JPH0350606A - Unmanned carrier - Google Patents

Abstract

PURPOSE:To attain a back and forth travel so as to improve steering by making a carrier to travel by means of the driving force of a front wheel, detecting a guiding wheel by means of a sensor so as to attain steering, connecting motors to rear wheels in series and making the rear wheels the driving wheels at the time of a reverse travel. CONSTITUTION:The carrier 3 has three wheels 1, 12 and 13. The motors 4,7 for travel driving and steering are arranged at the front wheel 1, and the driving motors 16 and 17 are fitted to the rear wheels 12 and 13. The wheel 1 and a supporting frame 2 are freely rotatably fitted at the lower part of the mainbody frame 3 in a front wheel part. The wheel 1 rotates by the motor 4. A sensor 10 fitted to the frame 2 controls the steering motor 7 so that it can always detect a reflecting tape 11 stuck on floor. The wheels 12 and 13 in a rear wheel part can be rotated by the motors 16 and 17. The reflecting tape 11 is detected by a sensor 18 arranged on the car body frame 3 and steering control is attained at the time of the reverse travel.

Description

[Detailed description of the invention] [Industrial application field] The present invention relates to an automatic guided vehicle that can move forward and backward.

[Conventional technology]

Automated guided vehicles use optical sensors to detect marks or tapes placed on the road and automatically travel along the marks or tapes. In addition to the optical sensor method described above, there is also a method using magnetism to guide the vehicle.

Drive and steering methods for driving include one front wheel and using this front wheel for steering and drive, or two rear wheels connected by a mechanical gear and used as the driving wheel, with the front wheel steering. (Japanese Patent Application Laid-Open No. 62-65
Publication No. 109).

[Problem to be solved by the invention]

In the above-mentioned prior art automatic guided vehicle in which the front wheel is used as a driving wheel and also a steering wheel, the steerability when moving forward is good, but the steerability when moving backward is unstable, and it is impossible to move backward.

An unmanned trolley with two rear wheels as driving wheels is capable of moving forward and backward, but its steerability when moving forward is unstable compared to the automated guided vehicle described in the previous section.

Furthermore, the use of differential gears led to an increase in weight.

An object of the present invention is to provide an automatic guided vehicle that can move forward and backward and has good steerability.

[Means for solving the line layer]

The present invention includes one $1 wheel at one end in the running direction, two second wheels at the other end, a first motor that drives the first wheel, and a second motor that drives the two second wheels. 2 motors, 1st
A third motor is used to rotate the wheels in the horizontal direction for steering, and to detect a guide line at one end in the running direction.
1! l sensor, gJ for detecting the guiding wire on the other end side
2 sensors and a control device that controls them,
The control device uses the first motor when the wheel of Ml is on the leading side! 1!1 wheel, the two wheels II2 are driven wheels, and the third motor is controlled by the output of the first sensor, and when the second wheel is the tip side, the second wheel is the driven wheel. The present invention is characterized in that the two iJ2 wheels are used as driving wheels using the second motor, the fJl wheels are used as driven wheels, and the 'N3 motor is controlled by the output of the second sensor. It is something.

[For production]

When moving forward, the vehicle can travel with the driving force from the first wheels (front wheels), and since the front wheels are steered, the vehicle has good steering performance.

Additionally, since the motors are connected in series on the rear wheel side, there is no need for a differential.

When going backwards, the two rear wheels are used as driving wheels, so it is possible to run stably even when going backwards.

〔Example〕

An embodiment of the present invention will be described below with reference to FIG. m1
The figure is a wheel arrangement diagram of a transport vehicle to which the present invention is applied, and has three wheels 1, 12 and 13, and a motor 4.7 for running drive and steering motion is distributed to the front wheel 1. , rear wheel center,
13, respective drive motors 16. 17 is installed.

In the front wheel portion, a wheel 1 and a support frame 2 are rotatably attached to the lower part of a main body frame 3 (in the steering direction). The wheel 1 can be rotated by a motor 4. A pulley 6 is fixed to a rotating shaft 5 located between a support frame 2 and a main body frame 3.

Further, a pulley 8 is fixed to the output shaft of a steering motor 7 attached to the main body frame 3. Pulley 6 and pulley 8 are connected by a timing belt 9, and a steering motor 7
By rotating the wheel 1, the wheel 1 can be steered.

A sensor lO attached to the support frame 2 can detect the reflective tape 11 attached to the floor.

The steering motor 7 can be controlled so that the center of the sensor 10 and the center of the reflective tape U are always aligned.

In the rear wheel portion, wheels 12 and 13 are supported by support frames 14 and 15, and are fixed to the main body frame 3.

The tire wheel can be rotated by a motor 16, and the tire 1
3 can be rotated by a motor 17.

When moving backward, a sensor 18 installed on the main body frame 3 detects the reflective tape U and performs steering control.

A part of the main body frame 3 is equipped with a control device t (not shown) for controlling travel, and includes motors 4.7, 16.
17 and Sen→'J-10, 18 are controlled. This control is performed as shown in Table 1.

Table 1 Note that "forward" means that the wheel 1 side is the leading side, and "reverse" means that the rear wheel 12. This means that the 13th side is the leading side.

In both of the above-mentioned cases and in reverse, the motor 7 is used to steer the front wheels 1.

〔Effect of the invention〕

According to the present invention, since the wheels in the traveling direction can be driven when the vehicle is traveling backwards, the steering performance can be stabilized, so that the vehicle can travel backwards.

If it is possible to move backwards, when carrying a load back and forth, the carriage can be carried forward and backward without making a U-turn.

Furthermore, even when moving forward, the vehicle can travel without performing conventional steering performance.

[Brief explanation of drawings]

FIG. 1 is a perspective view of one embodiment of the invention. ! ... Tire, 2 ... Support frame, 4
...Motor, 7...Steering motor, 10.
...sensor, 11...reflective tape, se...
...Tire, 13...Tyre, 14...
Support frame, 15...Support frame, 16
・・・・・・Moo diagram

Claims (1)

[Claims] 1. One first wheel on one end side in the running direction, two second wheels on the other end side, a first motor that drives the first wheel,
A second motor drives the two second wheels, a third motor rotates the first wheel horizontally to perform steering, and a third motor detects a guide line at one end in the running direction. 1 sensor, a second sensor for detecting the guide wire on the other end side,
and a control device for controlling these, and the control device uses a first motor to make the first wheel the driving wheel when the first wheel is the leading wheel, and the two second wheels are the driving wheels. The third motor is configured to be controlled by the output of the first sensor, and when the second wheel is on the tip side, the second motor is used to drive the two second wheels. a wheel, the first wheel is a driven wheel, and the third motor is controlled by the output of the second sensor;
An unmanned guided vehicle featuring: