JPH0637043U - Automated guided vehicle - Google Patents

Abstract

(57) [Abstract] [Purpose] A pair of front and rear bogie frames 3 having drive wheels 4 and auxiliary wheels 16 are provided at the front and rear portions of a vehicle body 1, and these bogie frames 3 are centered on a horizontal pivot 21. (EN) In an unmanned guided vehicle that is swingably provided like a seesaw, it is possible to smoothly travel on a floor surface having a groove or a step. [Structure] Swing restricting means 25 configured to prevent swinging of the bogie frame 3 so that the drive wheels 4 face upward is provided to the vehicle body 1 as required. I did it.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 This invention relates to an automated guided vehicle.

[0002]

[Prior art]

 Conventionally, the following types of unmanned guided vehicles are known. That is, the main body of the vehicle body, a pair of front and rear bogie frames swingably provided by horizontal pivots facing left and right with respect to the main body of the vehicle body, and a drive device provided near the front or rear portion of these bogie frames are provided. It is an unmanned guided vehicle having a drive wheel and a rotatable auxiliary wheel provided on the other side. The above-mentioned vehicle body is provided with a known slide fork, a driving roller conveyor, an article receiving table, etc. for delivering and receiving articles.

[0003]

[Disadvantages of conventional automated guided vehicles]

 The conventional automated guided vehicle has the following drawbacks. That is, when traveling on a floor with wavy undulations, there is an advantage that the bogie frame is oscillated through the auxiliary wheels so as to move up and down in front of and behind, and the drive wheels are always grounded on the floor. However, on the other hand, when traveling on a floor with a groove or a step, the auxiliary wheel falls into the groove and it becomes impossible to escape, or the auxiliary wheel on the leading side is stuck on the step and the bogie frame There was a case in which the drive wheel on the trailing side floated up due to the rocking of the drive wheel, and the drive wheel slipped.

[0004]

[Means for solving the above-mentioned drawbacks]

 This device adopts the following means in order to solve the above-mentioned drawbacks. That is, a drive including a vehicle body, at least one bogie frame swingably provided on the vehicle body by a horizontal pivot that faces left and right, and a drive unit provided near the front or rear of the bogie frame. A wheel, a rotatable auxiliary wheel provided on the other side of the wheel, and rocking restricting means for preventing the bogie frame from rocking upward on the drive wheel side around the horizontal pivot as necessary. I have it.

[0005]

[Function of the device]

 This device has the following actions. When the rocking restricting means is operated, the bogie frame is prevented from rocking so that its drive wheel side faces upward. In such a state, the auxiliary wheels do not fall even if they hit the groove, and even if the auxiliary wheels get stuck on a step, the bogie frame does not swing like a slippery shape. Absent.

[0006]

【Example】

 The present invention will be described below based on an embodiment shown in the drawings. In this specification, the front means the right side in FIG. 2, the rear means the left side in FIG. 2, the left means the back side in FIG. 2, and the right means the front side. As shown in FIG. 2, a vehicle body 1 (see FIG. 1) provided with a drive roller conveyor 2 on the upper side, a pair of front and rear bogie frames 3 and 3 provided on the vehicle body 1, and these bogie frames 3 and 3 The drive wheel 4 and the auxiliary wheel 16 are provided. These bogie frames 3 and 3 are connected to the vehicle body 1 via a horizontal pivot 21 that faces left and right, and can be swung so that the driving wheel 4 and the auxiliary wheel 16 move up and down in a seesaw shape. Has become. The above horizontal pivots 21 are arranged so as to form a pair on the left and right as shown in FIG. The vehicle body 1 is provided with a battery 22, an electrical equipment storage box 23, and the like between the front and rear bogie frames 3 and 3.

In the bogie frame 3 on the front side, the drive wheels 4 are positioned near the front part thereof, and the auxiliary wheels 16 are positioned near the rear part thereof. In the rear bogie frame 3, the drive wheels 4 are located in the opposite direction to the rear, and the auxiliary wheels 16 are located in the front.

As shown in FIG. 3, one drive wheel (see drive wheel bracket 5) is provided in the center of the left and right of the bogie frame 3, and a motor or the like is provided so as to project to the side of the rotation axis. It is equipped with a motor 6. The drive wheel bracket 5 is provided so as to be horizontally rotatable with respect to the bogie frame 3 by means of a vertical shaft 7. A driven wheel 8 attached to the vertical shaft 7 serves as a drive wheel 10 for a turning motor 9. It is adapted to be swiveled and driven by a transmission tool 11 such as a chain that extends between the two. Sensors 12 and 12 are attached to the front and rear surfaces of the drive wheel bracket 5 so that the traveling guide line set on the floor and various operation instruction displays (not shown) can be detected. Reference numeral 13 in the figure is a control box.

Two auxiliary wheels 16 (see auxiliary wheel bracket 17) are provided so as to form a pair on the left and right sides of the bogie frame 3. These auxiliary wheels 16 are rotatably held by an auxiliary wheel bracket 17, and these auxiliary wheel brackets 17 are swingably provided on a hanging support rod 19.

