 can be easily increased or decreased by extending the electric path L0. .

  Further, according to the self-propelled vehicle 1 of the present embodiment, when the movable part 22 comes in contact with an obstacle, the slide part 23 displaces the movable part 22 within a predetermined stroke, and during this displacement A resistance force is applied to the movable part 22 to obtain a buffering action between the movable part 22 and an obstacle. Usually, there is a time lag between the time when the supply of power is cut off and the time when the self-propelled vehicle 1 stops, and the distance between the obstacle and the body frame 11 contacting the movable portion 22 is reduced during this time lag. However, even if the self-propelled vehicle 1 moves during the time lag due to the stroke of the slide portion 23 having a buffering action, the self-propelled vehicle 1 can be stopped before a large impact is applied to an obstacle or the like. it can.

  Further, according to the self-propelled vehicle 1 of the present embodiment, the reverse movement suppression mechanism 25 suppresses the movable portion 22 from naturally returning to the original position after the movable portion 22 is displaced. It is possible to avoid a situation in which the self-propelled vehicle 1 starts to travel immediately after retreating.

(Second Embodiment)
FIG. 5 is a configuration diagram showing a main part of a self-propelled vehicle according to the second embodiment of the present invention.

  The self-propelled vehicle 1A of the second embodiment is mainly different from the first embodiment in that it includes two sets of collision stop mechanisms 20 in which the displacement direction of the movable portion 22 is different. The same components as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

  As shown in FIG. 5, the self-propelled vehicle 1 </ b> A includes two sets of collision stop mechanisms 20 and 20 </ b> A on two side portions of the main body frame 11. The movable direction of the movable portion 22 of one collision stop mechanism 20 is different from the movable direction of the movable portion 22 of the other collision stop mechanism 20A (for example, 90 ° is different). The two sets of electric circuit blocks 21 are connected in series in an electric circuit L0 that supplies electric power to the motor 13 and the brake 14.

  As described above, according to the self-propelled vehicle 1A of the second embodiment, the two sets of collision stop mechanisms 20 and 20A stop the self-propelled vehicle 1A corresponding to the contact of an obstacle or the like from two directions. can do. Note that, as in the second embodiment, the electric path L0 for supplying power may be further expanded, and the collision stopping mechanism 20 may be provided in more directions in various directions. For example, the plurality of collision stopping mechanisms 20 can be arranged at different heights, or can be arranged all around the self-propelled vehicle 1A.

(Third embodiment)
FIG. 6 is a configuration diagram showing a main part of a self-propelled vehicle according to the third embodiment of the present invention. 7A and 7B are explanatory diagrams showing the opening / closing operation of the opening / closing switch provided in the electric circuit block, where FIG. 7A shows a closed state and FIG. 7B shows an opened state.

  The self-propelled vehicle 1B of the third embodiment is different from the first embodiment in the structure that mainly opens and closes the electric circuit L1. The same components as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

  As shown in FIG. 6, the self-propelled vehicle 1B according to the third embodiment includes a collision stop mechanism 20B. In the collision stop mechanism 20B, the movable portion 22 is slidably supported by the slide portion 23 via the bar 18B. Further, the collision stopping mechanism 20B of the third embodiment includes an electric circuit block 21B through which the bar 18B is slidably penetrated.

  The electric circuit block 21B is disposed between the slide part 23 and the movable part 22, and is fixed to the main body frame 11 via a fixture 27B. The electric circuit block 21B includes an electric wire L1a constituting a part of the electric circuit L1, a plurality of guide holes 21h through which the bar 18B is passed, and a plurality of switches 21s connected to the electric wire L1a and capable of opening and closing the electric circuit L1. The electric power of the battery 16 is sent to the motor 13 and the brake 14 via the electric circuit L1.

  The switch 21s is a mechanical switch, more specifically, a push-button contact switch. Further, the switch 21s is closed when the button E is pressed and is opened when the button E is opened. Switch. The plurality of switches 21s are connected in series in the electric circuit L1, and are fixed by projecting the buttons E into the plurality of guide holes 21h.

  As shown in FIGS. 7A and 7B, the bar 18B is provided with an operation portion 18Ba (for example, a protrusion) for operating the button E of the switch 21s. As shown in FIG. 7A, when the movable portion 22 is at the initial position, the operation portion 18Ba is disposed in the guide hole 21h, and the button E of the switch 21s is pressed. On the other hand, when the movable portion 22 is pushed inward of the self-propelled vehicle 1B and the bar 18B moves, the operation portion 18Ba is released from the button E of the switch 21s and opens the button E. The guide hole 21h is provided with a guide so that the central axis of the bar 18B is not displaced toward the button E of the switch 21s.

