JPS62225422A - Carrier vehicle - Google Patents

Abstract

PURPOSE:To enable omni-directional movement to greatly simplify the arrangement of a carrier vehicle, by providing a plurality of casters along the peripheral edge of a frame, and a boggy in the center section of the frame, and a pair of drive wheels which may normally and reversely rotate, independent from each other, and by providing a clutch brake for the boggy and an elevatable stopper. CONSTITUTION:A plurality of casters 3 are arranged along the outer peripheral edge of a frame 2 while a boggy 7 is disposed in the center section of the frame 2 and a pair of drive wheels 10 which may be normally and reversely rotated, independently from each other, are arranged on both side surfaces of the boggy 7. Further, there are provided a clutch brake 20 for making the boggy 7 rotatable and unrotatable relation to the frame 2, and an elevatable stopper 24 serving to check the turn of the frame 2 when it is grounded. Therefore, rectilinear running in any direction, a turn having any radius and a turn at the present position may be made only by controlling the turn-on and -off of the clutch brake 20 and the elevatable stopper 24 for rotational control of the pair of drive wheels 10. Thereby, it is possible to greatly simplify the mechanism and control of the carrier vehicle in comparison with the conventional one.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a self-propelled transport vehicle that is movable in all directions.

<Conventional technology> Conventionally, as an example of a self-propelled transport vehicle that can move in all directions,
The one described in Japanese Patent Publication No. 49-41769 and the one described in Japanese Utility Model Publication No. 53-44180 are known. In the former case, the turning radius of the vehicle body can be continuously changed from infinity, that is, a straight-ahead state, to zero, that is, spinning around the center of the vehicle body, but in this case,
The structure is such that all wheels are controlled by steering, and the mechanism is extremely complex. In the latter case, if an embodiment in which all wheels are used as driving wheels is adopted, it is possible to move from lateral direction to turn on the spot, but it still requires steering of all vehicles, which also makes the configuration complicated. There is.

<Problems to be Solved by the Invention> In view of the above-mentioned circumstances, the present invention provides a transport vehicle capable of omnidirectional movement using a relatively simple mechanism.

<Means for Solving the Problems> In the present invention, a plurality of casters are arranged around the periphery of the frame, and a bogie is arranged at the center of the frame. A pair of driving wheels which are rotated in forward and reverse directions independently of each other are arranged on both sides of the bogie.

In addition, a clutch brake that disables or allows the bogie to rotate relative to the frame, and a lifting stopper that comes into contact with the ground to stop the frame from rotating are installed.

<Function> The stopper is grounded to stop the frame from rotating, the clutch brake is released and the bogie frame is allowed to rotate, causing one of the driving wheels to rotate toward the front and the other toward the opposite side. , the bogie rotates relative to the stationary frame. Furthermore, if the rotation of the bogie is stopped at an appropriate point, the angle of the bogie is fixed with a clutch brake, and the stopper is raised to rotate the driving wheels in the same direction, the frame will move in the direction in which the driving wheels rotate. That is, the frame can be moved in any direction such as vertically, horizontally, diagonally, etc. If both driving wheels are rotated in opposite directions without touching the stopper or releasing the clutch brake, the bogie will turn around the entire frame.

<Example> The present invention will be explained below based on the drawings of the example.

The transport vehicle 1 has a frame 2 having a rectangular planar shape formed by combining square pipes. A caster 3 is placed in the four corners of this frame 2, and a horizontal a'l, 4 is provided in the middle of the frame 2 with a space between the front and back, and a mounting plate 5 is fixed to this.

Reference numeral 6 denotes a bearing fixed to the lower surface of the I plate 5, and the bearing 6 is located at the center of the frame 2. Also, this bearing 6 supports the mounting shaft 8 of the bogie 7. The bogie 7 has two driving wheels 9 and 10 on opposite sides, and these driving wheels 9 and 10 are attached to the electric motor 1 supported on the lower surface of the bogie 7.
A set of gears 13 and 14 and a gear 15.
A17 is a rotary encoder supported on the lower surface of the mounting plate 5, and is connected to a pulley 18 fixed to the mounting shaft 8 via a belt 19.

20 is an electromagnetic clutch brake supported on the lower surface of the plate 5, and a float 22 is connected to a gear 21 fixed to the mounting shaft 8.
are connected via. Furthermore, a breakout 23 is provided at the front and rear of the frame 2, and a stopper 24 is protruded from the bottom surface of the breakout 23. The stopper 24 is raised and lowered by an electric motor and a feed screw (not shown) housed in the housing 23.

To explain the action of the transport vehicle 1, the transport vehicle 1 moves as follows. First, in the state shown in FIG.
is off the ground, the driving wheels 9 and 10 face directly in the left and right direction of the frame 2, and the bogie 7 is braked (in the diagram, the triangle mark touching the gear 22 indicates that the brake is applied). symbol).

Here, if the driving wheels 9 and 10 are rotated in the forward direction, the transport vehicle 1 moves forward.

Further, in this state, the direction can also be changed by changing the rotational speed of the driving wheels 9 and 10, respectively.

Next, when it is desired to move the carrier 1 horizontally in parallel, the stopper 24 is first grounded and the frame 2 is moved as shown in FIG.
, the clutch brake 20 is released, and the driving wheels 9 are rotated in the forward direction and the driving wheels 10 are rotated in the backward direction. The bogie 7 then rotates relative to the frame 2. The rotation angle in this case is checked by the rotary encoder 17.

As shown in Fig. 7, if the bogie 7 is stopped at rotation 90', the old clutch brake 20 is applied, the stopper 2/I is pulled up (floated), and the driving wheels 9 and 10 are rotated in the same direction in this state. , the transport vehicle 1 moves in a horizontal position. At this point, it goes without saying that depending on the angle of the bogie 7, it can also move diagonally.

Further, as shown in FIG. 8, if the driving wheels 9 and 10 are rotated in opposite directions without releasing the clutch brake 20, the transport vehicle 1 will be rotated around J 1lIIh 8, that is, the turning radius. It will rotate in the room.

<Effects of the Invention> As described above, the transport vehicle of the present invention has a rotation speed of a pair of driving wheels.
By simply adding on/off control of the clutch brake and stopper to the control, it is possible to move straight in any direction, rotate at any radius, and turn on the spot, and the mechanism and control are significantly improved compared to conventional omnidirectional movement devices. This has the effect of simplifying the process.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention; FIG. 1 is a side view, FIG. 2 is a sectional view, FIG. 3 is a front view, FIG. 4 is a partially cutaway plan view, and FIGS. Figure 6. 7 and 8 are operation explanatory diagrams. 1... Transport vehicle, 2... Frame, 3... Caster, 7... Bogie, 9, 10... Driving wheel, 20... Clutch brake, 24...stopper. 18'1 Applicant: Director of the Agency of Industrial Science and Technology, etc., 7 whistles 1 Figure 2 ffcB Figure @ 4 Figure 5! ″/l Figure 6

Claims (1)

[Claims] 1. A frame, a plurality of casters arranged around the periphery of the frame, a bogie pivotally supported at the center of the frame, and casters arranged on both sides of the bogie, independently of each other. A transport vehicle equipped with a pair of driving wheels that can be rotated in forward and reverse directions, a clutch brake that disables or enables rotation of the bogie with respect to the frame, and an elevating stopper that comes into contact with the ground and serves as a stopper for the frame to rotate.