As shown in FIG. 2, the vehicle body 1 is provided with a rocking restricting means 25 that can block only one side of the bogie frame 3 rocking like a seesaw, if necessary. ing. As shown in FIGS. 4 and 5, the swing restricting means 25 is provided with a bracket 26 provided on the upper portion of the vehicle body 1, a wheel 27 rotatably held by the bracket 26, and a wheel 27 mounted on the wheel 27. A chain 29, one end of which is connected to the bogie frame 3 and the other end of which is connected to the vehicle body 1 through a spring 28 for preventing the chain from coming off, and the wheel 27, which fixes the rotation of the wheel 27. The electromagnetic brake 30 is provided.

When the electromagnetic brake 30 is not in operation, the wheel 27 is rotatable both forward and backward, so that the bogie frame 3 swings in the direction A (the auxiliary wheel 16 side is directed upward). It can be swung) or swung in the B direction (swing so that the drive wheel 4 side faces upward). However, when the electromagnetic brake 30 is operated (the rotation of the wheel 27 is fixed), the chain 29 is prevented from moving along with the rotation of the wheel 27. Therefore, from this state, the bogie frame 3 is prevented from swinging in the B direction. However, since the chain 29 can cause the bending in the direction indicated by the white arrow between the portion hung on the wheel 27 and the connecting portion to the trolley frame 3, the trolley is accompanied by this. It is possible that the frame 3 first swings in the A direction and, after this swing, the same amount of return swing in the B direction.

[0012]

[Operation of the embodiment]

 Next, the operation of the embodiment will be described. The electromagnetic brake 30 of the rocking restricting means 25 described above, when there is a groove D (see FIG. 6) or a step S (see FIG. 7) in the traveling path, displays an operation instruction set on the floor surface in front of the groove D (see FIG. 7) ( When not shown) is detected by an appropriate sensor (for example, refer to the sensor 12 shown in FIG. 4) provided on the vehicle body 1 or the like, it is automatically activated.

As shown in FIG. 6, even when the auxiliary wheel 16 approaches the groove D, the bogie frame 3 is prevented from swinging upward on the drive wheel 4 side about the horizontal pivot 21, so that The wheel 16 does not fall into the groove D. Therefore, the drive wheel 4 can pass over the groove D without any obstacle. After passing through the groove D, another operation instruction display set on the floor surface or the like is detected, or after a predetermined time has elapsed, the electromagnetic brake 30 of the rocking regulating means 25 is released.

As shown in FIG. 7, even if the auxiliary wheel 16 on the leading side hits the step S, the bogie frame 3 is prevented from swinging upward on the drive wheel 4 side about the horizontal pivot 21. Therefore, it does not become a slippery shape. However, it is possible for the bogie frame 3 to swing about the horizontal pivot 21 so that the auxiliary wheel 16 side faces upward (see arrow A), so that the auxiliary wheel 16 rides on the step S. During this time, the driving wheels 4 are kept in contact with the floor surface and the running is continued smoothly. After passing through the step S, the electromagnetic brake 30 of the rocking | fluctuation regulation means 25 will be in a release state, after another operation instruction | indication display set on the floor etc. is detected or a predetermined time passes.

In this invention, the rocking | fluctuation control means 25 is not limited to the above-mentioned structure. For example, although not shown, an advancing / retreating device such as a solenoid or a cylinder is attached to the vehicle body 1 at a portion closer to the driving wheel 4 than the horizontal support shaft 21 so that the advancing / retreating portion faces downward. When the front end of this advance / retreat portion has advanced, it is made to contact the upper surface of the bogie frame 3 in the horizontal state. Even with such a structure, when the advancing / retreating device is actuated (the advancing / retreating portion is advanced), the bogie frame 3 swings upward with the drive wheel 4 side about the horizontal pivot 21. Can be blocked.

[0016]

[Effect of device]

 The present invention has the following effects due to the above-described configuration. You can run smoothly without any obstacles even on floors with grooves or steps.

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment of the present invention.

FIG. 2 is a side view in which a lower half portion is shown in an enlarged view showing an embodiment of the present invention.

FIG. 3 is an enlarged sectional view taken along line III-III of FIG.

4 is a sectional view taken along line IV-IV in FIG.

5 is an enlarged sectional view taken along line VV of FIG.

FIG. 6 is a diagram illustrating a passing state of a groove.

FIG. 7 is a diagram illustrating a passing state of a step.

[Explanation of symbols]

 1 Body Main Body 3 Bogie Frame 4 Drive Wheel 6 Drive Machine 16 Auxiliary Wheel 21 Horizontal Axis 25 Swing Limiting Means

Claims (1)

[Scope of utility model registration request] 1. A vehicle body, at least one bogie frame swingably provided on the vehicle body by horizontal pivots facing left and right, and a drive machine provided near the front or rear of the bogie frame. A drive wheel that is provided, a rotatable auxiliary wheel that is provided on the other side of the same, and a swing restriction that prevents the above-described bogie frame from swinging upward on the drive wheel side about a horizontal pivot as necessary. An automated guided vehicle having means.