JPH0516493Y2 - - Google Patents

Description

[Detailed description of the invention] Industrial application field This invention is an unmanned vehicle, more specifically, a sensor is attached to the side wall of the vehicle, and the sensor is rubbed against a guide wall surface while the vehicle runs. The present invention relates to a mechanism for detecting the travel distance of an industrial vehicle such as a forklift truck, which is installed to carry out the following operations, that is, a travel distance detection mechanism for an unmanned vehicle.

PRIOR ART In the past, a method has been proposed for detecting the distance traveled by an unmanned vehicle such as a forklift truck, in which a pulse detector b is attached and connected to a drive motor a as shown in FIG. 9, and the distance traveled is detected via a pulse signal obtained by the pulse detector b.

Problems that the invention aims to solve: However, in the case of the conventional detection method as described above, it is easy to cause meandering in the unmanned running signal, and it is also easy to cause errors due to tire wear and deflection deformation, so it is not accurate. The problem is that it is not possible to detect the exact distance traveled.

The present invention is an attempt to improve the above-mentioned problems, and its specific means and effects are as follows.

Means for Solving the Problems A box is fixed to the side wall of the vehicle, and a support member is provided on the box so that it can move forward and backward in the direction of the guide wall surface. A linear potentiometer is connected to the support member for detecting deviation of the vehicle from the guide wall surface in the width direction, and is provided so as to be normally biased in the direction of the guide wall surface.

A detection plate formed in a track shape by having an endless belt rotatably stretched around the outer periphery is connected to the tip of the support member so as to be horizontally rotatable. The detection plate is provided with a potentiometer at its connecting portion to detect the angle of inclination of the vehicle with respect to the guide wall surface, and is also provided so that it is normally held at a neutral position through the balancing action of a pair of springs. .

A rotary encoder is provided on the detection plate in conjunction with the endless belt.

Operation By driving the vehicle with the detection plate connected to the tip of the sensor pressed against the guide wall, the endless belt rotates along the guide wall on the detection plate, that is, the detection plate is connected to the endless belt. The effect of sliding contact with the guide wall surface is obtained through the rotational action of. The rotating motion of the endless belt is transmitted to the rotary encoder, which has the function of detecting the distance traveled by the vehicle.

In addition, the deviation and inclination of the vehicle can be corrected by controlling the steering device based on the detection signal of the deviation in the width direction of the vehicle with respect to the guide wall surface by the linear potentiometer and the inclination angle of the vehicle with respect to the guide wall surface by the potentiometer. This allows the vehicle to move straight along the guide wall.

Embodiments Specific embodiments of the present invention will be described below with reference to illustrative drawings.

