JPS63258260A - Unmanned cart - 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 [Industrial Application Field] The present invention relates to an automatic guided vehicle that travels along a preset travel route, and more particularly, to a travel guide groove formed along the travel route. The present invention relates to an automatic guided vehicle that travels by being guided by a guide member provided on an automatic guided vehicle body that fits into the automatic guided vehicle.

[Prior Art] Conventionally, such an automatic guided vehicle has a driven wheel and a driving wheel that rotate on a running surface laid along a running route,
Each guide protrusion is provided at both ends in the running direction to protrude downward from the center of the lower surface of the main body of the automatic guided vehicle, and to fit into a running guide groove formed at the center in the width direction of the running surface. There is.

[Problems to be Solved by the Invention] Incidentally, in the above-mentioned automatic guided vehicle, the driven wheels are attached so as to be rotatable around the vertical axis, but the driving wheels are not so rotatable. When an automated guided vehicle passes through an arcuate travel path, the driven wheels rotate around the vertical axis and face the direction of travel, while the driving wheels can rotate around the vertical axis. As a result, not only is an excessive thrust load applied to the support shaft of the drive wheel, but also the guide protrusion near the drive wheel is pressed strongly against one side of the guide groove. As a result, excessive shearing force is applied to each member, and each member is easily damaged at an early stage.For this reason, the travel path cannot be bent with a small radius of curvature.

[Means for Solving the Problems] As a means for solving the above-mentioned problems, the present invention provides a driving wheel and a driven wheel that roll on a running surface laid along a running route, and a drive wheel that rotates on a running surface laid along a running route. The automatic guided vehicle includes a plurality of guide members that fit into a travel guide groove formed in a central portion in the width direction, and travels along the travel route by guidance between the guide members and the travel guide groove. A drive shaft is attached to the center of the automatic guided vehicle in the width direction so as to be freely rotatable about the vertical axis using a support member attached to the drive shaft so as to be freely rotatable about the vertical axis above the center line of the travel guide groove, and Each guide member that fits into the running guide groove at a front portion and a rear portion close to the drive wheel is attached to the support member on a straight line parallel to the rotation plane of the drive wheel.

[Function] The automatic guided vehicle of the present invention has the above configuration, and when the drive shaft approaches a curved part of the running surface, both guide members attached to the support member supporting the drive shaft at the front end of the drive wheel corresponds to a straight line parallel to the tangential direction of the travel guide groove at the portion where the drive shaft is inserted, and thus acts to direct the drive wheel in a direction parallel to the tangential direction.

[Example] Hereinafter, an example of the present invention will be described based on the accompanying drawings.

FIG. 1 shows a longitudinal section of an automatic guided vehicle 1 according to the present invention, and FIG. 2 shows a cross section taken along the line A-A in FIG. 1. The automatic guided vehicle 1 is installed along a production line (not shown). It runs on a running rail 2, and the object to be transported is supported and transported on a support base 3.3 provided on the upper surface of the main body frame 1a.

The top surface of the traveling rail 2 is the “travel surface 4 of the automatic guided vehicle 1”.
At the same time, a running guide groove 5 of a constant width is formed in the widthwise central portion of this running surface 4.

At the lower part of the main body frame 1a of the automatic guided vehicle 1, two driven wheels 6.6 that touch and roll on the running surface 4 are installed horizontally within the main body frame 1a, near one end of the automatic guided vehicle 10 in the running direction. The shafts 6a are placed on both sides of the lower surface of the mounting plate 7.
At the intermediate portion of both driven wheels 6.6 is a guide member having a shaft shape with a circular cross section and whose lower end fits approximately tightly into the traveling guide groove 5. 8 is
A bearing 10 fixed to a bracket 9 fixed to the lower surface of the mounting plate 7 allows the mounting plate 7 to be freely rotated around an axis.

On the other hand, near the other end of the main body frame 1a, a drive shaft 11 is provided with drive wheels 11 and 11 attached to drive wheels 11 and 11 that touch and roll on the running surface 4 on both sides of the running guide groove 5 of the running rail 2.
A support member 12 with a portal-shaped cross section that supported the main body frame 1a has its upper surface 13 extended over the upper part of the main body frame 1a.
By connecting to the thrust bearing 15 attached to the lower surface, the two-layer driving wheels 11 and 11 are installed so that their mutual midpoint P coincides with the center of rotation of the thrust bearing 15. 11.1
1 is freely rotatable around a vertical axis centered on a midpoint P between them.

Brackets 16a and 16b are fixed to the supporting member 12 on both sides in the traveling direction of the automatic guided vehicle 1, and each bracket 16a and 16b has a lower end portion inside the travel guide groove 5, similarly to the guide member 8. A guide member 17.18 having a ring shape with a circular cross section that fits almost tightly into the driving wheel 11.18 is parallel to the plane of rotation of the double-layer driving wheel 11.11, and extends from the midpoint P on a straight line passing through the midpoint P. They are each mounted at positions substantially equidistant from each other via bearings 10 so as to be rotatable about their respective axes.

