KR100252807B1 - Inductive transport vehicle - Google Patents

Abstract

The present invention is an induction type vehicle that is guided and driven by an induction signal generated by a derivative placed on the floor.

The wheels at the four corners of the bogie are freely changeable capsters that can be fixed freely. In the center of the underbody part of a trolley | bogie, one steering drive unit is independently independently mounted before and behind a traveling direction. Sensors for detecting guidance signals are provided in the front and rear of the steering drive unit. The steering drive unit switches the capster in the forward direction to the free wheel and the rear capster to the fixed wheel alone with respect to the chassis according to the battery driving and the retreat driving of the guided vehicle.

Description

Guided carriage

1 is a front view showing the forward driving of the guided vehicle according to the present invention.

2 is a bottom view showing the guided vehicle according to the present invention.

3 is a front view showing the retraction driving of the guided vehicle according to the present invention.

4 is an explanatory diagram showing the free / fixed switching mechanism of the capster of the induction carriage according to the present invention.

5 is an explanatory diagram showing a free and fixed switching mechanism of the capster of the induction carriage according to the present invention.

6 is an explanatory diagram showing a free / fixed switching mechanism of a capster of an induction carriage according to the present invention.

7 is an explanatory diagram illustrating a slide mechanism and a switching mechanism of the induction transport vehicle according to the present invention.

8 is an explanatory diagram for explaining a switching mechanism of the induction carriage according to the present invention.

9 is a front view showing the prior art.

10 is a front view showing the prior art.

<Explanation of symbols for main parts of drawing>

3: Steering Drive Unit 4: Capster

5: switching plate 6: chassis

8a, 8b: Magnetic sensor 10: Slide base

13: Switching mechanism 14: Lock plate

[Purpose of invention]

[Technical field to which the invention belongs and the prior art in that field]

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an induction transport vehicle that carries various items unattended by traveling along an induction path by a derivative such as magnetic tape attached to the floor of a factory, a warehouse, or the like.

2. Description of the Related Art Conventionally, guided carriages for driving various kinds of goods unattended by traveling along a preset taxiway have been developed and supplied in a variety of ways in Korea and abroad. The present applicant has also developed a self-guided transport vehicle of Japanese Patent Utility Model No. 3013716 and 8 Year Patent Application No. 196618 for practical use.

As shown in Fig. 9, the self-guided transport vehicle related to the registered utility model has one self-guided steering drive unit 3 in front of the center of the lower surface of the undercarriage 6 of the bogie. It is attached to and detached from a close position (close to the front wheel 4).

This magnetic induction type steering drive unit (3) is provided with a magnetic sensor (8) at the front part for detecting the magnetic force (magnetic line) generated by the magnetic tape of the induction furnace, and has one driving wheel (1) and a motor (2) for driving the same. In addition, it consists of an automatic steering device of the same driving wheel (1). Wheels 4 and 4 'are mounted at the four corners of the lower surface of the trolley 6, the front wheel 4 is a capster freely steerable, and the rear wheel 4' is a fixed wheel. In addition, the battery 31 is installed at the rear of the chassis 6, and the control device 32 which mainly controls the automatic control of the magnetic flow type steering drive unit 30 is located at the rear lower surface of the magnetic induction type steering drive unit 3. It is installed.

On the other hand, the self-guided transport vehicle related to the source of the invention has two self-guided steering drive units (3, 3), as shown in Figure 10, and one of the positions near the front of the underbody of the bogie (on the front wheels) Close to the rear side (position close to the rear wheel) is arranged approximately symmetrically in the front-rear direction of each chassis 6, detachable to the lower surface of the same chassis 6 is mounted have. The two magnetic induction steering drive units 3 and 3 are provided with magnetic sensors 8a and 8b for detecting magnetism (magnetic lines) generated in the magnetic tape of the induction furnace in all and the rear of each of them. The configuration and function of the two self-guided steering drive units 3 and 3 are the same as those described in the above registered credit card, but in the case of this self-guided transport vehicle, the two self-guided steering drive units 3 and 3 ) Is used in combination with the magnetic sensor located in front of the driving direction to detect the induction path and drive forward or retreat.

For this reason, all the wheels 4 of the four corner positions of the lower surface part of the undercarriage 6 are a capster with which steering property is free.