1 to 5 are drawings showing the first embodiment, and in each drawing, 1 is a forklift truck (unmanned vehicle), 2 is a sensor attached to the body of the forklift truck 1, and 3 is a sensor attached to the body of the forklift truck 1. Each guide wall surface is shown. In the sensor 2, a box 5 is fixed to the side wall of the body, and the box 5 is provided so as to extend in one direction (direction perpendicular to the center line of the body). At the bottom of the box 5, a linear way 6 is laid extending in one direction (direction perpendicular to the center line of the aircraft), and a support member 4 of a detection plate 12, which will be described later, is installed on the linear way 6. It is mounted on a rack so that it can move forward and backward via a slider 7. More specifically, the support member 4 is formed by fixing a support rod 8 and a support rod 15 to the slider 7 in a stacked manner. The slider 7 is slidably mounted on the linear way 6 as described above, while the support rod 8
has a vertical rod portion 8A extending in a direction parallel to the linear way 6, and a horizontal rod portion 8B extending in a direction perpendicular to the linear way 6 at the rear end of the vertical rod portion 8A, making it T-shaped. The tip of the vertical rod portion 8A is provided so as to protrude from the tip of the box 5. Further, the support rod 15 is provided so as to be located substantially directly above the slider 7 and extend in both left and right width directions (directions parallel to the horizontal rod portion 8B). A support pin 10 is connected to the tip of the vertical rod portion 8A via a support cylinder 9.
is supported extending vertically, and the support pin 1
0 is connected to the above-mentioned detection plate 12 via a sleeve 11 so as to extend in the front-rear direction and be horizontally rotatable. The detection plate 12 includes a front plate portion 12A that faces the guide wall surface 3 and extends in the front-rear direction, a rear plate portion 12B that extends in the front-rear direction parallel to the front plate portion 12A, and both plate portions 12A. , 12B.
2E and 12E are formed in a track shape, and their upper ends are covered by a top plate part 12C and their lower ends are covered by an under plate part 12D. Top plate portions 12 are provided at both front and rear ends of the detection plate 12.
C and the under plate portion 12D.
4 and 24 are vertically suspended, and a pair of upper and lower rollers 13, 13 are rotatably supported on both support shafts 24, 24, respectively. In addition, slits are provided in both the arcuate portions 12E, 12E in correspondence with the respective rollers 13, 13, and each roller 13, 13 has a portion formed in the arcuate portion 1.
It is provided so as to protrude outward from 2E and 12E. Furthermore, a pair of front and rear rollers 13 are provided on the front plate portion 12A and the rear plate portion 12B.
Endless belt 2, which will be described later, extends between 13 and 13.
The guide groove 26 of No. 7 is formed by carving a plurality of concave grooves in parallel, with the same width as the roller 13 between them. Furthermore, the above-mentioned endless belt 27 is stretched across the detection plate 12 between the pair of front and rear rollers 13, 13. Same endless belt 27
is formed using an elastic body such as rubber as a material. Further, on the inner circumferential surface of the endless belt 27, a convex strip 28 (multiple strips) is provided in correspondence with the guide groove 26.
is provided so as to be able to hold the roller 13 from both sides by the protruding strip 28 and engage with the guide groove 26. Further, a stay 29 is provided on the under plate portion 12D and protrudes upward at a position close to the front plate portion 12A, and another roller 30 is provided on the stay 29 on the inner circumferential surface of the endless belt 27, that is, on the front plate portion. The shaft is mounted so as to freely rotate so as to abut against the inner circumferential surface of the 12A side. The roller 30 has a rotating shaft 31.
A extends in the rising direction, and a gear 32A is mounted on the tip thereof. On the other hand, a rotary encoder 33 is fixed to the top plate portion 12C in correspondence with the roller 30. Then, from the same rotary encoder 33, the rotation axis 31
A gear 32B extends downwardly, and a gear 32B is mounted on the distal end of the gear 32B in mesh with the gear 32A. That is, it is provided so that the rotation of the roller 30 can be transmitted to the rotary encoder 33 through the meshing of both gears 32A and 32B.

Further, a potentiometer 21 is connected to one end of the support pin 10 via an adapter 19 fixed to the detection plate 12 side and a coupling 20 built into the adapter 19, while a potentiometer 21 is connected to the box 5 with one end supported. A linear potentiometer 22 is fixedly connected to the member 4 (slider 7). Furthermore, a pair of engagement pieces 14, 14 are fixed to the back surface of the front plate portion 12A at symmetrical positions in the front and back with a support pin 10 in between. Tension springs 16, 16 are interposed between the tip portions. Also, on the front wall (inner wall surface) of the box 5, a pair of engagement pieces 1 are provided at symmetrical positions in the front and back, with a support pin 10 between them.
7 and 17 are fixed to each other, and a tension spring 1 is attached between both engagement pieces 17 and 17 and both ends of the horizontal rod portion 8B.
8 and 18 are interposed.

Next, its effect will be explained.

