JPS62210174A - Self-propelled vehicle - Google Patents

Abstract

PURPOSE:To allow a self-propelled vehicle to be turned with the minimum radius and laterally traveled by constituting the three-wheeled self-propelled vehicle so that one front wheel can be normally steered and locked in the right angle direction and a pair of rear wheels can be relatively rotated. CONSTITUTION:A self-propelled vehicle 1 is traveled along a track 12 which detecting a track 12 with a track sensor 13. When the self-propelled vehicle 1 is to be reversed in direction on the track 12, a front wheel 2 is rotated by a steering motor 10 in the right angle direction against the longitudinal center line L of the self-propelled vehicle 1. Both rear wheels 3, 4 are rotated outward by motors 10a, 10b in opposite directions to each other by the same angle theta. Then, drive motors 7a, 7b are simultaneously driven, and the front wheel 2 and both rear wheels 3, 4 are rotated around the point O with rotating radii R, (r) respectively. On the other hand, if the front wheel 2 and both rear wheels 3, 4 are set laterally in parallel, the self-propelled vehicle 1 can be shifted to the other track.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a self-propelled vehicle which has three wheels consisting of a front wheel and a pair of rear wheels, and whose main body itself is configured to rotate or travel sideways by driving the wheels. It is.

BACKGROUND OF THE INVENTION Some self-propelled vehicles of this type run, for example, along a track constructed of white lines on the floor, aluminum foil, etc., while detecting the track with an optical track sensor. In such conventional self-propelled vehicles, in the case of a three-wheeled vehicle consisting of a front wheel and a pair of rear wheels, the front wheels are connected to a drive device so that they can be driven, and the steering device is configured to allow automatic steering. It does not have a driving device and can be rotated as a free wheel, and cannot be steered.

Further, as another example, there is a four-wheeled self-propelled vehicle as shown in Figure 7B. In this case, one main body 20 has a front wheel 21 and a rear wheel 22 without a driving source at the front and rear thereof, and
It has wheels 23 and 24 having drive motors 25 and 26, respectively, on its left and right sides. In this example, all wheels 21 to 24 are directed forward as shown in Figure A, and the drive motor 2 is
5゜26, which performs normal driving by sounding.
If the rotational speeds of the left and right wheels 23 and 24 are made the same, the vehicle will travel straight, and by changing the speed ratio, it will be possible to steer the vehicle to the left or right. At this time, at least the front wheel 21 out of the front wheels 21 and the rear wheels 22 is free in its direction so as to follow the steering based on the rotational speed ratio of the left and right wheels 23.24. Then, as shown in the diagram, the front wheel 21 and the rear wheel 2
2 in a direction perpendicular to the front-rear direction of the main body 20,
In this state, if the left and right wheels 23 and 24 are driven once in opposite directions at the same rotational speed, the main body 20 can rotate in the direction of the arrow around point P. In addition, in the figure, 27 is a trajectory.

Problems to be Solved by the Invention However, in the above-mentioned conventional configuration, 1. First of all, in the case of a three-wheeled vehicle, the vehicle can only travel forward by detecting the trajectory using a trajectory sensor installed in the front wheel, and therefore cannot automatically move forward. While running, it was impossible to change direction or run off track. For this reason, the track must have at least a curve with a radius of curvature that allows steering of the front wheels, and to change one direction, it must be removed from the track and done manually, or a loop-shaped track with the minimum radius of curvature should be provided. It required a large amount of space to do so. Furthermore, when there are parallel trajectories, there is a problem in that in order to move from one to the other, it is necessary to make the trajectories continuous between the two.

On the other hand, for four-wheeled vehicles, even during normal running, it is necessary to synchronize the left and right drive motors or adjust the rotation ratio of both for steering, and it is possible to change direction on the track. However, it could only rotate around the midpoint of the four wheels (point P), and was unable to run sideways off the track.

In view of the above-mentioned problems, the present invention provides a three-wheeled self-propelled vehicle that can change direction with a minimum turning radius at the end of the track or at any arbitrary position without having a loop-shaped track, and can deviate from the track and travel sideways. It provides cars.

