JPH0541983Y2 - - Google Patents

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention relates to a moving device such as an unmanned transportation robot.

(Prior Art) Conventionally, there has been known a moving device, such as an unmanned transport robot, which has a loading platform and is equipped with a large drive device for driving wheels, a battery, and the like.

(Problems to be Solved by the Invention) In the conventional moving device, in order to easily transport even when heavy cargo is loaded on the platform, the drive device, battery, etc. are large-sized. This made the manufacturing cost relatively high, and also made it difficult to start smoothly at the initial stage of driving when maximum output was required.

(Objective of the invention) In view of the above-mentioned conventional problems, the object of the invention is to provide a moving device that can be started smoothly even when a large load is applied, and furthermore, is inexpensive to manufacture.

(Means for Solving the Problems) In order to achieve the above object, the present invention provides a moving device in which the main body of the moving device is moved on a moving surface such as a floor surface by a traveling device such as a drive wheel. It is characterized by installing a vibration device that applies vibration in the vertical direction toward the moving surface via an elastic member.

(Function) According to the present invention, vibrations generated by the vibration device propagate vertical vibrations to the moving surface via the elastic member. This vertical vibration causes the main body of the moving device to vibrate up and down with respect to the moving surface, and the load of the main body of the moving device on the traveling device such as wheels is reduced due to the reaction from the moving surface. This reduces the driving force required at the initial stage of travel, allowing a smooth start.

(Embodiment) FIGS. 1 to 4 show a first embodiment of the present invention, in which 1 is a moving device main body, for example, an unmanned transport device main body, and 2 is a moving surface, for example, the unmanned transport device main body 1 is It is a moving floor surface.

The unmanned conveyance device main body 1 has a loading platform 3 at the rear and a machine room 4 at the front, a battery 5 in the upper part of the machine room 4, and a direction switching wheel 6 whose direction can be changed by a motor 6a in the lower part. Each is provided. Furthermore, driving wheels 7 are provided on the lower surface of the loading platform 3, and a plurality of vibrating devices 8 are provided at predetermined intervals. A vibrating member 9 made of sponge material is attached.

As shown in FIG. 3, the vibrating device 8 includes a magnet 12 formed in a flat annular shape within a case 11 constituting a vibrating body 10, and a core housing 13 made of iron.
The magnet 12 is fixed to the lower plate of the case 11, and the core housing 13 is fixed to the leaf spring 15 fixed to the center of the upper plate of the case 11. Vibration effecting body 16
The excitation coil 14 is connected to a lead wire 17 for applying a current of a predetermined frequency.

FIG. 4 shows a drive circuit for the wheels 6, 7 and the vibration device 8 of the automatic conveyance device main body 1, where 20 is a controller that controls the wheels 6, 7 and the vibration device 8, and 21 is a controller for controlling the wheels 6, 7 and the vibration device 8. A modulator that modulates the control signal of the controller 20; 22, a transmitter that transmits the modulated signal; 23, a receiver that receives the transmitted signal via the antenna 18 attached to the top surface of the machine room 3; 24 is a demodulator that demodulates the received signal, and 25 is a drive circuit that drives the motor 6a of the direction switching wheel 6, the motor 7a of the driving wheel 7, and each vibration device 8 based on the demodulated signal. . These wheels 6, 7 and motors 6a, 7a constitute a traveling device that moves the unmanned conveyance device main body 1 on the floor 2. Further, the receiver 23, the demodulator 24, and the drive circuit 25 are installed in a control box 19 provided in the machine room 3.

According to this embodiment, when the controller 20 drives the wheels 6 and 7 and applies a high-frequency current to the excitation coil 14 via the lead wire 17, the vibration devices 8 do not vibrate. , the vibration is transmitted to the vibrating member 9. At this time,
Vibration is applied to the floor surface 2, and the load applied to each of the wheels 6, 7 of the unmanned conveyance device main body 1 is reduced due to its reaction. Thereby, even when a heavy load is loaded on the platform 3 of the unmanned conveyance device main body 1, a smooth start can be made at the initial stage of travel. Note that after the automatic conveyance device main body 1 starts, the drive of the vibration device 8 is stopped in order to stabilize its running.

