JPH01178012A - Unmanned carrier - Google Patents
Unmanned carrierInfo
- Publication number
- JPH01178012A JPH01178012A JP20688A JP20688A JPH01178012A JP H01178012 A JPH01178012 A JP H01178012A JP 20688 A JP20688 A JP 20688A JP 20688 A JP20688 A JP 20688A JP H01178012 A JPH01178012 A JP H01178012A
- Authority
- JP
- Japan
- Prior art keywords
- wheels
- driven
- driven wheel
- guided vehicle
- unmanned carrier
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000010276 construction Methods 0.000 abstract 1
- 230000002265 prevention Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 230000005484 gravity Effects 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
Description
【発明の詳細な説明】 〔発明の目的〕 （産業上の利用分野） 本発明は無人搬送車に係り特にその車輪構造に関する。[Detailed description of the invention] [Purpose of the invention] (Industrial application field) The present invention relates to an automatic guided vehicle, and particularly to a wheel structure thereof.
（従来の技術）
一般に工場敷地内等において、ワークや荷物等をある位
置から他の位置に搬送するのに、上記ワークや荷物等を
載置して無人で走行する無人搬送車が使用されている。(Prior art) Generally, in order to transport workpieces, luggage, etc. from one position to another within a factory premises, an automatic guided vehicle that runs unmanned with the workpieces, luggage, etc. placed thereon is used. There is.
この無人搬送車の駆動車輪の構造を第６図に示す。車体
フレーム１の上板１ａの内部には支持部材２を介してモ
ータ３が左右それぞれに支持されており、このそれぞれ
モータ３には駆動歯車４が装着されている。一方、車体
フレーム１の左右両フランジ部１ｂおよび支持板５の上
部に取付けられた軸受６には左右の回転軸７が水平に軸
支されている。また、この回転軸７には左右の駆動車輪
８および被動歯車９が同軸に装着されるとともに、駆動
歯車４が被動歯車９に噛合せしめられている。The structure of the drive wheels of this automatic guided vehicle is shown in FIG. Inside the upper plate 1a of the vehicle body frame 1, motors 3 are supported on the left and right sides via support members 2, and a drive gear 4 is attached to each motor 3. On the other hand, left and right rotating shafts 7 are horizontally supported by bearings 6 attached to both the left and right flange portions 1b of the vehicle body frame 1 and the upper part of the support plate 5. Further, left and right drive wheels 8 and a driven gear 9 are coaxially mounted on the rotating shaft 7, and the drive gear 4 is meshed with the driven gear 9.
しかして、モータ３を駆動させて、駆動歯車４を回転さ
せると、波動歯車９および回転軸７を介して駆動車輪８
が回転し、無人搬送車が進退する。When the motor 3 is driven and the drive gear 4 is rotated, the drive wheel 8 is transmitted through the wave gear 9 and the rotating shaft 7.
rotates, and the automated guided vehicle moves forward and backward.
（発明が解決しようとする問題点）
ところが、上述の如き搬送車においては、回転軸が水平
に設けられているため、無人搬送車には進行方向の推進
力しか働かず、外力に対して安定性が悪い。(Problem to be solved by the invention) However, in the above-mentioned guided vehicle, since the rotation axis is provided horizontally, only the propulsion force acts on the automated guided vehicle in the direction of movement, and it is not stable against external forces. Bad sex.
しかも、センサを探知しながら走行を続ける無人搬送車
においては、不安定な走行によって、−旦走行軌道を脱
線してしまうと、再び所定の走行軌道に戻って走行を行
なうことは困難であり、無人搬送車に対する信頼性に欠
ける等の欠点がある。Moreover, in an automated guided vehicle that continues to travel while detecting sensors, once it derails from the running track due to unstable running, it is difficult to return to the designated running track and continue traveling again. There are drawbacks such as a lack of reliability for automatic guided vehicles.
本発明は上述のような欠点に鑑みてなされたもので、無
人搬送車の走行の安定性を図ることによって、信頼性の
高い無人搬送車を提供することを目的とする。The present invention has been made in view of the above-mentioned drawbacks, and an object of the present invention is to provide a highly reliable automatic guided vehicle by improving the running stability of the automatic guided vehicle.
（問題点を解決するための手段〉
本発明は、センサによって走行軌道の制御が行なわれる
無人搬送車において、駆動車輪あるいは従動車輪の少な
くとも一方の左右側車輪に、互いに逆方向に傾斜するキ
ャンバ角を設けたことを特徴とする。(Means for Solving the Problems) The present invention provides an automatic guided vehicle whose traveling trajectory is controlled by a sensor, in which at least one of the driving wheels and the driven wheels has a camber angle that is inclined in opposite directions. It is characterized by having the following.