1 and 2 are drawings showing a state in which a forklift truck (unmanned vehicle) 1 is traveling straight along a guide wall surface 3 (inner wall surface of a container), and a support member 4 ( The slider 7, the support rod 8, and the support rod 15) are urged by the tension springs 18, 18 and pushed out toward the tip of the linear way 6, and are connected to the tip of the support member 4. A state in which the detection plate 12 is pressed against the guide wall surface 3 while being held in a neutral position (a state in which it extends in a direction parallel to the center line of the fuselage) through the balancing action of both tension springs 16, 16. It is in. Since the detection plate 12 is in pressure contact with the guide wall surface 3 in this way, the endless belt 27 rotates along the guide wall surface 3 on the detection plate 12, that is, the detection plate 12 is in a state where the endless belt 27 rotates. The effect of slidingly contacting the guide wall surface 3 through the operating member is obtained. In this state where the detection plate 12 is in sliding contact with the guide wall surface 3, if the vehicle 1 moves away from the guide wall surface 3 and a deviation occurs between the guide wall surface 3 and the guide wall surface 3, the spring 1
The detection plate 12 and the support member 4 (slider 7, connecting rod 8, and support rod 15) are pushed out toward the guide wall surface 3 through the urging forces of 8 and 18. By pushing out the detection plate 12, the linear potentiometer 2
2, the effect of detecting the shift is obtained.
Furthermore, if the vehicle tilts with respect to the guide wall surface 3, the detection plate 12 will horizontally rotate about the support pin 10 against the biasing force of the tension springs 16, 16. However, like this, the detection plate 12
By rotating horizontally, potentiometer 2
1, the function of detecting the inclination can be obtained.
In this way, the displacement is detected by the linear potentiometer 22, and the inclination is detected by the potentiometer 21, and the steering device is controlled via both detection signals to turn the steering wheel back toward the guide wall 3. The effect of correcting the deviation and inclination, that is, the effect of returning the vehicle to a straight traveling state can be obtained.

On the other hand, the endless belt 2
7 is provided with a roller 30 in contact with it, so that the rotating motion of the endless belt 27 is transmitted to the roller 30. And the same roller 3
The rotational action transmitted to the rotary shaft 31A, 3
The signal is transmitted to the rotary encoder 33 via 1B, and the rotary encoder 33 has the function of detecting the distance traveled. Therefore, the detection plate 12 is formed with an appropriate length dimension in the front-rear direction, and is provided so that the detection plate 12 is in sliding contact with the guide wall surface 3 in a state of contact with the guide wall surface 3. Even if there are irregularities on the surface of the vehicle, the distance traveled can be detected without being affected by the irregularities.

6 to 8 are drawings showing the second embodiment, in which the rollers 13,
13, a pair of upper and lower V pulleys 13', 1
3' is mounted on a shaft for free rotation. Also, a V pulley 30' is installed on the stay 29 instead of the roller 30.
is mounted on a shaft for free rotation.

And the pair of front and rear V pulleys 13', 1
V-belt 2 between V-pulley 3' and V-pulley 30'
7' (endless belt) is stretched. Further, an appropriate number of window holes 34 are opened at regular intervals in the front plate portion 12A along the rotation locus of the V-belt 27', and a back-up roller 35 is inserted into each window hole 34 on its circumferential surface. It is mounted on a shaft so that it can rotate freely with the part facing the opening. And as shown above, the back up roller 35 is attached to the front plate portion 12A.
By providing this, wear of the V-belt 27' can be reduced. On the other hand, a take-up mechanism 36 is provided at one end of the detection plate 12, and is provided so that one of the support shafts 24 can be moved forward and backward by the take-up mechanism 36. That is, brackets 37, 37 are protruded from the top plate portion 12C and the under plate portion 12D so as to face both the upper and lower ends of the support shaft 24, and the brackets 37, 37 have one end thereof connected to both the upper and lower ends of the support shaft 24. An adjustment bolt 38 is screwed into the part so that it can be freely adjusted forward and backward. By providing the take-up mechanism 36 in this way, the V-belt 2
In addition to being able to easily attach and detach the V-belt 27', the tension of the V-belt 27' can be adjusted freely.