[Technical problem to be achieved]

The self-guided transport vehicle (Fig. 9) related to the above-described registered utility model is configured to drive and steer the driving wheel 1 in a form in which the driving wheel 1 located close to the front side of the chassis 6 is towed to the vehicle chassis. When reversing and reversing, the direction of the driving force of the driving wheel 1 and the direction of the running resistance of the bogie, such as some of the center positions of the bogie, are acted in combination, and steering the magnetically guided vehicle with only the driving wheel 1 is practical. impossible.

Therefore, the use of the magnetically guided carriage is limited to the usage of driving in one direction on a closed loop guideway, and cannot be applied to the usage of driving a complex taxiway that requires retreat driving.

The self-guided transport vehicle (FIG. 10) according to the above-described source invention is performed by using two self-guided steering drive units 3 and 3 together in both forward travel and backward travel. Therefore, the two magnetic induction steering drive units 3 and 3 are magnetic sensors located in the front of each travel direction, and detect the guideway and force the steering while performing the forward driving or the retraction direction under the same conditions. Drive at a constant vehicle width without causing the rear part to vibrate.

Thus, there is no problem with the use of complex taxiways that require a combination of forward and backward driving.

However, since the magnetic induction type transportation vehicle of FIG. 10 uses two magnetic induction type steering drive units 3 and 3 together, the manufacturing cost is increased by two times or more than when the magnetic induction type steering drive unit is one. Furthermore, the control device is complicated because the two front and rear self-guided steering drive units 33 are driven together in forward and rearward driving and synchronously run. In addition, in order to mount the two magnetic induction steering drive units 3 and 3 before and after the chassis, a long chassis in the front and rear direction is required, and the entire magnetic induction vehicle is large (long) and large. In addition, even when the front and rear two low induction steering drive units 3 and 3 are synchronized with each other when the corner of the taxiway is driven, the control of the inner wheel difference or the outer wheel difference is again minimized. Since it is impossible to avoid the maximum travel width required at least for driving the corners, there is a problem in use in a narrow place.

Accordingly, an object of the present invention is to provide an induction type carriage that has one sowing drive unit and can be improved in driving forward and humpless driving without any inconvenience.

[Means for solving the problem]

The guided vehicle according to the present invention has a steering drive unit mounted to the underbody of the undercarriage having a wheel at at least four corner positions, and is guided by a guide signal generated by a derivative placed along the driving route of the floor. do.

The wheels of the four corner positions of the said trolley are all free and the capster which can be switched freely is freely. In the center of the lower part of the trolley | bogie of the said trolley | bogie, one steering drive unit is independent of the front and rear of a propagation direction, and is detachably attached to a chassis. Sensors for detecting the guidance signal of the derivative are provided in the front part and the rear part of the steering drive unit, respectively.

In the steering drive unit, the forward driving and the after-run driving of the guided vehicle are frequently moved forward with respect to the trolley alone according to the switching operation, and the driving position thereof is changed.

The capster switches the capster in the forward direction to the free wheel and the black capster to the fixed wheel according to the switching between the forward driving and the backward driving of the guided vehicle.

The slide base, which moves in line with the steering drive unit, is provided with a switching plate approaching or falling toward the capster at the four corner positions of the bogie. Each capster is provided with a lock plate for restraining or releasing the turning of the capster by using the movement of the switching plate to approach or move away.

A magnet is mounted on the underbody of the trolley to the restraining position of the front end or the rear end of the steering drive unit. The magnet of the magnet is released from the magnet in the forward direction in accordance with the switching operation of the forward driving and the backward driving under the guided transport, and the operation position of the steering drive unit is fixed as the magnetic force of the front magnet.

A switching mechanism is provided for switching the drive wheel of the steering drive unit to the grounded state and the floating state.

Embodiments and Examples of the Invention

The guided conveying vehicle shown in FIGS. 1 and 2 has a capster 4 freely and freely switched at four corner positions of the lower surface portion of the undercarriage 6 of the bogie 6 without the superstructure. have.

