JPS62125947A - Self-propelling truck - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a self-propelled trolley that travels by itself while detecting optical or electromagnetic induction, and exchanges and receives products at each work station.

[Prior Art] Conventionally, self-propelled carts that run on their own while detecting a guide such as an optical guide band provided on a factory floor or a guide wire that outputs electromagnetic waves are generally known.

This type of self-propelled trolley moves in a straight line along the detected guide by controlling the steering angle of the steering wheel installed at the front in the running direction and controlling the rotation of the running wheel installed at the rear in the running direction. It runs on its own in a curved line. When the vehicle is traveling in a straight line, the steering wheels and the running wheels are driven synchronously, and when the vehicle is turning, the rotational speeds of the steering wheels and the running wheels are made different, thereby changing the running direction at a steep angle.

[Problems to be Solved by the Invention] However, in the above-described conventional self-propelled cart, when changing the running direction at a steep angle, the rotational speed of the steering wheel and the running wheel must be changed. Each wheel cylinder required a drive motor. For this reason, the number of parts increased, making the car ω-like. Especially when it comes to self-propelled carts that run on their own power source,
As the weight increases, the number of miles traveled decreases and the number of times the vehicle is charged increases, resulting in a decrease in the operating efficiency of self-propelled vehicles.

Furthermore, it is impossible to change the running direction of the self-propelled vehicle at a sharp angle of 90 degrees, and there is a problem in that a large amount of factory space is required.

[Object of the Invention] In view of the above-mentioned conventional drawbacks, an object of the present invention is to enable movement in a lateral direction perpendicular to the traveling direction in a small space, and to effectively utilize factory space and achieve a one-wheel drive system. The purpose is to provide running trolleys.

[Means for Solving the Problems] Therefore, the present invention provides at least one steering shaft which is rotatably supported in front of the frame in the running direction and has a steering wheel attached thereto, and which is connected to the steering wheel, a traveling drive means for rotationally driving the steering wheel; a steering shaft drive means connected to the steering shaft and rotating the steering shaft at a predetermined angle; and rotatably supported at the rear of the frame in the traveling direction. two support shafts to which running wheels are attached; a lateral drive means that is connected to at least one of the running wheels and has a built-in clutch mechanism that operates only when running sideways to transmit driving force; and the steering shaft drive. The steering wheel is connected to the means and the support shaft, and is normally disengaged and braked to maintain the moving state of the running wheels in the running direction, and when traveling sideways, the steering shaft and the support shaft are moved in the running direction as the steering shaft drive means is driven. In contrast, a self-propelled trolley is constructed from a clutch/brake mechanism that rotates in a direction at a required angle.

[Operation of the Invention J] Since the present invention is configured as described above, the steering shaft drive means is connected to the steering shaft and the support shaft by the clutch/brake mechanism, and the steering wheel and the running wheel are moved transversely to the running direction. The self-propelled trolley can be made to travel sideways by moving in the direction, driving the travel drive means and the lateral travel drive means. This allows the self-propelled cart to travel at a steep angle in a small space.

[Example] Hereinafter, the present invention will be explained with reference to the drawings showing an example in which the present invention was implemented on a self-propelled trolley that runs on its own by optically reading a guideway provided on a floor surface.

FIG. 1 is a perspective view schematically showing a self-propelled trolley according to the present invention;
FIG. 2 is an explanatory diagram showing the drive mechanism and the steering mechanism. Two rotating shafts 7 and 9 are mounted between the upper frame 3 and the middle frame 5 of the self-propelled vehicle 1 at the rear in the running direction. (not shown)
It is rotatably supported through. The lower ends of the rotating shafts 7 and 9 protruding downward from the middle frame 5 are provided with an inverted U.
Letter-shaped holders 11 and 13 are fixed. Running wheels 15 and 17 are rotatably supported by the holders 11 and 13. Further, a clutch motor 19 constituting a lateral travel drive means is fixed to one of the holders 11, and a rotating shaft of the clutch motor 19 is connected to a shaft (not shown) that supports the traveling wheels 15.