In addition, since the unmanned conveyance device main body 1 starts smoothly at the initial stage of running when its maximum output is required, each of the motors 6a, 7a and the battery 5 may be small, and the unmanned conveyance device main body 1 1 can be manufactured at a lower cost.

5 to 7 show a second embodiment of the present invention, in which 30 is a moving device main body, for example a vacuum cleaner main body operated by radio control, and a bottomed cylindrical outer box 31
and an inner box 3 disposed at a predetermined distance from the outer box 31.
2, and between the upper ends of each box 31 and 32 is a lid 33.
covered with. A pair of opposing driving wheels 34 are provided on the lower peripheral edge of the bottom plate 31a of the outer box 31, and a direction switching wheel 35 is provided on the front side of the bottom plate 31a.
5a. Said inner box 3
A cylindrical dust suction device 36 equipped with a fan (not shown) is installed on the bottom plate of the dust suction device 36, and an exhaust port 36a is provided in the upper part of the dust suction device 36, and the bottom plate 31a of the outer box 31 is passed through the bottom plate of the dust suction device 36. Dust suction hose 3
6b is provided. In addition, the bottom plate 3 of the outer box 31
The three vibrating devices 8 are attached to the lower surface of the dust suction hose 36b via attachment plates 37 so as to surround the suction port 36b' of the dust suction hose 36b. Further, an elastic brush 38 whose lower end contacts the floor surface 2 is attached to the lower surface of the case 11 of each vibrating device 8.

According to this embodiment, when the controller 20 drives the wheels 34 and 35 and applies a high-frequency current to the excitation coil 14 via the lead wire 17, the vibration devices 8 vibrate. , the vibrations are conducted to the brush 38. At this time, vibration is applied to the floor surface 2, and the load applied to each of the wheels 6, 7 of the cleaner body 30 is reduced due to the reaction. Thereby, the cleaner main body 30 can be started smoothly.

Further, the brush 38 collects dust while moving the floor surface 2, and the collected dust is sucked in through the suction port 36' of the dust suction device 36 for cleaning. Other configurations and effects are similar to those of the first embodiment.

In each of the above embodiments, the unmanned conveyance device main body 1 and the vacuum cleaner main body 30 are described, but the present invention is not limited to these and can of course be applied to any moving device having a moving mechanism. be.

(Effects of the invention) As explained above, the present invention has the advantage that the load applied to the traveling device at the initial stage of travel can be reduced, a smooth start can be achieved, and the manufacturing cost of the traveling device can be reduced. .

[Brief explanation of the drawing]

1 to 4 show a first embodiment of the present invention, in which FIG. 1 is a partially cutaway perspective view of the main body of an unmanned conveyance device, and FIG. 2 is a cross-sectional view showing how the vibration device is attached. , FIG. 3 is a sectional view showing the vibration device, FIG. 4 is a block diagram showing the drive circuit of the main body of the automatic conveyance device, and FIGS. 5 to 7 show a second embodiment of the present invention. 5 is a partially cutaway perspective view showing the vacuum cleaner main body, FIG. 6 is a bottom view of the vacuum cleaner main body, and FIG. 7 is a sectional view showing the state in which the vibration device is attached. In the figure, 1... moving device main body (unmanned conveyance device main body), 2... moving surface (floor surface), 30... moving device main body (vacuum cleaner main body), 8... vibrating device.

Claims (1)

[Claims for Utility Model Registration] In a moving device in which the main body of the moving device is moved on a moving surface such as a floor by a traveling device such as a drive wheel, the lower surface of the moving device main body is provided with an elastic member that is arranged vertically toward the moving surface. A moving device characterized by installing a vibration device that applies vibration in a direction.