Means for Solving the Problems In order to solve the above problems, the self-propelled vehicle of the present invention has three wheels consisting of a front wheel and a pair of rear wheels, and at least the front wheels are rotated relative to the main body so as to respond to steering. The rear wheels are configured so that they can be changed dynamically and locked in one perpendicular direction, while the pair of rear wheels can be changed symmetrically from parallel to perpendicular to the center line of the main body, so that the axis of both rear wheels can be adjusted. intersect on the center line of the main body, the front wheels are locked at right angles, and the rear wheels are set at an appropriate angle.The distance between the front wheels and the rear wheels and the above intersection point is the turning radius. The main body is configured to be rotatable by driving wheels.

Effects With the above-described configuration, the present invention is capable of performing everything from changing the direction of the main body to traversing by driving the front wheels and rear wheels relative to each other with a rotation radius that corresponds to the rotation angle of the rear wheels with respect to the main body. .

EXAMPLE Hereinafter, a self-propelled vehicle according to an example of the present invention will be described with reference to the drawings.

In the drawings, reference numeral 1 denotes a self-propelled vehicle body having three wheels consisting of a front wheel 2 and a pair of rear wheels 3 and 4, and includes a chassis 5 and a cover 6 covering the outside thereof. The front wheel 2 is
The front wheels 2 are steered by driving a timing pulley 9, which is driven by a drive motor 7 and is integral with the wheel bracket 8, by a steering motor 10 via a timing belt 11. The wheel bracket 8 also has an optical track sensor 13 that detects a track 12 formed by a white line on the floor, aluminum foil, etc., and the detection of the track 12 by the track sensor 13 drives the steering motor 1o. The vehicle is designed to steer the front wheels 2.

The rear wheels 3.4 each have drive motors a and 7b, and like the front wheels 2, the wheel brackets s
Timing pulleys 9a and 9b provided integrally with a and sb are driven by steering motors 101L and 10b via timing belts 11a and 11b. Here, the drive motors 7a and 7b of the rear wheels 3.4 are not driven during normal driving as shown in FIG. Therefore, at this time, the rear wheels 3.4 are free to rotate. Also, during normal driving, the steering motor 10 &
, 10b are not driven in any way and the direction of the rear wheels 3.4 remains locked forward.

With the above configuration, the vehicle is in a normal running state as shown in FIGS. 1 and 2, and the vehicle travels forward along the track 12 while the track 12 is detected by the track sensor 13. If the track 12 is curved, the front wheels 2 are steered along the curve, and the rear wheels 3 and 4 are driven by the drive motor 71.
Since it is separated from L and 7b and is free, it follows the front wheel 2 and curves.

Next, a case where the self-propelled vehicle changes direction at an arbitrary position on the track 12 will be explained based on FIG. 3. FIG. 3 shows a state in which the vehicle has stopped at an arbitrary position on the track 12 and is ready to change one direction (solid line), and a state in which the vehicle has changed direction (imaginary line). That is, the first
In preparation for changing the direction from the state shown in the figure, first, the front wheels 2 are rotated and set to face in a direction perpendicular to the center line B in the longitudinal direction of the self-propelled vehicle body 10 by driving the steering motor 1o.

At the same time, the motor 10a controls the rear wheel 3.4.

By driving IQb, they are rotated in opposite directions so that they form an inverted V-shape with respect to the front, and are rotated by the same angle θ. Here, if the point where the lines La and Lb passing through the center of the rear wheels 3 and 4 and extending in the right angle direction intersects with the center line of the main body 1 is set to 0, then from this 0 point to the center of the rear wheels 3 and 4 The distances between the front wheels 2 and 0 are equal, and this distance is defined as r, and the distance between the center of the front wheel 2 and the zero point is defined as R. Also, the number of revolutions of the front wheel is N
, when the number of rotations of the rear wheels 3 and 4 is n, the rotation ratio of the two is in relation to the distances R and r.

N=-n (1
), the drive motors 7 and 7
When B- or 7b are driven at the same time, the front wheels 2 and rear wheels 3 and 4 can rotate around the 0 point with rotation radii R and r, respectively. Here, the rotation ratio of both is set at 7.7fL for one drive motor.

Even if the rotation speed is set at 7b, this drive motor 7°7a,
It may be set by a transmission unit such as a gear provided between 7b and the wheels 2, 3.4. Now, when rotating in the direction of arrow A shown in FIG. 3, the rear wheels 4 are driven by the motor γb, and the rear wheels 3 are left free. Then, the main body 1 is stopped slightly before it rotates approximately 180 degrees by rotating in the A direction, that is, at a position slightly rotated from the position where the orbit sensor 3 detects the orbit 12 again. The stopped state is shown by the imaginary line in FIG. Note that the distance from the center of the front wheel 2 to the track sensor 13 until the track sensor 3 detects the track 12 and stops is
Since the dimension H up to is determined, from this dimension H to the front wheel 2
The rotation angle is calculated and determined.