A reversible motor 20 is fixed to the upper surface of one of the brackets 16a by a fixing member 22 with its output shaft 21 parallel to the drive shaft 11a, and a pulley 23 fixed to its output 1 [1121] and a drive f* A belt 25 is passed between a pulley 24 fixed to 11a, and the double layer drive wheels 11.11 are driven to rotate in both forward and reverse directions via bells 1 to 25 by the forward and reverse rotation of the reversible motor 20. It has become so.

Then, the automatic guided vehicle 1 places both driven wheels 6.6 and both layered driving wheels 11.11 on the running surface 4, and also places the lower ends of each guide member 8, 17, and 18 in the running guide groove 5. It is fitted onto the running rail 2 and placed on the running rail 2.

The automatic guided vehicle 1 of this embodiment has the above-mentioned configuration, and when the reversible motor 20 is driven, the drive wheels 11.11 rotate via the bells 1 to 25, and travel by rolling on the running surface 4. However, as shown in FIG. 2, when the automatic guided vehicle 1 travels on a straight section of the traveling rail 2', the drive wheels 11.
Both guide members 17.18 attached to the support member 12 which supported Since they correspond to a straight line parallel to the rotation plane, the double-layer driving wheels 11.11 are in a posture facing parallel to the length direction of the traveling rail 2, and thereby the automatic guided vehicle 1 is aligned with each guide member 8. .17.18 and the travel guide groove 5, the vehicle travels straight along the travel rail 2 while movement in the width direction is restricted.

Then, as shown in FIG. 3, when the double-layer driving wheels 11.
The support member 12 that supported 1.11 is connected to both guide members 17.
．． 18 and the curved running guide groove 5, the running rail 2 rotates in the curved direction about the rotation center of the thrust bearing 15, and here, the straight line Q connecting both guide members 17 and 18 is generated. are both guide members 17.1
It is parallel to the tangent to the traveling guide groove 5 in the middle part of B,
Moreover, since the double-layer driving wheels 11.11 are oriented parallel to the straight line Q and are located in the middle of both the guide members 17.18, the double-layer driving wheels 11.11 are located at the portion where these are approaching. It faces in a direction parallel to the tangential direction of the traveling guide groove 8.

As a result, although either one of the two-layer driving wheels 11 or 11 slips to some extent due to the difference in circumferential speed, it is possible to reliably avoid a thrust load from acting on the drive shaft 11a, and the running rail 2 is relatively It can run smoothly even when curved with a small radius of curvature.

Furthermore, since the support member 12 is rotatable by the thrust bearing 15, excessive shearing force is prevented from acting on both guide members 17, 18.

In addition, in this example, each guide member 8.17.18
Since each of the grooves can freely rotate around the axis via the bearing 10, it comes into contact with the side surface of either one of the travel guide grooves 5, thereby minimizing wear caused by opening movement with the side surface of the groove. It has the advantage of being

[Effects of the Invention] As clarified from the above description, in the automatic guided vehicle of the present invention, when the drive wheel approaches a curved part of the running surface, it faces in a direction parallel to the tangential direction of the running guide groove of that part. It can run smoothly even when the running surface is curved with a relatively small radius of curvature, and it also prevents thrust loads from acting on the support shaft of the drive wheel or excessive shearing on both guide members attached to the support member. Since force is prevented from acting on it, it has the effect of being excellent in durability.

[Brief explanation of the drawing]

FIG. 1 is a longitudinal sectional view of an embodiment of the present invention, FIG. 2 is a sectional view taken along line A--A in FIG. 1, and FIG. 3 is an explanatory view for explaining the operation. 1...Automated guided vehicle 2...Traveling rail 4...
Running surface 5... Running guide groove 6... Driven wheel
11... Drive wheel 12... Support member 8.17
．． 18... Guide member 15... Thrust bearing

Claims (1)

[Scope of Claims] A driven wheel and a driving wheel that roll on a running surface laid along a running path, and a plurality of guides that fit into running guide grooves formed in the widthwise center of the running surface. a member, and by the guidance of the guide member and the travel guide groove,
In the automatic guided vehicle that travels along the travel path, the drive wheel is mounted above the center line of the travel guide groove by a support member that is freely rotatable about a vertical axis at a central portion in the width direction of the automatic guided vehicle. each guide member that is freely rotatable around a vertical axis and that fits into the traveling guide groove in the front and rear parts close to the drive wheel;
An automatic guided vehicle characterized in that each of the drive wheels is attached to the support member on a straight line parallel to the rotation plane of the drive wheel.