The chassis 6 shown in Figs. 1 and 2 is expressed in the form of a flat plate for convenience of display, but in practice, the pipe member as shown in Fig. 9 is connected by a coefficient (connection means) and assembled into a frame shape. Things are used. Each free capster 4 is as shown in detail in FIGS. 4 and 5, and a bracket 40 supporting the wheels 42 with respect to the mounting plate 18 fixed to the lower surface of the chassis 6. Horizontal rotation is freely attached by the bearing 45 to the vertical rotation shaft 44 installed at the upper end of the head), and has the function of the capster freely provided.

형상을 이루고 있다(도 4참조).The locking plate 14 for switching the capster 4 freely to the side of the mounting plate 18, more specifically, the inner side in the left and right direction in the fixed wheel 14 by the hinge 140 Up and down rotation is provided freely. The lock plate 14 is directed downward in the direction of FIG. 4.

It is a shape (refer FIG. 4).

형상의 내측으로 수납되는 돌부(142)가 설치되어 있다.On the other hand, the same side portion of the mounting plate 18, the lock plate 14 of the

The protrusion 142 accommodated inside the shape is provided.

As shown in solid lines in FIGS. 4 and 5, the locking plate 14 rotates downward until it becomes approximately horizontal by the self-weighting action (or the action of the screw coil spring not shown), and the lock plate ( The protrusion 142 is accommodated inside the shape of 14, and the horizontal rotation of the bracket 40 of the free capster 4 is restrained to be in the state of the fixed wheel. On the contrary, when the lock plate 14 is rotated upward to the position shown by the ruled line, the restraint of the protrusion 142 becomes the free wheel.

One steering drive unit 3 is detachably mounted via the unit mounting plate 20 at approximately the center of the lower surface portion of the chassis 6 (FIG. 2). The unit mounting plate 20 is detachably attached to the lower surface of the chassis 6 by a plurality of bolts 21 as shown in FIG. 2. Through the slide mechanism 9 (FIG. 7) provided on the lower surface of this unit mounting plate 20, the steering drive unit 3 is independently (relatively) in the front-back direction of the traveling direction of the guided transportation vehicle. It is attached freely.

The configuration and function of the steering drive unit 3 are substantially the same as those disclosed in the seafarer invention described in the section (prior art). That is, the steering drive unit 3 is composed of an automatic steering mechanism including a drive wheel 1 and a motor 2 capable of driving forward and backward for driving the same, and a steering motor 11 of the same drive wheel 1. .

The slide mechanism 9 is a structure in which a plurality of balls are fitted so as to circulate sequentially between two track members facing each other in parallel, as described in, for example, Unexamined Patent Publication No. 62-8492. to be. In FIG. 7, a plurality of balls are provided between one slide rail 9a fixed to the bottom surface of the unit mounting plate 20 as a bolt 9c and a slider 9b sliding along the same slide rail 9a. The configuration is such that 9d is circulated sequentially. The lower slider 9b is fixed to the mounting plate 19, and the left and right two mounting plates 19 and 19 are mounted on the common plate 22, so that the common plate 22 of the slide base 10 Steering sun gear 23 is fixed to the lower surface (Fig. 1, Fig. 3, Fig. 6), and drive wheel 1 under the vertical pivot axis (not shown) which is located at the center of the sun gear 23. Of the holder base 7 is rotatably supported.

The traveling motor 2 is provided on the lower surface of the holder base 7.

Moreover, the steering gear 24 of the steering motor 11 attached to one side part of the holder base 7 is comprised with the said sun gear 23, and is comprised so that automatic steering is possible. Magnetic sensors 8a and 8b are installed at the front and rear ends of the holder base 7 and are inductive signals in which magnetic tapes (not shown in the drawings) are generated by inductors laid along the runway of the bottom surface 25. Is detected by the magnetic sensor 8a or 8b. Therefore, the control apparatus 12 is attached to a part of the holder base 7.

However, the derivative attached to the bottom surface may be implemented with a structure in which an electric wire, a magnetic body, an optical guide tape, or the like is placed on the other side of the magnetic tape to detect magnetic or optical induced signals generated by them as a sensor.

With the above configuration, the driving wheel 1 is driven to rotate in the forward direction or the retraction direction by the start switch, and the steering drive unit 3 is stopped by the driving mechanism 3 together with the slide base 10 of the lower part by the propulsion force. As shown in Fig. 1 or Fig. 3 alone or relative to the bogie 6 which maintains the same, the position of the driving wheel 1 is the same as that of the guided vehicle. The guided transport vehicle is towed to the proper gross position of the forward or retreat) and arranged in proper operating conditions.

