JPS62128884A - Traveling mechanism for unmanned transport vehicle - Google Patents

Abstract

PURPOSE:To permit all the movement of advance and retreat and spin turn of a transport car by independently driving two driving wheels installed onto a driving trolley. CONSTITUTION:At lest three castor type trailing wheels 2 are installed onto the frame 1of a transport car. A driving trolley 15 is installed in turnable ways around a vertical shaft at the center of the bottom part of the frame 1, and two driving wheels 16 are installed, urged downward. Further a driving source for revolving two driving wheels 16 in the independent direction and and at an independent speed is installed, and a means 11 for fixing the turn around the vertical shaft of the trolley 15 at a prescribed position is installed.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to a traveling mechanism for an automatic guided vehicle used for transporting various articles in factories and warehouses.

Summary of the Invention - The transport vehicle of the present invention supports the load of the transport vehicle with three or more caster-type driven wheels, is rotatable around a vertical axis at the center of the bottom of the transport vehicle, and has independent wheels at both ends. It is equipped with a drive truck equipped with driven drive wheels, and the drive wheels are pressed against the running path by springs, and this structure enables forward and backward movement, spin turns, and lateral movement, and improves running stability. It is an improved version.

1. Conventional technology - The running mechanism of a conventional automatic guided vehicle is a frame supported by three or four wheels, and one
Generally, a vehicle has a structure in which one or two driving wheels and a steering wheel are provided, or a driven wheel is a caster type wheel or a spherical shaft, and steering is performed by differentially driving the two driving wheels.

-Problems to be Solved by the Invention- However, with this kind of traveling mechanism, it is not possible to move laterally or spin turns (change direction in a fixed position), which often causes problems when traveling in narrow passages. .

Therefore, as shown in Figure 6, two of the four wheels 2.2 and 6.17 placed at the apex of the rhombus on the diagonal.
A traveling mechanism has been put into practical use in which spin-turns are possible by using 6.17 as a driving wheel and the other two wheels 2.2 as caster type wheels, and rotating the driving wheels 16.17 in opposite directions at equal speeds. In addition, as shown in Fig. 7, by providing two drive/steering wheels 16.17 and a caster type driven wheel 2.2, and steering both the drive wheels 16.17 at right angles. A traveling mechanism that allows for lateral movement is in practical use. In addition, what is shown in Figure 6 is
Due to the differential drive of the two drive wheels 16, 17, it is possible to turn at any desired radius, and of course it is also possible to go backwards. In addition, the vehicle shown in Figure 7 is capable of not only forward and backward movement but also turns similar to a spin turn, but the line of action of running resistance and the line of action of driving force are largely deviated, resulting in poor straight-line performance and steering performance. It has the drawback of becoming unstable.

In view of these conventional structures, this invention is capable of forward and backward movement, lateral movement to the left and right, and spin turns, and has good straight-line performance and steering performance, but also avoids unstable running due to unevenness of the running road surface. Furthermore, it is an object of the present invention to provide a traveling mechanism in which no excessive load is applied to the driving wheels.

- Means for Solving the Problems - To explain using the reference numerals attached to the drawings, the traveling mechanism of the automatic guided vehicle according to the present invention includes three or more caster type casters that support the frame 1 of the guided vehicle so that it can run freely. A driving truck 15 is attached to the bottom center of the frame 1 so as to be rotatable about a vertical axis, and two driving wheels 16 and 17 attached to the driving truck 15 are mounted downward. It has a drive source 18.19 that rotates two drive wheels 16.17 at independent speeds and directions, and rotates the cart 15 about a vertical axis to a predetermined position. It has releasable fixing means 11 for fixing.

Wheels 2...2 supporting the frame 1 of the transport vehicle are provided separately from the drive wheels 16.17 to support the frame 1, and the drive wheels 16.17 are provided on the frame with downward bias. Therefore, the traveling of the conveyance vehicle does not become unstable due to unevenness of the traveling road surface, furthermore, no excessive load is applied to the driving wheels 16, 17, and the support structure for the driving wheels 16, 17 is simplified. Also,
A driving cart 15 is mounted on the bottom of the frame 1 at approximately the center thereof so as to be rotatable around a vertical axis, and the driving cart 15 can be fixed and released at a predetermined position. 16.17 to each independent drive source 18.
19, the transport vehicle is capable of all movements such as forward and backward movement, lateral movement left and right, and spin turns, and the running resistance of the transport vehicle and the line of action of the driving force can always be aligned, so the transport vehicle Improves straight-line performance and steering performance.

-Embodiment- Figs. 1 and 2 show an embodiment of the present invention, in which Fig. 1 is a central sectional view of a transport vehicle, and Fig. 2 is a perspective view of a drive carriage.

In the figure, 1 is the frame of the transport vehicle, 2...2 is the frame 1
a caster-type driven wheel that supports the four corners of its bottom;
3 is a space provided at the center of the bottom of the frame 1, 4 is a support frame installed in the space, 5 is a housing fixed to the lower surface of the support frame, and 6 is a rotator rotatably attached to the housing 5. A shaft, 7 is a gear fixed to the upper end of the rotating shaft 6 extending upwardly through the support frame 4, 8 is a plate piece fixed to one place on the outer periphery of the upper surface of the gear 7, 9 and IO are These sensors are fixed to the upper surface of the support frame 4 via a bracket, and the sensors 9 and 10 are fixed at positions 90 degrees apart from each other with the rotation axis 6 as the center. 11 is an electromagnetic brake attached to the bracket 12; 13 is a gear fixed to the shaft of the electromagnetic brake 11 and meshes with the gear 7; and 14 is a stopper attached to the bottom of both ends of the frame 1 so as to be movable up and down by a solenoid (not shown). It is.