（作 用）
無人搬送車が走行する際に、無人搬送車の駆動車輪ある
いは従動車輪の少なくとも一方の左右側車輪に、互いに
逆方向に傾斜するキャンバ角を設けたことにより、進行
方向に対し直角方向に左右側車輪に力が働き、その力が
左右の車輪で互いに打ち消しあうために、無人搬送車の
走行安定性が向上する。(Function) When the automatic guided vehicle travels, at least one of the left and right wheels of the automatic guided vehicle's driving wheels or driven wheels is provided with a camber angle that is inclined in opposite directions to each other, so that the automatic guided vehicle travels at right angles to the direction of travel. Since a force acts on the left and right wheels in the direction, and the forces cancel each other out on the left and right wheels, the running stability of the automatic guided vehicle is improved.
（実施例）
以下、添附図面を参照して本発明の一実施例について説
明する。(Example) Hereinafter, an example of the present invention will be described with reference to the accompanying drawings.
第１図は本発明の無人搬送車の駆動車輪部の縦断正面図
であって、車体フレーム１の上板１ａの内部には左右に
それぞれ互いに逆方向に傾斜した傾斜ライナ１０が固定
されており、この傾斜ライナ１０にはそれぞれモータ３
が回転軸を水平面に対して傾斜して支持され、このモー
タ３の回転軸にはそれぞれ駆動歯車４が装着されている
。一方、車体フレーム１の側壁下端部にそれぞれ設けら
れたフランジ部１ｂおよび車体フレーム１内に設けられ
た支持板５の上部にそれぞれ取付けられた傾斜ライナ１
１に軸受６が固定され、この軸受６に左右にそれぞれ回
転軸７が軸支され、この回転軸７には左右にそれぞれ駆
動車輪８および波動歯車９が同軸に装着されており、駆
動歯車４が被動歯車９に噛合せしめられている。FIG. 1 is a longitudinal sectional front view of the drive wheel portion of the automatic guided vehicle of the present invention, and inside the upper plate 1a of the vehicle body frame 1, inclined liners 10 inclined in opposite directions are fixed on the left and right sides. , this inclined liner 10 is equipped with a motor 3, respectively.
is supported with its rotating shaft inclined with respect to the horizontal plane, and drive gears 4 are mounted on the rotating shafts of the motor 3, respectively. On the other hand, inclined liners 1 are respectively attached to flange portions 1b provided at the lower end of the side wall of the vehicle body frame 1 and to the upper part of the support plate 5 provided within the vehicle body frame 1.
A bearing 6 is fixed to the bearing 1, and a rotating shaft 7 is supported on the left and right sides of the bearing 6. A drive wheel 8 and a wave gear 9 are coaxially mounted on the left and right sides of the rotating shaft 7. is meshed with the driven gear 9.
また、第２図は本発明の無人搬送車の従動車輪部の縦断
正面図である。車体フレーム１の上板１ａの内部には傾
斜ライナ１２が固定されており、この傾斜ライナ１２に
よ、って従動車輪１３が垂直面に対して所定角度θ傾斜
するようにスプリング１４を介して支持されている。Moreover, FIG. 2 is a longitudinal sectional front view of the driven wheel portion of the automatic guided vehicle of the present invention. An inclined liner 12 is fixed inside the upper plate 1a of the vehicle body frame 1, and the driven wheel 13 is tilted by a spring 14 at a predetermined angle θ with respect to a vertical plane. Supported.
そこで、駆動車輪８および従動車輪１３の傾斜角、すな
わち車輪の車軸と直交する方向と鉛直方向とのなすキャ
ンバ角θを左右側車輪が互いに逆方向に傾斜させるよう
に設けたことにより、第３図に示すように、重力方向の
力Ｗと、車軸に対して直角方向の力Ｒとを合成すると左
右の両車輪にはそれぞれ車体中央方向にかかる力ｊが生
じる。Therefore, by setting the inclination angle of the driving wheel 8 and the driven wheel 13, that is, the camber angle θ formed between the direction perpendicular to the wheel axle and the vertical direction, so that the left and right wheels are inclined in opposite directions, the third As shown in the figure, when the force W in the direction of gravity and the force R in the direction perpendicular to the axle are combined, a force j is generated in both the left and right wheels toward the center of the vehicle body.
この両車輪にかかる力ｊが互いに打ち消しあうために、
無人搬送車の走行安定性が向上する。Since the forces j applied to both wheels cancel each other out,
The running stability of automated guided vehicles is improved.
