JPH0745763Y2 - Drive guidance detector support device for automated guided vehicles - Google Patents

Description

[Detailed Description of the Invention] [Industrial field of application] The present invention relates to a traveling guidance detector supporting device for an unmanned guided vehicle, which is mainly used for freight transportation in factories such as factories and warehouses.
In particular, the present invention relates to a travel guidance detector support device for an automated guided vehicle in which a detector for detecting a dielectric laid on a traveling path is mounted on auxiliary wheels.

[Conventional technology]

In recent years, the adoption of unmanned guided vehicles has increased on the premises of factories and warehouses, and various guidance systems have been developed to drive the guided vehicles along a predetermined route.
Since it is necessary to detect the amount of deviation between the vehicle and the conductor in the width direction, it has been used on a traveling road with few irregularities so that the distance between the conductor and the detector does not fluctuate as much as possible.

However, in recent years, in order to further rationalize, there is a demand for the development of an automated guided vehicle that can be reliably guided even outdoors where road surface conditions are poor.

For this reason, for example, in the automatic guided vehicle disclosed in Japanese Patent Laid-Open No. 57-153314, there is a step or a gap on the road surface by mounting a detector on an auxiliary wheel held by a coil spring at the lower part of the vehicle body. Even when the road surface condition is bad, it is designed to deal with it.

[Problems to be solved by the device]

However, when the auxiliary wheel equipped with the detector is held by the coil spring, dust adheres to the coil spring, and the coil spring cannot gradually expand and contract, and it can withstand long-term use. Because of this,
Needs frequent maintenance.

Therefore, the present invention, even if the maintenance is not frequently performed,
An object of the present invention is to provide a traveling guidance detector supporting device for an unmanned guided vehicle, which can keep the distance between the dielectric and the detector constant at all times and can withstand long-term use.

[Means for Solving the Problems]

In order to achieve the above-mentioned object, the present invention is an unmanned guided vehicle in which a detector is mounted on an auxiliary wheel arranged on the lower part of a vehicle body and guides while detecting a dielectric laid on a traveling path by the detector. In addition, the upper shaft and the lower shaft which are parallel to each other are respectively supported in the vehicle width direction via rubber springs, and the swing arms including the upper arm and the lower arm which are parallel to each other are arranged in the vehicle longitudinal direction, and the base end of the upper arm is The base ends of the lower arms are individually provided on the upper shaft, and both ends of the upper arm and the lower arm are vertically swingably connected to the bogie frame of the auxiliary wheel, and the swing arm is connected to at least one of the upper arm and the lower arm. It is characterized in that a stay for restraining the displacement of the vehicle in the vehicle body direction is provided.

[Action]

With such a configuration, the auxiliary wheel equipped with the detector is urged downward by the torsion force of the rubber spring so as to always come into contact with the road surface, and the stay is restrained from moving in the vehicle width direction, so that the detector is It can always be kept at a constant distance to the derivative.

〔Example〕

An embodiment of the present invention will be described below with reference to FIGS.

The transport vehicle 1 is provided with a pair of left and right drive wheels 2 at the lower center of the vehicle body and a pair of left and right traveling wheels 3 at the front and rear lower portions of the vehicle body. Between the drive wheel 2 and the traveling wheel 3, auxiliary wheels 4 rolling on the traveling path are respectively arranged, and a traveling guidance detector 5 is mounted on the auxiliary wheels 4. Further, the detector 5 is attached to the vehicle body.
A guidance control system 6 is mounted which controls signals from the vehicle and causes the carrier 1 to travel along a guide laid on a traveling path.

The auxiliary wheel 4 has a pair of left and right casters 4a and 4b at both ends of the bogie frame 7, and a detector 5 is attached to the lower center of the bogie frame 7. Further, the auxiliary wheel 4 is suspended vertically swingably by a pair of swing arms 8 arranged in the vehicle body front-rear direction at the lower portion of the vehicle body.

The swing arm 8 is composed of an upper arm 8a and a lower arm 8b which are parallel to each other, and both ends of the upper arm 8a and the lower arm 8b are vertically swingably connected to a bracket 11 which is erected on a bogie frame 7 of the auxiliary wheel 4. ing.

Further, an upper shaft 10 and a lower shaft 13 which are parallel to each other are supported in the vehicle body width direction at the lower portion of the vehicle body via rubber springs 9 and 12, respectively. In the upper shaft 10,
The base end of the upper arm 8a and the base end of the lower arm 8b are fixed to the lower shaft 13, respectively. further,
A stay 8c for restraining the displacement of the swing arm 8 in the vehicle body width direction is provided on the side of the lower arm 8b. The stay 8c may be provided on the upper arm 8a or both the upper arm 8a and the lower arm 8b.