Starting wheel of the steering drive unit 3, using the movement of the slide base 10 at the beginning, the free thruster 4 at the four corner positions of the trolley, the rear wheel as a free wheel for steering the steering wheel Switch to fixed wheel with high driving stability. The switching plate 5 is attached to the slide base 10 by the means.

This switching plate 5 is a cap which has its front end or rear end freely within the limits of the moving stroke allowed for the steering drive unit 3 and the slide base 10, as apparent from the contrast of Figs. The cam follower 141 of the lock plate 14 attached to the stirrer 4 is provided with a length sufficient to reach the necessary. In addition, the front and rear ends of the switching plate 5, the lock plate 14 through the cam flower 141, as shown by the chain line in Figure 5, the high off the protrusion 142 of the bracket 40 completely The inclined surface 5a of the angle pushing up to a position is formed.

Accordingly, the free capster 4 in front of the traveling direction approached by the switching plate 5 due to the frequent operation of the steering drive unit 3 is inclined surface 5a as shown in FIG. 5 or 6. ) Rotates the lock plate 14 upward through the cam flower 141, and is switched from the protrusion 142 to the state of the free wheel. On the contrary, the same switch plate 5 is freely located on the rear side of the long distance, the capster 4 loses the control force by the switch plate 5 and the lock plate 14 is rotated downward by its own weight action or the like. 142) to switch to the state of the fixed wheel.

The position where the switching plate 5 completed the switching operation of the lock plate 14 by the front end or the rear end of the slide base 10 approaching the lower surface of the chassis 6 as a means for determining the operating conditions as described above (papermaking position). The electromagnets 15 and 15 to which the front end or the rear end of the precision slide base 10 abut are fixed (see Fig. 2). That is, at the beginning of starting or resuming the operation of the guided carriage, the forward and backward switching operation (switch operation) is performed, and the driving motor 2 of the steering drive unit 3 is started to drive the drive wheel 1 This rotation and the self-drive of the steering drive unit 3 starts.

At the same time, by the switching operation (switching operation), the magnetism of the electromagnet 15, in which the slide base 10 is first contacted with a part of the steering drive unit 3, is released, and the steering drive unit 3 frequently It is easy to make the slide base 10 separate from the electromagnet 15 at the time.

Therefore, only the steering drive unit 3 continues to move independently with respect to the relatively stopped bogie, the slide base 10 is positioned in the forward direction, and one electromagnet 15 is brought into contact with the magnetic attraction force. In the step of joining, the steering drive unit 3 and the trolley 6 are connected again with the integral relationship of the degree which does not fall even if some external force or a vibration etc. act, and starts driving by an inductive type conveyance vehicle. Therefore, the slide base 10 is manufactured as an excellent magnetic material. Thus, the position change of the steering drive unit 3 in accordance with the change of the traveling direction of the guided carriage is shown in Figs.

At the same time as the steering drive unit 3, the slide base 10 is brought into contact with the electromagnet 15 in front, and the inclined surface 5a of the switching plate 5 mounted on the same slide base 10 is approached. 5 is inserted into the lower side of the camflower 141 of the lock plate 14 of the free captor 4 as shown in FIG. 5, and of course, the locking plate 14 is rotated upwards as well as moving forward. To 14 completely away from the protrusion 142. As a result, the muxster 4, which becomes the front wheel in the traveling direction of the guided vehicle, is freely freely turning, and the steering function of the driving wheel 1 is easily configured.

On the contrary, with the movement of the slide base 10, the switching plate 5 falls, and the free capster 4, which becomes the rear wheel in the traveling direction of the guided vehicle, immediately moves the lock plate 14 to its own weight or the like. It rotates downward and restrains the protrusion part 142, and the capster (rear wheel) becomes the state of the non-swivel fixed wheel. Therefore, the rear part is prevented from vibrating when the guided vehicle runs.

