JPH0418008Y2 - - Google Patents

Description

[Detailed description of the invention] The present invention is an electromagnetic induction self-propelled trolley that automatically travels on a set travel route using an electromagnetic induction method.
An electromagnetic induction self-propelling system in which a pair of left and right pick-up coils are supported on a rotating frame that is connected to the steering motor and pivotally supports the steering wheels, and that detects the relative position to the topus wire laid on the floor. In a truck, it is intended to prevent changes in the topass wire detection conditions of the pair of left and right pick-up coils due to the relationship with the frame at the bottom of the truck.

Hereinafter, one embodiment of the present invention will be explained based on the attached illustrative drawings. In FIGS. 1 and 2, 1,
Reference numeral 2 denotes driving and steering wheels arranged on the front left side and rear right side, and 3 and 4 are freely rotating wheels arranged on the front right side and the rear left side. The driving and steering wheels 1, 2 are supported on a rotating frame 6 rotatably supported around a vertical axis 5, as also shown in FIGS. It is interlocked and connected to the supported drive motor 7. The rotating frame 6 is
A steering motor 9 supported on a fixed frame 8 that pivotally supports the vertical shaft 5 is interlocked with the steering motor 9 via chain transmission means 10a, 10b.
is rotated by a predetermined angle in any direction, forward or backward.

Each rotary frame 6 that pivotally supports the drive and steering wheels 1 and 2 is provided with a pair of left and right forward pick-up coils 11a, 11b and 12a, 12b, respectively.
and a pair of left and right pick-up coils 13a for reversing,
13b and 14a, 14b are attached via brackets 15, respectively. As shown in FIG. 1, when the drive and steering wheels 1 and 2 are in the forward and backward straight forward direction, the pair of left and right forward pick-up coils 11a, 11b and 12a, 12b are placed directly beside each wheel 1 and 2. The left and right pick-up coils 13a, 13b and 14a, 14b are positioned slightly forward and symmetrical with respect to the center line of the truck in the longitudinal direction. They are arranged so as to be located in left-right symmetrical positions with respect to the center line in the front-rear direction. A magnetic cover 16 is provided above each pair of pickup coils 11a to 14b.

Electromagnetic induction self-propelled trolley 17 configured as described above
The vehicle can travel forward or backward by rotating both the front and rear drive and steering wheels 1 and 2 by the drive motor 7, respectively.During this travel, there are objects under the floor on the trolley movement path. The intensity of the magnetic field formed around the buried topus wire 18 by the low-frequency alternating current flowing through the buried topus wire 18 is then adjusted to the pair of left and right pick-up coils 11 for forward movement.
a, 11b and 12a, 12b, and when traveling backward, a pair of left and right pick-up coils 13a, 13b and 14a, 14 for backward movement are detected.
b, and each pair of pickup coils 11a, 11b and 12a, 12b, or 13
The steering motors 9 of the front and rear driving and steering wheels 1 and 2 are controlled according to the deviation of the detection outputs (electromagnetic induced electromotive force) of the sensors a, 13b and 14a, 14b, and the respective rotating frames 6 are rotated along the vertical axis. The towpath wire 18
By automatically steering the vehicle along the towpath wire 17, the trolley 17 can be automatically moved along the towpath wire 17.

The electromagnetic induction method using each of the above pickup coils 11a to 14b is well known in the art, so a detailed explanation thereof will be omitted.
3b is used, the drive and steering wheels 1 are aligned along the towpath wire 18 with the vertical axis 5, as shown in phantom lines in FIGS. 3 and 4, respectively.
As a result of the steering movement around the wheel 1, the pick-up coil 13a, which makes a horizontal steering movement integrally with the wheel 1,
When only one of the pick-up coils 13b approaches the lower side of the frame 19 at the bottom of the trolley 17, in the conventional configuration in which the magnetic cover 16 is not provided, both pick-up coils 1
3a and 13b are at the same distance from the toppass wire 18, since the frame 19 is made of a magnetic material, both pickup coils 13
A deviation in electromagnetic induced electromotive force will occur between a and 13b. That is, even though the position of the wheel 1 is actually on the predetermined travel route, the detection results of both pickup coils 13a and 13b are the same as if it were off the travel route, so the control for steering the wheel 1 is not performed. This causes the truck 17 to deviate from the predetermined travel route.

In order to avoid such inconvenience, at least the pickup coils 11a to 14b at the bottom of the truck 17 should be installed so that the protruding parts such as the frame at the bottom of the truck do not affect the electromagnetic induction effect of any of the pickup coils. The parts within the rotating range of the truck must be made flat, but this will have a major impact on the frame structure and parts arrangement of the truck. It is also conceivable to increase the height of the bottom of the truck above the floor to widen the space between the pick-up coil and the bottom of the truck, but this increases the height of the truck.

However, according to the configuration of the present invention, as shown in the embodiment, each pair has pickup coils 11a to 14.
Since the upper side of b is covered with the magnetic cover 16, even if only a specific pickup coil comes close to a magnetic part such as the frame 19 that protrudes from the bottom of the truck, this protrusion will be prevented. This eliminates the need for deviations in electromagnetic induced electromotive force due to proximity to the magnetic material portion.

Therefore, automatic steering control using electromagnetic induction can be performed without regard to the frame structure or parts arrangement at the bottom of the bogie.
It can always be done accurately. In other words,
Not only can the frame structure and parts arrangement at the bottom of the truck be optimally designed regardless of the pick-up coil, but the space between the pick-up coil and the bottom of the truck can be minimized to lower the vehicle height of the truck. It is possible.

Incidentally, the cover 16 made of magnetic material is provided only for the pair of pick-up coils, of which there is a possibility that only one of the left and right pick-up coils will come close to the protruding magnetic material portion at the bottom of the truck due to steering motion. Also good. Further, in the embodiment, a self-propelled truck is shown that is provided with two wheels 1 and 2 that serve both as a driving wheel and a steering wheel, but a self-propelled cart is provided with a driving wheel and a steering wheel separately. The number of wheels is also not limited. For example, the present invention can also be applied to a three-wheel type self-propelled trolley equipped with one steering wheel and two driving wheels. Furthermore, instead of attaching the magnetic covers independently, it is also possible to integrally mold the pair of left and right pick-up coils and the magnetic covers that cover them with synthetic resin.

[Brief explanation of drawings]

Fig. 1 is a plan view showing the arrangement of each wheel and pick-up coil, Fig. 2 is a side view of the entire truck, Fig. 3 is a cross-sectional plan view of the main parts showing an embodiment of the invention, and Fig. 4 is a longitudinal cross-sectional side view of the same. It is a diagram. 1, 2... Drive and steering wheels, 3, 4... Freely rotating wheels, 5... Vertical shaft, 6... Rotating frame, 7... Drive motor, 9... Steering motor, 11a , 11b and 12a, 12b... forward pick-up coils, 13a, 13b and 14
a, 14b... Reverse pick-up coil, 15
... Bracket, 16 ... Magnetic material cover, 17
...Electromagnetic induction self-propelled trolley, 18...Topass wire, 19...Frame.

Claims (1)

[Scope of utility model registration request] An electromagnetic induction self-propelling system in which a pair of left and right pick-up coils are supported on a rotating frame that is connected to the steering motor and pivotally supports the steering wheels, and that detects the relative position to the topus wire laid on the floor. An electromagnetic induction self-propelled trolley comprising a magnetic cover that covers the upper sides of the pair of left and right pick-up coils and is attached to the rotating frame.