That is, slippage between the V-belt 27' and the V-pulley 30' connected to the rotary encoder 33 can be prevented, and the accuracy of detecting the distance traveled by the rotary encoder 33 can be improved.

Although not shown, the V-belt 27', V-belt 27',
It is also possible to provide teeth on each of the pulleys 13', 13', 30'. And like this V belt 2
By providing teeth on the V-pulleys 13', 13', and 30', slips can be reliably prevented from occurring, thereby further increasing the accuracy of travel distance detection in the rotary encoder 33. I can do it.

Effects of the invention The invention is constructed as described above.
As described above, the detection plate connected to the tip of the sensor is formed into a track shape by stretching an endless belt around its outer periphery, and a rotary encoder is provided in conjunction with the endless belt. The distance traveled by the vehicle can be detected without being affected by the unevenness of the guide wall surface, while the support member that connects the above-mentioned detection plate to the tip is equipped with a linear potentiometer that detects the deviation of the vehicle in the width direction with respect to the guide wall surface. In addition, a potentiometer for detecting the inclination angle of the vehicle with respect to the guide wall surface is provided at the connecting portion between the detection plate and the support member, and the deviation of the vehicle is detected by controlling the steering device based on the detection signals of both potentiometers. By correcting the inclination, it has become possible to prevent the vehicle from meandering, and this has made it possible to accurately detect the distance traveled by the vehicle.

[Brief explanation of drawings]

1 to 5 are drawings showing the first embodiment, in which FIG. 1 is a plan view showing the entire forklift truck equipped with a sensor according to the present invention, and FIG. 2 is an enlarged view of the sensor portion. A plan view, Figure 3 is a sectional view taken along line A-A in Figure 2, and Figure 4 is a cross-sectional view taken along line B in Figure 2.
5 is a sectional view taken along line C-C in FIG. 3. 6 to 8 are drawings showing the second embodiment, in which FIG. 6 is an enlarged plan view of the sensor portion, FIG. 7 is a sectional view taken along line D-D in FIG. 6, and FIG. It is a sectional view taken along the line E-E in FIG. 7. FIG. 9 is a plan view of a forklift truck equipped with a conventional sensor. 1...Forklift truck, 2...Sensor, 3...Guide wall surface, 4...Support member, 5...
Box, 6...Linear way, 7...Slider, 8...Support rod, 8A...Vertical rod portion, 8B...Horizontal rod portion, 9...Support tube, 10...Support pin, 11...
...Sleeve, 12...Detection plate, 12A...Front plate part, 12B...Rear plate part, 12
C... Top plate part, 12D... Under plate part, 12E... Arc part, 13... Roller, 13'... V pulley, 14... Engaging piece, 1
5...Support rod, 16...Tension spring, 17...
Engagement piece, 18... Tension spring, 19... Adapter, 20... Coupling, 21... Potentiometer, 22... Linear potentiometer, 24... Support shaft, 26... Guide groove, 27 ……
Endless belt, 27'... V belt (endless belt), 28... Convex strip, 29... Stay,
30...Roller, 30'...V pulley, 31
A, 31B... Rotating shaft, 32A, 32B... Gear, 33... Rotary encoder, 34...
Window hole, 35... Backup Prowler, 36...
Take-up mechanism, 37...Bracket, 38...
...Adjust bolt.

Claims (1)

[Scope of utility model registration request] A support member is provided on the side wall of the vehicle so that it can move forward and backward in the direction of the guide wall, and the support member is equipped with a linear potentiometer to detect deviations in the width direction of the vehicle with respect to the guide wall. provided so that it is in a state of being energized,
A detection plate is horizontally rotatably connected to the tip of the support member, and an endless belt is rotatably stretched around the outer periphery of the detection plate to form a track shape. A potentiometer is provided to detect the inclination angle with respect to the guide wall surface, and the potentiometer is provided so that it is always held at a neutral position through the balancing action of a pair of springs.
A travel distance detection mechanism for an unmanned vehicle, which is provided with a rotary encoder in conjunction with the endless belt.