JPS59128610A - Unattended car movable in all directions - Google Patents

Abstract

PURPOSE:To move an unattended car in all directions only by constant travelling motors by separating a car body part from a driving part and changing the direction of only the driving part by the reverse rotation of a pair of travelling motors. CONSTITUTION:When the unattended car 1 reaches a place where the unattended car 1 is to be turned, an electromagnet 13 is stopped at its excitation, fixing between the car body 8 and the driving part 3 is released and a jack 12 is extended to lift the car body 18 and separate the car body 8 from the driving part 3. Subsequently, a pair of travelling motors 6 are turned reversely with each other to change only the direction of the driving part 3. Thus, the unattended car can be moved in all the directions only by the constant travelling motors without using a driving source for changing directions.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an unmanned vehicle that is self-propelled and capable of omnidirectional movement according to commands from a control unit.

Conventionally, unmanned vehicles that were able to move not only in a steady state but also in all directions without changing the orientation of the objects carried on the unmanned vehicle used a travel motor separate from the travel motor, and were able to operate in a steady travel control mode. uses a different control mode for omnidirectional movement. As mentioned above, when conventional unmanned vehicles that can move in all directions require a travel motor separate from the driving motor and a mechanism related to it, automatic steering in all directions is possible. Because this requires an omnidirectional movement control mode, the structure is complex and the cost is much higher than an unmanned vehicle that only performs steady driving.

The present invention was made in order to eliminate the above-mentioned conventional drawbacks, and it separates the vehicle body and drive section of an unmanned vehicle.
By changing the direction of only the moving parts by a spin turn performed by reversely rotating a pair of travel motors, the unmanned vehicle can be moved in all directions only in the steady travel control mode.

Next, embodiments of the present invention are shown in FIGS. 1, 2, 3, and 4.
This will be explained based on the diagram.

FIG. 1 is a bottom view of an unmanned vehicle according to the present invention, and FIG.
3 is a wheel arrangement diagram showing the forward and backward running state of the unmanned vehicle shown in FIG. FIG.

1 is an unmanned vehicle that automatically moves on the guide line 2.21 set on the swelling surface. Run.

1' is a control unit, and 1'/ is a battery, each of which is attached to an arbitrary location on the lower surface of 1 drive unit 3.

Reference numeral 4 denotes a reducer, and a pair of speed reducers are attached to the lower part of the drive unit 3 of the unmanned vehicle 1 at the center of the drive unit 3.

Reference numeral 5 denotes a drive wheel, which is attached to the outside of the reduction gear 4. 6
are motors that move the drive wheels 5, and a pair of them are installed inside the reduction gear 4. Reference numeral 7 indicates idle wheels, and these four idle wheels are attached to the lower part of the vehicle body 8 of the unmanned vehicle 1 on the front, rear, left and right sides, and can be freely oriented. Reference numeral 9 denotes an axis of the drive section 3, which is located at the center of the upper part of the drive section 3, and has a structure such that the drive section and the vehicle body 8 can be connected. 10 is attached by a ball slide into a hole 11 drilled in the center of the vehicle body 8 to fit the shaft 9, and allows the drive unit 3 to rotate around the shaft 9 and only the vehicle body 8 to be vertically movable. There is. 12
There are four jacks attached to the lower part of the vehicle body 8 at the front, back, left and right, which are connected to the battery l// and can be moved up and down by hydraulic pressure according to commands from the control unit 1/.

Page 5 JP-A-59-128G10 (2) Several electromagnetic magnets 13 are embedded in the lower part of the vehicle body 8 so that they can be connected to the armature 131 attached in an annular shape to the upper part of the drive unit 3. 014, which is connected to the battery 111 and is energized and de-energized according to commands from the control unit 1, is a route detector.
It is attached to the lower part of the drive unit 3 on an arbitrary line perpendicular to the line connecting the pair of drive wheels 5.

In the above configuration, when the unmanned vehicle 1 comes to the place where it wants to turn, that is, the position where the unmanned vehicle traveling along the guide line 2 in FIG. stops, the fixation between the vehicle body 8 and the drive unit 3 is released, the jack 12 is extended by hydraulic pressure, the vehicle body 8 is lifted, and the vehicle body 8 and the drive unit 3 are separated.

Next, the pair of motors 6 rotate in opposite directions, and only the drive unit 3 rotates around the shaft 9, causing the route detector 14 to rotate.
When it comes above the guide wire 21, that is, as shown in FIG. 4, the jack 12 contracts, the car body 8 and the drive unit 3 are connected, and the electromagnetic tuna 13 is excited, and the car body 8 and the drive unit 3 are connected. The drive unit 3 is fixed, and the unmanned vehicle 1 starts moving along the guide line 21.

Although the above embodiment describes an unmanned vehicle that travels along a guide line provided on the road surface while detecting the guide line with a route detector provided on the vehicle, the present invention is not limited to this, and for example, It can also be applied to unmanned vehicles that do not have guide lines, the control unit of the unmanned vehicle itself remembers the driving route, and uses visual sensors etc. Furthermore, the electromagnetic magnet used as a means for fixing and releasing the vehicle body and the drive unit in the above embodiments may be replaced with other means to fix and release the vehicle body and the drive unit.

Also, if you use a bearing instead of a ball sphere,
Although the vehicle body does not lift up, only the driving portion can be rotated by attaching pins or the like to the vehicle body so that only the vehicle body can be fixed to the floor using the pins or the like. Furthermore, the idler wheel may be attached to the lower part of the drive section instead of the lower part of the vehicle body.

As explained above, the unmanned guided vehicle according to the present invention has a 360°
It is movable in all directions, and the direction of the drive wheels is changed by spinning a pair of motors for running in opposite directions in the desired direction, so only the motor for steady running is used as the driving source for changing direction. It is possible to move in all directions without having to cross legs, has a simple structure as only the drive unit rotates, and can automatically steer in steady running control mode for movement in all directions.

[Brief explanation of drawings]

FIG. 1 is a bottom view of the unmanned guided vehicle according to the present invention, FIG. 2 is an A-AVfr side view in FIG. 1, and FIG. 3 is a wheel arrangement diagram showing the forward and backward running state of the unmanned guided vehicle according to FIG. FIG. 4 is a wheel arrangement diagram when the unmanned guided vehicle shown in FIG. 3 is turned on the spot and is in a traversing state. 1・・・・・・・・・・・・・・・Unmanned car 4・・・・・・
・・・・・・・・・・Drive part 8・・・・・・・・・・・・・
...Car body 12... Jacket 1
3・・・・・・・・・・・・Electromagnetic magnet Tsujiku 711
ノ (41st edition of this book) 3 Figure Patent Director-General of the Office 1, Indication of Case Patent Application No. 3729 of 1982 2,
Name of the invention: Unmanned vehicle capable of moving in all directions 3, Relationship with the case of the person making the amendment Patent applicant: 4, agent: name (7579): Ben's buried earth M 6
Maki Denwa Ise (36) 1111 “Detailed description of the invention” column

Claims (1)

[Claims] In an unmanned vehicle that moves by itself according to commands from the control unit, what about the body and drive of the unmanned vehicle? 1'b can be freely fixed and released, and when the vehicle body and the drive section are unlocked, only the drive section is equipped with a means that can freely rotate the drive wheels. An unmanned vehicle that can move in any direction.