The detector 5 is elastically supported by coil springs 15 and 16 wound around four shafts 14 provided in the bogie frame 7 in the vertical direction, and prevents the detector 5 from vibrating.

With this configuration, the auxiliary wheel 4 equipped with the detector 5 is urged downward by the torsion force of the rubber springs 9 and 12 so as to always come in contact with the road surface and vibrates due to the unevenness of the road surface. Buffer and
The movement in the vehicle body width direction is restrained at 8c, and the detector 5 can always be held at a constant distance with respect to the induction body.

Therefore, even if the road surface condition is considerably poor, the guided vehicle 1 can be reliably guided, and the guidance control system can be simplified.

Moreover, the auxiliary wheel 4 on which the detector 5 is mounted is formed by the swing arm 8 including the upper arm 8a and the lower arm 8b, and the torsion force of the rubber springs 9 and 12 externally fitted to the upper shaft 10 and the lower shaft 13, respectively. , It is supported by being urged downward so that it is always in contact with the road surface and the movement in the vehicle width direction is restricted by the stay 8c, so there is little dust adhesion to the suspension mechanism and frequent maintenance is performed. Even if it does not exist, the distance between the inductor and the detector 5 can always be kept constant, and it can be used for a long period of time.

[Effect of device]

As described above, the unmanned guided vehicle of the present invention supports the upper shaft and the lower shaft, which are parallel to each other, in the vehicle width direction via rubber springs at the lower part of the vehicle body, and the swing arm including the upper arm and the lower arm which are parallel to each other. The front end of the upper arm is fixed to the upper shaft, the base end of the lower arm is fixed to the lower shaft, and both ends of the upper arm and the lower arm are fixed to the bogie frame of the auxiliary wheel equipped with the detector. Since a stay that connects the upper arm and the lower arm to each other is provided with a stay that restrains the displacement of the swing arm in the vehicle width direction, the auxiliary wheel equipped with the detector is a swing arm including the upper arm and the lower arm. And a rubber spring torso that is fitted over the upper and lower shafts, respectively. Due to the force, it is urged downward so that it always contacts the road surface, and the stay is restrained from moving in the vehicle width direction.Therefore, less dust adheres to the suspension mechanism and frequent maintenance is required. Even if it is not performed, the distance between the inductor and the detector can be kept constant at all times, and it can withstand long-term use.

[Brief description of drawings]

1 to 8 show an embodiment of the present invention. FIG. 1 is a plan view of an automatic guided vehicle, FIG. 2 is a side view, FIG. 3 is a front view, and FIG. 4 is a detector mounted. FIG. 5 is a plan view showing a supported state of the auxiliary wheel, FIG. 5 is a side view of the same, FIG. 6 is a sectional view of a base end mounting portion of an upper arm, FIG. 7 is a sectional view of a base end mounting portion of a lower arm, and FIG. Is a cross-sectional view showing a state in which the detector is mounted on the auxiliary wheel 1 ... Transport vehicle, 4 ... auxiliary wheel, 5 ... Detector, 7 ...
Bogie frame, 8 ... swing arm, 8a ... upper arm,
8b …… Lower arm, 9,12 …… Rubber spring, 10 ……
Upper shaft, 13 ... Lower shaft

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Akiyuki Ito 1-1, Sanbonmatsucho, Atsuta-ku, Nagoya, Aichi Japan Vehicle Manufacturing Co., Ltd. No. 1 within Japan Vehicle Manufacturing Co., Ltd. (56) Reference JP-A-57-153314 (JP, A) JP-A-61-11816 (JP, A) Actually open Sho-53-21294 (JP, U) Actual-open Sho-54 -375 (JP, U)

Claims (1)

[Scope of utility model registration request] 1. An automated guided vehicle in which a detector is mounted on auxiliary wheels arranged at a lower portion of a vehicle body and guides while detecting a derivative laid on a traveling path by the detector.
The upper shaft and the lower shaft, which are parallel to each other, are supported in the vehicle width direction via rubber springs, respectively, and the swing arms composed of the upper arm and the lower arm, which are parallel to each other, are arranged in the vehicle front-rear direction, and the base end of the upper arm is the upper shaft. In addition, the base ends of the lower arms are fixed to the lower shafts respectively, and both ends of the upper arm and the lower arm are vertically swingably connected to the bogie frame of the auxiliary wheel, and at least one of the upper arm and the lower arm has a swing arm body body. A travel guidance detector support device for an automated guided vehicle, comprising a stay for restraining displacement in the width direction.