Each free capster (4) in consideration of switching between the free wheel and the fixed wheel in accordance with the switching of the forward driving and the backward driving of the guided vehicle as described above As shown in detail in FIG. 6, the shaft hole 43 of the bracket 40 is formed as a horizontal long hole of an appropriate length in the front-rear direction about the position of the vertical pivot axis, and the axle shaft of the wheel 42 ( 41 is movable in the center of the shaft hole 43. As a result, as described above, the vehicle 42 is switched between forward and backward in the traveling direction of the guided carriage, and at the same time as the start of the guided carriage starts, the wheels 42 of the free capster 4 have their axles 41. The center of the shaft hole 43 is activated to travel in the state located at the rear end (see the change in Figs. 1 and 3). As a result, the axle 41 of the wheel 42 is located behind the center of the turning axis with respect to the free capster 4 on the front wheel, which is a free wheel, and the steering can be carried out more sensitively. .

Next, the configuration of the switching mechanism 13 for switching the driving wheel 1 of the steering drive unit 3 to the ground state necessary for driving and the floating state completely away from the drawing is based on FIGS. 7 and 8. It demonstrates as follows. The importance of the switching mechanism 13 is derived from induction to the desired place by hand pressing and operating for the purpose of charging the battery mounted on the induction vehicle or repairing the mechanical and electrical failure in the induction vehicle. Make it easy to move the carriage.

The switching mechanism 13 is formed by first fitting the upper case 101 and the lower case 102 fitted up and down in a flat box structure as shown in FIG. 7. On the premise. Both cases 101 and 102 are fitted so as to be relatively movable in the vertical direction along the plurality of vertical guide pins 103. The guide pin 103 is provided with a coil spring 104 for compression, and both ends of the same spring abut on the upper case 101 and the lower case 102. Therefore, both cases 101 and 102 are always open in the vertical direction and are subjected to spring force, and the lower case 102 is pushed down.

The lower half of the above-described slide mechanism 9 is fixed to the upper surface of the upper case 101 via the common plate 22, and the lower sun case 23 for steering the sun gear 23 of the steering drive unit 3 ) Is fixed. Therefore, the steering drive unit 3 below the vertical pivot axis without the drawing is attached to the lower surface of the lower case 102.

As shown in Figs. 1 and 3, the slide base 10 as a position on a horizontal center line orthogonal to the center line P (see Fig. 8) of the vertical pivot axis (not shown) of the steering drive unit 3 is omitted. In particular, the shaft 132 is provided at a high position penetrating both side walls of the upper case 101 in the horizontal direction. The upper angular position of the proximal end of the flat cam plate 131 having the cam-shaped line 133 shown in FIG. 8 can be rotated by the support shaft 132 on both right and left sides of the slide base 10. It is mounted. The two cam plates 131 on both sides have a configuration in which the support shaft 132 is intermediated and fixed in a symmetrical arrangement.

The cam flower 135 rotates about the cam shaft 132 of the cam plate 131 at a position vertically downward of the support shaft 132 at the lower surface of the lower case 102. It protrudes so that interference may occur in the range. Thus, the manual handle 16 for rotating the left and right two cam plates 131 and 131 together into one is disposed symmetrically to be positioned near the free end of each cam plate 131, and further protrudes in the horizontal and horizontal direction. It is installed.

As shown in FIG. 8, the cam-shaped line 133 is positioned with the support shaft 132 and the cam flower 135 separated up and down the vertical center line P, and the driving wheel 1 is in contact with the bottom surface. When the distance from the center of the support shaft 132 to the lower end of the cam flower 135 is "A" in the ground state in which the propulsion force is exerted, it is sufficiently larger than the "A" dimension around the support shaft 132. It has a straight part 133a based on "r" of a radius having a margin. Thus, the cam plate 131 of FIG. 8 is rotated about 90 ° in the counterclockwise direction, and the rising distance " h " The cam plate 131 is cut out to have a circular arc portion 133b which is changed next to the radius "r deducted from the dimension" and a straight portion (tangential portion) 133c based on the radius "r". The cam shape 133 is formed as an edge.

Accordingly, when the worker rotates in the clockwise rotation direction E to push down the left and right handwheel 16 from the position shown in FIG. 8, the cam plate 131 rotates about the support shaft 132.