  As described above, according to the self-propelled vehicle 1B of the third embodiment, when an obstacle or the like touches the movable part 22 and the movable part 22 is pushed during traveling, the operation part 18Ba is a button of the switch 21s. E is opened and the switch 21s disconnects the electric circuit L1. Thereby, the electric power supplied to the motor 13 and the brake 14 is stopped, and the self-propelled vehicle 1B can be stopped quickly. With such a configuration, the same effects as those of the first embodiment can be obtained in the self-propelled vehicle 1B of the third embodiment.

  Furthermore, according to the self-propelled vehicle 1B of the third embodiment, since the switch 21s opens and closes the electric circuit L1 mechanically interlocking with the displacement of the movable part 22, the reliability of the opening and closing operation of the electric circuit L1 can be improved. Furthermore, since a general-purpose product can be applied as the switch 21s, the component cost of the collision stopping mechanism 20B can be reduced. In addition, since the a contact switch is applied as the switch 21s, the opening operation of the electric circuit L1 can be realized more reliably when the movable portion 22 is pushed.

  In the third embodiment, a push button type switch is shown as the switch 21s. However, various switches can be applied as long as the switch switches the contact point by a mechanical operation. Instead of the a contact switch, a b contact switch or a c contact switch may be used.

(Fourth embodiment)
FIG. 8 is a block diagram showing a self-propelled vehicle according to the fourth embodiment of the present invention.

  The self-propelled vehicle 1 </ b> C of the fourth embodiment is different from the first embodiment in the circuit configuration that mainly supplies power to the motor 13. The same components as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

  The self-propelled vehicle 1 </ b> C further includes a power conversion unit 17 and a control unit 18, and the collision stop mechanism 20 is configured to open and close an electric circuit L <b> 2 between the battery 16 and the power conversion unit 17.

  The power converter 17 converts the power supplied from the battery 16 and supplies it to the motor 13. When the motor 13 is an AC motor, for example, an inverter can be applied as the power conversion unit 17. When the motor 13 is a DC motor, for example, a DC / DC converter can be applied as the power conversion unit 17. By changing the output torque of the motor 13 by the power conversion of the power conversion unit 17, the traveling speed or driving force of the self-propelled vehicle 1C can be adjusted.

  The control unit 18 performs conversion control of the power conversion unit 17.

  Even in such a configuration, electric power for driving the motor 13 is transmitted to the electric circuit L <b> 2 between the battery 16 and the power converter 17. Therefore, by cutting the electric circuit L2, the electric power supplied to the motor 13 is cut off, and the self-propelled vehicle 1C can be stopped.

  According to the self-propelled vehicle 1 </ b> C of the fourth embodiment, when an obstacle or the like touches the movable part 22 and the movable part 22 is pushed during traveling, the electric path L <b> 2 is not related to the control of the control part 18. The self-propelled vehicle 1 </ b> C is quickly stopped after being cut. With such a configuration, the same effects as those of the first embodiment can be obtained in the self-propelled vehicle 1C of the fourth embodiment.

  The embodiments of the present invention have been described above. However, the present invention is not limited to the above embodiment. For example, in the above-described embodiment, the configuration in which the movable portion 22 is displaceable in the horizontal direction is shown. However, the displacement direction of the movable portion 22 is appropriately changed according to the motion direction of the motion portion, for example, a direction including a vertical component. Is possible. Moreover, in the said embodiment, the example which applied this invention to the automatic guided machine was shown. However, the present invention is not limited to an industrial robot that performs a predetermined operation by moving an arm, a service robot used in the service industry, a variety of robot devices such as a home robot, a variety of drives such as an electric vehicle and an electric construction machine. You may apply to an apparatus. When applied to these drive devices, if the drive device itself moves, by providing a movable part as shown in the embodiment around the drive device, damage caused by a collision between the drive device and an obstacle or the like can be prevented. It can be greatly reduced. In addition, in the case of a driving device that moves a moving part such as an arm, by providing a movable part around the moving part as shown in the embodiment, the damage at the time of collision between the arm and an obstacle can be greatly reduced. .

  Moreover, although each component of the invention has been specifically described in the above embodiment, the following modifications can be applied to some components. FIG. 9 is a diagram illustrating a modified example of the reverse movement prevention mechanism. As shown in FIG. 9, the reverse movement prevention mechanism is engaged in one direction so that the locked portion 27 c that is integrated with the movable portion 22 or moves in conjunction with the movable portion 22 and the locked portion 27 c cannot be reversed. It is good also as a structure which has the latching piece 27d to let it pass. Even in such a configuration, when the movable portion 22 is pushed and displaced, the locked portion 27c pushes the locking piece 27d and proceeds with a small resistance, whereas after the movable portion 22 is displaced, the locked portion It is possible to prevent the movable portion 22 from returning to the original state by the locking of the 27c and the locking piece 27d.