In the state shown in Fig. 3, if the right angle direction of the front wheel 2 is reversed, the main body 1 can be rotated in the direction of the arrow.
The rear wheel 4 side is driven by the motor 7a, and the rear wheel 4 side is left free.

Next, an example of use is shown in FIG. 4, which is the steering motor 1Q& for the rear wheels 3 and 4 explained in FIG.

This is an example in which θ is set to 90° by driving 10b.

In this case, the radii R and r have become infinite, and therefore, the rotational movement of the main body 1 as described above is virtually impossible. However, the front wheels 2 and rear wheels 3.4 are parallel, and if the front wheels 2 and rear wheels 3 are driven at the same rotation ratio in this state, the self-propelled vehicle 1 will run sideways in the direction of arrow C. becomes. Therefore, for example, it is possible to move from the track 12& to the track 12b, and in this case, the stop is determined by the detection of the track 12b by the track sensor 13.
This is done in the same way as for the change of direction described above.

FIG. 5 shows yet another usage example, in which the distance R is larger than r and the 0 point is set to 3.4 points on the rear wheel compared to the example in FIG. 3.
This is an example of moving it to the side. In this case as well, if the rotation ratio of the front wheels 2 and the rear wheels 3 and 4 is set so as to satisfy the above formula (1), rotation can be achieved around the zero point.

Note that the rear wheels 3 and 4 are adjusted so that the distances R and r are equal.
By setting the rotation angle θ, it is possible to set the rotation ratios of the front wheels 2 and rear wheels 3.4 to be the same.

Also, looking at the setting of the 0 point, if the centers of the front wheels 2 and rear wheels 3 and 4 are different from the center of the self-propelled vehicle body 1, the 0 point should be set to be the center of the self-propelled vehicle body 1. If, main body 1
The minimum radius of rotation when rotating.

Also, if the rotation angle θ of the rear wheels 3 and 4 is set so that the 0 point is brought forward from the front wheel 2, then the rotation ratio condition of equation (1) is satisfied and the front wheel 2 is facing the same direction. If the rear wheels 3 or 4 in the same direction as the vehicle are selected and driven, the self-propelled vehicle body 1 will rotate significantly.

Although this case is not practical as a direction change, the most extreme example of this drive is when the distances R and r are infinite and θ is 90'.
This is the example shown in FIG. 4 above.

Next, Fig. 6 shows another embodiment.1 In this example, the rear wheel 3
, 4, the steering motors 10a and 10b are omitted.

In other words, in this example, the timing pulley 9 of the front wheel 2 is
A sprocket) 15 is integrally installed via an electromagnetic clutch 14, and timing pulleys 92L and 9b for rear wheels 3.
Also, sprockets 15& and 15b are integrally provided via electromagnetic clutches 142L and 14b, respectively. 1 Connect these sprockets 15, 16a and 15b with a chain 16, and at this time sprockets 16& and 1
A sprocket 17 is provided so that 5b rotates in the opposite direction. With such a configuration, each electromagnetic clutch 14.14Δ, 1
4b is connected, the steering force from the motor 1o for the front wheels 2 is transferred from the timing pulley 9 to the electromagnetic clutch 14. From sprocket 15 through chain 16, and then to sprocket 15a.

16b and electromagnetic clutches 14a, 14b, it is transmitted to timing pulleys 91L, 9b. At this time, the pulleys 9a and 9b are rotated in opposite directions by the sprocket 17, so the rear wheels 3 and 4 are rotated in the direction of opening in an inverted C-shape with respect to the front of the main body 1, as in the previous example. It turns out. Here, in accordance with the rotation of the front wheel 2 in the direction perpendicular to the main body 1, that is, the rotation of the timing pulley 9 by 90', the timing pulleys 9a and 9b on the rear wheel 3°4 side are also rotated by 90'.
In order to rotate the sprockets 16 and 16b, the rotation ratios of the sprockets 16 and 16b relative to the sprocket 15 may be made the same. Further, by changing the rotation ratio, the rotation angle of the rear wheels 3 and 4 can be made smaller, and therefore the aforementioned rotation angle θ can be set appropriately.