Further, a rotating shaft 7 protruding from the upper surface of the upper frame 3 is provided.
Pulleys 21 and 23 are fixed to the upper end of 9. A steering shaft such as a DC motor, a step motor, etc. is mounted on the lower frame 25 of the self-propelled trolley 1, and the steering motor 27 is connected to the lower end of the rotating shaft 29.

Further, the upper end portion of the rotating shaft 29 located on the upper frame 3 side is fixed to the upper frame 3. A clutch/brake 19 bM31 is connected, and a pulley 33 is fixed to the rotating shaft of the clutch/brake mechanism 31. A toothed belt 35 is stretched between the pulley 33 and the pulleys 21 and 23. Further, a steering pulley 37 is fixed to the rotating shaft 29 between the upper frame 3 and the middle frame 5. and the middle frame 5
A steering shaft 39 serving as a steering shaft is rotatably supported via a bearing (not shown) at the front central portion in the running direction, and a lower end portion of the steering shaft 39 protruding from the upper surface of the upper frame 3 is A pulley 41 is fixed. A steering belt 43 is stretched between the steering pulley 37 and the pulley 41.The lower end of the rotating shaft 29 protruding downward from the middle frame 5 has an inverted U-shape. A mouth-shaped holder 45 is fixed,
A steering wheel 47 is rotatably supported by the holder 45 . Further, a drive motor 49 of a DCE-Y, which constitutes a travel drive means, is fixed to the holder 45, and the rotation shaft of the drive motor 49 is connected to a support shaft (not shown) of the steering wheel 47. connected. Further, a support plate 51 is fixed to the holder 45, and an optical guideway detection device 53 is attached to the support plate 51. This optical guideway detection device 53 is composed of a light emitting element that emits light toward the floor surface, and a light emitting element (not shown) that detects the light reflected by the guideway after being emitted from the light emitting element. has been done. The clutch motor 19, steering motor 27, clutch/brake mechanism 31, and drive motor 49 are driven by a power battery (not shown) mounted on the vehicle. In addition, the drawing number 55 shown in FIG. 2 is the self-propelled trolley 1.
This is a guide zone provided along the running path of the guide zone 5.
5 is made of an aluminum film or a stainless steel film in which light reflecting parts and light absorbing parts are arranged alternately from the floor surface.

Next, the lateral traveling action of the self-propelled trolley configured as described above will be explained with reference to FIGS. 2 and 3.

First, normal straight and curved running operations will be explained.

In FIG. 2, during normal running, the rotating shafts 7 and 9 are rotated so that the running wheels 15 and 17 are oriented in the longitudinal direction of the self-propelled trolley 1. At this time, the brake mechanism of the clutch/brake mechanism 31 is activated, and the rotational state of the rotating shafts 7 and 9 is maintained.

Further, the clutch mechanism of the clutch/brake mechanism 31 is disengaged, and the connection between the rotation IPIA 29 and the rotation 1117/9 is cut off. When the drive motor 49 is driven in this state, the driving force of the drive motor 49 is transmitted to the steering wheels 47, and the self-propelled trolley 1 begins to travel by itself.

At this time, the optical guide path detection device 53 attached to the holder 45 detects the guide band 55.

If the detected guide band 55 has a curved shape, the steering motor 27 is driven according to the detected state of the guide band 55. At this time, the driving force of the steering motor 27 is
The rotation @29 is transmitted to the steering shaft 39 via the pulley 33, toothed belt 35, and steering pulley 37, and the three steering shafts are rotated at an angle corresponding to the curved state of the guide band 55. This makes it a self-propelled platform! $! 1 is the guide band 5 while steering at a steering angle corresponding to the rotation 1 of the steering wheel 47.
It runs on its own along the curved state of 5. At this time, the clutch
Since the transmission of the driving force of the steering motor 27 to the rotating shafts 7 and 9 is interrupted by the brake mechanism 31, the state of movement of the running wheels 15 and 17 in the running direction is maintained.

