JPS62137281A - Unmanned carriage vehicle - Google Patents

Abstract

PURPOSE:To improve driving control of a running speed and a curved route, by a method wherein only a running speed is controlled by an electric motor for running, and a direction is controlled by an electric motor for control which produces a difference in a speed between two driving car wheels. CONSTITUTION:An electric motor 27 for running, shifting a speed to plural set values to provide the reference number of revolutions, is mounted to a truck 1. A rotary shaft 22 of a pair of driving car wheels 23a and 23b is mounted to the electric motor 27 for running through a differential gear device 24 so as to allow interlocking thereof, and an electric motor 29 for control, controlling the number of revolutions of each of the driving car wheels 23a and 23b. A driven wheel 21, formed integrally with the rotary shaft 22, is mounted to a driving wheel 28 of an electric motor 29 for control so as to allow interlocking, and this constitution causes production of a difference in a speed between the two driving car wheels 23a and 23b.

Description

[Detailed Description of the Invention] [Technical Field of the Invention] The present invention relates to an automatic guided vehicle that travels along a set route laid out in a factory, for example, and particularly to a drive control device for this unmanned general transport vehicle. Regarding.

[Technical front of the invention and its problems]

Automated guided vehicles that have already been proposed are configured as shown in FIG. 2 in order to automatically travel along a set route laid out in a factory.

That is, in FIG. 2, each kissester 2a, 2b is provided at the front and rear part of the bottom of the bogie 1 which is integrated with the car body, and the bogie 1 is
Each pair of bearings 3a is located at the center of the bottom surface.

3b, 4a, 4b are provided, each pair of bearings is coaxially integrated with each driven gear 5a, 5b, and each rotating shaft 6a, 6b is rotatably mounted, and each driving gear is attached to each rotating shaft 5a, 5b. Drive gears 8a and 8b are provided, on which the wheels 7a and 7b are mounted, and which mesh with the driven gears 5a and 5b.
, Each drive power is on 8b! ! The output shafts of 1JI9a, 9b are mounted, and each brake device 10a is attached to each electric drive tj19a, 9b.

10b, each deceleration 1111a, 11b, and each rotation speed detector (e.g. >12 by a tacho generator, encoder, etc.)
a and 12b.

Therefore, when the above-mentioned automatic guided vehicle travels in a straight line along the set route, the above-mentioned open drive electric motor 9a.

9b, the drive wheels 7a, 7b are driven at a preset speed V by each drive gear 3a.

8b and each driven gear 5a, 5b, the rotational speed difference Δn is created between the two drive wheels 7a, 7b by a curved route traveling command from a control device (not shown) or a deviation signal from a guidance sensor. Then, one of the driving wheels 7a rotates at r) (rotational speed) -8n/2, and the other driving wheel 7b rotates at n-Δn/2, thereby moving the truck 1 along a curved path. The vehicle is designed to run according to the travel command.

However, in addition to the reference rotation speed n, the above-mentioned automatic guided vehicle performs rotation speed control on the rotation speed difference Δn between the two drive wheels 7a and 7b, which is necessary for curved route traveling control, for each of the drive electric motors 9a and 9b. In addition, since the rotational speed difference Δn must be accurately controlled, the configuration of the control device becomes complicated, and assembly adjustment and maintenance inspection become troublesome.

[Object of the Invention] In order to solve the above-mentioned difficulties, the present invention aims to change only the running speed of the drive wheels provided on the bogie that is integrated with the car body with a running electric motor via a differential gear device. '6
11. On the other hand, the present invention provides an automatic guided vehicle whose purpose is to perform directional control using a control electric motor that provides a speed difference between the two driving wheels to improve drive control such as traveling speed and curved route.

[Summary of the invention]

In order to achieve the above-mentioned object, the present invention provides a traveling electric motor that provides a reference rotation speed to the bogie, and interlocks the rotating shafts of a pair of drive wheels with this traveling electric motor via a differential gear device. and on the other hand, a control electric motor for controlling the rotational speed of both of the drive wheels is provided on the bogie, and a driven wheel that is integral with the rotating shaft is provided on the main drive wheel of the control electric motor so as to interlock with the drive wheel, and the above-mentioned The vehicle is constructed so that it can freely travel along a curved route that provides a speed difference between both drive wheels.

[Embodiments of the invention]

Hereinafter, the present invention will be described with reference to an illustrated embodiment.

Note that the present invention will be described with the same reference numerals attached to the same constituent members as those of the above-mentioned specific examples that have already been proposed.

In FIG. 1, reference numeral 1 denotes a truck that is integrated with the vehicle body, and casters 2a and 2b are provided at the front and rear of the bottom surface 1a of the truck 1, and at the center of the bottom surface of the truck 1. , a pair of rice and wheat 20 are provided. Further, both bearings 20 are equipped with a driven tooth width 21 for rotation @II 22
is rotatably mounted on a shaft, and each drive wheel 23a is mounted on this rotating shaft 22.

23b is pivoted. Further, a differential gear unit @24 is installed in the middle of the rotating shaft 22, and this external gear unit 24 is a transmission gear loosely fitted to the rotating shaft 22.
They are linked together by a gear 25.

Furthermore, a driving gear 26 is meshed with this transmission gear 25, and this driving gear 26 is ITdl-equipped to the output shaft of a traveling electric motor 27 that provides a reference rotation speed. Bottom surface 1 of bogie 1 that is integrated with the vehicle body
It is provided in a. Note that the traveling electric motor 27 includes a brake device 27a, a speed reducer 27b, and a rotation speed detector 2.
7G is built-in.