In the process, the circular arc portion 133b of the cam-shaped line 133 first comes into contact with the lower surface of the cam flower 135, and then lifts up the cam flower 135 as the cam plate 131 rotates. The amount increases. In the stage where the rotation of the cam plate 131 advances about 90 ° and the straight portion 133c having a radius "r" contacts the camflower 135, the camflower 135 moves the predetermined upward stroke "h". To achieve. Therefore, it becomes a stable support state which preserves the balance of the force which is not reversed in the position in that state. In other words, the driving wheel 1 of the steering drive unit 3 attached to the lower case 102 together with the cam flower 135 rises by the "h" dimension to be fully lifted from the bottom surface and revolves. Therefore, the objective of the induction type carrier vehicle using the free caster 4 of the bogie without receiving the magnetic resistance of the driving motor 2 acting on the driving wheel 1 and the mechanical resistance of the frontal mechanism and the like integrally. You can move lightly to the place.

On the contrary, when the guided vehicle is started to the guided road in which the derivative is installed and the guided drive is started, the employee eventually moves the manual steering wheel 16 on either side of the guided vehicle to the counterclockwise rotation direction F of FIG. Rotate to raise. Then, the cam flower 135 descends in response to the change of the cam shape line 133, and returns to the state of FIG. . In addition, in order to confirm this driving state, the cam plate 131 is fixed by the bolt means 134 for positioning the position of FIG.

Reference numeral 17 in the figure denotes a bumper mounted before and after the guided vehicle.

[Effects of the Invention]

The guided vehicle according to the present invention is one of the steering drive unit at the beginning of the operation via the slide mechanism, often biased toward the forward direction of the guided vehicle, the driving wheel at the time of forward and retreat together It is located in front of the planar center position of the guided vehicle, and exhibits driving force in the form of towing the guided vehicle. As both the forward and the retreat are driven along the taxiway under the same conditions, the reciprocating driving, the forward and backward repetition of the forward and backward retreat, that is, the driving of the closed loop taxiway in one direction. It can be applied to the driving of complicated combination without any problem.

That is, the induction furnace is not limited to the closed loop, and thus contributes to excellent unloading operation with a wide range of applications.

In addition, since there is only one steering driving unit, the manufacturing cost can be suppressed at a relatively low cost, the front and rear direction length of the chassis can be designed as small as necessary, and the control device can be easily configured. The vehicle width space of the taxiway required for driving the guided vehicle can also be finished to the minimum required.

Claims (5)

A steering drive unit is mounted to a lower surface of a chassis of a trolley having wheels at least four corner positions, and is guided and driven by an induction signal generated by a derivative placed along a driving path of a floor. The wheels of the four corner positions of the trolley are all freely fixed capsters, and one steering drive unit is approximately independent in the center of the underside of the trolley, independently of the traveling direction. And a sensor detachably attached to the chassis, and a sensor for detecting an induction signal of a derivative at the front and rear portions of the steering drive unit, respectively, and the steering drive unit moves forward of the induction vehicle. In accordance with the switching operation of driving and retraction, the driving position is frequently changed forwardly with respect to the chassis alone, and the capster The scheme of the guided vehicle forward travel and retraction of the rear side in the traveling switching the free wheel cap on the front of the traveling direction requester according to the requester of the cap is to be switched to a fixed wheel car guided transport, it characterized in, respectively. The operation of claim 1, wherein a switching plate approaching or falling toward the capster at the four corner positions of the trolley is installed on the slide base which moves in unison with the steering drive unit, and the switching plate approaches or moves to each capster. Induction transport vehicle characterized in that the lock plate is installed to restrain or release the turning of the capster using. The method according to claim 1 or 2, wherein the magnet is mounted to the restraining position at the front end or the rear end of the steering drive unit at the undercarriage portion of the bogie, and the magnet is switched between forward driving and retracting driving of the guided vehicle. And an operating position of the steering drive unit is fixed by the magnetic force of the front magnet, and the magnet of the magnet following the traveling direction is released according to the operation. The guided vehicle according to claim 1 or 2, wherein a switching mechanism for switching the drive wheel of the steering drive unit to a ground state and a floating state is provided. The guided vehicle according to claim 3, wherein a switching mechanism for switching the drive wheel of the steering drive unit to a ground state and a floating state is provided.

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