JPH0449683Y2 - - Google Patents

Description

[Detailed Description of the Invention] Industrial Application Field The present invention relates to an unmanned guided vehicle that travels while being guided by a guide line provided on a running road surface.

Conventional technology Two or more free wheels are attached to the front and rear of the vehicle body, and the free wheels and drive wheels of an unmanned guided vehicle are steered by the speed difference between the two drive wheels attached to the left and right of the center part. As shown in Figures 2 and 3, there are two mounting methods: the first method, in which the drive wheel is directly fixed to the vehicle body and the free wheel is supported via a spring, and the fourth method.
As shown in the figure, there is a second method in which the free wheel is fixed to the vehicle body and the drive wheel is supported via a spring.

Problems to be Solved by the Invention In the first method, since the free wheel is supported by a spring, it swings back and forth when the bogie starts and stops, making the position of the car body unstable when loading and unloading cargo. This will cause problems in the automatic transfer of cargo. In the second method, the drive wheels are supported by springs, so if the running road surface is uneven, the length of the spring changes, and the ground pressure of the drive wheels changes accordingly, so it depends on the road surface condition. In some cases, the ground pressure may be insufficient and the drive wheels may slip, causing the bogie to not run smoothly.

Means for Solving the Problems The present invention aims to improve the second method, and in order to constantly provide the necessary ground pressure to the drive wheels, a driving prime mover is attached to the drive unit to which the drive wheels are attached. By incorporating the drive mechanism (e.g. battery, motor, controller, reducer, etc.) into one piece, the weight of the drive mechanism is added to the drive wheels as a dead load, so that a ground pressure that is almost always equal to or higher than the specified pressure can be obtained. It is.

Embodiments Hereinafter, embodiments of the present invention will be described based on the drawings.

FIG. 1 is a side view of an embodiment of an electric unmanned guided vehicle having four free wheels at the front and rear of the vehicle body and driving the drive wheels by a battery power source.

In FIG. 1, a drive unit 2 includes two left and right drive wheels 1, 1', and a drive mechanism including a motor 3 as a prime mover, a battery 4, a controller 5, and a speed reducer 6. Therefore, the drive wheels 1, 1' are driven by the above drive mechanism, and
Since the weight of the entire drive unit is supported, the ground pressure of the drive wheels 1, 1' is always maintained at a predetermined pressure or higher.

Pivots 7 and 7' are provided on the front and rear center line of the drive unit 2, and are supported by pivot receivers 9 and 9' provided on the drive unit frame 8, respectively, so that the drive unit 2 can freely roll. As a result, the left and right drive wheels 1, 1' are always in contact with the unevenness of the running road surface in the left and right direction. Four free wheels 12 that can freely change the direction are attached to the front and rear lower ends of the vehicle body 10 on which the cargo 11 is loaded, so that the traveling direction of the vehicle body 10 can be freely changed.

Slide bearings 14, 14' are provided at the front and rear of the drive unit frame 8, and the slide shafts 13, 13' at the front and rear of the vehicle body 10 are fitted, respectively, so that the drive unit frame 8 can be freely moved relative to the vehicle body 10. Can slide up and down,
The drive wheels 1,
1' can always be grounded.

With the above configuration, while the bogie is running, the drive wheels 1 and 1' always remain in contact with the ground against irregularities in all directions on the running road surface, and the total weight of the drive unit 2 and the drive unit frame 8 is always equal to the drive wheel 1. ,1′
Since the dead load is applied to the left and right drive wheels 1, 1', the ground pressure of the left and right drive wheels 1, 1' can always be maintained at a predetermined pressure or higher regardless of the unevenness of the running road surface.

When the bogie is running, steering is performed by controlling the speeds of the left and right drive wheels 1, 1' through the operation of the controller 5 using the guide wire 15 provided on the running road surface and the guide sensor 16 attached to the bogie. What is induced is the same as in the conventional method.

If the total weight of the drive unit and drive unit frame is insufficient for the ground pressure of the drive wheels 1, 1', a spring 16 may be inserted between the vehicle body 10 and the drive unit frame 8. Vehicle body 1
0 weight can be used effectively.

Effects of the invention As explained above, with this invention, the ground pressure of each drive wheel is kept almost constant even when there are irregularities in the running path while the bogie is running, so the stable running condition of the bogie is always ensured. be able to.

[Brief explanation of the drawing]

Figure 1 is a side view of the unmanned guided vehicle according to the present invention.
2 and 3 are side views of a conventional first type unmanned guided vehicle, and FIG. 4 is a side view of a conventional second type unmanned guided vehicle. 1, 1'... Drive wheel, 2... Drive unit, 5
...Controller, 7,7'...Pivot, 9,
9'... Pivot receiver, 10... Vehicle body, 12... Free wheel, 13, 13'... Slide shaft, 14, 1
4'...Slide bearing, 15...Guiding wire, 16...
...Guide sensor.

Claims (1)

[Scope of utility model registration request] In an unmanned guided bogie, one or more free wheels are attached to each of the front and rear of the vehicle body, and one drive wheel is attached to each of the left and right sides of the center part, and steering is performed by the speed difference between these drive wheels. A drive unit is constituted by the left and right drive wheels and a drive mechanism including a motor, a battery, a controller, and a speed reducer for driving these, and the drive unit is attached to the drive unit frame in the left-right direction by a pivot and a pivot receiver. In addition, the driving unit frame is installed to be able to freely swing in the vertical direction on the vehicle body using a slide shaft and a slide bearing, so that the ground pressure of the left and right drive wheels can be maintained even when the running road surface is uneven. An unmanned guided trolley characterized by being maintained at a predetermined pressure or higher.