On the other hand, a main drive gear 28 is meshed with the driven gear 21, and the main drive gear 28 is connected to both the drive wheels 23a,
It is mounted on the output shaft of a control electric motor 29 that controls the rotation speed of the control motor 23b, and the
29 is provided on the bottom surface 1a of the trolley 1. The control electric motor 29 has a built-in rotation speed detector 29a and a speed reducer 1!29b.

On the other hand, the electric motor 27 for traveling adjusts the set speeds such as low speed, medium speed, and high speed by a reduction gear 27G.Moreover, the electric motor 27 for traveling can be used at station parts attached to the set route, curved road parts, etc. The trolley 1 rotates at a set speed depending on the section, such as a straight road or a straight road.

Therefore, when the trolley 1 is now traveling along a set route at a certain set speed V, the driving wheels 23a, 23b necessary for this are
Let n be the number of rotations.

Next, in order for the bogie 1 to correct the set route (traveling route) or travel on a curved road while maintaining the set speed (■) based on the deviation signals obtained by various guidance sensors, both of the above-mentioned steps must be performed. The rotation speed difference Δn according to the deviation signal while always maintaining the average rotation speed of the driving wheels 23a, 23b at n.
is applied to both the drive wheels 23a, 23b, and thereby the truck 1 is made to travel along the set route.

That is, when the trolley 1 travels in a straight line, the traveling electric motor 27 is driven, and this traveling electric motor 27 is driven. I! When the rotational speed of the transmission gear 25 that meshes with the drive gear 26 of the II machine 27 is maintained at n, the rotation of the transmission gear 25 is equal to that of the differential gear 24.
is transmitted to both drive wheels 23a and 23b via
The average value of the rotation speeds of both drive wheels 23a and 23b is always n, which satisfies the above-mentioned condition. In other words,
The rotation speed of the transmission gear 25 is the same as that of both the drive wheels 23a.

If the average value of the rotational speed of the driving wheels 23b is constant, it will not be affected by the rotational speed difference Δn between the two drive wheels 23a and 23b, so the electric motor for traveling 8127 will always rotate at a rotational speed corresponding to its set speed. It is only necessary to maintain the rotation speed, and there is no need to control the rotation speed with respect to the deviation signal of the truck 1 obtained by the guidance sensor. In this way, the truck 1 can travel in a straight line on a straight path.

Next, when the trolley 1 travels on a curved road, when the traveling electric motor 27 is driven and the transmission gear 25 is rotating at the rotation speed n, the other two control electric motors are rotated, and the transmission gear 25 is rotated. When the number of rotations of
2, the rotation speed of the drive wheel 23a becomes n+Δn, and as for the other drive wheel 23b, due to the operation of the differential gear device 24, the rotation speed of this drive wheel 23b becomes n−Δn. /2.

That is, in order to give a rotational speed difference Δn between both driving wheels 23a and 23b of the truck 1 running at a certain set speed ■, the rotational speed of the driven gear 21 must be n+Δn/2 or n−
The rotational speed of the control electric motor Ia 29 may be controlled so that Δn/2.

In addition, in Fig. 1, the trolley 1 traveling in the direction of the arrow
In order to give a rotation speed difference in the right turning direction to the driving wheels 23a and 23b, the rotation speed of the driven gear 21 is set to n+Δn.
/2, and on the other hand, the drive wheels 23a and 23
In order to give a rotation speed difference in the left turning direction to b, the rotation speed of the driven gear 21 may be set to n-Δn/2.

Furthermore, when the cart 1 is to be spin-turned, the traveling electric motor 27 is stopped and the two control electric motors are driven.

〔Effect of the invention〕

As described above, according to the present invention, the trolley 1 is provided with the traveling electric motor 27 that switches to a plurality of set speeds and provides a reference rotation speed, and the traveling electric motor 27 is connected to a pair of driving motors via the differential gear device 24. Wheel 23a.

The rotating shaft 22 of 23b is provided so as to be interlocked, and on the other hand,
Both driving wheels 23a are provided on the truck 1.

A control electric motor 29 is provided to control the rotational speed of the control motor 23b, and a driven wheel 21 which is integral with the rotating shaft 22 is provided to the main drive wheel 28 of the control electric motor 29 so as to interlock with the drive wheel 28, and both of the drive wheels 23a, 23b are connected to each other. Since it is designed to give a speed difference to the control motor 1129, the desired purpose can be achieved by controlling only the control electric motor 1129, and since the configuration is simple, maintenance and inspection are easy. The driving electric lN27 that maintains the set speed is both driving wheels 23a.

Since it is not affected by the rotation speed difference control of 23b, stable running can be achieved.

[Brief explanation of drawings]

FIG. 1 is a bottom view of an automatic guided vehicle according to the present invention, and FIG. 2 is a bottom view of an already proposed automatic guided vehicle. 1... Trolley, 20... Bearing, 22... Rotating shaft, 2
3a. 23b... Drive wheel, 24... Differential gear device, 27
... Traveling electric motor, 29... Control electric motor.

Claims (1)

[Claims] A running electric motor is provided to give a reference rotation speed to the bogie, and the running electric motor is provided so as to interlock the rotating shafts of the pair of drive wheels via a differential gear device. A control electric motor is provided to control the number of rotations, and a driven wheel integral with the rotating shaft is provided in conjunction with the driving wheel of the control electric motor to provide a speed difference between the two drive wheels. Features of automated guided vehicles.