Furthermore, combine two each of electromagnetic clutches 14, 142L, 14m) and sprockets 15, 15 & 16b,
By changing the rotation ratio, it is possible to select two types of rotation angles θ of the rear wheels 3 and 4 by selecting the electromagnetic clutch.

In short, this focuses on the fact that the front @2 direction is set perpendicular to the main body when changing direction or when driving sideways, and the small steering power is used to rotate the rear wheels. This is what we are trying to do.

With this configuration, electromagnetic clutch 1 is used during normal driving.
4,142L and 14b are released so that the rotational force generated by steering the front wheels 2 while driving is not transmitted to the rear wheels 3.4. When changing direction or driving sideways,
Activate the electromagnetic clutches 14°14&, 14b to rotate the front wheel 3.
In accordance with the rotation in the right angle direction, the rear wheels 3.4 are also rotated by a predetermined angle θ. When changing direction or traveling sideways, the angle θ between the front wheel 2 and the rear wheels 3 and 4 is
While holding the 1 front wheel 2 drive motor 7 and the rear wheels 3 and 4.
A selected one of the drive motors 7a and 7b (which differs depending on the rotational direction or the traverse direction) is driven to change direction or traverse the vehicle.

Effects of the Invention As described above, the self-propelled vehicle of the present invention has three wheels consisting of a front wheel and a pair of rear wheels, and at least the front wheels are configured to be steerable and lockable in a right angle direction.

The pair of rear wheels can be set symmetrically from parallel to perpendicular to the center line of the main body, and when one front wheel is locked in the right angle direction and the rear wheel is set at an appropriate angle, the front and rear wheels can be adjusted. 1, the main body of the self-propelled vehicle can be rotated, and the direction can be changed at any position on the track with a minimum rotation diameter. Moreover,
By setting the angle of the rear wheels perpendicular to the front of the main body and driving them together with the front wheels set in the perpendicular direction, it is also possible to cross the vehicle, and its usage can be expanded. Furthermore, since it is a three-wheeled vehicle and is driven by the front wheels, steering control during normal driving can be performed much more easily than in conventional four-wheeled vehicles.

As described above, the present invention has various effects and is an extremely effective invention.

[Brief explanation of drawings]

Fig. 1 is a schematic plan view showing one embodiment of the present invention, Fig. 2 is a perspective view of the same external appearance, Fig. 3 is an explanatory drawing when the same direction is changed, Fig. 4 is an explanatory drawing when the same is traveling sideways, 6 Figure 1 - Self-propelled vehicle body, 2... Front wheels, 3, 4... Rear wheels, 7, 7
& , 7b, , , 1 drive motor, 10.1Q&
. 10b... Steering motor, 12... Orbit, 13... Orbit sensor, 0... Center of rotation of main body, R, r... Rotation radius, L. ...The center line of the main body. Name of agent: Patent attorney Toshio Nakao and one other person
・-Jimarushafu, (Book 2-1i fk j, 4-4 檎f2- 机Fire t3-・-, Ji, A, Figure 4, Figure 5, Figure 6, Figure 7, Figure 2, J 75

Claims (3)

[Claims] (1) It has three wheels consisting of a front wheel and a pair of rear wheels, and at least the front wheel is configured to be rotatable relative to the main body to correspond to steering, and is configured to be lockable in a right angle direction;
On the other hand, the pair of rear wheels can be set symmetrically from parallel to perpendicular to the center line of the main body, so that the axes of both rear wheels intersect on the center line of the main body, and the front wheels are rotated at right angles. A self-propelled vehicle characterized in that when the rear wheels are locked and set at an appropriate angle, the rotation radius is the distance between the front wheels and the rear wheels and the above-mentioned intersection point, and the main body can be rotated by driving the front wheels and the rear wheels. car. (2) When the radius of rotation of the front wheel is R and the radius of rotation of the rear wheel is r, the rotation speed of the front wheel is adjusted so that the rotation speed N of the front wheel is N=(R/r)n for the rotation speed n of the rear wheel. 2. The self-propelled vehicle according to claim 1, wherein the rotation ratio of the rear wheels driven by a motor is determined. (3) Claim 1, characterized in that when the rear wheels are set at right angles and the turning radius is made infinite, the rear wheels and front wheels are driven in the same direction to enable traversing. Or a self-propelled vehicle as described in paragraph 2.