なお、上記実施例の場合は駆動車輪８および従動車輪１
３の両方を傾斜ライナによって傾斜させたものであるが
、駆動車輪８および従動車輪１３のうちどちらか重力を
傾斜させた構成にしてもよい。また、第４図に示すよう
な三輪車の場合には従動車輪１３を傾斜させてもよい。In addition, in the case of the above embodiment, the driving wheel 8 and the driven wheel 1
Although both wheels 3 are inclined by inclined liners, it is also possible to adopt a structure in which the gravity of either the driving wheel 8 or the driven wheel 13 is inclined. Further, in the case of a tricycle as shown in FIG. 4, the driven wheels 13 may be tilted.
さらに、第５図に示すような多輪車の場合には駆動車輪
８と従動車輪１３を傾斜させるようにしてもよい。Furthermore, in the case of a multi-wheeled vehicle as shown in FIG. 5, the driving wheels 8 and the driven wheels 13 may be inclined.
本発明は、上述のように構成したことによって、左右側
車輪に働く進行方向に対して直交する方向の力がそれぞ
れ打ち消しあうために、無人搬送車の直進走行性を向上
することができるので、無人搬送車が走行軌道を脱線し
てしまうということを防止でき、無人搬送車への信頼性
を向上することができる等の効果を奏する。According to the present invention, with the above-described configuration, the forces acting on the left and right wheels in the direction orthogonal to the direction of travel cancel each other out, so that the straight running performance of the automatic guided vehicle can be improved. The automatic guided vehicle can be prevented from derailing from the running track, and the reliability of the automatic guided vehicle can be improved.
第１図は本発明の無人搬送車の駆動車輪部の縦断正面図
、第２図は本発明の無人搬送車の従動車輪部の縦断正面
図、第３図は本発明の詳細な説明図、第４図は本発明に
おける他の実施例の説明図、第５図は本発明における他
の実施例の説明図、第６図は従来の説明図である。
１・・・車体フレーム、１ａ・・・上板、１ｂ・・・フ
ランジ部、２・・・支持部材、３・・・モータ、４・・
・駆動歯車、５・・・支持板、６・・・軸受、７・・・
回転軸、８・・・駆動車輪、９・・・被動歯車、１０・
・・傾斜ライナ、１１・・・傾斜ライナ、１２・・・傾
斜ライナ、１３・・・従動車輪、１４・・・スプリング
。
出願人代理人 佐 藤 −雄
第１ 図
第２ 図FIG. 1 is a longitudinal sectional front view of the driving wheel section of the automatic guided vehicle of the present invention, FIG. 2 is a longitudinal sectional front view of the driven wheel section of the automatic guided vehicle of the present invention, and FIG. 3 is a detailed explanatory diagram of the present invention. FIG. 4 is an explanatory diagram of another embodiment of the present invention, FIG. 5 is an explanatory diagram of another embodiment of the present invention, and FIG. 6 is an explanatory diagram of a conventional method. DESCRIPTION OF SYMBOLS 1...Vehicle frame, 1a...Top plate, 1b...Flange part, 2...Supporting member, 3...Motor, 4...
・Drive gear, 5... Support plate, 6... Bearing, 7...
Rotating shaft, 8... Drive wheel, 9... Driven gear, 10.
... Inclined liner, 11... Inclined liner, 12... Inclined liner, 13... Driven wheel, 14... Spring. Applicant's agent Mr. Sato Figure 1 Figure 2
Claims (1)
送車において、駆動車輪あるいは従動車輪の少なくとも
一方の左右両車輪に、互いに逆方向に傾斜するキャンバ
角を設けたことを特徴とする無人搬送車。1. An automatic guided vehicle whose traveling trajectory is controlled by sensors, characterized in that at least one of the driving wheels and the driven wheels, both left and right wheels, are provided with camber angles that are inclined in opposite directions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20688A JPH01178012A (en) | 1988-01-04 | 1988-01-04 | Unmanned carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20688A JPH01178012A (en) | 1988-01-04 | 1988-01-04 | Unmanned carrier |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH01178012A true JPH01178012A (en) | 1989-07-14 |
Family
ID=11467499
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP20688A Pending JPH01178012A (en) | 1988-01-04 | 1988-01-04 | Unmanned carrier |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH01178012A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6243897B1 (en) | 1997-07-22 | 2001-06-12 | Kozo Sumiya | Therapeutic bed for inversely suspending/standing human body |
-
1988
- 1988-01-04 JP JP20688A patent/JPH01178012A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6243897B1 (en) | 1997-07-22 | 2001-06-12 | Kozo Sumiya | Therapeutic bed for inversely suspending/standing human body |
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