JPH064807U - Traveling mobile trolley - Google Patents

Abstract

(57) [Summary] (Correction) [Purpose] To obtain a traveling mobile carriage that enables accurate inching operation to a stop position. [Structure] The braking device 4 is provided with a control device 13 for generating a plurality of stages of braking torque.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a traveling mobile vehicle that enables accurate inching operation to a stop position.

[0002]

[Prior art]

 FIG. 3 is a configuration diagram showing a drive device for a conventional traveling mobile vehicle. In the figure, 1 is a traveling motor, 2 is a speed reducer, 3 is wheels, 4 is a braking device, 5 is a braking force generation device, 6 is a disk, and the braking device 4 is composed of the above 5 and 6. 7 is a traveling command signal output to the traveling motor 1, 8 is a braking command signal output to the braking device 4, 10 is a control device capable of outputting the command signals 7 and 8, and 11 is a current position of the traveling vehicle. A position detecting device for generating error data from the target position, and a rail 12 for guiding the wheels 3. Further, FIG. 4 is an output timing chart of the traveling command signal 7 and the braking command signal 8.

Next, the operation will be described. When the control device 10 determines that the inching operation is required by the position error data generated by the position detection device 11 for the traveling mobile vehicle that has stopped the braking device 4 almost at the target position, it turns off the braking command signal 8. Therefore, the braking device 4 is released, and then the traveling command signal 7 is output for a time period commensurate with the stop error to drive the traveling motor 1. After a set time, the traveling command signal 7 is turned off and the braking command signal 8 Is turned on to stop the traveling mobile carriage at the target position.

[0004]

[Problems to be solved by the device]

 Since the conventional traveling trolley is configured as described above, the traveling trolley is released until the drive of the traveling motor 1 is started after the braking device 4 is released. There was a problem that the inching operation could not be performed with high accuracy due to movement due to disturbances such as the state of the rail 12.

The present invention has been made in order to solve the above problems, and an object thereof is to obtain a traveling mobile carriage capable of performing an inching operation with high accuracy without being affected by a disturbance element at the start of the inching operation. To do.

[0006]

[Means for Solving the Problems]

 The traveling mobile vehicle according to the present invention is provided with a control device that causes the braking device to generate a plurality of braking torque levels.

[0007]

[Action]

 The control device for the traveling mobile vehicle according to the present invention performs the inching operation with a proper braking torque applied so that the vehicle does not move due to disturbance.

[0008]

【Example】

 Example 1. Embodiment 1 of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a drive system for a traveling mobile vehicle according to a first embodiment of the present invention. 1 is a traveling motor, 2 is a speed reducer, 3 is wheels, 4 is a braking device, 5 is a braking force generating device, 6 is a disk, and the braking device 4 is composed of the above 5 and 6. Reference numeral 7 is a travel command signal output to the travel motor 1, 8 is a braking command signal output to the braking device 4, 9 is a weak braking torque generation command output to the braking device 4, and 13 is a command. A control device configured to output signals 7 to 9, 11 is a position detection device that generates error data between the current position of the traveling vehicle and the target position, and 12 is a rail that guides the wheels 3. 2 is an output timing chart of the traveling command signal 7, the braking command signal 8 and the weak braking torque generation command 9.

Next, the operation will be described. When the control device 13 determines that the inching operation is necessary based on the position error data generated by the position detection device 11, the traveling mobile vehicle that has stopped at the almost target position by operating the braking device 4 outputs the weak braking torque generation command signal 9 The braking command signal 8 is turned off with the output of, and the braking torque is lightly applied by the braking device 4 to eliminate the movement of the truck due to disturbance factors, and the traveling command signal 7 is output for a time corresponding to the stop error. Then, the traveling motor 1 is driven, and after the set time, the traveling command signal 7 is turned off and the braking command signal 8 is turned on to stop the traveling mobile vehicle at the target position.

[0010]

[Effect of device]

 As described above, according to the present invention, since the braking device is provided with the control device for generating the braking torque in a plurality of stages, the inching is performed with a proper braking torque applied so that the carriage does not move due to disturbance. It is possible to obtain a traveling mobile trolley capable of driving.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing a driving device for a traveling vehicle according to a first embodiment of the present invention.

FIG. 2 is a timing chart of commands issued from the control device according to the first embodiment of the present invention.

FIG. 3 is a configuration diagram showing a drive device for a conventional traveling mobile vehicle.

FIG. 4 is a timing chart of commands issued from a conventional control device.

[Explanation of symbols]

 1 Travel Motor 3 Wheels 4 Braking Device 7 Travel Command Signal 8 Braking Command Signal 9 Weak Braking Torque Generation Command 11 Position Detection Device 13 Control Device

Claims (1)

[Scope of utility model registration request] 1. A traveling mobile vehicle that performs an inching operation based on error data of a position detector that detects an error between a target position and a vehicle stop position, including a control device that causes a braking device to generate a plurality of braking torque levels. A traveling mobile trolley characterized by.