Overall, 15 is the drive truck, 16.17 is the electric motor 18
．． 19, drive wheels that are each independently driven in forward and reverse rotation; 20;
are bearing frames 21, 2, which support the driving wheels 16 and 17;
1 indicates four guide bins installed on the upper surface of the bearing frame 2o, 2
2 is a collar provided at the tip of the guide bin 21, 23 is a swing frame, and the guide pins 21...21 are slidably passed through the swing frame. 24... 24 is a compression coil spring interposed coaxially with the guide pin 21 between the bearing frame 20 and the swing frame 23, 25 is a bracket fixed to the center of the upper surface of the swing frame 23, and the drive bogie 15 is the bracket 25
It is swingably attached to the lower end of the rotary shaft 6 with a pin 26 provided in the rotary shaft 6. The drive wheels 16.17 are mounted on the same axis at both ends of the drive truck 15, and the axis of the pin 26 is perpendicular to the axis of the drive wheels 16.17.

Next, the forward and backward movement, left and right lateral movement, and spin turns of the Tosuki automatic guided vehicle will be explained with reference to FIGS. 3 to 5.

FIG. 3 shows the driven wheels 2 and the driving wheels 16, 17 of the transport vehicle during forward motion. The drive truck 15 is fixed at right angles to the traveling direction of the transport vehicle by fixing the relative rotation of the rotary shaft 6 around the frame 1 with an electromagnetic brake 11. This fixed position is set as the position where the sensor 9 detects the plate piece 8. In this state, the electric motor 18.19
By rotating the wheels at a constant speed and in the same direction, the single general transportation vehicle can be made to travel straight. Further, it is also possible to move the vehicle backward by rotating the electric motors 18 and 19 at a constant speed in the opposite direction. If the drive wheels 16, 17 are driven differentially, ie if they are driven in the same direction but at different speeds, it is also possible to slowly turn the transport vehicle.

FIG. 4 shows the driven wheels 2 and the driving wheels 16, 17 of the transport vehicle during a spin turn. By fixing the rotation of the rotating shaft 6 with the electromagnetic brake 11, the two electric motors 18 and 19 of the drive trolley 15 fixed to the frame 1 are rotated forward and reverse at a constant speed, thereby causing the carrier vehicle to spin turn. can be done.

Figure 5 shows the driven wheels 2 and drive wheels 16 of the conveyor vehicle during lateral movement.
．． 17 is shown. To move laterally from the straight-ahead state shown in FIG. 3, first, the electromagnetic brake 11 is energized to release the fixation of the rotating shaft 6, and at the same time, a solenoid (not shown) is activated to lower the stoppers 14 at both ends of the frame 1 and temporarily transport the frame 1. Secure the car to the ground. Then electric motor 18.19
are rotated at a constant speed in mutually opposite directions, and the drive cart 15 is rotated until the plate piece 8 on the gear 7 is detected by the sensor 10. Based on the detection signal of the sensor 10, the electromagnetic brake 11
The drive carriage 15 is fixed to the frame 1 by de-energizing it. Finally, actuate the solenoid (not shown) and stopper 1.
4 and rotate the electric motors 18 and 19 at a constant speed and in the same direction, the carrier can be moved laterally.

During each movement of the transport vehicle, such as forward and backward movement, spin turn, and lateral movement, the load of the transport vehicle is supported by four caster-type driven wheels 2...2, and the load of the transport vehicle is supported by the driving wheels 1.
6.17 is pressed against the running road surface with a constant force by the biasing force of the compression coil spring 24, and furthermore, the drive wheel 16.17 is pressed against the running road surface with a constant force by the biasing force of the compression coil spring 24, and the drive wheel 16.17 The balance of the pushing forces of the drive wheels 16 is maintained, and as is clear from Fig. 3.4.5,
．． Since the line of action of the driving force caused by 17 coincides with the line of action of the traveling resistance of the transport vehicle, the straightness and steering performance during each of the above movements are stable, and even when the road surface is uneven, the driving wheel 16.1
7 will not be lifted up or overloaded, ensuring extremely stable running.

Effects of the Invention As described above, according to the present invention, forward and backward movement, left and right lateral movement, and spin turns are all possible, and the straightness and steering performance are also good, and the driving is difficult due to unevenness of the road surface. It is possible to obtain a traveling mechanism for an automatic guided vehicle that does not become unstable.

[Brief explanation of drawings]

Figures 1 and 2 show an embodiment of the present invention. Figure 1 is a central sectional view of the transport vehicle, Figure 2 is a perspective view of the drive carriage, and Figure 3 is a transport during forward movement. An explanatory diagram showing the driven wheels and driving wheels of the vehicle. Figure 4 is an explanatory diagram showing the driven wheels and driving wheels of the conveyance vehicle during a turn. Figure 5 is an explanatory diagram showing the driven wheels and drive wheels of the conveyance vehicle during left and right lateral movement. FIGS. 6 and 7 are explanatory views showing driven wheels and driving wheels of a conventional transport vehicle. In the figure, 1: Frame 2: Driven wheel 5: Housing 6: Rotating shaft 7: Gear 11: Electromagnetic brake 13: Gear 15: Drive cart 16. 17: Drive wheel
18.19: Electric motor 24: Coil spring

Claims (1)

[Claims] It has three or more caster-type driven wheels that freely support the frame of the transport vehicle, and a drive trolley is attached to the bottom center of the frame so as to be rotatable around a vertical axis. two drive wheels are provided biased downwardly, and have a drive source that rotates the two drive wheels at independent speeds and directions, and has a drive source that rotates the two drive wheels at independent speeds and directions; A traveling mechanism for an automatic guided vehicle, comprising a releasable fixing means for fixing in a predetermined position.