JPH0648296A - Traveling mechanism of automatic guided vehicle - Google Patents

Abstract

PURPOSE:To provide such a traveling mechanism as capable of going sidewise (traveling at a right angle of 90 deg. without altering the position of a carriage) by improving a well-known automatic guided vehicle yet more, removing a connecting rod of both front and rear wheels, and steering and turning it after making these wheels independent each. CONSTITUTION:In an automatic guided vehicle's traveling mechanism that is made so as to be steered after connecting both front and rear driving wheels installed on a guidepath wire, a steering rod connecting both front and rear driving wheels is omitted, and these driving wheels 1 and 2 are made so as to be driven each after attaching a motor 8 separately.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to improvement of a traveling mechanism in an automatic guided vehicle.

[0002]

2. Description of the Related Art In the automation of various industries, automated guided vehicles are evaluated for their flexibility in layout.
It is used not only for transporting products such as automated warehouses and truck handling areas, but also for transporting raw materials and semi-finished products between lines in assembly factories and processing factories, and is being effectively used. In the early stages of FA, unmanned guided vehicles were easily introduced due to their novelty, but in the current severe industrial environment, they have an excellent advantage over other transportation equipment such as conveyors and manned forklifts. I needed to show my sex. The advantages of unmanned guided vehicles are that the layout can be changed easily and the equipment is simpler and easier to maintain than conveyors, but the drawback is that the floor area is widely occupied. This is because the trajectory of the vehicle body when the automated guided vehicle travels through the corners has not been sufficiently analyzed, and the wide area on the safe side is observed as an interference area.

In an unmanned transport system, the straight running stability of the bogie has priority over any other wheel arrangement. In the case where the turning wheel equipped with a publicly known antenna is made to run on the guide wire, it is easy to control the attitude of the bogie even when the car is carved. Further, by adopting the known driven wheels with springs, stable driving can be performed without slipping of the drive wheels even when the road surface is uneven.

FIG. 1 shows three examples of conventional traveling mechanisms. FIG. 1 (a) shows a two-wheel speed difference system which has been a mainstream in the past. This is because the antenna b is fixed to the dolly a and the posture of the dolly a is corrected by the speed difference between the two driving motors c, c, but the response is not good. Further, it was necessary to correct the difference in tire diameter to the difference in motor speed, and the straight running stability was lacking. FIG. 1B shows a two-wheel steering system. This method is 2
Since the steering is wheeled, steering the antenna b improves the straight running stability. However, a steering mechanism for the antenna b is required in addition to the drive wheel d. And, two motors e are always required for steering the front and rear drive wheels d, d, and the control at the time of the curve becomes complicated. In FIG. 1C, the drive wheel f and the antenna b are integrated. Therefore, the straight-line stability is the best and the mechanism is simple. Furthermore, since there is only one steering motor, the control during the curve is simple. However, the front and rear drive wheels f are connected by a rod g.

[0005]

The known automatic guided vehicle is further improved by connecting rods g for connecting front and rear wheels as shown in FIG. 1 (c).
It is an object of the present invention to provide a traveling mechanism capable of traveling (traveling at a right angle of 90 ° without changing the posture of the carriage) by removing the front wheel and turning the front and rear wheels independently of each other.

[0006]

In a traveling mechanism of an automated guided vehicle in which front and rear drive wheels provided on a guide wire are connected by rods to be operated, a rod for connecting the front and rear drive wheels is omitted, and The driving wheels are individually attached to the motors so that they can be driven.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Prior to describing the present invention, the mechanism of a known unmanned carrier vehicle which is the basis of the present invention will be described with reference to FIG. In FIG. 2, reference numerals 1 and 2 are driving wheels for traveling. The drive wheels 1 and 2 have a motor built in a urethane tire to suppress the dead space due to the turning of the drive wheels as much as possible. Reference numeral 3 is a driven wheel, which is a caster wheel with a spring. Therefore, the unevenness of the road surface is absorbed, and the slip due to the lift of the drive wheels 1 and 2 is prevented. Driven wheel 3
It is possible to pull out the battery sideways at the time of maintenance by disposing the battery near the drive wheels 1, 2. Further, by using the caster wheels as the driven wheels, it is possible to freely follow the traveling directions of the drive wheels 1, 2.

Next, the steering mechanism will be described. Driving wheels 1, which are driven by a steering motor 4 and supported by a turning bearing through a sprocket and a chain 5.
Turn 2 The front and rear drive wheels 1 and 2 are linked by a connecting rod 7 via an arm 6, and each drive wheel is steered by the same amount in the opposite direction (C-shaped) by one motor drive. Even when the car is traveling, each drive wheel travels on the carve to make a small turn.

As shown in FIG. 3, the present invention further improves the carrier vehicle of FIG. 2 so that the front and rear drive wheels 1 and 2 are driven by individual motors 8. That is, as shown in FIG. 1 (c), the front and rear drive wheels are not connected by the rod g (the connecting rod 7 in FIG. 2), so that there is great flexibility, and as shown in FIG. 3 (a).
In addition to going straight, it is now possible to traverse as shown in Fig. 3 (b).

[0010]

[Effect] Do not connect the front and rear drive wheels 1 and 2 with a rod.
Since each motor is driven and steered, the layout of the traveling route is extremely easy and the transportation efficiency is further improved.

[Brief description of drawings]

FIG. 1 is a traveling mechanism of a known automated guided vehicle.

FIG. 2 is a perspective view of the front and rear drive wheels connected by a rod for steering.

FIG. 3 is a conceptual diagram of an automatic guided vehicle according to the present invention, and FIG.
Shows a state when traveling straight, and FIG. 3B shows a state when traveling laterally.

[Explanation of symbols]

1, 2 traveling drive wheels 3 driven wheels 4 steering motor 5 sprocket and chain 6 arm 7 connecting rod 8 motor

[Procedure amendment]

[Submission date] September 21, 1992

[Procedure Amendment 1]

[Document name to be amended] Statement

[Name of item to be corrected] 0005

[Correction method] Change

[Correction content]

[0005]

To further improve the known automatic guided trolley THE INVENTION An object you try solving], removing the connecting rod g such as the front and rear wheels of FIG. 1 (c), by pivoting each is independently a front and rear wheels, the lateral line (carriage (Run at a 90 ° right angle without changing the posture)
It is an object of the present invention to provide a traveling mechanism that can be used.

[Procedure Amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0009

[Correction method] Change

[Correction content]

Now, as shown in FIG. 3, the present invention, as shown in FIG.
The vehicle is further improved so that the front and rear drive wheels 1 and 2 are driven by individual motors 8. That is, since the front and rear drive wheels are not connected by the rod g (the connecting rod 7 in FIG. 2) as shown in FIG. 1C, there is a great deal of flexibility, and as shown in FIG. the attitude of the truck as)
It became possible to traverse without changing .

Claims (1)

[Claims] 1. In a traveling mechanism of an automated guided vehicle, wherein front and rear drive wheels provided on a guide wire are connected by rods for operation, a rod for connecting front and rear drive wheels is omitted, and front and rear drive wheels are individually provided. A traveling mechanism for an automated guided vehicle, characterized in that it can be driven by separate motors.