JPS6340355Y2 - - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to an obstacle detection device for an omnidirectional movable cart.

Since the present invention is an omnidirectional moving cart that travels in all directions, it is necessary to detect obstacles that exist in all directions. , the passage width required for the omnidirectional moving trolley to travel becomes wider,
This is not desirable because the system lacks flexibility.

In view of the above-mentioned problems, the present invention has been developed by installing a bumper member 4 on all sides of a car body 1 of an omnidirectional movable trolley via an extendable link mechanism 2, and providing a central command that issues a traveling direction command signal of the omnidirectional movable trolley. A control device is disposed on the vehicle body, and link mechanisms other than those in the direction of travel are reduced based on a direction of travel command signal from the central command and control device to cause the omnidirectional movable truck to travel.

The link mechanism 2 is rotatably mounted on the vehicle body,
a second link 2B that is rotated by a second rotational drive source 7, and is rotatably attached to the second link 2B;
A first link 2A that is rotated by the first rotational drive source 5, a prismatic column 2C that is swingably attached to the other end of the first link 2A, and a parallel link 3 that is rotatably attached to both ends of the prismatic column 2C. Rotational position detectors 6 and 8 are disposed near the first and second rotational drive sources 5 and 7 to detect the current position of the link mechanism 2.

The gear 7B fixed to the rotating shaft 7A of the second rotational drive source 7 and the gear 2C fixed to the second link 2B are meshed, and the second link 2B is rotated by the rotational force of the first rotational drive source 7. .

The first pulley 5 is attached to the rotating shaft 5A of the first rotational drive source 5.
B and a second pulley 5D fixed to a shaft 5C supporting the second link 2B and the first link 2A are connected by a timing belt 5E (shaft 5C and the first link 2A
is fixed. ) The rotational force of the first rotational drive source 5 is transmitted to the second pulley 5D by the timing belt 5E to rotate the first link 2A.

The gear 5F fixed to the tip of the rotating shaft 5A of the first rotational drive source 5 and the rotating shaft 6A of the first rotational position detector 6
The rotational position of the first link 2A is detected by meshing with the gear 6B fixed to the first link 2A. The gear 2C fixed to the second link 2B and the gear 8B fixed to the rotating shaft 8A of the second rotational position detector 8 are meshed to detect the rotational position of the second link 2B.

A bumper member 4 is connected to one end of the parallel link 3 rotatably attached to both ends of the prismatic column 2C,
A dummy weight 10 is fixed to the other end.

A round bar 11 supported by a square column 2C is fixed to the middle part of the parallel link 3, and a lever 1 is attached to the round bar 11.
2 is fixed and the lever 12 is tilted by the tilting operation of the parallel link 3.

A pressure sensitive detector 13 is provided on the prism 2C via a bracket 2d.

The pressure sensitive detector 13 includes a first cylindrical body 13B having a pressure sensitive element 13A disposed on one side wall, a second cylindrical body 13c fitted into the first cylindrical body 13B, the first cylindrical body 13A and the second cylindrical body 13B. A spring 13F is inserted through the rod 13D in the second cylindrical body 13c and has one end supported by a spring retainer 13E fixed to the rod 13D. 13
Connect D and control the tilting movement of lever 12.
The increase in air pressure of the first cylindrical body 13B that occurs when the rod 13D is contracted is detected by the pressure sensing element 13A, and is converted into an electric signal proportional to the increase in air pressure. to communicate.

The control device 14 transmits the rotational drive sources 5 and 7 to rotate the first and second rotational drive sources 5 and 7, and also receives feedback signals from the first and second rotational position detectors 6 and 8. It controls the rotational drive.

The central command control device 15 has the function of giving a travel start command signal and a travel stop command signal to the omnidirectional movable trolley, as well as controlling various types of control while the omnidirectional movable trolley is running. Based on the traveling direction command signal from the command control device 15,
The first and second rotational drive sources 5 and 7 of the link mechanism 2 in a direction other than the direction of movement are controlled to reduce the size of the link mechanism 2.

The present invention achieves the following effects as a result of employing the above configuration.

1. Since link mechanisms other than those in the traveling direction can be reduced, the width of the path required for the omnidirectional moving cart to travel can be kept to a minimum.

2. By providing obstacle detection devices on all sides of the omnidirectional movable trolley, it becomes possible to detect obstacles in all directions.

3 Compactness can be achieved by using a link mechanism.

4. It should be expandable and retractable by rotating the link mechanism, so that it can protrude longer towards the front of the vehicle.

5. By providing the entire link mechanism with a rotation function, the obstacle detection device can be rotated in a direction corresponding to the direction of travel of the vehicle body, thereby providing directional characteristics.

6 By installing dummy weights, the effects of acceleration can be ignored and the risk of malfunction can be eliminated.

7. It is possible to decelerate and stop the unmanned vehicle based on the detection signal of the pressure-sensitive detector, and also to control the rotation function of the link mechanism to maintain the contact piece with the obstacle at a constant level. In other words, soft touch is possible, which is more effective in preventing damage to loads that may become obstacles and improving safety in the working environment.

[Brief explanation of the drawing]

Figure 1 is a plan view of the present invention, Figure 2 is a detailed view of the moving state of the bumper member, Figure 3 is a side view of the present invention,
Figures 4 and 5 are detailed views of the link mechanism of the present invention;
6 and 7 are detailed views of the parallel link of the present invention,
8 and 9 show detailed views of the pressure sensitive sensor of the present invention, respectively. 1... Vehicle body, 2... Link mechanism, 3... Parallel link, 4... Bumper member, 2A... First link,
2B...Second link, 5...First rotational drive source, 6
...First rotational position detector, 7... Second rotational drive source, 8... Second rotational position detector, 13... Pressure-sensitive detector.

Claims (1)

[Scope of utility model registration request] A bumper member 4 is attached to all sides of a car body 1 of the omnidirectional moving cart via an extendable link mechanism 2, and a central command and control device 15 is disposed on the car body to issue a command signal in the direction of movement of the omnidirectional moving cart. An obstacle detection device for an omnidirectional movable trolley, which reduces the link mechanisms 2 other than those in the advancing direction based on a traveling direction command signal from the central command control device 15, and causes the omnidirectional movable trolley to travel.