In FIG. 3, which shows the state during sideways travel, the guide strip 55 for sideways travel is shown. - When a force (not shown) is detected by a detection device (not shown) mounted on the self-propelled trolley 1, the driving of the drive motor 49 is temporarily stopped and the steering motor 27 is driven a certain distance to drive the steering wheel. 47 in the same direction as the running wheels 15 and 17. Next, the operation of the brake mechanism of the clutch/brake mechanism 31 is released, and the clutch mechanism of the clutch/brake mechanism 31 is connected. As a result, the rotating shafts 7 and 9 and the steering shaft 39 are connected to the steering motor 27. When the steering Tanabata 27 is driven in a desired direction, the driving force of the steering motor 27 is transferred to the rotating shaft 29,
The clutch/brake mechanism 31, the pulley 33, the toothed belt 35, and the rotating shafts 7 and 9 via the pulleys 21 and 23, and the rotating shaft 29, the steering pulley 37, and the pulley 41.
and is transmitted to the steering shaft 39 via the toothed belt 43. As a result, rotation @7/9 and steering axis 3
The rotation of the wheel 9 directs the running wheels 15 and 17 and the steering wheel 47 in a lateral direction perpendicular to the running direction. In this state, the running wheels 15 and the steering wheels 47 rotate synchronously as the clutch motor 19 and drive motor 49 are driven, and the self-propelled truck 1 self-propels in a lateral direction perpendicular to the traveling direction.

In this way, in this embodiment, after the steering motor 27 is driven to direct the running wheels 15 and 17 and the steered wheel 47 in the lateral direction perpendicular to the running direction, the crucifix motor 19 and the drive motor 49 are driven to turn the self-propelled bogie. 1 can run sideways.

In the above explanation, the optical guide band 55 provided on the floor surface is detected by the optical guide path detection device 53 and the robot moves on its own. An electromagnetic wave detector attached to the self-propelled trolley 1 detects M waves from the guide wire while the self-propelled electromagnetic (!guide type) is used.

Further, in the above description, the rotation shafts 7 and 9 and the steering shaft 39 are rotated by the steering motor 27 at a 90° angle with respect to the traveling direction.
The self-propelled platform 1111 was made to travel horizontally with the running wheels 15 and 17 and the steering wheel 47 oriented in the lateral direction perpendicular to the running direction. The self-propelled cart 1 may be moved obliquely by controlling the moving angle.

[Effects of the Invention] As described above, the present invention can provide a self-propelled platform that can move in the lateral direction perpendicular to the traveling direction in a small space and can effectively utilize the factory space. be.

[Brief explanation of drawings]

FIG. 1 is a perspective view schematically showing a self-propelled vehicle according to the present invention, FIG. 2 is an explanatory diagram showing a drive mechanism and a steering gear groove, and FIG. 3 is an explanatory diagram showing a lateral traveling action in the self-propelled vehicle. . In the figure, 1 is a self-propelled trolley, 3 is an upper frame that is a part of the frame, 5 is a middle frame that is a part of the frame, 7 and 9 are rotating shafts, 15 and 17 are running wheels, and 19 is a lateral drive means 25 is a lower frame which is a part of the frame, 27 is a steering motor as a steering shaft drive means, 31 is a clutch/brake mechanism, 39 is a steering shaft as a steering shaft, 47 is a steering wheel, and 49 is a traveling shaft. A drive motor serves as a drive means.

Claims (1)

[Claims] (1) at least one steering shaft rotatably supported in the front of the frame in the running direction and to which a steering wheel is attached; a traveling drive means connected to the steering shaft and rotationally driving the steering wheel; a steering shaft driving means connected to the steering shaft and rotating the steering shaft at a predetermined angle; and two support shafts rotatably supported at the rear of the frame in the running direction and to which running wheels are attached. lateral travel drive means, which is connected to at least one of the running wheels and has a clutch mechanism that operates only when traveling sideways to transmit driving force; At the same time, the driving wheel is braked to maintain the moving state of the running wheels in the running direction, and when traveling sideways, the steering shaft and the support shaft are moved at a required angle with respect to the running direction as the steering shaft drive means is driven. A self-propelled trolley characterized by having a rotating clutch/brake mechanism and.