  FIG. 10 is a diagram illustrating a first modification (A) and a second modification (B) of the opening / closing portion of the electric circuit. As shown in FIGS. 10A and 10B, an electric circuit block 21C or an electric circuit block 21D may be employed as an opening / closing unit that cuts the electric circuit in conjunction with the movable unit 22. The electric circuit block 21C in FIG. 10A employs a curved surface such as an R surface as a contact surface between the fixed block 21Ca and the movable block 21Cb. For example, the contact surface of the fixed block 21Ca is a concave surface having a first radius of curvature, and the contact surface of the movable block 21Cb is a convex surface having a radius of curvature smaller than the first radius of curvature. With such a configuration, even if there is an assembly error between the fixed block 21Ca and the movable block 21Cb, both can be brought into contact with each other with an electrically good contact area. The electric circuit block 21D in FIG. 10B has leaf springs M on both side surfaces of the fixed block 21Da and the movable block 21Db that are adjacent to each other. The fixed block 21Da and the movable block 21Db are provided with an electric circuit L3 electrically connected to the leaf spring M. According to such a configuration, when the movable block 21Db is pressed against the fixed block 21Da, both the leaf springs M are elastically deformed and come into contact with each other, so that a good electrical contact can be easily realized. Instead of the leaf spring M, various forms of metal having elasticity or flexibility, such as a metal wire or a lump of metal fibers, may be applied.

  Moreover, in the said embodiment, the structure provided with the collision stop mechanism 20, 20A, 20B was shown as a structure which stops the self-propelled vehicle 1 when an obstacle etc. collide. However, the self-propelled vehicle 1 electrically controls, for example, the electric paths L0, L1, L2, and L3 based on a sensor that detects an obstacle in addition to the collision stopping mechanisms 20, 20A, and 20B and the output of the sensor. And a control unit that cuts off. In such a configuration, at the time of a collision with an obstacle or the like, the cutting of the electric circuits L0, L1, L2, and L3 by the collision stopping mechanisms 20, 20A, and 20B is executed independently of the cutting control by the control unit. Therefore, even if there is an abnormality in the sensor, software abnormality in the control unit, or failure in detecting an obstacle, the self-propelled vehicle 1 is stopped immediately when the obstacle collides with the obstacle, etc. The effect that it can avoid giving is produced. In addition, the slide portion may not be configured to be linearly slidable, but may be configured to be curved or slidable in the biaxial or triaxial directions, and the movable portion or the electric circuit block is the specific example shown in the embodiment. The shape is not limited. In addition, the detailed structure shown by embodiment can be changed suitably in the range which does not deviate from the meaning of invention.

1, 1A, 1B, 1C Self-propelled vehicle (drive device)
11 Body frame (movement section)
13 Motor (drive unit)
14 Brake (braking part)
16 battery 17 power conversion unit 18 control unit 20, 20A, 20B, collision stop mechanism 21, 21C, 21D electric circuit block (opening / closing unit)
21b Movable block (part of electric circuit)
21s switch 22 movable part 23 slide part (buffer part)
24 urging portion 25 reverse movement suppression mechanism 27c locked portion 27d locking piece L0, L1, L2, L3 Electric circuit

Claims (6)

A drive unit for generating power;
A moving part that is driven by the power of the drive part;
An electric circuit through which electric power for driving the driving unit is sent;
A movable part provided in at least a part of the periphery of the moving part;
An opening / closing part capable of opening and closing the electric circuit and cutting the electric circuit mechanically interlocking with the movable part when the movable part is pressed;
A drive device comprising: The opening / closing part is a part of the electric circuit configured to be separable from the electric circuit,
A part of the electric circuit and the movable part are integrated.
The drive device according to claim 1. A control unit for controlling the driving unit;
The opening and closing unit opens and closes the electric circuit without the control of the control unit;
The drive device according to claim 1. A buffer portion that exerts a resistance force on the movable portion when the movable portion is displaced;
The drive apparatus as described in any one of Claims 1-3. A reverse movement restraining mechanism for restraining the movable portion from returning to the original position after the movable portion is pushed;
The drive apparatus as described in any one of Claims 1-4. A brake unit that is driven by the electric power of the electric circuit and brakes the moving part when the supply of electric power is cut off, and releases the braking of the moving part when the electric power is supplied;
The driving device according to any one of claims 1 to 5.

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